| 摘要 |
PROBLEM TO BE SOLVED: To restrain and check a sudden change of steering torque in the case of fail during turning. SOLUTION: A radius of curvatureρof a running lane is obtained from image information on the front of own vehicle imaged by a camera, and in a turning circuit where the radius of curvatureρis a designated value or less, a supply current limit value iL to a motor generating steering assist torque is set to a small designated value, and the motor supply current iM is made asymptotic to the set value. Although a driver has to give steering torque him/ herself to compensate for short steering torque, a sudden change of steering torque in fail can be restrained and prevented. The radius of curvature of the running lane can be calculated from the lateral acceleration, whereby when the camera is lost, the control is conducted by using the estimated radius of curvature. |
