| 摘要 |
PROBLEM TO BE SOLVED: To effectively and surely reduce torque steering without delaying correction of steering auxiliary force by calculating correction quantity of the steering auxiliary force based on a target yaw moment. SOLUTION: The target yaw moment Mft to be applied to a vehicle is calculated based on a difference in driving force between right and left front wheels, and a basic assist torque Tab for reducing a steering burden of a driver is calculated (S20, 30). The correction quantity Tkp of the assist torque based on the target yaw moment Mft, namely, a torque for generating the torque steering by control of driving force of the right and left front wheels based on the target yaw moment Mft is calculated based on the target yaw moment Mft (S60). As a value obtained by subtracting the correction quantity Tkp of the assist torque from the basic assist torque Tab, a target assist torque Ta after correction is calculated (S70). An electric power steering device 16 is controlled so that the assist torque becomes the target assist torque Ta after correction (S100). COPYRIGHT: (C)2007,JPO&INPIT |
