JP2010137821A - Wheel steering control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wheel steering control device capable of eliminating deviation occurring between an actual variation amount and a detected variation amount when the detection of a variation in a drive amount is interrupted during the drive of an actuator for wheel steering. <P>SOLUTION: The wheel steering control device 100 includes: a variation amount detection means 10 detecting a relative variation amount in the drive amount of the actuator 5 steering a wheel; a wheel steering control means 11 controlling the steering of the wheel while estimating the steering amount of the wheel based on the variation amount detected by the variation amount detection means 10; an interruption determination means 14 determining whether the detection of the variation amount is interrupted; a resumption determination means 15 determining whether the detection of the variation amount is resumed; a variation amount storage means 12 storing information about the variation amount in a nonvolatile storage medium; and a variation amount calculation means 13 calculating the variation amount after resuming detection based on the change of the variation amount before interruption. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a wheel turning control device that controls wheel turning while estimating a wheel turning amount based on detection of a relative fluctuation amount in a driving amount of an actuator for turning a wheel, and more particularly to an actuator. The present invention relates to a wheel steering control device that can eliminate a divergence between an actual variation amount of an actuator and a detected variation amount that occurs when detection of the variation amount is interrupted even though the driving of the motor is not stopped.

  Conventionally, a four-wheel steering device having a steering device that steers front wheels and a rear wheel steering device that steers rear wheels in accordance with a front wheel steering angle is known (see, for example, Patent Document 1).

This four-wheel steering device includes a storage means for storing the front wheel turning angle detected by the pulse count type pickup sensor for detecting the front wheel turning angle before the ignition is turned off during the ignition off, Means for setting the front wheel turning angle stored in the means to the initial value of the counter in the pickup sensor at the next ignition on, so that the front wheel turning angle cannot be specified at the next ignition on. Is preventing.
Japanese Patent Publication No. 4-53751

  However, in the four-wheel steering device described in Patent Document 1, when the front wheel turning angle is changed, the front wheel turning angle of the front wheel turning angle due to the pickup sensor is stopped due to the stop of power supply to the pickup sensor or the failure of the pickup sensor. When the detection is temporarily interrupted, a deviation occurs between the detected front wheel turning angle and the actual front wheel turning angle, and the detected value of the front wheel turning angle is different from the actual front wheel turning angle. In response, the rear wheels may be steered. This is because if the output of the pickup sensor is temporarily interrupted while the front wheels are turning, the change in the front wheel turning angle during the interruption period cannot be counted.

  In view of the above points, the present invention provides a divergence between the actual variation amount and the detected variation amount when detection of variation in the drive amount is interrupted while the wheel steering actuator is being driven. It aims at providing the wheel steering control device which can cancel.

  In order to achieve the above-described object, a wheel turning control device according to the first invention includes a fluctuation amount detecting means for detecting a relative fluctuation amount in the driving amount of an actuator for turning a wheel, and the fluctuation amount detection. A wheel turning control device comprising wheel turning control means for controlling the turning of the wheel while estimating the turning amount of the wheel based on the fluctuation amount detected by the means, wherein the fluctuation amount by the fluctuation amount detection means Non-volatile storage of information regarding fluctuation amount, interruption determination means for determining whether detection of the change is interrupted, restart determination means for determining whether detection of fluctuation amount by the fluctuation amount detection means is resumed, or A fluctuation amount storage means for storing in the medium; and a fluctuation amount calculation means for calculating a fluctuation amount after resumption of detection based on a transition of the fluctuation amount before the interruption detected by the fluctuation amount detection means. The measure is that the amount of fluctuation is detected When it is determined that the change amount is detected, the fluctuation amount before the interruption detected by the fluctuation amount detection unit is stored, and when the fluctuation amount calculation unit determines that the detection of the fluctuation amount is restarted, the detection restart is performed. The wheel steering control means estimates the wheel turning amount based on the calculated fluctuation amount after restarting when it is determined that the detection of the fluctuation amount is resumed. It is characterized by doing.

  Further, the wheel turning control device according to the second invention includes a fluctuation amount detecting means for detecting a relative fluctuation amount in the driving amount of the actuator for turning the wheel, and the fluctuation amount detected by the fluctuation amount detecting means. A wheel steering control device comprising wheel steering control means for controlling wheel steering while estimating a wheel turning amount based on whether the detection of the fluctuation amount by the fluctuation amount detection means is interrupted. Interruption determination means for determining whether or not, restart determination means for determining whether or not detection of the fluctuation amount by the fluctuation amount detection means is resumed, and fluctuation amount storage for storing information relating to the fluctuation amount in a nonvolatile storage medium And a fluctuation amount calculating means for calculating a fluctuation amount after resumption of detection based on a transition of the fluctuation amount before interruption detected by the fluctuation amount detecting means, wherein the fluctuation amount calculating means detects the fluctuation amount. When it is determined that Then, the fluctuation amount after the detection restart is calculated, and the fluctuation amount storage means stores the fluctuation amount after the detection restart calculated by the fluctuation amount calculation means when it is determined that the detection of the fluctuation amount is interrupted. The wheel turning control means estimates the wheel turning amount based on the calculated amount of change after resuming the detection when it is determined that the detection of the amount of change is resumed. .

  By the above-described means, the present invention can provide a divergence between the actual fluctuation amount and the detected fluctuation amount when detection of fluctuation in the driving amount is interrupted while the wheel steering actuator is being driven. A wheel steering control device that can be eliminated can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration example of a wheel steering control device according to the present invention. A wheel steering control device 100 is an in-vehicle device for controlling the steering angle of a rear wheel according to a vehicle state. The control unit 1, the vehicle state detection sensor 2, the drive amount detection sensor 3, the ignition switch 4, and the rear wheel steering actuator 5 are connected to each of these components via an in-vehicle LAN such as CAN or LIN. To do.

  The control unit 1 is a computer including a CPU, a RAM, a ROM, an NVRAM, an EEPROM, and the like. For example, the fluctuation amount detection means 10, the wheel steering control means 11, the fluctuation amount storage means 12, the fluctuation amount calculation means 13, While storing programs corresponding to each of the interruption determination unit 14 and the restart determination unit 15 in the ROM, the CPU is caused to execute processing corresponding to each unit.

  The vehicle state detection sensor 2 is a sensor for detecting the state of the vehicle, and is, for example, a steering angle sensor, a wheel speed sensor, a yaw rate sensor, and the like, and outputs detected values to the control unit 1.

  The drive amount detection sensor 3 is a sensor for detecting the drive amount of the rear-wheel steering actuator 5, for example, a pulse count type relative angle sensor that detects a change in the rotation angle of the electric motor. The value is output to the control unit 1.

  The ignition switch 4 is a device for switching the ignition on and off, and outputs an on signal or an off signal to the control unit 1.

  The rear-wheel steering actuator 5 is an actuator for turning the rear wheel, and is, for example, an electric motor, which converts the rotational force of the electric motor into the axial movement of the rack shaft and is connected to the rack shaft. The tie rod to be moved is moved in the vehicle width direction, and the knuckle arm connected to the tie rod is turned to steer the wheel.

  The rear-wheel steering actuator 5 realizes the target drive amount (the target rotation angle in the electric motor) in accordance with a control signal (a signal indicating the target drive amount) transmitted from the control unit 1. To work.

  Next, various units included in the control unit 1 will be described.

  The fluctuation amount detection means 10 is a means for detecting a relative fluctuation amount with respect to a predetermined reference in the driving amount of the rear wheel steering actuator 5, for example, rotation of the electric motor when the rear wheel is in a neutral state. Using the angle as a reference, a relative rotation angle fluctuation amount from the reference is detected based on the output of the drive amount detection sensor 3. Whether or not the rear wheel is in a neutral state is determined, for example, by reading a magnetic field generated by a magnet installed on the rack shaft and moving in the vehicle width direction together with the rack with an MR element.

  The wheel steering control means 11 determines a target drive amount based on information output from the vehicle state detection sensor 2, and outputs a control signal including the target drive amount to the rear wheel steering actuator 5 to output the wheel. It is a means to control the steering of.

  For example, when the wheel steering control unit 11 detects that the vehicle is steered to the right at a low speed based on the outputs of the steering angle sensor and the wheel speed sensor, the rear wheel is reversed with respect to the front wheel. By turning (antiphase control), a small turning radius is realized.

