| 摘要 |
PURPOSE:To detect by a simple method whether or not the wrong operation of a motor that is to be generated contrary to the intention of a driver is generated. CONSTITUTION:Steering torque and vehicle speed affecting a steering shaft are detected, and an assist quantity to assist steering shaft rotation that has been determined on the basis of the steering torque and the vehicle speed thus obtained, is outputted to a motor. In this instance, whether or not a motor rotation angle thetam precedes a wheel rotation angle thetah is decided, and in the case of the motor rotation angle thetam preceding the wheel rotation angle thetah, it is judged that there is the possibility of wrong operation having been generated, and in addition, an addition value obtained by adding by predetermined frequency a basic assist quantity that becomes the basis of an assist quantity is compared with a predetermined value equivalent to the addition value of the steering torque in the case of wrong operation having been generated, and in a case in which the addition value of the basic assist quantity is larger, it is decided that wrong operation is generated, and changeover to manual operation is conducted, and a warning lamp is lighted. |
