| 摘要 |
PROBLEM TO BE SOLVED: To insure the stability of vehicle behavior and to improve steering operability by setting a second controlled variable according to the exceeded degree of vehicle behavior over a reference value in addition to a first controlled variable based on the steering condition, and increasing steering reaction by the portion of the second controlled variable. SOLUTION: At running a vehicle, output signals of a steering angle sensor 14, a vehicle speed sensor 41 and the like are read in a control device 30, and at first transmission ratio G is set by using a map based on the steering angleθand the vehicle speed V. Next, (1/G)*θis computed based on the transmission ratio G and the steering angleθ, and the computed result is set as the target stroke position Xt of a rack shaft 23. The controlled variable for Tw a steering motor 22 is set based on deviation from the actual stroke position. Further the detected values of yaw rate sensor 42 and a lateral acceleration sensor 43 are read in, and in the case of a computed spin value Sv over a reference value, drive of a reaction motor 11 is controlled so as to increase the steering reaction by the portion of the exceeded spin value Sv over the reference value. |
