| 摘要 |
PROBLEM TO BE SOLVED: To accurately reflect the degree of urgency of steering to fix a rotating number at starting assistance for proper steering assistance. SOLUTION: Second order differential values for a time for steering torque is used to compute the degree of urgency of steering (S5). In accordance with the degree of urgency of the steering, a rotating number at starting assistance is set (S6). The rotating number at starting assistance is set to the target rotating number of an electric motor (S7) to perform drive control of the electric motor. When the degree of urgency of the steering is high, the rotating number at starting assistance is set high and, when the degree of urgency of the steering is low, the rotating number at starting assistance is set low. In this way, when the degree of urgency is high, smooth steering assisting force can be generated and, when the degree of urgency is low, the rotating number at starting assistance is held low to reduce energy consumption. |
