| 摘要 |
PROBLEM TO BE SOLVED: To improve steering feeling by reducing an influence on steering reaction by reversing of an acting direction of steering system frictional force. SOLUTION: A target relative rotational angleθrt of a steering angle varying device 30 to stably turn and travel a vehicle is calculated (S20 and 30). A front wheel is steered by automatic steering based on the target relative rotational angleθrt (S50). When a time zone for reversing a steering direction of the front wheel by the automatic steering and reversing the acting direction of the steering system frictional force is decided (S120), a map for a control at the time of the reversing is set (S160), auxiliary steering torque Tab is calculated by the map (S170), a ratio of the auxiliary steering torque Tab in relation to steering torque Ts is increased as compared with the ratio at a normal time, and the auxiliary steering torque Ta is increased (S190 and 200). COPYRIGHT: (C)2004,JPO&NCIPI |
