| 摘要 |
PURPOSE:To improve the stability of running, by detecting repulsive force of handle control and a handle steering angle while correcting a steering amount of a wheel in accordance with the detected repulsive force information and handle steering angle information and performing the actual steering action by the corrected steering amount. CONSTITUTION:A wheel steering amount arithmetic part 110 obtains a steering amount from a handle control amount of a steering angle sensor 101 and a vehicle running speed of a car speed sensor 100, while a correction amount arithmetic part 120 calculates a correction amount in accordance with detection amounts of the steering angle sensor 101 and a distortion sensor 102, which detects repulsive force of handle control, and the wheel steering amount arithmetic part 110, which corrects the obtained steering amount in accordance with the correction amount of the correction amount arithmetic part 120, outputs a steering amount, finishing the correction, to a motor driving part 130 for steering a wheel. Accordingly, in addition to that the steering amount is determined by a steering angle of the handle control and the car speed, the steering amount is corrected by the repulsive force for a handle, generated when its control is performed between the handle and a tire, and the steering amount, being enabled to correspond to a road condition, enables the stability of running to be very highly increased. |
