| 摘要 |
<p>PURPOSE:To prevent the steerage of steering wheels from being disabled by trouble in a partial driving system apparatus by processing a detection signal out of a steerage detecting means with two operational means in a parallel manner, and making it so as to be steered by each steering command signal out of these operational means. CONSTITUTION:This controller 13 in a vehicle steering system is provided with two controllers (operational mean) 13a, 13b, and these controllers are connected with each other. Each of watchdog timers 32a, 32b is connected to these controllers 13a, 13b. Each of these controllers 13a, 13b inputs each output signal of a steering force sensor 16, a car speed sensor 33 and a yaw rate sensor 34 or the like composed of a first steering angle sensor 14 consisting of an analog type sensor, a second steering angle sensor 15 consisting of a digital type sensor and a differential transformer or the like, outputting each control signal to a reaction motor drive circuit 35 and steering motor drive circuits 36L, 36R from respective sensors.</p> |
