Steering control device
First Claim
1. A steering control device including a steering wheel steering mechanism having a steering actuator that imparts a steering reaction force to a steering wheel, and a vehicle wheel steering mechanism having a vehicle wheel steering actuator that drives a vehicle wheel steering shaft, comprising:
- a steering angle sensor that detects a steering angle θ
of the steering wheel; and
a steering change amount sensor that detects a steering change amount Xa in the vehicle wheel steering mechanism;
an end-of-movement reaction force generation unit that respectively generates, in a vicinity of an upper limit point θ
E of the steering angle θ and
a vicinity of a lower limit point −
θ
E of the steering angle θ
, a virtual contact resistance force that inhibits the steering angle θ
from exceeding threshold values of a predetermined permissible range (−
θ
E≦
θ
≦
θ
E) of the steering angle θ
, based on the steering angle θ
, the steering change amount Xa or a command value Xn for the steering change amount Xa; and
a steering angle threshold value variation unit that dynamically changes the upper limit point θ
E and the lower limit point −
θ
E of the permissible range (−
θ
E ≦
θ
≦
θ
E), based on a vehicle speed v.
2 Assignments
0 Petitions
Accused Products
Abstract
A steering control device (200) is provided with a end-of-movement reaction force generation unit (an end reaction force control portion (20)). An end reaction force generating current i2 which act as return a handle toward a straight-ahead position is rapidly generated in the vicinity of an upper and a lower limit of a vehicle wheel steering range. For example, a reaction force motor (4) may be additionally commanded using a newly generated command current i2. Accordingly, an output torque of the reaction force motor (4) becomes proportional to a new command value in of an Equation in=i1+i2, where i1 is a current command of a reaction force control portion (5). As a result of configuring the end-of-movement reaction force generation unit is this manner, for example, it is possible to generate a virtual contact resistance force (a steering reaction force) for a steering angle θ without causing heat build-up, or the like, of a motor, when no physical limit (an end-of-movement of contact point) is provided for a rotation range of a steering wheel (handle).
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Citations
6 Claims
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1. A steering control device including a steering wheel steering mechanism having a steering actuator that imparts a steering reaction force to a steering wheel, and a vehicle wheel steering mechanism having a vehicle wheel steering actuator that drives a vehicle wheel steering shaft, comprising:
-
a steering angle sensor that detects a steering angle θ
of the steering wheel; anda steering change amount sensor that detects a steering change amount Xa in the vehicle wheel steering mechanism; an end-of-movement reaction force generation unit that respectively generates, in a vicinity of an upper limit point θ
E of the steering angle θ and
a vicinity of a lower limit point −
θ
E of the steering angle θ
, a virtual contact resistance force that inhibits the steering angle θ
from exceeding threshold values of a predetermined permissible range (−
θ
E≦
θ
≦
θ
E) of the steering angle θ
, based on the steering angle θ
, the steering change amount Xa or a command value Xn for the steering change amount Xa; anda steering angle threshold value variation unit that dynamically changes the upper limit point θ
E and the lower limit point −
θ
E of the permissible range (−
θ
E ≦
θ
≦
θ
E), based on a vehicle speed v. - View Dependent Claims (2)
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3. A steering control device including a steering wheel steering mechanism having a steering wheel steering actuator that imparts a steering reaction force to a steering wheel, and a vehicle wheel steering mechanism having a vehicle wheel steering actuator that drives a vehicle wheel steering shaft, comprising:
-
a steering angle sensor that detects a steering angle θ
of the steering wheel; anda steering change amount sensor that detects a steering change amount Xa in the vehicle wheel steering mechanism; position control means for generating a command value In for the vehicle wheel steering actuator based on the detected steering change amount Xa and the detected steering angle θ
of the steering wheel;reaction force control means for generating a reaction force signal in to the steering wheel steering actuator based on the command value In; and an end-of-movement reaction force generation means for generating, in a vicinity of an upper limit point θ
E of the steering angle θ and
a vicinity of a lower limit point −
θ
E of the steering angle θ
, a virtual contact resistance force signal,wherein the steering wheel steering actuator imparts a steering reaction force to the steering wheel based on the sum of the reaction force signal and the virtual contact resistance force signal. - View Dependent Claims (4, 5, 6)
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Specification