Vehicle control device with power steering device
First Claim
1. A vehicle control device including a power steering device which provides an assist torque or a steering angle command to a steering mechanism of a vehicle, the control device comprising:
- compensation steering angle operation means for calculating a compensation steering angle relative to a real steering angle of the steering mechanism;
extraordinary yaw motion detecting means for detecting the occurrence of an extraordinary yaw motion which is not caused by the steering manipulation of the driver;
compensation steering angle altering means for altering the compensation steering angle to suppress or moderate the extraordinary yaw motion; and
real steering angle control means for controlling the compensation steering angle by using the compensation steering angle altering means when the occurrence of the extraordinary yaw motion is detected by the extraordinary yaw motion detecting means.
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Accused Products
Abstract
A vehicle control device incorporating an electric power steering is provided, wherein an extraordinary yaw motion acting on a vehicle is detected and is suppressed or moderated, so that the stability of the vehicle in a straight-ahead steering is improved. The causes of the extraordinary yaw motion are one of lateral wind, asymmetrical surface state of the road, lateral slant of the road and the like. A countermeasure against the extraordinary yaw motion is taken by applying a counter (opposite direction) yaw motion on the vehicle or switching over the control mode from a proportional control to a proportional integral control.
28 Citations
12 Claims
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1. A vehicle control device including a power steering device which provides an assist torque or a steering angle command to a steering mechanism of a vehicle, the control device comprising:
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compensation steering angle operation means for calculating a compensation steering angle relative to a real steering angle of the steering mechanism;
extraordinary yaw motion detecting means for detecting the occurrence of an extraordinary yaw motion which is not caused by the steering manipulation of the driver;
compensation steering angle altering means for altering the compensation steering angle to suppress or moderate the extraordinary yaw motion; and
real steering angle control means for controlling the compensation steering angle by using the compensation steering angle altering means when the occurrence of the extraordinary yaw motion is detected by the extraordinary yaw motion detecting means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification