| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that the optimum steering torque assist is difficult when predetermined values, a predetermined friction torque and a predetermined ratio of a road surface reaction torque to a steering angle, are not the optimum because of a slippery road surface and unusual traveling circumstances, as the predetermined values are used for calculating a time constant of a low pass filter used for estimating road surface reaction torque. SOLUTION: The friction torque of a steering mechanism and the ratio of the road surface reaction torque to the steering angle, necessary for calculating the time constant of the low pass filter used for estimating the road surface reaction, are calculated, estimated, and updated. COPYRIGHT: (C)2006,JPO&NCIPI |
