| 摘要 |
PURPOSE:To increase steering reaction force if a driver steers a vehicle erroneously. CONSTITUTION:Running stability of a vehicle becomes worse if a driver steers a steering wheel in the direction in which absolute value of steering angle increases when the vehicle is in the excessive understeer condition. Consequently, when the ratio of target yawing rate to an actual yawing rate is above 1.8 at step 11 and steering judgement amount is positive at S16, reaction force torque which is determined by a yawing rate deviation differential amount and car speed is generated at S17. Erroneous steering becomes difficult due to an increase of steering reaction force, and reduction of running stability is avoided. Also, if the vehicle is in the excessive oversteer condition, steering reaction force does not increase even if an absolute value of steering angle increases, and the operation in which a driver spins the vehicle intentionally is not interrupted. |
