| 摘要 |
PURPOSE:To exhibit a turning behavior which does not give a sense of incongruity to the driver, by adding a reaction component based upon a deviation in yaw rate between a reference value and an actual value, to an instruction value only in the case of an oversteering initial condition when the instruction value including the reaction force component is delivered to a motor. CONSTITUTION:A vehicle steering device is composed of a manual steering force generating device 1, and a motor driven steering assist force generating device 2. By the way, the manual steering force generating device 1 is adapted to manually steer steered wheels 9 of a vehicle. Meanwhile the motor driven steering assist force generating device 2 is adapted to add a steering assist force to the steered wheels 9 by means of a motor 10. Further, the control means 20 is connected to a steering angle sensor 15 and a yaw rate sensor 18, and adds an instruction value including a reaction force component based upon a deviation in yaw rate between a reference value and an actual value in accordance with a steering angle, to the motor 10. In this case, it is determined whether the initial condition is an understeering condition or an oversteering condition, in accordance with the deviation. As a result, only when it is an oversteering condition, the reaction force component is added to the instruction value. |
