| 摘要 |
PROBLEM TO BE SOLVED: To prevent an abrupt change in the turn angle during stationary steering after quick steering by setting the turn angle control quantity with the first control quantity corresponding to the steering angle and the second control quantity corresponding to the steering speed so that the changing state of the turn angle control quantity is made lower when the steering speed decreases when the steering speed increases. SOLUTION: During the operation of a vehicle, the steering speed dθh/dt is set based on the input angleθh detected by an input angle sensor 21, the gain coefficient Ts regulating the gain of the steering speed dθh/dt it set, and (dθh/dt).Ts is calculated to obtain the differential angleΘ. Whether the differential angle|Θ|is larger than a threshold value|α|or not is judged. If the judgment is NO, the output angle target valueθpm is set as the turn angle control quantity, the deviation (e) from the output angleθp detected by an output angle sensor 41 is obtained to control a motor 31, and a turn is controlled. If|Θ|>|α|, the value of the differential angleΘis substituted with the threshold valueα, and a guard process is made so that the differential angleΘis not increased beyond the threshold valueα. |
