| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of turning a vehicle by reflecting the intention of a driver. SOLUTION: An electronic control unit 35 executes a steering holding control routine in a steering control program if a steering wheel 11 is subjected to the steering holding operation. In other words, the electronic control unit 35 determines whether or not the absolute value of the steering angleθis agreed with the mechanical end positionθ_end in Step S53, and the steering torque T is larger than a predetermined torque Ts. Based on the determination "YES" in Step S53, the torque change rate limit value (dTa/dt)_lim for limiting the torque change rate dTa/dt of the differential value Ta is determined in Step S57. Next, the electronic control unit 35 calculates the torque turning angle command value Wh_trq limited by the steering angular velocity limit value (dθ/dt)_lim, and determines the turning angle command value Wh in Step S60 by using the calculated command value Wh_trq. COPYRIGHT: (C)2007,JPO&INPIT |
