Steering Control Device

Abstract

A steering control device capable of transmitting road surface state to a driver is provided. An ideal vehicle model computes first spring reaction force torque based on a target pinion angle and second spring reaction force torque based on at least lateral acceleration as components of a spring component of a steering assist force. The ideal vehicle model combines the first and second spring reaction force torques with specified proportions of use to compute the spring component. The ideal vehicle model decides the proportions of use of the first and second spring reaction force torques on the basis of a distribution gain set in accordance with the difference value between the first and second spring reaction force torques. The ideal vehicle model increases the proportion of use of the second spring reaction force torque as the difference value between the first and second spring reaction force torques is increased.

Description

[0001] The disclosure of Japanese Patent Application No. 2016-035522 filed on February 26, 2016, including its specification, drawings and abstract, is hereby incorporated by reference in its entirety. technical field

[0002] The invention relates to a steering control device. Background technique

[0003] Conventionally, there is known an electric power steering apparatus (hereinafter referred to as EPS) that assists a driver's steering by imparting power of a motor to a steering mechanism of a vehicle. As an example of a steering mechanism, there is a so-called rack and pinion type steering mechanism. The rotational motion of the steering shaft is converted into the linear motion of the rack shaft through the meshing of the pinion shaft and the rack shaft, thereby changing the steering angle of the steered wheels. The EPS control device controls the motor based on the detection results of various sensors provided in the vehicle.

[0004] For example, the EPS control dev...

Examples

Embodiment Construction

[0024] Hereinafter, a first embodiment in which the steering control device of the present invention is embodied as an electric power steering device for a vehicle will be described.

[0025] Such as figure 1 As shown, an electric power steering system (EPS) 10 includes a steering mechanism 20 that steers the steering wheel based on a driver's steering operation, a steering assist mechanism 30 that assists the driver's steering operation, and a device that controls the steering assist mechanism 30. The operating ECU (Electronic Control Unit) 40 .

[0026] The steering mechanism 20 includes a steering wheel 21 operated by the driver, and a steering shaft 22 that rotates integrally with the steering wheel 21 . The steering shaft 22 has a column shaft 22a connected to the steering wheel 21, an intermediate shaft 22b connected to the lower end of the column shaft 22a, and a pinion shaft 22c connected to the lower end of the intermediate shaft 22b. The lower end portion of the pi...

[0001] The disclosure of Japanese Patent Application No. 2016-035522 filed on February 26, 2016, including its specification, drawings and abstract, is hereby incorporated by reference in its entirety. technical field

[0002] The invention relates to a steering control device. Background technique

[0003] Conventionally, there is known an electric power steering apparatus (hereinafter referred to as EPS) that assists a driver's steering by imparting power of a motor to a steering mechanism of a vehicle. As an example of a steering mechanism, there is a so-called rack and pinion type steering mechanism. The rotational motion of the steering shaft is converted into the linear motion of the rack shaft through the meshing of the pinion shaft and the rack shaft, thereby changing the steering angle of the steered wheels. The EPS control device controls the motor based on the detection results of various sensors provided in the vehicle.

[0004] For example, the EPS control dev...

Examples

Embodiment Construction

[0024] Hereinafter, a first embodiment in which the steering control device of the present invention is embodied as an electric power steering device for a vehicle will be described.

[0025] Such as figure 1 As shown, an electric power steering system (EPS) 10 includes a steering mechanism 20 that steers the steering wheel based on a driver's steering operation, a steering assist mechanism 30 that assists the driver's steering operation, and a device that controls the steering assist mechanism 30. The operating ECU (Electronic Control Unit) 40 .

[0026] The steering mechanism 20 includes a steering wheel 21 operated by the driver, and a steering shaft 22 that rotates integrally with the steering wheel 21 . The steering shaft 22 has a column shaft 22a connected to the steering wheel 21, an intermediate shaft 22b connected to the lower end of the column shaft 22a, and a pinion shaft 22c connected to the lower end of the intermediate shaft 22b. The lower end portion of the pi...

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