  Further, the wheel steering control means 11 steers the rear wheel in the same direction as the front wheel when it detects that the vehicle is steered to the left at a high speed based on the outputs of the steering angle sensor and the wheel speed sensor. By doing so (same phase control), smooth lane change without phase delay is realized.

  Further, the wheel turning control means 11 estimates the driving amount of the rear wheel turning actuator 5 and thus the turning amount of the wheel based on the fluctuation amount detected by the fluctuation amount detecting means 10, and the driving amount of the steering actuator 5. The steering of the wheel is controlled while monitoring whether or not the vehicle has reached the target drive amount.

  The fluctuation amount storage means 12 is means for storing information on the fluctuation amount in a nonvolatile storage medium. For example, the fluctuation amount detected at a predetermined sampling rate is a nonvolatile storage medium such as NVRAM or EEPROM of the control unit 1. To remember.

  Further, the information regarding the fluctuation amount is calculated by the rotation angular velocity or the rear wheel turning angle calculated based on the rotation angle fluctuation amount with respect to the neutral state of the electric motor detected by the fluctuation amount detection means 10 or the fluctuation amount calculation means 13. The amount of fluctuation after correction (described later) is included.

  The fluctuation amount calculation means 13 is a means for calculating the subsequent fluctuation amount based on the transition of the fluctuation amount detected by the fluctuation amount detection means 10. For example, the fluctuation amount detection means 10 temporarily detects the fluctuation amount. The amount of change in the state where the deviation from the actual amount of change after the resumption of detection has been resolved based on the change in the amount of change immediately before the interruption occurs (hereinafter referred to as “corrected amount of change”). Is calculated).

  Specifically, the fluctuation amount calculation means 13 is the fluctuation speed of the fluctuation amount immediately before the interruption occurs (for example, the difference between the fluctuation amount sampled at a predetermined time point and the fluctuation amount sampled immediately before that). , “The fluctuation speed before interruption”) is calculated, and the fluctuation amount when the fluctuation speed becomes zero based on the fluctuation speed before interruption (the fluctuation amount including the fluctuation amount that is not actually counted). Calculated as the amount of fluctuation after correction. For example, the fluctuation amount calculation means 13 uses a predetermined constant (a value representing the time required for the fluctuation to stop, stored in advance in a ROM or the like according to the fluctuation speed) as the fluctuation speed before interruption. Multiply to calculate the corrected variation. Note that the corrected fluctuation amount corresponding to the fluctuation speed may be stored in the ROM or the like in advance.

  In addition, the fluctuation amount calculation means 13 is the fluctuation speed at the time when the detection of the fluctuation quantity is resumed by the interrupted fluctuation quantity detection means 10 (for example, one sampled after the restart of detection). This is the difference between the amount of fluctuation of the eye and the amount of fluctuation of the second, and is referred to as “variation speed after restart”.) Based on the speed difference between the fluctuation speed before interruption and the fluctuation speed after restart Then, a fluctuation amount that has not been counted in the interruption period, and in other words, a fluctuation amount after correction in a state where the deviation from the actual fluctuation amount after the detection is resumed is eliminated. For example, the fluctuation amount calculation means 13 may calculate the corrected fluctuation amount by multiplying the speed difference between the fluctuation speed before interruption and the fluctuation speed after restart by the length of the interruption period.

  The interruption determination unit 14 is a unit for determining whether or not the detection of the fluctuation amount by the fluctuation amount detection unit 10 is interrupted. For example, when the power supply voltage drops below a threshold value, the fluctuation amount detection unit 10 is detected. It is determined that the detection of the fluctuation amount by is interrupted.

  The interruption determination means 14 interrupts detection of the fluctuation amount when it is detected that the ignition is turned off based on the output of the ignition switch 4 or when the engine is stopped. May be determined.

  The restart determination unit 15 is a unit for determining whether or not the detection of the variation amount by the suspended variation amount detection unit 10 has been resumed. For example, the restart determination unit 15 is suspended when the power supply voltage reaches a threshold value or more. It is determined that the detection of the fluctuation amount by the fluctuation amount detection means 10 has been resumed.

