Steering control apparatus and method for automotive vehicle
View Patent ↗In steering control apparatus and method for an automotive vehicle, a camera photographs a travel path in a traveling direction of a vehicle, a lateral displacement calculating circuit calculates a lateral displacement of the vehicle with respect to the travel path according to an image of the travel path photographed by the camera, a differentiator calculates a differential value of the lateral displacement, a vehicle speed sensor that detects a vehicle speed, a relative yaw rate calculating section calculates a relative yaw rate with respect to the travel path of the vehicle on the basis of the lateral displacement, the differential value of the lateral displacement, and the vehicle speed, an actuator provides an assistance force for the steering mechanism, and an actuator controlling section drivingly controls the actuator in a direction toward which the relative yaw rate is cancelled on the basis of the relative yaw rate.
1. A steering control apparatus for an automotive vehicle, comprising:
a camera photographing a travel path in a traveling direction of a vehicle;
a lateral displacement calculating circuit that calculates a lateral displacement of the vehicle with respect to the travel path according to an image of the travel path photographed by the camera;
a differentiator that calculates a differential value of the lateral displacement;
a vehicle speed sensor that detects a vehicle speed;
a relative yaw rate calculating section that calculates a relative yaw rate with respect to the travel path of the vehicle on the basis of the lateral displacement, the differential value of the lateral displacement, and the vehicle speed;
an actuator that provides an assistance force for the steering mechanism; and
an actuator controlling section that drivingly controls the actuator in a direction toward which the relative yaw rate is cancelled on the basis of the relative yaw rate,
wherein the actuator controlling section outputs a steering torque command value to the actuator, the steering torque command value being a sum of a steering assistance quantity calculated on the basis of a steering torque and the vehicle speed and a stability direction steering quantity calculated on the basis of the calculated relative yaw rate, and
wherein the actuator controlling section comprises a relative yaw rate controlling section comprising:
a differentiator that differentiates the lateral displacement;
a pseudo differentiation filter constituted by a predetermined forward distance (L) and the vehicle speed; and
a control gain section that provides a control gain in the direction toward which the relative yaw rate extracted from the pseudo differentiation filter is cancelled and outputs the stability direction steering quantity.
2. A steering control apparatus for an automotive vehicle as claimed in claim 1 , wherein the actuator controlling section comprises a steering assistance controlling section that calculates the steering assistance quantity on the basis of a steering torque and the vehicle speed.
3. A steering control apparatus for an automotive vehicle as claimed in claim 2 , wherein the actuator comprises an electrically driven motor of a power steering mechanism of the vehicle.