| 摘要 |
PURPOSE:To provide a power steering device which correctly detects the variation speed of the lateral slip angle of a vehicle center of gravity point independently of the fact that the relation between the lateral slip angle of a tire and the cornering force is in a linear region or nonlinear region and varies the steering torque according to the variation speed. CONSTITUTION:The lateral accelerating speed Gy, car body speed and the yaw rate gamma are read from a variety of sensors, and the standard speed Dbeta0 is read from a ROM (S1). Then, the lateral slip angle variation speed Dbeta is calculated by subtracting gamma from the value which is obtained by dividing Gy by V (S2), and if the variation speed is not over Dbeta0, it is judged that a vehicle does not reach a turning limit, and the limit judgement flag is turned OFF (S3, S4). If the variation speed is over Dbeta0, it is judged that the vehicle reaches the turning limit, and the limit judgement flag is turned ON (S3, S5). If the limit judgement flag is turned ON, the steering torque is varied so that the heavy steering feeling is obtained. |
