| 摘要 |
<p>A vehicle motion controller in which a handle torque Th being generated through operation of a steering wheel is determined through handle torque processing (30) by EPS&lowbar;ECU, based on an equation of motion representing torque transfer through a gear ratio varying mechanism, by using a steering torque Tp being generated in the second steering shaft of the gear ratio varying mechanism, a motor torque Tvm being generated by the motor (32m) of the gear ratio varying mechanism and the rotational angle θvm of the motor (32m). Even if the vehicle motion controller employs such an arrangement that the gear ratio varying mechanism is interposed between the steering wheel and a torque sensor, the handle torque Th can be known without requiring an additional torque sensor, or the like, and controllability of vehicle motion can be enhanced without increasing the number of components when the handle torque Th is employed in ESP control processing (30a).</p> |
