CPC B62D 5/0463 (2013.01) [B62D 5/0421 (2013.01); B62D 6/002 (2013.01); B62D 6/005 (2013.01); B62D 3/12 (2013.01); B62D 5/0454 (2013.01)] | 7 Claims |
1. A vehicle steering device comprising:
an electric motor that applies a steering force to a turning mechanism of a vehicle;
a microcomputer configured to:
set a target assist torque in accordance with a steering torque;
set an angle controlling target torque for reducing an angular deviation between a target steering angle and an actual steering angle;
estimate a compensation object load with respect to the angle controlling target torque;
calculate a target automatic steering torque based on the angle controlling target torque set by the microcomputer and the compensation object load estimated by the microcomputer; and
perform weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor; and
a drive circuit configured to control the electric motor based on the target motor torque that is calculated by the microcomputer.
|