| 摘要 |
PROBLEM TO BE SOLVED: To prevent torque steer phenomena during a failure in an electric power steering device from imposing uncomfortableness on a driver, in a vehicular cooperative control system that reduces torque steer phenomena via cooperative control on a driving force distributor and electric power steering device. SOLUTION: In a vehicle with cooperative control, when the operation of a driving force distributor is continued upon a failure in an electric power steering device, a torque steer phenomenon causes a sudden change in the steering force as indicated by a line (b). Upon a failure in the electric power steering device, stopping the operation of the driving force distributor represses the torque steer phenomenon to prevent the sudden change in the steering force as shown in a line (c). A stepwise stoppage of the operation of the driving force distributor shows a smooth change in the steering force, which moves into the manual steering condition smoothly as by a line (d). |
