| 摘要 |
A steering angle thetat detected by the torque sensor is read at S 900. Then, an electrical angle thetam corresponding to a motor rotational angle is read at S 902. At S 908 through S 922, motor rotational numbers are calculated based on thetat, thetam and the rotational number of a handle, and a correct rotational number of the handle is calculated from the motor rotational number which is the nearest to an integer of all of the calculated motor rotational numbers. Thereafter, an absolute steering angle which is not influenced by various errors is calculated based on the calculated rotational number of the handle and the steering angle thetat detected by the torque sensor.
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