STEERING CONTROL DEVICE
First Claim
1. A steering control device that controls a steering system configured such that power transmission is disconnected between a steering unit and a turning unit that turns steered wheels in accordance with a steering force input to the steering unit, the steering control device comprising:
- a steering-side control unit that controls an operation of a steering-side motor that applies a steering reaction force, the steering reaction force being a force against the steering force input to the steering unit;
wherein;
the steering-side control unit includesa steering force component calculation unit that calculates a steering force component that is a force applied in a same direction as a steering torque input to the steering system, anda reaction force component calculation unit that calculates a reaction force component that is a force applied to the steering system in an opposite direction to the steering torque;
the steering-side control unit calculates a target reaction force torque representing a target value of the steering reaction force, based on the steering force component and the reaction force component;
the reaction force component calculation unit includes a restriction reaction force calculation unit that calculates a restriction reaction force for restricting steering that turns the steered wheels in at least one direction when turning of the steered wheels in at least one direction is restricted; and
when turning of the steered wheels in at least one direction is restricted, the steering force component calculation unit makes an absolute value of the steering force component smaller compared to when turning of the steered wheels is not restricted.
1 Assignment
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Accused Products
Abstract
A steering-side control unit includes a steering force component calculation unit that calculates a steering force component, a reaction force component calculation unit that calculates a reaction force component, a target steering angle calculation unit that calculates a target steering angle based on the steering force component and the reaction force component, and a target reaction force torque calculation unit that calculates a target reaction force torque through angle feedback control that makes the steering angle follow the target steering angle. The reaction force component calculation unit includes an end reaction force calculation unit that calculates an end reaction force, and an obstacle contact reaction force calculation unit that calculates an obstacle contact reaction force. When at least one of the end reaction force and the obstacle contact reaction force exceeds a prescribed reaction force, the steering force component calculation unit reduces an absolute value of the steering force component.
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Citations
6 Claims
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1. A steering control device that controls a steering system configured such that power transmission is disconnected between a steering unit and a turning unit that turns steered wheels in accordance with a steering force input to the steering unit, the steering control device comprising:
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a steering-side control unit that controls an operation of a steering-side motor that applies a steering reaction force, the steering reaction force being a force against the steering force input to the steering unit;
wherein;the steering-side control unit includes a steering force component calculation unit that calculates a steering force component that is a force applied in a same direction as a steering torque input to the steering system, and a reaction force component calculation unit that calculates a reaction force component that is a force applied to the steering system in an opposite direction to the steering torque; the steering-side control unit calculates a target reaction force torque representing a target value of the steering reaction force, based on the steering force component and the reaction force component; the reaction force component calculation unit includes a restriction reaction force calculation unit that calculates a restriction reaction force for restricting steering that turns the steered wheels in at least one direction when turning of the steered wheels in at least one direction is restricted; and when turning of the steered wheels in at least one direction is restricted, the steering force component calculation unit makes an absolute value of the steering force component smaller compared to when turning of the steered wheels is not restricted. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification