As generated the braking power difference influence

摘要

PROBLEM TO BE SOLVED: To generate an optimal torque steer reduction torque corresponding to an actual torque steer regardless of a road surface state while preventing an unnecessary torque steer reduction torque from being generated.;SOLUTION: A basic assistant torque Tab is calculated from a steering torque Ts and a vehicle velocity V (S20 to 40). The torque steer reduction torque Tats is calculated from a braking pressure difference ΔP and a deceleration Gbx so that the magnitude may become larger as the magnitude of the braking pressure difference ΔP for right and left wheels becomes larger, and the deceleration Gbx becomes higher (S50 to 100). The assistant torque is controlled from the sum of the basic assistant torque Tab and the torque steer reduction torque Tats (S110 and 120). When the magnitude of the braking pressure difference ΔP of the right and left wheels is at a reference value ΔPo or lower, and the deceleration Gbx of the vehicle is at a lower limit reference value Gbx1 or lower, or at an upper limit reference value Gbx2 or higher, the torque steer reduction torque Tats is set to be 0 (S70, 80 and 100).;COPYRIGHT: (C)2005,JPO&NCIPI