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Vehicular steering controller

A technology for control devices and vehicles, which is applied to vehicle components, automatic steering control components, transportation and packaging, etc., and can solve problems such as user disobedience and steering mismatch

Active Publication Date: 2015-06-03
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result of such a comparison, if it is determined that the difference between the two routes is below the threshold value, the automatic steering may not match the steering intended by the user.
Therefore, when the steering angle of the steering wheel is greater than or equal to a predetermined value, when only the difference between the above-mentioned routes is not more than the threshold value as the execution condition for switching to the automatic steering, the behavior of the vehicle will change with the start of the automatic steering process. May bring users a sense of incongruity

Method used

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Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach ＞

[0056] Hereinafter, a first embodiment of a steering control device for a vehicle will be described with reference to the drawings.

[0057] figure 1 A system according to this embodiment is shown.

[0058] The steering wheel 10 is mechanically connected to a wheel (steering wheel 20 ) via a link 12 , a pinion 16 , and a rack 18 . The gear rod 18 is connected to the electric steering gear 14 . The electric steering gear 14 is a steering assist device for assisting input operations to the steering wheel 10 . In addition, the electric steering gear 14 is also an actuator for steering the tire angle θ with the tire angle θ as a control amount regardless of whether there is an input operation to the steering wheel 10 . The tire angle θ is an angle formed by a plane whose normal line is the axis of the steering wheel 20 and a predetermined direction defined by arbitrary two points of the vehicle. In the present embodiment, the predetermined direction is the front-rear direction...

no. 2 approach ＞

[0097] Hereinafter, regarding the second embodiment, differences from the first embodiment and the like will be mainly described with reference to the drawings.

[0098] In the present embodiment, the integral element is stopped during manual driving. In addition, in the present embodiment, the reliability of the steering control is evaluated in advance when the steering control is executed, and the steering control is not executed when the reliability of the steering control is low.

[0099] Figure 6 Indicates the procedure of the evaluation process of the reliability of the steering control. Figure 6 The shown processing is repeatedly executed by the control device 30 at, for example, a predetermined cycle.

[0100] exist Figure 6 In the series of processes shown, the control device 30 first determines whether or not the vehicle is in the manual driving state (S40). This processing is provided to evaluate the reliability of steering control before switching from manua...

no. 3 approach ＞

[0114] Hereinafter, regarding the third embodiment, differences from the first embodiment and the like will be mainly described with reference to the drawings.

[0115] In the present embodiment, the contribution rate corresponding to the input operation to the steering wheel 10 to the steering torque Trq is gradually decreased and the contribution rate corresponding to the steering angle command value θs* is gradually increased as the steering control is started.

[0116] Figure 8 The sequence of the start processing of the steering control according to this embodiment is shown. This process is repeatedly executed by the control device 30 at, for example, a predetermined cycle. exist Figure 8 The processing shown, for the Figure 4 Parts corresponding to the shown processes are denoted by the same step numbers for convenience of description.

[0117] In this series of processes, when the control device 30 judges in the affirmative in step S26, it starts the steering con...

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Abstract

A vehicular steering controller includes an operating section for operating an actuator for steering-controlling a tire angle, a consistency-determining section, and a contribution ratio-increasing section. When a steering angle of a steering wheel is greater than or equal to a predetermined angle, the consistency-determining section determines whether consistency between first steering of the vehicle corresponding to an input operation performed on the steering wheel and second steering based on the target path is greater than or equal to a predetermined value. When the operating section operates the actuator based on the input operation performed on the steering wheel, the contribution ratio-increasing section increases a contribution ratio in which the target operation amount of the actuator contributes to an actual operation amount of the actuator by the operating section, provided that the consistency is greater than or equal to the predetermined value.

Description

technical field [0001] The present invention relates to a steering control device for a vehicle that calculates an operation amount of an actuator (actuator) for steering to control a tire angle based on a target course of the vehicle. Background technique [0002] Japanese Unexamined Patent Publication No. 2012-51441 discloses a device for automatically switching manual steering to automatic steering. In this device, when the steering angle of the steering wheel by the user reaches a predetermined value or more during automatic steering, automatic steering is switched to manual steering. Thereafter, the device automatically switches manual steering to automatic steering on the condition that the steering angle of the steering wheel is smaller than a predetermined value. This device automatically switches the steering to automatic steering when the difference between the target course and the actual course of the vehicle is equal to or less than a threshold value after the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B62D101/00B62D113/00B62D137/00
CPCB62D6/008B62D15/025
Inventor 藤井祥太
Owner TOYOTA JIDOSHA KK
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