Steering apparatus control apparatus, steering apparatus control method, and steering system
A steering apparatus control apparatus, a steering apparatus control method, and a steering system according to the present invention are applied to a vehicle including a steering apparatus configured to be able to control a steering angle of road wheels independently of an operation quantity of a steering operation input member, compare a target yaw rate based on a physical quantity about a running state of the vehicle and the operation quantity of the steering operation input member with an actual yaw rate based on the physical quantity about the running state of the vehicle, and control a steering actuator in a direction in which a yaw rate of the vehicle is cancelled out such that the actual yaw rate approximates the target yaw rate. In this way, vehicle behavior that agrees with driver intention can be realized.
1 . A steering apparatus control apparatus mounted in a vehicle including a steering apparatus which includes a steering operation input member and a steering device including a steering actuator adding steering force to road wheels of the vehicle, and which is configured to be able to control a steering angle of the road wheels independently of an operation quantity of the steering operation input member, the steering apparatus control apparatus comprising:
a control unit that outputs a control signal to the steering actuator based on a physical quantity relating to the operation quantity of the steering operation input member,
wherein the control unit is configured to:
acquire a physical quantity relating to a running state of the vehicle,
calculate a target yaw rate based on the physical quantity relating to the running state of the vehicle and the operation quantity of the steering operation input member,
when a braking apparatus attached to the vehicle generates braking force, compare an actual yaw rate based on the physical quantity relating to the running state of the vehicle with the target yaw rate, and output a control signal, in a direction in which a yaw rate of the vehicle is cancelled out, to the steering actuator such that the actual yaw rate approximates the target yaw rate, and
when the vehicle is stopping, stop outputting the control signal, in the direction in which the yaw rate of the vehicle is cancelled out, to the steering actuator, and output a control signal for setting the steering angle of the road wheels to a steering angle matching the operation quantity of the steering operation input member to the steering actuator.
2 . The steering apparatus control apparatus according to claim 1 , wherein when the vehicle is stopping, the control unit reduces speed of driving of the steering actuator for setting the steering angle of the road wheels to the steering angle matching the operation quantity of the steering operation input member, compared with the speed of driving when the vehicle is running.
3 . A steering apparatus control apparatus mounted in a vehicle including a steering apparatus which includes a steering operation input member and a steering device including a steering actuator adding steering force to road wheels of the vehicle, and which is configured to be able to control a steering angle of the road wheels independently of an operation quantity of the steering operation input member, the steering apparatus control apparatus comprising:
a control unit that outputs a control signal to the steering actuator based on a physical quantity relating to the operation quantity of the steering operation input member,
wherein the control unit is configured to:
acquire a physical quantity relating to a running state of the vehicle,
calculate a target yaw rate based on the physical quantity relating to the running state of the vehicle and the operation quantity of the steering operation input member, and
when a braking apparatus attached to the vehicle generates braking force, to compare an actual yaw rate based on the physical quantity relating to the running state of the vehicle with the target yaw rate, output a control signal, in a direction in which a yaw rate of the vehicle is cancelled out, to the steering actuator such that the actual yaw rate approximates the target yaw rate, and
vary driving speed for driving the steering actuator in the direction in which the yaw rate of the vehicle is cancelled out, based on deceleration of the vehicle.
4 . A steering apparatus control apparatus mounted in a vehicle including a steering apparatus which includes a steering operation input member and a steering device including a steering actuator adding steering force to road wheels of the vehicle, and which is configured to be able to control a steering angle of the road wheels independently of an operation quantity of the steering operation input member, the steering apparatus control apparatus comprising:
a control unit that outputs a control signal to the steering actuator based on a physical quantity relating to the operation quantity of the steering operation input member,
wherein the control unit is configured to:
acquire a physical quantity relating to a running state of the vehicle,
calculate a target yaw rate based on the physical quantity relating to the running state of the vehicle and the operation quantity of the steering operation input member,
when a braking apparatus attached to the vehicle generates braking force, compare an actual yaw rate based on the physical quantity relating to the running state of the vehicle with the target yaw rate, and to output a control signal, in a direction in which a yaw rate of the vehicle is cancelled out, to the steering actuator such that the actual yaw rate approximates the target yaw rate,
when braking by the braking apparatus ends, stop outputting the control signal, in the direction in which the yaw rate of the vehicle is cancelled out, to the steering actuator, and output a control signal for setting the steering angle of the road wheels to a steering angle matching the operation quantity of the steering operation input member to the steering actuator, and
when the vehicle is running, increase speed of driving of the steering actuator for setting the steering angle of the road wheels to the steering angle matching the operation quantity of the steering operation input member, compared with the speed of driving when the vehicle is stopping.
5 . A steering apparatus control apparatus mounted in a vehicle including a steering apparatus which includes a steering operation input member and a steering device including a steering actuator adding steering force to road wheels of the vehicle, and which is configured to be able to control a steering angle of the road wheels independently of an operation quantity of the steering operation input member, the steering apparatus control apparatus comprising:
a control unit that outputs a control signal to the steering actuator based on a physical quantity relating to the operation quantity of the steering operation input member,
wherein the control unit is configured to:
acquire a physical quantity relating to a running state of the vehicle,
calculate a target yaw rate based on the physical quantity relating to the running state of the vehicle and the operation quantity of the steering operation input member,
compare an actual yaw rate based on the physical quantity relating to the running state of the vehicle with the target yaw rate,
output a control signal, in a direction in which a yaw rate of the vehicle is cancelled out, to the steering actuator such that the actual yaw rate approximates the target yaw rate, and
when an abnormality occurs in the steering device, when acceleration of the vehicle is equal to or greater than a predetermined value, or when vehicle speed of the vehicle is less than a predetermined value, stop outputting the control signal for approximating the actual yaw rate to the target yaw rate to the steering actuator.