Steering control apparatus and a steering apparatus using the same

• US 9,545,949 B2
• Filed: 07/24/2008
• Issued: 01/17/2017
• Est. Priority Date: 11/20/2007
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamazaki, Ippei
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): WHALEN, MICHAEL F
• Application Number:
  US12/675,153
• Publication Number:
  US 20100228440A1
• Time in Patent Office: 3,099 Days
• Field of Search: 701/36, 701 41- 43, 180/402, 180/412, 180/443, 180446-447
• US Class Current: 1/1
• CPC Class Codes: B62D 5/0466 for returning the steering wheel to neutral position
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Abstract

A steering control apparatus includes: a friction torque setting mechanism setting a friction torque value to be applied to a steering based on information representing a status of a vehicle; a target steering angle setting mechanism setting a target steering angle based on the set friction torque value; an adding friction torque setting mechanism setting an adding friction torque based on a deviation between the set target steering angle and a steering angle; and a steering friction torque controller controlling a friction torque applied to the steering by an actuator based on the set adding friction torque.

Claims

1. A steering control apparatus comprising:

a friction torque setting means for setting a friction torque value (Tt) based on information representing a status of a vehicle;

a target steering angle setting means for setting a target steering angle (θ

t);

an adding friction torque setting means for setting an adding friction torque (Tc) at least at a time when the target steering angle (θ

t) is not zero, based on a deviation between the set target steering angle (θ

t) and a steering angle (θ

); and

a steering friction torque controlling means for controlling a friction torque applied to a steering element by an actuator based on the set adding friction torque (Tc)

wherein the target steering angle setting means is configured to set the target steering angle (Θ

t) based on the friction torque value (Tt); and

wherein

the information representing the status of the vehicle includes information representing the steering angle (Θ

), and

in the friction torque setting means, the friction torque value (Tt) set when the steering angle (η

) is a first steering angle is greater than the friction torque value (Tt) set when the steering angle (η

) is a second vehicle steering angle, said second steering angle being smaller than the first steering angle.

2. A steering control apparatus comprising:

a friction torque setting part configured to set a friction torque value (Tt) based on information representing a status of a vehicle;

a target steering angle setting part configured to set a target steering angle (θ

t);

an adding friction torque setting part configured to set an adding friction torque (Tc) at least at a time when the target steering angle (θ

t) is not zero, based on a deviation between the set target steering angle (θ

t) and a steering angle (θ

); and

a steering friction torque controlling part configured to control a friction torque applied to a steering element by an actuator based on the set adding friction torque (Tc)

wherein the target steering angle setting part is configured to set the target steering angle (Θ

t) based on the friction torque value (Tt); and

wherein

the information representing the status of the vehicle includes information representing the steering angle (Θ

), and

in the friction torque setting part, the friction torque value (Tt) set when the steering angle (Θ

) is a first steering angle is greater than the friction torque value (Tt) set when the steering angle (Θ

) is a second vehicle steering angle, said second steering angle being smaller than the first steering angle.

3. The steering control apparatus as claimed in claim 2, wherein

the information representing the status of the vehicle includes information representing a vehicle speed, and

in the friction torque setting part, the friction torque value (Tt) set when the vehicle speed is a first vehicle speed is greater than the friction torque value (Tt) set when the vehicle speed is a second vehicle speed, said second vehicle speed being lower than the first vehicle speed.

4. The steering control apparatus as claimed in claim 2, wherein, in the adding friction torque setting part, the adding friction torque (Tc) is calculated by multiplying the deviation between the set target steering angle (θ

t) and the steering angle (θ

) by a gain.

5. The steering control apparatus as claimed in claim 4, further comprising a filtering part configured to calculate a filtered adding friction torque (Tcf) by low-pass filtering the adding friction torque (Tc) obtained by multiplying the deviation by the gain,

wherein the steering friction torque controlling part controls the friction torque based on the filtered adding friction torque (Tcf) instead of the set adding friction torque (Tc).

6. The steering control apparatus as claimed in claim 5, wherein a cutoff frequency of the low-pass filtering is set to a fixed value which substantially corresponds to a yaw resonance frequency of the vehicle or is varied with the vehicle speed.

