Steering control device
The object of the present invention is to provide steering responsiveness and linear steering perception when the steering wheel is restored, even when there is excessive, sudden steering beyond a predetermined tolerance (−θ E ≦θ≦θ E ). If a steering angle θ suddenly enters a “play” range at the left and right ends of the θ−X n plane, the steering direction (turning direction/restoring direction) of the steering wheel can lead to a localized change in the gear ratio (∂X n /∂θ). FIG. 3 is a graph showing an example of this type of hysteresis loop. When a driver tries to get out of the “play” range by turning the steering wheel in the restoring direction, a positive value can be achieved for the localized gear ratio based on the above hysteresis loop even in the “play” range. Thus, based on this arrangement, if the steering angle θ exceeds the tolerance range, the localized gear ratio can be prevented from being continuously 0 when the steering wheel is immediately turned in the restoring direction.
1. In a steering control device equipped with: a turning mechanism including a turning actuator driving a position-controllable turning shaft; and a steering angle sensor detecting a steering angle θ of a steering wheel,
a steering control device comprises:
a turning displacement sensor detecting a turning displacement X (−X E ≦X≦+X E ) in said turning mechanism; and
means for calculating a turning instruction value calculating an instruction value for a turning displacement in said turning mechanism based on said steering angle θ;
wherein:
said turning instruction value calculating means includes means for generating hysteresis characteristics calculating said instruction value X n when an absolute value |θ| of said steering angle θ exceeds a predetermined threshold value θ E corresponding to an upper limit X E of said turning displacement X, said instruction value X n based on:
a vertical axis coordinate corresponding to said steering angle θ on a predetermined hysteresis loop with one side being a section of a line X n =+/−X E on a θ−X n plane; and
a steering direction, either steering direction or restoring direction, of said steering wheel.
2. A steering control device as described in claim 1 wherein a steering mechanism including said steering wheel and said turning mechanism are mechanically separated, and an electrical coupling mechanism substitutes for a connecting mechanism connecting said steering mechanism and said turning mechanism.
3. A steering control device as described in claim 2 further comprising means for setting an endpoint setting a target coordinate for an endpoint P O that closes said hysteresis loop.
4. A steering control device as described in claim 3 wherein said endpoint setting means includes means for varying a target point dynamically varying said target coordinate for said endpoint P O based on a steering velocity ω (=dθ/dt), a steering torque τ, said steering angle θ, said steering direction, or an automobile velocity v.
5. A steering control device as described in claim 4 wherein, using a function f(θ) of said steering angle θ, symmetrical around the origin, and a correction gain G (0<G≦1), said hysteresis loop on said θ−X n plane is formed as a closed curve from said line X n =+/−X E , a curve X n =f(θ), and a curve X n =Gf(θ).
6. A steering control device as described in claim 5 further comprising means for calculating correction gain calculating a value for said correction gain G based on said upper limit X E and said function f(θ).
7. A steering control device as described in claim 3 wherein, using a function f(θ) of said steering angle θ, symmetrical around the origin, and a correction gain G (0<G≦1), said hysteresis loop on said θ−X n plane is formed as a closed curve from said line X n =+/−X E , a curve X n =f(θ), and a curve X n =Gf(θ).
8. A steering control device as described in claim 7 further comprising means for calculating correction gain calculating a value for said correction gain G based on said upper limit X E and said function f(θ).
9. A steering control device as described in claim 2 wherein, using a function f(θ) of said steering angle θ, symmetrical around the origin, and a correction gain G (0<G≦1), said hysteresis loop on said θ−X n plane is formed as a closed curve from said line X n =+/−X E , a curve X n =f(θ), and a curve X n =Gf(θ).
10. A steering control device as described in claim 9 further comprising means for calculating correction gain calculating a value for said correction gain G based on said upper limit X E and said function f(θ).
11. A steering control device as described in claim 2 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θbased on an automobile velocity v.
12. A steering control device as described claim 2 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
13. A steering control device as described in claim 1 further comprising means for setting an endpoint setting a target coordinate for an endpoint P O that closes said hysteresis loop.
14. A steering control device as described in claim 13 wherein said endpoint setting means includes means for varying a target point dynamically varying said target coordinate for said endpoint P O based on a steering velocity ω(=dθ/dt), a steering torque τ, said steering angle θ, said steering direction, or an automobile velocity v.
