| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a controlling method and a controlling mechanism of a steering system in which appropriate steering intervention is made as necessary. SOLUTION: A steering system is provided with a steerable wheel, an actuator, and a superimposed transmission, which produces the steering operation of the wheel by superposing an additive steering operation, which is produced by the actuator, on the steering operation performed by a driver. In a controlling system, which controls the actuator of such a steering system,μ-split braking is recognized by means of a recognition stage 62, based on both a differenceΔp between car braking pressure Pvr and Pvl in both front wheels of the car and the operation of a switch 63 of a brake lamp. When the braking is recognized asμ-split braking, a switch 615 is turned on by a signal S, and a target valueδMsoll of the additive steering angle is formed, based on both yaw-angular velocityωcorresponding to a yaw-quantity detected by a sensor 26 and a target valueωsoll of theω, which corresponds to the target value set by a target value setting device. Thus, appropriate steering intervention can be made as occation demands by regulating the additive steering angle, which is supplied from the actuator to the superimposed transmission, according to the target valueδMsoll.</p> |
