CPC B62D 5/0463 (2013.01) [B62D 6/005 (2013.01)] | 6 Claims |
3. The electric power steering device comprising a processor and a drive control circuit configured to control an assist motor, wherein
the processor
obtains information on a steering torque acting on a steering member of a vehicle,
obtains information on speed of the vehicle, a turn angle of the steering member, and an actual yaw rate,
obtains information on a slip degree of a wheel included in the vehicle,
sets a steering assist control amount relating to the assist motor based on a deviation of the actual yaw rate from a norm yaw rate set based on a traveling state of the vehicle, and
sets the steering assist control amount such that the greater the deviation of the actual yaw rate from the norm yaw rate is, the more the steering assist control amount is reduced, when the slip degree of the wheel is equal to or less than a predetermined slip degree threshold, and
the drive control circuit performs steering assist control by controlling the assist motor based on the information on the steering torque and the set steering assist control amount.
|