15. A steering control device as described in claim 14 wherein, using a function f(θ) of said steering angle θ, symmetrical around the origin, and a correction gain G (0<G≦1), said hysteresis loop on said θ−X n plane is formed as a closed curve from said line X n =+/−X E , a curve X n =f(θ), and a curve X n =Gf(θ).
16. A steering control device as described in claim 15 further comprising means for calculating correction gain calculating a value for said correction gain G based on said upper limit X E and said function f(θ).
17. A steering control device as described in claim 14 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
18. A steering control device as described claim 14 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
19. A steering control device as described in claim 13 wherein, using a function f(θ) of said steering angle θ, symmetrical around the origin, and a correction gain G (0<G≦1), said hysteresis loop on said θ−X n plane is formed as a closed curve from said line X n =+/−X E , a curve X n =f(θ), and a curve X n =Gf(θ).
20. A steering control device as described in claim 19 further comprising means for calculating correction gain calculating a value for said correction gain G based on said upper limit X E and said function f(θ).
21. A steering control device as described in claim 13 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
22. A steering control device as described claim 13 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
23. A steering control device as described in claim 1 wherein, using a function f(θ) of said steering angle θ, symmetrical around the origin, and a correction gain G (0<G≦1), said hysteresis loop on said θ−X n plane is formed as a closed curve from said line X n =+/−X E , a curve X n =f(θ), and a curve X n =Gf(θ).
24. A steering control device as described in claim 23 further comprising means for calculating correction gain calculating a value for said correction gain G based on said upper limit X E and said function f(θ).
25. A steering control device as described in claim 24 further comprising means for asymptote normalization monotonically increasing said correction gain G (0<G≦1) in a dynamic manner based on a steering amount S, a steering status, a turning amount Z, or a turning status after initiation of restorative steering having as a starting point said line X n =+/−X E .
26. A steering control device as described in claim 25 wherein said asymptote normalizing means includes means for varying an asymptote rate using a steering velocity ω(=dθ/dt), a steering torque τ, said steering angle θ, said steering direction, or an automobile velocity v, in order to dynamically change an asymptote rate A (≡dG/dS) for said steering amount S of said correction gain G or an asymptote rate B (≡dG/dZ) for said turning amount Z of said correction gain G when said correction gain G (0<G≦1) is being monotonically increased in a dynamic manner.
27. A steering control device as described in claim 26 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
28. A steering control device as described claim 26 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
29. A steering control device as described in claim 24 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
30. A steering control device as described claim 24 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
31. A steering control device as described in claim 23 further comprising means for asymptote normalization monotonically increasing said correction gain G (0<G≦1) in a dynamic manner based on a steering amount S, a steering status, a turning amount Z, or a turning status after initiation of restorative steering having as a starting point said line X n =+/−X E .
32. A steering control device as described in claim 31 wherein said asymptote normalizing means includes means for varying an asymptote rate using a steering velocity ω(=dθ/dt), a steering torque τ, said steering angle θ, said steering direction, or an automobile velocity v, in order to dynamically change an asymptote rate A (≡dG/dS) for said steering amount S of said correction gain G or an asymptote rate B (≡dG/dZ) for said turning amount Z of said correction gain G when said correction gain G (0<G≦1) is being monotonically increased in a dynamic manner.
33. A steering control device as described in claim 31 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
34. A steering control device as described claim 31 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
35. A steering control device as described in claim 23 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
36. A steering control device as described claim 23 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
37. A steering control device as described in claim 1 further comprising means for varying a steering angle threshold dynamically changing upper and lower limits of a predetermined tolerance range (−θ E ≦θ≦θ E ) of said steering angle θ based on an automobile velocity v.
38. A steering control device as described claim 37 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.
39. A steering control device as described claim 1 wherein said steering mechanism includes means for generating endpoint reactions generating, at a vicinity of an upper limit position θ E of said steering angle θ and at a vicinity of a lower limit position −θ E of said steering angle θ, a virtual abutment resistance restricting said steering angle θ from exceeding a predetermined tolerance range (−θ R ≦θ≦θ E ), based on said steering angle θ, said turning displacement X, or an instruction value X n for said turning displacement X.