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Vehicle Steering Controls

A technology of steering control and control device, which is applied in steering control, automatic steering control components, vehicle position/route/altitude control, etc., and can solve the problem that steering characteristics do not change rapidly.

Active Publication Date: 2018-02-16
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Therefore, for example, as disclosed in Patent Document 1 below, it is known that when the steering mode is switched from the automatic steering mode to the manual steering mode, the gain of the automatic steering mode is gradually reduced so that the "steering characteristic" (the rudder of the steering wheel Angle response to changes in steering operation) does not change rapidly

Method used

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  • Vehicle Steering Controls
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Examples

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no. 1 example

[0052] figure 1 A vehicle steering control device 10 according to a first embodiment of the present invention is shown installed in a vehicle 12 . The vehicle steering control device 10 includes a rudder angle variable device 14 and an electronic control device 16 that controls the rudder angle variable device 14, and the electronic control device 16 serves as the rudder angle control device of the present invention. The vehicle 12 includes a left front wheel 18FL and a right front wheel 18FR as steered wheels and a left rear wheel 18RL and a right rear wheel 18RR as non-steered wheels. The left front wheel 18FL and the right front wheel 18FR are turned by an electric power steering (EPS) 22 driven in response to a driver's operation of a steering wheel 20 through a rack 24 and links 26L and 26R.

[0053] The steering wheel 20 as a steering input device is linked to a gear shaft 34 in the electric power steering device 22 through an upper steering shaft 28 , a rudder angle va...

no. 2 example

[0158] Figure 20 is a main routine showing steering control including automatic steering control and termination control in the second embodiment, Figure 21 is a flowchart showing a subroutine for calculating the gain KIka for trajectory control in the second embodiment.

[0159] In this second embodiment, step 600 is based on Figure 21 The flow chart shown in , calculates the gain KIka for trajectory control. Other steps of this embodiment are performed as in the first embodiment described above.

[0160] as from Figure 21 and Figure 8 As understood from the comparison between, in this embodiment, the first gain K1 and the second gain K2 are not calculated, but step 650 starts from Figure 22 The map shown in calculates the modification amount ΔK3 based on the absolute value of the steering angular velocity MAd for calculating the gain KIka for trajectory control. In this case, the modification amount ΔK3 is a negative value, and is calculated to become larger as t...

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Abstract

The present invention relates to a vehicle steering control device. The vehicle steering control device (10) includes a rudder angle variable device (14) and a rudder angle control device, the rudder angle variable device (14) changes the operating position of the steering wheel (20) and the operation of the steering wheel obtained from the rudder angle of the steering wheel The relationship between the positions, the rudder angle control device performs automatic steering control, which controls the rudder angle of the steering wheel by controlling the rudder angle variable device. When the steering mode is switched from the automatic steering mode to the manual execution mode, the rudder angle control device gradually reduces the control gain KIka of the automatic steering mode, and only when the driver performs the steering operation, the magnitude of the deviation between the two operating positions is gradually reduced. decrease.

Description

technical field [0001] The present invention relates to a vehicle steering control device that executes automatic steering control that automatically steers steered wheels for the purpose of trajectory control of the vehicle or the like. Background technique [0002] In vehicles using automatic steering control, the steering mode switches between manual steering mode and automatic steering mode. In the manual steering mode, the rudder angle of the steered wheels is controlled according to the operating position of the steering input device operated by the driver. On the contrary, in the automatic steering mode, the target rudder angle of the steering wheel for automatic steering is calculated, and the rudder angle variable device is controlled so that the rudder angle of the steering wheel becomes the target rudder angle. Thus, the steering mode is switched from the manual steering mode to the automatic steering mode when the predetermined initial condition of the automatic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D113/00
CPCB62D6/001B62D6/007B62D1/286B62D5/008B62D15/025B62D3/126B62D5/0463B62D6/003B62D6/10G05D1/0212
Inventor 光本尚训
Owner TOYOTA JIDOSHA KK
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