Vehicular steering control apparatus and method

摘要

A vehicular steering control apparatus controls the wheel steering amount ( beta ) of wheels based on a steering angle ( alpha ) and an assist angle obtained by multiplying a steering speed (V alpha ) by a gain (ks(v)). If the amount of power control differs between the left wheel and the right wheel, the value of gain (ks(v)) is increased. The amount of power control includes, for example, the amount of braking control and the amount of drive control. If the assist angle is increased by increasing the gain (ks(v)), the magnitude of the wheel steering amount relative to the steering angle increases, so that a driver can correct the orientation of the vehicle body by performing a small amount of steering operation.