Motor-driven steering controller and automobile anti-skid controller

An electric power steering assist controlling apparatus for a vehicle, comprising:

• an electric power steering motor connected to a vehicle wheel;
• an electric power steering instruction value determination unit for determining an electric power steering instruction value necessary to control the electric power steering motor to reduce an operator's power required to operate a steering wheel;
• a braking force estimating unit for estimating braking forces to be imposed on wheels of the vehicle;
• a right and left braking force difference estimating unit for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit;
• wherein when an anti-skid control is executed during braking on a road where the frictional coefficient differs from right to left, the difference in braking force between right and left wheels is generated by the anti-skid control thereby generating a yaw moment that causes the vehicle to be directed toward a higher road frictional coefficient side;
• and
• an assist steering torque providing unit for determining a counter-steering assist steering torque to assist an operator's counter-steering operation on the steering wheel on the basis of the difference in braking force between right and left wheels estimated by the right and left brake force difference estimating unit, and for adding a counter-steering assist instruction value corresponding to the counter-steering assist torque to the electric power steering instruction value to control the electric power steering motor so that the steering wheel is operated in a direction to reduce the yaw moment of the vehicle generated due to the difference in braking force between right and left wheels.

An electric power steering assist controlling apparatus for a vehicle comprising:

• a steering torque controlling unit controlling an electric power assisted steering motor to control a steering torque on a steering wheel depending on an operator's steering operation to reduce an operator's power required to operate the steering wheel;
• and
• an assist steering torque providing unit for providing a counter-steering assist steering torque which assists an operator's counter-steering operation on the steering wheel for the steering torque controlling unit when a difference in braking force between right and left wheels is generated during braking of the vehicle,
• wherein the assist steering torque providing unit adds the counter-steering assist steering torque to the steering torque controlled by the steering torque controlling unit so that the steering wheel is operated in a direction to reduce a yaw moment of the vehicle generated due to the difference in braking force between right and left wheels.