7. The steering control apparatus as claimed in claim 4, wherein, in the target steering angle setting part, an upper limit value of the deviation (Δ

) is set by dividing the set friction torque value (Tt) by the gain, and if the deviation obtained by subtracting the steering angle (θ

) from the set target steering angle (θ

t) is greater than the set upper limit value of the deviation (Δ

), the target steering angle (θ

t) is changed to a value (θ

+Δ

) obtained by adding the upper limit value of the deviation (Δ

) to the steering angle (θ

), if the deviation is less than a negative value (−

Δ

) of the set upper limit value of the deviation (Δ

), the target steering angle (θ

t) is changed to a value (θ

−

Δ

) obtained by subtracting the upper limit value of the deviation (Δ

) from the steering angle (θ

), and if an absolute value of the deviation is less than the set upper limit value of the deviation (Δ

), the target steering angle (θ

t) remains unchanged.

8. The steering control apparatus as claimed in claim 2, wherein, in the target steering angle setting part, an upper limit value of the deviation (Δ

) is set based on the set friction torque value (Tt), and if an absolute value of the deviation between the set target steering angle (θ

t) and the steering angle (θ

) is greater than the set upper limit value of the deviation (Δ

), the target steering angle (θ

t) is changed such that the absolute value of the deviation decreases, while if the absolute value of the deviation is less than the set upper limit value of the deviation (Δ

), the target steering angle (θ

t) remains unchanged.

9. The steering control apparatus as claimed in claim 2, further comprising:

a basic steering assist torque calculating part configured to calculate a target steering torque (Ta) based on a steering torque; and

a steering assist torque controlling part configured to control a steering assist torque applied to the steering by the actuator based on the calculated target steering torque (Ta).

10. The steering control apparatus of claim 2, wherein

the target steering angle setting part is configured to set the target steering angle (θ

t) based on the steering angle (θ

), and

wherein, in the adding friction torque setting part, if an absolute value of the deviation between the set target steering angle (θ

t) and the steering angle (θ

) is greater than a predetermined upper limit value of the deviation (Δ

), the set friction torque value (Tt) is set as the adding friction torque (Tc), while if the absolute value of the deviation is less than the predetermined upper limit value of the deviation (Δ

), a torque value less than the set friction torque value (Tt) is set as the adding friction torque (Tc).

11. The steering control apparatus as claimed in claim 10, wherein, in the adding friction torque setting part, if the absolute value of the deviation between the set target steering angle (θ

t) and the steering angle (θ

) is less than the predetermined upper limit value of the deviation (Δ

), a torque value obtained by multiplying the deviation between the set target steering angle (θ

t) and the steering angle (θ

) by a gain is set as the adding friction torque (Tc), said gain being a value (Tt/Δ

obtained by dividing the set friction torque value (Tt) by the predetermined upper limit value of the deviation (Δ

).

12. The steering control apparatus as claimed in claim 10, further comprising a filtering part configured to calculate a filtered adding friction torque (Tcf) by low-pass filtering the set adding friction torque (Tc),

wherein the steering friction torque controlling part controls the friction torque based on the filtered adding friction torque (Tcf) instead of the set adding friction torque (Tc).

13. The steering control apparatus as claimed in claim 10, wherein the predetermined upper limit value of the deviation (Δ

) is a variable value set based on the set friction torque value (Tt).

14. The steering control apparatus as claimed in claim 10, wherein the predetermined upper limit value of the deviation (Δ

) is a fixed value set by dividing the set friction torque value (Tt) by the gain.

15. The steering control apparatus as claimed in claim 10, wherein, in the target steering angle setting part, if the deviation obtained by subtracting the steering angle (θ

) from the set target steering angle (θ

t) is greater than the predetermined upper limit value of the deviation (Δ

), the target steering angle (θ

t) is changed to a value (θ

+Δ

) obtained by adding the upper limit value of the deviation (Δ

) to the steering angle (θ

), if the deviation is less than a negative value (−

Δ

) of the predetermined upper limit value of the deviation (Δ

), the target steering angle (θ

t) is changed to a value (θ

−

Δ

) obtained by subtracting the upper limit value of the deviation (Δ

) from the steering angle (θ

), and if an absolute value of the deviation is less than the predetermined upper limit value of the deviation (Δ

), the target steering angle (θ

t) remains unchanged.

16. The steering control apparatus as claimed in claim 10, further comprising:

a basic steering assist torque calculating part configured to calculate a target steering torque (Ta) based on a steering torque; and

a steering assist torque controlling part configured to control a steering assist torque applied to the steering by the actuator based on the calculated target steering torque (Ta).

17. A steering apparatus used for a vehicle comprising:

a steering control apparatus as claimed in claim 2; and

an electric power steering apparatus including the actuator to be controlled by the steering control apparatus.

18. A steering apparatus used for a vehicle comprising:

a steering control apparatus as claimed in claim 10; and

an electric power steering apparatus including the actuator to be controlled by the steering control apparatus.