| 摘要 |
PROBLEM TO BE SOLVED: To detect steering torque applied to a steering shaft for communicating a steering wheel with a steering system, discriminatively from counter torque. SOLUTION: The output of a magnetic sensor corresponding to the turning angle of a steering shaft is taken in, and torque T applied to the steering shaft is computed using the output, while obtaining present vehicle speed v and angular velocityω1,ω2 of the steering shaft at two spaced parts in the shaft length direction. On the basis of the correlation, whether or not computed torque T is counter input torque is determined. In the case of determining the counter input torque, the sign of the computed torque T is reversed and made assist force torque To, and a steering assist motor M is driven to obtain the assist force torque To. |