  Further, when the restart determination means 15 detects that the ignition is turned on based on the output of the ignition switch 4 or when it detects that the engine is started, the detection of the suspended fluctuation amount is resumed. You may determine that it was done.

  Specifically, when the wheel steering control device 100 determines that the power supply voltage falls below the threshold value and the interruption determination unit 14 determines that the detection of the fluctuation amount is interrupted, the fluctuation amount storage unit 12 causes the fluctuation amount detection unit to The most recent variation detected by 10 is stored in the EEPROM.

  After that, when the wheel turning control device 100 determines that the power supply voltage has recovered to the threshold value or more and the detection of the fluctuation amount has been restarted by the restart determination means 15, the fluctuation amount calculation means 13 causes the pre-interruption stored in the EEPROM. The fluctuation rate before interruption is calculated with reference to the change amount of the fluctuation amount, and the fluctuation rate after restart is calculated based on the fluctuation amount newly detected by the fluctuation amount detection means 10.

  After that, the wheel steering control device 100 calculates the uncounted variation amount in the suspension period based on the speed difference between the variation speed before the suspension and the variation speed after the restart by the variation amount calculation means 13, The corrected fluctuation amount is derived by adding the fluctuation amount not counted in the interruption period to the fluctuation amount detected before. This is because the continuity of the fluctuation amount from before the interruption is maintained by monitoring the fluctuation amount based on the corrected fluctuation amount after the detection of the fluctuation amount is resumed.

  Thereafter, the wheel steering control device 100 continues the steering control of the rear wheels by the wheel steering control means 11 while estimating the steering angle of the rear wheels based on the corrected fluctuation amount.

  Alternatively, if the wheel turning control device 100 determines that the ignition switch 4 is turned off and the detection of the fluctuation amount is interrupted by the interruption determination means 14, the fluctuation amount storage means 12 causes the fluctuation amount calculation means 13 to change the fluctuation speed before interruption. The post-correction fluctuation amount calculated based only on is stored in the EEPROM.

  After that, when the wheel steering control device 100 determines that the ignition switch 4 is turned on and the detection of the fluctuation amount is restarted by the restart determination means 15, the wheel steering control means 11 sets the corrected fluctuation amount stored in the EEPROM. The steering control of the rear wheel is continued while the steering angle of the rear wheel is estimated based on the read and corrected fluctuation amount.

  When the detection of the fluctuation amount is interrupted by turning off the ignition switch 4, it is clear that the vehicle and the rear wheel steering actuator 5 are stopped, so there is no need to calculate the fluctuation speed after the restart. This is because the corrected fluctuation amount can be calculated and stored in the EEPROM before detection is interrupted.

  In this case, by storing the corrected fluctuation amount in the EEPROM before the detection of the fluctuation amount is interrupted, the necessary capacity of the EEPROM can be reduced. Even in this case, the corrected fluctuation amount may be calculated after the detection of the fluctuation amount is resumed.

  Next, a process in which the wheel steering control device 100 controls the steering angle of the rear wheel according to the vehicle state (hereinafter referred to as “rear wheel steering control process”) will be described with reference to FIG. FIG. 2 is a flowchart showing the flow of the rear wheel steering control process, and the wheel steering control device 100 repeatedly executes the rear wheel steering control process when an interrupt flag (initial setting: off) described later is off. It shall be.

  First, the control unit 1 receives the output of the drive amount detection sensor 3 (relative angle sensor) by the variation amount detection means 10 and receives the output of the rotational angle variation of the rear wheel steering actuator 5 (motor) (relative to the neutral position). Is detected (step S1), and the detected value is stored in the RAM.

  Thereafter, the control unit 1 calculates a rear wheel turning angle corresponding to the detected rotation angle variation (step S2), and the wheel turning control means 11 matches the calculated rear wheel turning angle with the target turning angle. The current supplied to the motor is feedback controlled so as to cause the current to flow (step S3). It is assumed that the target turning angle has already been calculated based on the output of the vehicle state detection sensor 2.

  Thereafter, the control unit 1 determines whether or not the power supply voltage is less than the threshold value T1 by the interruption determination unit 14 (step S4), and the detection of the rotation angle fluctuation amount by the relative angle sensor is interrupted and detected. It is determined whether or not there is a possibility of a divergence between the fluctuation amount and the actual fluctuation amount.

