| 摘要 |
PROBLEM TO BE SOLVED: To perform switching of a steering system or a control system for a steering control relatively smoothly even when a torque sensor is out of order. SOLUTION: In the control quantity computing unit 85 of the steering control device, a steering reaction force T<SB>R</SB>is computed by a steering torque related value T<SB>t</SB>and a steered reaction force related value T<SB>f</SB>. Steering torque T, vehicle speed V, and sterred reaction force F are detected or assessed values, and G<SB>pt</SB>, G<SB>dt</SB>, G<SB>df</SB>are proper coefficients capable of being dependent on such as the vehicle speed V. Under abnormal conditions of the torque sensor, each coefficient is changed to such as a<SB>1</SB>=0, a<SB>2</SB>=-1/2, thereby eliminating a risk that the influence degree of the reaction force F (or the assessed value F<SB>h</SB>) on steering feeling becomes overwhelmingly or extremely dominant. Herein, T<SB>R</SB>=a<SB>1</SB>T<SB>t</SB>+a<SB>2</SB>T<SB>f</SB>(initial value:a<SB>1</SB>=1, a<SB>2</SB>=-1), T<SB>t</SB>=G<SB>pt</SB>T+G<SB>dt</SB>×dT/dt, and T<SB>f</SB>=f<SB>pf</SB>(F, V)+G<SB>df</SB>×dF/dt. COPYRIGHT: (C)2004,JPO |
