Steer-by-wire system and control program therefor
Disclosed is a steer-by-wire system and a control program therefor which are capable of preventing a steering handle from being turned excessively. According to the steer-by-wire system and the control program, when drive electric current to a steering actuator is restrained to restrict the steering of steerable road wheels, the steering reaction force to the steering handle is increased thereby to make the steering handle hard or unable to turn further. Thus, the steering handle can be prevented from being turned excessively. Further, when the steering actuator is heated beyond a predetermined temperature, such is judged as the overload on the steering actuator thereby to restrain the drive electric current to the steering actuator. Therefore, it can be obviated that the steering actuator is overheated to suffer failure.
1. A steer-by-wire system comprising:
a steering handle disconnected mechanically from steerable road wheels;
a steering actuator responsive to a drive electric current related to a steering angle of said steering handle, and mechanically connected to said steerable road wheels for steering said steerable road wheels in dependence on the steering angle of said steering handle;
reaction force generating means for applying steering reaction force to said steering handle;
reaction force control means for controllably driving said reaction force generating means; and
drive electric current restraining means for restraining the drive electric current to said steering actuator while the steering actuator is in a state of being overloaded;
wherein said reaction force control means drives said reaction force generating means so the steering reaction force is controlled to correspond to the drive electric current applied to the steering actuator while the drive electric current restraining means does not restrain the drive electric current to said steering actuator, and so that while said drive electric current restraining means restrains the drive electric current to said steering actuator, the steering reaction force is increased to be larger than that corresponding to the drive electric current applied to the steering actuator when the drive electric current restraining means does not restrain the drive electric current to said steering actuator.
2. The steer-by-wire system as set forth in claim 1 , wherein said drive electric current restraining means restrains the drive electric current to said steering actuator while the steering actuator is overloaded as a result of being heated beyond a predetermined temperature.
3. The steer-by-wire system as set forth in claim 1 , further comprising:
state notification means for notifying a vehicle driver of the change of state by making the ratio of the steering angle of said steerable road wheels to the steering angle of said steering handle smaller, while said drive electric current restraining means restrains the drive electric current to said steering actuator, than while the drive electric current restraining means does not restrain the drive electric current to said steering actuator.
4. A control method for a steer-by-wire system having a steering handle disconnected mechanically from steerable road wheels; a steering actuator responsive to a drive electric current related to a steering angle of said steering handle, and mechanically connected to said steerable road wheels for steering said steerable road wheels in dependence on the steering angle of said steering handle; a reaction force generating actuator for applying steering reaction force to said steering handle; reaction force control means for controllably driving said reaction force generating actuator; and drive electric current restraining means for restraining the drive electric current to said steering actuator while the steering actuator is in a state of being overloaded; said control program comprising the steps of:
detecting whether or not said drive electric current restraining means restrains the drive electric current to said steering actuator;
driving said reaction force generating actuator so that said steering reaction force is controlled to correspond to the drive electric current to said steering actuator while said drive electric current restraining means does not restrain the drive electric current to said steering actuator;
driving said reaction force generating actuator so that said steering reaction force is controlled to be increased to be larger than that corresponding to the drive electric current applied to the steering actuator when the drive electric current restraining means does not restrain the drive electric current to said steering actuator, while said drive electric current restraining means restrains the drive electric current to said steering actuator; and
making the ratio of the steering angle of said steerable road wheels to the steering angle of said steering wheel smaller than that when the drive electric current restraining means does not restrain the drive electric current to said steering actuator, while said drive electric current restraining means restrains the drive electric current to said steering actuator.