| 摘要 |
PURPOSE:To obtain assisting torque corresponding to a running state of a vehicle even if abnormality occurs at wheel velocity by carrying out integration of body acceleration with the wheel velocity at the time when abnormality is detected as an initial value for integration. CONSTITUTION:A body velocity V is calculated by adding alphat (alpha is body acceleration and t is a cycle time required for execution of one routine) to a wheel velocity Vs1 at the time when an absolute value of a wheel acceleration DELTAVs becomes larger than a threshold value 'a'. When an absolute value of a difference between the body velocity V and the latest wheel velocity Vs is larger than a threshold value v, the body velocity V is put out in place of the wheel velocity Vs. By this, a solenoid excited current is determined based on the body velocity V. As the body velocity V represents an actual running velocity more accurately than the wheel velocity Vs, assisting torque corresponding to the running velocity can be obtained, and even when wheel spin is generated, steering dose not become heavy and even when lock is generated, steering does not become light. |
