Steering device for vehicle

Abstract

A vehicle steering device of the present invention includes: an electric motor that applies a steering force to a steering mechanism of the vehicle; a first setting unit that sets a target assist torque corresponding to the steering torque; and a second setting unit , which sets a target torque for angle control for making the angle deviation between the target steering angle and the actual steering angle close to zero; and a restriction processing unit (95) which restricts the angle set by the second setting unit a control target torque; a first calculation unit (96) for calculating a target automatic steering torque by using the angle control target torque subjected to the limitation processing by the limitation processing unit; a second calculation unit (97, 98, 99), which calculates the target value of the motor torque of the electric motor, that is, the target motor torque by weighted addition of the target automatic steering torque and the target assist torque corresponding to the value that changes according to the driving input.

Description

technical field [0001] The present invention relates to a steering device for a vehicle that realizes automatic steering control that automatically controls the steering angle and manual steering control (assist control) that manually controls the steering angle using the same electric motor. Background technique [0002] The following Patent Document 1 discloses a vehicle steering device capable of realizing automatic steering control for automatically controlling the steering angle and manual steering control using the same actuator (electric motor). In the invention described in Patent Document 1, the steering torque to be applied to the steering shaft by the actuator (hereinafter, referred to as the target actuator torque T t ) is represented by the following formula (a). [0003] T t =K asst ·T asst +K auto ·T auto …(a) [0004] In the above formula (a), T asst is the target assist torque, T auto is the target steering torque for automatic steering control (her...

AI Technical Summary

Problems solved by technology

However, in the invention described in Patent Document 1, the time from the start to the end of the transition control (transition control time) is always constant, so the transition control time cannot be changed by the driver's steering operation.

Therefore, for example, there is a concern that switching from automatic steering control to manual steering control cannot be quickly performed in an emergency.

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