| 摘要 |
PROBLEM TO BE SOLVED: To automatically correct a steering angle so that a steering motor does not rise in temperature even when torsion of front and rear wheels occurs in a stationary steering state. SOLUTION: This steering control device 12 of the vehicle controls to reduce respective steering loads by generating steering reaction forceΔδs* in accordance with a relation of the steering load of the front wheel and the steering load of the rear wheel in the case when the vehicle is in a state of almost stopping by detecting or assuming the steering loads of the front wheel and the rear wheel at the time of controlling the steering anglesδf,δr of the front wheel and the rear wheel in accordance with target steering angles by computing the respective target steering angles of the front and rear wheels 1, 2 in accordance with a manipulated variable of a steering handle 3. Consequently, the steering loads of the front wheel and the rear wheel are automatically reduced by changing the steering angle in accordance with the relation of the steering loads of the front wheel and the rear wheel in a state of maintaining the relation of the manipulated variable of the steering handle and the steering angle to be a specified relation in the case when a driver weakens force to hold the steering handle. |