  If it is determined that the power supply voltage is equal to or higher than the threshold value T1 (NO in step S4), the control unit 1 again determines that there is no possibility of a divergence between the detected variation amount and the actual variation amount. Step 3 is executed, and the control by the wheel turning control means 11 is continued.

  On the other hand, when it is determined that the power supply voltage is less than the threshold value T1 (YES in step S4), the control unit 1 may not function in the near future in the relative angle sensor or the control unit 1 itself. The interruption flag is set to ON (step S5) because there is a possibility that a difference between the actual fluctuation amount and the actual fluctuation amount may occur.

  Thereafter, the control unit 1 reads the immediately preceding two rotation angle fluctuation amounts from the RAM by the fluctuation amount calculation means 13 and calculates the rotation angular velocity of the motor (step S6). The calculated rear wheel turning angle and the rotational angular velocity of the motor are associated with each other and stored in the EEPROM (step S7).

  In this way, the wheel steering control device 100 can control the wheel steering before the power supply voltage further decreases and the relative angle sensor cannot detect the rotation angle fluctuation amount or the power supply voltage further decreases. Before all the functions of the device 100 stop, necessary values are allowed to be avoided in the nonvolatile storage medium.

  Next, referring to FIG. 3, the wheel steering control device 100 corrects the detected fluctuation amount in order to eliminate the deviation between the detected fluctuation amount and the actual fluctuation amount (hereinafter, referred to as “the following”). The “variation amount correction process” will be described. FIG. 3 is a flowchart showing the flow of the fluctuation amount correction process, and the wheel turning control device 100 repeatedly executes the fluctuation amount correction process when the interruption flag is on.

  First, the control unit 1 determines whether or not the power supply voltage is equal to or higher than the threshold T1 by the restart determination unit 15 (step S10), and determines whether or not the detection of the rotation angle variation by the relative angle sensor is restarted. judge.

  When it is determined that the power supply voltage is less than the threshold value T1 (NO in step S10), the control unit 1 does not set the interruption flag to OFF, that is, does not restart the rear wheel steering control process, and performs the variation amount correction process. End.

  On the other hand, when it is determined that the power supply voltage is equal to or higher than the threshold value T1 (YES in step S10), the control unit 1 reads the rear wheel turning angle and the rotational angular velocity of the motor stored in the EEPROM by the fluctuation amount calculation means 13. (Step S11) In the period in which the detection of the rotation angle fluctuation amount by the relative angle sensor is interrupted, the motor that should be stopped when the detection is interrupted is not counted due to unintentional movement due to inertial force. The corrected fluctuation amount including the rotation angle fluctuation amount is calculated, and the rear wheel turning angle is corrected based on the corrected fluctuation amount (step S12).

  Thereafter, the control unit 1 sets the interruption flag to OFF (step S13), allows the rear wheel steering control process to be restarted, and ends the fluctuation amount correction process.

  When the wheel steering control device 100 determines that the detection of the fluctuation amount is interrupted in the rear wheel steering control processing, the wheel steering control device 100 associates the most recently calculated rear wheel steering angle with the rotational angular velocity of the motor in the EEPROM. However, in the rear wheel steering control process, the two most recent rotation angle fluctuation amounts may be stored in the EEPROM, and the rotation angular speed of the motor may be calculated in the fluctuation amount correction process.

  This is to prevent the calculation load from increasing when the detection of the rotation angle fluctuation amount by the relative angle sensor or the operation of the wheel steering control device 100 itself is about to be interrupted, and the rotation angle by the relative angle sensor. This is because the rotational angle fluctuation amount detected immediately before the detection of the fluctuation amount and the operation of the wheel steering control device 100 itself is interrupted can be reliably stored in the EEPROM.

  On the other hand, the wheel turning control device 100 reads the rear wheel turning angle and the rotational angular velocity of the motor stored in the EEPROM in the wheel turning control processing by the variation amount correction processing, calculates the corrected variation amount, and then performs the rear wheel rotation. The steering angle is corrected, but calculation of the corrected fluctuation amount is terminated in the rear wheel steering control processing, and the rear wheel steering control processing is calculated instead of storing the rear wheel steering angle and the rotational angular velocity of the motor in the EEPROM. The corrected fluctuation amount may be stored in the EEPROM.

