| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of easily driving a vehicle by steering the wheel to the human perception characteristic over the entire vehicle speed range to the operation of a steering wheel by a driver. SOLUTION: The vehicular steering device performs the turning control of front wheels by the computer programming. A displacement-torque conversion unit 51 converts the steering angleθinto the steering torque Td in the exponential relationship. A torque-lateral acceleration conversion unit 52, a torque-yaw rate conversion unit 53 and a torque-turning curvature conversion unit 54 convert the steering torque Td into the estimated lateral acceleration Gd, the estimated yaw rateγd, and the estimated turning curvatureρd. Turning angle conversion units 55, 56, 57 calculate the target turning anglesδg,δγ,δρ. A turning angle determination unit 58 determines the target turning angleδd out of the target turning anglesδg,δγ,δρaccording to the detected vehicle speed V. A turning control unit 60 performs the turning control of the turning wheel at the target turning angleδd. A driver can easily drive the vehicle over the entire vehicle speed range. COPYRIGHT: (C)2006,JPO&NCIPI |
