| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular steering device of a steering-by-wire type vehicle capable of obtaining uniform steering characteristic and turning responsiveness in the entire vehicle speed zone. SOLUTION: In the medium or low speed traveling mode, a torque-yaw rate conversion unit 53 or a torque-turning curvature conversion unit 54 calculates the estimated yaw rateγd or the estimated turning curvatureρd to be small to an increase of the vehicle speed V. Turning angle conversion units 56, 57 calculate target turning anglesδγ,δρbased on the yaw rateγd or the turning curvatureρd. The wide dynamic range of the steering angleθcan be ensured, and right and left front wheels FW1, FW2 can be changed smoothly to the maximum turning angleδmax. Therefore, the steering feeling of a steering wheel 11 can be set to the feeling characteristic of a driver. By calculating the maximum steering angleθmax to an increase of the detected vehicle speed V, the turning responsiveness of the vehicle to the turning operation of the steering wheel 11 can be set to be constant. COPYRIGHT: (C)2006,JPO&NCIPI |
