| 摘要 |
<p>PROBLEM TO BE SOLVED: To conduct automatic braking control effectively in all road surface conditions for prevention of interference with steering by a driver, by controlling a steering actuator so as to cancel steering effort from a road surface side when a vehicle is discriminated as being in a steering condition from the road surface side. SOLUTION: The timing where the absolute value of a steering angle 8 exceeds its reference value is compared with the timing where the absolute value of steering torque T exceeds its reference value to discriminate if the latter is earlier than the former in timing. It is discriminated as a condition steered from road surface (wheel) side if the latter is earlier than the former, current is supplied to a motor 26 through a driving circuit 42 in a such a direction as to cancel detection torque T, thereby controlling driving of the motor 26. It is thus possible to conduct automatic braking control effectively in all road surface conditions. The control is limited to a case where a steering wheel 12 is rotated from the road surface side, therefore, it is possible to prevent interference with steering by a driver.</p> |
