| 摘要 |
<p>PURPOSE:To prevent such a problem that micro-variations of a steering handle are picked up as if noises were mixed in sound, by driving and controlling an actuator in accordance with steering angle and vehicle running condition, with a function that includes a term which is proportional to a secondarily differentiated value of steering angle, and by applying a primary filter to the secondarily differentiated value of steering angle. CONSTITUTION:A second actuator 6 to produce counter-steering force is mounted on a steering shaft 2, and also a front wheel steering device 9 having a built-in motor as a first actuator is provided in a front lower portion of chassis. Driving of the motor in the front wheel steering device 9 is controlled by a controlling ECU 17 through a power unit 15. In this case, a function that includes a term which Is proportional to a secondarily differentiated value of steering handle steering angle is employed in the controlling based on the steering angle and vehicle running condition, and also a primary filter is applied to the secondarily differentiated value of steering angle. Practically, a secondarily differentiated term of steering angle is multiplied with 1/(r1.S+1), in which S means a plus operation factor.</p> |
