| 摘要 |
PROBLEM TO BE SOLVED: To certainly and effectively suppress an increase in steering reaction force and unnatural variation caused by the amplification of the variation of a steering reaction force and the variation of the phase following variation of transmission torque in a joint and the operation of a steering transmission ratio variable device in a vehicle provided with the steering transmission ratio variable device. SOLUTION: A ratio Kst of an angular velocity of a pinion shaft 34 to an angular velocity of a steering wheel 14 is operated (S120-160) and the steering torque Tst transmitted to the steering wheel 14 as the product of the ratio Kst of the angular velocity and the steering torque Tm of the pinion shaft 34 is operated (S170). The steering torqueΔTst transmitted to the steering wheel 14 caused by the operation of a steering angle variable device 30 as a value obtained by reducing the steering torque Tm from the steering torque Tst (S180) and an electric power steering control device 54 is controlled so that steering torque variation reduction assist torque corresponding to the steering torqueΔTst is generated (S190, 240-260). COPYRIGHT: (C)2007,JPO&INPIT |
