Steering control device
A steering control device ( 200 ) is provided with a end-of-movement reaction force generation unit (an end reaction force control portion ( 20 )). An end reaction force generating current i 2 which act as return a handle toward a straight-ahead position is rapidly generated in the vicinity of an upper and a lower limit of a vehicle wheel steering range. For example, a reaction force motor ( 4 ) may be additionally commanded using a newly generated command current i 2 . Accordingly, an output torque of the reaction force motor ( 4 ) becomes proportional to a new command value i n of an Equation i n =i 1 +i 2 , where i 1 is a current command of a reaction force control portion ( 5 ). As a result of configuring the end-of-movement reaction force generation unit is this manner, for example, it is possible to generate a virtual contact resistance force (a steering reaction force) for a steering angle θ without causing heat build-up, or the like, of a motor, when no physical limit (an end-of-movement of contact point) is provided for a rotation range of a steering wheel (handle).
1. A steering control device including a steering wheel steering mechanism having a steering actuator that imparts a steering reaction force to a steering wheel, and a vehicle wheel steering mechanism having a vehicle wheel steering actuator that drives a vehicle wheel steering shaft, comprising:
a steering angle sensor that detects a steering angle θ of the steering wheel; and
a steering change amount sensor that detects a steering change amount X a in the vehicle wheel steering mechanism;
an end-of-movement reaction force generation unit that respectively generates, in a vicinity of an upper limit point θ E of the steering angle θ and a vicinity of a lower limit point −θ E of the steering angle θ, a virtual contact resistance force that inhibits the steering angle θ from exceeding threshold values of a predetermined permissible range (−θ E ≦θ≦θ E ) of the steering angle θ, based on the steering angle θ, the steering change amount X a or a command value X n for the steering change amount X a ; and
a steering angle threshold value variation unit that dynamically changes the upper limit point θ E and the lower limit point −θ E of the permissible range (−θ E ≦θ≦θ E ), based on a vehicle speed v.
2. The steering control device according to claim 1 , wherein the steering wheel steering mechanism and the vehicle wheel steering mechanism are mechanically separate.
3. A steering control device including a steering wheel steering mechanism having a steering wheel steering actuator that imparts a steering reaction force to a steering wheel, and a vehicle wheel steering mechanism having a vehicle wheel steering actuator that drives a vehicle wheel steering shaft, comprising:
a steering angle sensor that detects a steering angle θ of the steering wheel; and
a steering change amount sensor that detects a steering change amount X a in the vehicle wheel steering mechanism;
position control means for generating a command value I n for the vehicle wheel steering actuator based on the detected steering change amount X a and the detected steering angle θ of the steering wheel;
reaction force control means for generating a reaction force signal i n to the steering wheel steering actuator based on the command value I n ; and
an end-of-movement reaction force generation means for generating, in a vicinity of an upper limit point θ E of the steering angle θ and a vicinity of a lower limit point −θ E of the steering angle θ, a virtual contact resistance force signal,
wherein the steering wheel steering actuator imparts a steering reaction force to the steering wheel based on the sum of the reaction force signal and the virtual contact resistance force signal.
4. The steering control device according to claim 3 , wherein the virtual contact resistance force signal is based on the detected steering angle θ.
5. The steering control device according to claim 3 , wherein the virtual contact resistance force signal is based on the detected steering change amount X a .
6. The steering control device according to claim 3 , wherein the steering wheel steering mechanism and the vehicle wheel steering mechanism are mechanically separate.