| 摘要 |
PURPOSE:To improve steering stability of a vehicle, by compounding the first control quantity on the basis of steering force with the second control quantity on the basis of steering reaction force and obtaining a steering shaft rotation control signal which controls a steering shaft actuator rotating a steering shaft to be driven. CONSTITUTION:A device is equipped with the first control quantity determining means 9 which determines the first control quantity controlling rotation of a steering shaft 3 on the basis of an output of a steering force sensor 6. While the device is equipped with the second control quantity determining means 11 which determines the second control quantity rotating the steering shaft 3 in the resetting direction on the basis of a steering reaction force detection signal removing a component in a high frequency region from the output of a steering reaction force sensor 7 by a high frequency component removing means 10. And a steering shaft rotation control signal, being obtained by compounding the first and second control quantities by a steering shaft rotation control signal output means 12, controls a steering shaft actuator 4. While a target steering quantity is determined in a target steering quantity determining means 13 on the basis of an output from a steering displacement quantity sensor 8, and a steered wheel 2 is steered by a steering control means 5 in accordance with the value of said target steering quantity. |
