Steering Control Device for Vehicles
First Claim
1. A vehicle steering control device, comprising:
- a traffic lane recognition means which recognizes a traffic lane of a vehicle;
a positional deviation calculation means which calculates a displacement of a vehicle position from a target position of the traffic lane as a positional deviation based on a recognition result of the traffic lane obtained by the traffic lane recognition means;
an actuator which drives a steering mechanism that can steer steering wheels of the vehicle;
a position correction controlled variable calculation means which calculates a position correction controlled variable which is a controlled variable of the actuator for use in decreasing the positional deviation by using the integral controlled variable calculated by an integration of the positional deviation;
an actuator controlled variable determination means which determines a target controlled variable of the actuator by using the position correction controlled variable; and
an integral element determination means which performs at least one of an integral gain determination process of determining an integral gain by which the positional deviation is multiplied in the integration according to the positional deviation and an integral controlled variable limiting process of limiting the integral controlled variable to within a predetermined range set according to the positional deviation.
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Accused Products
Abstract
A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit (60) which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit (64), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit (62), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit (63) which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).
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Citations
15 Claims
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1. A vehicle steering control device, comprising:
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a traffic lane recognition means which recognizes a traffic lane of a vehicle; a positional deviation calculation means which calculates a displacement of a vehicle position from a target position of the traffic lane as a positional deviation based on a recognition result of the traffic lane obtained by the traffic lane recognition means; an actuator which drives a steering mechanism that can steer steering wheels of the vehicle; a position correction controlled variable calculation means which calculates a position correction controlled variable which is a controlled variable of the actuator for use in decreasing the positional deviation by using the integral controlled variable calculated by an integration of the positional deviation; an actuator controlled variable determination means which determines a target controlled variable of the actuator by using the position correction controlled variable; and an integral element determination means which performs at least one of an integral gain determination process of determining an integral gain by which the positional deviation is multiplied in the integration according to the positional deviation and an integral controlled variable limiting process of limiting the integral controlled variable to within a predetermined range set according to the positional deviation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification