STEERING CONTROL DEVICE AND STEERING DEVICE
An embodiment of the present invention allows for application of an assist torque or reaction torque which causes a driver to feel less discomfort. An ECU ( 600 ) includes a rack shaft axial force estimating section ( 620 ) configured to estimate a rack shaft axial force with reference to a roll rate of a vehicle body.
1 . A rack shaft axial force estimating device, configured to calculate an estimated value of a damping force of a suspension with reference to a roll rate of a vehicle body and estimate a rack shaft axial force on the basis of the estimated value of the damping force of the suspension.
2 . The rack shaft axial force estimating device as set forth in claim 1 , configured to estimate the rack shaft axial force, additionally with reference to a damping coefficient-related value.
3 . The rack shaft axial force estimating device as set forth in claim 2 , configured to estimate the rack shaft axial force, additionally with reference to a roll angle.
4 . The rack shaft axial force estimating device as set forth in claim 3 , comprising:
a first rack shaft axial force estimating section configured to estimate a first rack shaft axial force on the basis of the roll rate and the damping coefficient-related value;
a second rack shaft axial force estimating section configured to estimate a second rack shaft axial force on the basis of the roll angle; and
a third rack shaft axial force estimating section configured to estimate a third rack shaft axial force with use of the first rack shaft axial force and the second rack shaft axial force.
5 . The rack shaft axial force estimating device as set forth in claim 2 , wherein:
the damping coefficient-related value is a control variable for controlling the damping force of the suspension.
6 . The rack shaft axial force estimating device as set forth in claim 3 , wherein:
the damping coefficient-related value is a control variable for controlling the damping force of the suspension.
7 . The rack shaft axial force estimating device as set forth in claim 4 , wherein:
the damping coefficient-related value is a control variable for controlling the damping force of the suspension.