  This is to reduce the necessary capacity of the EEPROM, and to enable the execution of the rear wheel steering control process to be started earlier after restarting the detection.

  With the above configuration, the wheel turning control device 100 is temporarily detected by detecting the amount of change of the rear wheel turning actuator 5 by the driving amount detection sensor 3 due to the turning-off operation of the ignition switch 4 or the reduction of the power supply voltage. Even if there is a divergence between the actual fluctuation amount and the actual fluctuation amount, the deviation is resolved by calculating the corrected fluctuation amount based on the change of the fluctuation amount immediately before the divergence occurs. And the continuity of the detected variation can be maintained.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the wheel steering control device 100 eliminates the divergence between the actual fluctuation amount of the rear wheel steering actuator 5 and the detected fluctuation amount that occur during the rear wheel steering control. The actual rotation angle of the front wheel steering motor and the detected rotation angle that occur when steering control of the front wheels is performed while detecting the rotation angle of the front wheel steering motor using a relative angle sensor. May be used to eliminate the divergence between the two.

It is a block diagram which shows the structural example of the wheel steering control apparatus which concerns on this invention. It is a flowchart which shows the flow of a rear-wheel steering control process. It is a flowchart which shows the flow of a fluctuation amount correction process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2 Vehicle state detection sensor 3 Drive amount detection sensor 4 Ignition switch 5 Rear wheel steering actuator 10 Fluctuation amount detection means 11 Wheel turning control means 12 Fluctuation amount storage means 13 Fluctuation amount calculation means 14 Interruption determination means 15 Resumption determination Means 100 Wheel Steering Control Device

Claims (2)

Fluctuation amount detecting means for detecting a relative fluctuation amount in the driving amount of the actuator for turning the wheel, and turning the wheel while estimating the turning amount of the wheel based on the fluctuation amount detected by the fluctuation amount detecting means. A wheel steering control device comprising wheel steering control means for controlling
Interruption determination means for determining whether or not the detection of the fluctuation amount by the fluctuation amount detection means is interrupted;
Restart determination means for determining whether or not the detection of the fluctuation amount by the fluctuation amount detection means is resumed;
Fluctuation amount storage means for storing information on the fluctuation amount in a nonvolatile storage medium;
A fluctuation amount calculating means for calculating a fluctuation amount after resumption of detection based on a transition of the fluctuation amount before interruption detected by the fluctuation amount detecting means,
The fluctuation amount storage means stores the fluctuation amount before interruption detected by the fluctuation amount detection means when it is determined that the detection of fluctuation amount is interrupted,
The fluctuation amount calculating means calculates the fluctuation amount after the detection restart when it is determined that the detection of the fluctuation amount is resumed,
When it is determined that the detection of the fluctuation amount is resumed, the wheel turning control means estimates the steering amount of the wheel based on the calculated fluctuation amount after the restart of detection.
A wheel steering control device characterized by that. Fluctuation amount detecting means for detecting a relative fluctuation amount in the driving amount of the actuator for turning the wheel, and turning the wheel while estimating the turning amount of the wheel based on the fluctuation amount detected by the fluctuation amount detecting means. A wheel steering control device comprising wheel steering control means for controlling
Interruption determination means for determining whether or not the detection of the fluctuation amount by the fluctuation amount detection means is interrupted;
Restart determination means for determining whether or not the detection of the fluctuation amount by the fluctuation amount detection means is resumed;
Fluctuation amount storage means for storing information on the fluctuation amount in a nonvolatile storage medium;
A fluctuation amount calculating means for calculating a fluctuation amount after resumption of detection based on a transition of the fluctuation amount before interruption detected by the fluctuation amount detecting means,
The fluctuation amount calculating means calculates the fluctuation amount after restarting the detection when it is determined that the detection of the fluctuation amount is interrupted,
The fluctuation amount storage means stores the fluctuation amount after the detection restart calculated by the fluctuation amount calculation means when it is determined that the detection of the fluctuation amount is interrupted,
The wheel steering control means, when it is determined that the detection of the fluctuation amount is resumed, estimates the steering amount of the wheel based on the calculated fluctuation amount after the detection restart,
A wheel steering control device characterized by that.

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