Steering system and control method for steering system

• US 11,518,431 B2
• Filed: 10/24/2019
• Issued: 12/06/2022
• Est. Priority Date: 10/30/2018
• Status: Active Grant

• Current Assignee: Jtekt Corporation (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Takashima, Toru, Nakano, Yusuke
• Primary Examiner(s): An, Ig T
• Application Number:
  US16/662,556
• Publication Number:
  US 20200130728A1
• Time in Patent Office: 1,139 Days
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 5/0457 characterised by control features of the drive means as such
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence

Abstract

A steering system is configured such that a ratio of a turning angle change amount with respect to a steering angle change amount in a first steering angle area is larger than the ratio of the turning angle change amount with respect to the steering angle change amount in a second steering angle area, and a steering angle in the second steering angle is smaller than the steering angle of the first steering angle area. An electronic control unit of the steering system sets a delay degree of a change in turning angle with respect to a change in steering angle in the first steering angle area to be larger than the delay degree of the change in turning angle with respect to the change in steering angle in the second steering angle area regardless of a turning-over operation or a turning-back operation.

Claims

1. A steering system comprising:

a steering mechanism that turns a steered wheel by a turning motor while not being mechanically connected to a steering member;

a steering angle sensor configured to detect a steering angle of the steering member; and

an electronic control unit configured to;

determine whether the steering angle is in a first steering angle area or a second steering angle area, wherein the first steering angle area includes an end position of the steering member and the second steering angle area includes a neutral position of the steering member;

set a ratio of a turning angle change amount with respect to a steering angle change amount, wherein the ratio in the first steering angle area is larger than the ratio in the second steering angle area;

based on the ratio, convert the steering angle of the steering member into a target turning angle for the steered wheel;

set a delay degree of a change in turning angle with respect to a change in the steering angle in the first steering angle area to be larger than the delay degree of the change in turning angle with respect to the change in the steering angle in the second steering angle area regardless of a turning-over operation or a turning-back operation;

set a cut-off frequency of a low-pass filter depending on the ratio of the turning angle change amount with respect to the steering angle change amount;

obtain a correction target turning angle by passing the target turning angle through the low-pass filter having the set cut-off frequency; and

control the turning motor according to the correction target turning angle.

2. The steering system according to claim 1, wherein

the steering system is configured such that the ratio of the turning angle change amount with respect to the steering angle change amount continuously changes from the second steering angle area to the first steering angle area, and

the electronic control unit is configured such that the delay degree of the change in turning angle with respect to the change in steering angle continuously changes from the second steering angle area to the first steering angle area in the first process.

3. The steering system according to claim 2, wherein

the steering system is configured such that the ratio of the turning angle change amount with respect to the steering angle change amount continuously increases from the second steering angle area to the first steering angle area, and

the electronic control unit is configured such that the delay degree of the change in turning angle with respect to the change in steering angle continuously increases from the second steering angle area to the first steering angle area in the first process.

4. The steering system according to claim 1, wherein

the steering system is configured such that the ratio of the turning angle change amount with respect to the steering angle change amount in a first vehicle speed area is larger than the ratio of the turning angle change amount with respect to the steering angle change amount in a second vehicle speed area, a vehicle speed of the second vehicle speed area being higher than the vehicle speed of the first vehicle speed area, and

the electronic control unit is configured to further perform a second process that includes setting the cut-off frequency of the low-pass filter so that the delay degree of the change in turning angle with respect to the change in steering angle in the first vehicle speed area is larger than the delay degree of the change in turning angle with respect to the change in steering angle in the second vehicle speed area.

5. The steering system according to claim 4, wherein

the steering system is configured such that the ratio of the turning angle change amount with respect to the steering angle change amount continuously changes from the second vehicle speed area to the first vehicle speed area, and

the electronic control unit is configured such that the delay degree of the change in turning angle with respect to the change in steering angle continuously changes from the second vehicle speed area to the first vehicle speed area in the second process.

6. The steering system according to claim 5, wherein

the steering system is configured such that the ratio of the turning angle change amount with respect to the steering angle change amount continuously increases from the second vehicle speed area to the first vehicle speed area, and

the electronic control unit is configured such that the delay degree of the change in turning angle with respect to the change in steering angle continuously increases from the second vehicle speed area to the first vehicle speed area in the second process.

7. A control method for a steering system that includes a steering mechanism that turns a steered wheel by a turning motor while not being mechanically connected to a steering member, a steering angle sensor configured to detect a steering angle of the steering member, and an electronic control unit, the method comprising:

determining whether the steering angle is in a first steering angle area or a second steering angle area, wherein the first steering angle area includes an end position of the steering member and the second steering angle area includes a neutral position of the steering member;

setting, by the electronic control unit, a ratio of a turning angle change amount with respect to a steering angle change amount, wherein the ratio in the first steering angle area is larger than the ratio in the second steering angle area;

based on the ratio, converting the steering angle of the steering member into a target turning angle for the steered wheel;

setting a delay degree of a change in turning angle with respect to a change in the steering angle in the first steering angle area to be larger than a delay degree of a change in turning angle with respect to a change in the steering angle in the second steering angle area by the electronic control unit regardless of a turning-over operation or a turning-back operation;

setting a cut-off frequency of a low-pass filter depending on the ratio of the turning angle change amount with respect to the steering angle change amount;

obtaining a correction target turning angle by passing the target turning angle through a low-pass filter having the set cut-off frequency; and

controlling the turning motor according to the correction target turning angle.