Control device and steering device

Abstract

Control device (600) which applies an auxiliary torque or reaction torque to a steering element (410) operated by a driver, the control device (600) comprising: a control variable calculation section (611) configured to calculate a control variable for controlling a quantity of the auxiliary torque or reaction torque, with reference to a steering torque applied to the steering element (410); and a control variable correction section (612) configured to correct the control variable calculated by the control variable calculation section (611) with reference to a vehicle body roll rate (200), a steering element angle (410) and a steering element angular velocity (410), If (i) the steering element (410) is in a reverse steering state, (ii) the steering angular velocity of the steering element (410) or an absolute value thereof is not less than a first predetermined value, and (iii) the roll rate or an absolute value thereof is less than a second predetermined value, the control variable correction section (612) corrects the control variable calculated by the control variable calculation section (611) to increase a reaction force applied to the steering element (410).

Claims

[1] A control device (600) that applies an auxiliary torque or reaction torque to a steering element (410) operated by a driver, the control device (600) comprising: a control variable calculation section (611) configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque with reference to a steering torque applied to the steering member (410); and a control variable correction section (612) configured to correct the control variable calculated by the control variable calculation section (611) with reference to a roll rate of a vehicle body (200), a steering angle of the steering element (410), and a steering angular speed of the steering element (410), when (i) the steering element (410) is in a reverse steering state, (ii) the steering angular velocity of the steering element (410) or an absolute value thereof is not less than a first predetermined value, and (iii) the roll rate or an absolute value thereof is less than a second predetermined value, the control variable correcting section (612) corrects the control variable calculated by the control variable calculating section (611) to increase a reaction force applied to the steering element (410). [2] The control device according to claim 1, further comprising: a roll rate calculation section (673) configured to calculate the roll rate with reference to an acceleration in a longitudinal direction of the vehicle body (200) and an acceleration in a lateral direction of the vehicle body (200). [3] Control device according to claim 2, wherein: the roll rate calculation section (673) further calculates the roll rate with reference to a suspension control variable for controlling a damping force of a suspension (100). [4] Control device according to claim 3, further comprising: a roll direction control section (682) configured to determine a desired control variable for suspension control by executing the roll direction control with reference to the roll rate calculated by the roll rate calculation section (673). [5] Steering device comprising: a steering element (410) operated by a driver; and a steering control section (610) configured to apply an auxiliary torque or reaction torque to the steering element (410), the steering control section (610) comprising: a control variable calculation section (611) configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque with reference to a steering torque applied to the steering member (410); and a control variable correction section (612) configured to correct the control variable calculated by the control variable calculation section (611) with reference to a roll rate of a vehicle body (200), a steering angle of the steering element (410), and a steering angular speed of the steering element (410), when (i) the steering element (410) is in a reverse steering state, (ii) the steering angular velocity of the steering element (410) or an absolute value thereof is not less than a first predetermined value, and (iii) the roll rate or an absolute value thereof is less than a second predetermined value, the control variable correcting section (612) corrects the control variable calculated by the control variable calculating section (611) to increase a reaction force applied to the steering element (410). [6] Steering device according to claim 5, wherein: the roll rate of the vehicle body (200) is referred to when a suspension control variable is calculated by a suspension control section (650) configured to control a damping force of a suspension (100). [7] Steering device according to claim 6, wherein: the steering control section (610) provides a torque signal to the suspension control section (650) indicative of the steering torque applied to the steering element.

Images