| 摘要 |
The feeling of steering is improved by reducing the influence of the inversion of the direction of application of a frictional force in a steering system on a steering counterforce. A target relative rotational angle of a turning angle change unit for allowing a vehicle to make a turn stably is calculated, and front wheels of the vehicle are turned through automatic steering on the basis of the target relative rotational angle. However, if it is determined that a time zone in which the direction of application of a frictional force in a steering system is inverted as a result of the inversion of the turning direction of the front wheels that are turned through automatic steering has been entered, an inverted-state control map is set, and an assist steering torque is calculated from the map. Thus, in comparison with a normal state, the ratio of the assist steering torque to a steering torque is increased, so that the assist steering torque is increased. |
