Steering control device, and steering control method
Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque.
1. A steering control device, comprising:
an actuator for applying a steering assist torque to a steering system of a vehicle;
a steering state determination section for determining a steering state of a driver;
a steering assist torque calculation section for calculating the steering assist torque;
a steering assist torque correction section for correcting the steering assist torque depending on a result of the steering state determination section; and
an actuator control section for controlling the actuator depending on the corrected steering assist torque,
wherein the steering assist torque calculation section calculates at least a first steering assist torque, which is to be applied to the actuator in order to improve return characteristics of the steering system, and a second steering assist torque that is smaller than the first steering assist torque,
wherein the steering assist torque correction section comprises:
a switch section for selecting and switching, depending on the result of the steering state determination section, one steering assist torque from among at least the first steering assist torque and the second steering assist torque; and
a filtering section for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques,
wherein the filtering section corrects a change amount of filtering, which is a change amount of a filter output, depending on a change amount of the selected steering assist torque, and
wherein the actuator control section drives the actuator depending on the steering assist torque corrected by the steering assist torque correction section.
2. The steering control device according to claim 1 , wherein the steering assist torque correction section changes a time constant of the filtering depending on the result of the steering state determination section.
3. The steering control device according to claim 1 , further comprising a steering speed detection section for detecting a steering speed of the steering system,
wherein the steering assist torque correction section changes a time constant of the filtering depending on the steering speed.
4. The steering control device according to claim 1 , further comprising a vehicle speed detection section for detecting a vehicle speed of the vehicle,
wherein the steering assist torque correction section changes a time constant of the filtering depending on the vehicle speed.
5. The steering control device according to claim 1 , further comprising a steering torque detection section for detecting a steering torque acting on the steering system of the vehicle,
wherein the steering assist torque correction section changes a time constant of the filtering depending on the steering torque.
6. The steering control device according to claim 1 ,
wherein the steering assist torque calculation section calculates a reference steering assist torque, which is determined based on a steering torque and a vehicle speed; and
wherein the steering assist torque correction section outputs a steering assist torque obtained by correcting the reference steering assist torque with the steering assist torque output from the filtering section.
7. A steering control method, comprising the steps of:
determining a steering state of a driver;
calculating a steering assist torque;
correcting the steering assist torque depending on a result of the steering state determination; and
controlling, based on the corrected steering assist torque, an actuator for applying the steering assist torque to a steering system of a vehicle,
wherein the step of calculating a steering assist torque comprises calculating at least a first steering assist torque, which is to be applied to the actuator in order to improve return characteristics of the steering system, and a second steering assist torque that is smaller than the first steering assist torque,
wherein the step of correcting the steering assist torque comprises selecting and switching, depending on the result of the steering state determination, one steering assist torque from among at least the first steering assist torque and the second steering assist torque, and performing filtering for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques,
wherein the filtering corrects a change amount of the filtering, which is a change amount of a filter output, depending on a change amount of the selected steering assist torque, and
wherein the step of controlling the actuator comprises driving the actuator depending on the steering assist torque corrected in the step of correcting the steering assist torque.
8. The steering control device according to claim 2 ,
wherein the steering assist torque calculation section calculates a reference steering assist torque, which is determined based on a steering torque and a vehicle speed; and
wherein the steering assist torque correction section outputs a steering assist torque obtained by correcting the reference steering assist torque with the steering assist torque output from the filtering section.
9. The steering control device according to claim 3 ,
wherein the steering assist torque calculation section calculates a reference steering assist torque, which is determined based on a steering torque and a vehicle speed; and
wherein the steering assist torque correction section outputs a steering assist torque obtained by correcting the reference steering assist torque with the steering assist torque output from the filtering section.
10. The steering control device according to claim 4 ,
wherein the steering assist torque calculation section calculates a reference steering assist torque, which is determined based on a steering torque and a vehicle speed; and
wherein the steering assist torque correction section outputs a steering assist torque obtained by correcting the reference steering assist torque with the steering assist torque output from the filtering section.
11. The steering control device according to claim 5 ,
wherein the steering assist torque calculation section calculates a reference steering assist torque, which is determined based on a steering torque and a vehicle speed; and
wherein the steering assist torque correction section outputs a steering assist torque obtained by correcting the reference steering assist torque with the steering assist torque output from the filtering section.