Steering control device
A steering control device capable of transmitting road surface state to a driver is provided. An ideal vehicle model computes first spring reaction force torque based on a target pinion angle and second spring reaction force torque based on at least lateral acceleration as components of a spring component of a steering assist force. The ideal vehicle model combines the first and second spring reaction force torques with specified proportions of use to compute the spring component. The ideal vehicle model decides the proportions of use of the first and second spring reaction force torques on the basis of a distribution gain set in accordance with the difference value between the first and second spring reaction force torques. The ideal vehicle model increases the proportion of use of the second spring reaction force torque as the difference value between the first and second spring reaction force torques is increased.
1. A steering control device that controls a motor that serves as a generation source for a drive force to be applied to a steering mechanism of a vehicle on the basis of an assist command value computed in accordance with a steering operation, comprising:
a first computation circuit that computes a basic component of the assist command value in accordance with at least steering torque; and
a second computation circuit that computes a compensation component for the basic component through feedback control in which an actual rotational angle of a rotary body that rotates through the steering operation is caused to coincide with a target rotational angle calculated in accordance with the basic component, wherein
the second computation circuit computes, on the basis of at least the target rotational angle, a first reaction force component for the basic component that is used to compute the target rotational angle,
and the second computation circuit computes, on the basis of a state amount that reflects vehicle behavior or a road surface state, a second reaction force component for the basic component that is used to compute the target rotational angle,
and the second computation circuit, in a case where a difference value between the first reaction force component and the second reaction force component is increased, increases a proportion of use of the second reaction force component compared to that before the difference value is increased.
2. The steering control device according to claim 1 , wherein
the second computation circuit increases the proportion of use of the second reaction force component as the difference value between the first reaction force component and the second reaction force component is increased.
3. The steering control device according to claim 1 , wherein
the second computation circuit computes a distribution gain that matches the difference value as a value that indicates a tendency of the difference value to be increased, and decides the proportions of use of the first reaction force component and the second reaction force component on the basis of the distribution gain.
4. The steering control device according to claim 1 , wherein
the second computation circuit computes a distribution gain that matches the difference value as a value that indicates a tendency of the difference value to be increased, computes a distribution gain that matches lateral acceleration, which is an example of the state amount, as a value that indicates a tendency of the lateral acceleration to be increased, and decides the proportions of use of the first reaction force component and the second reaction force component on the basis of a larger one of the distribution gains.
5. The steering control device according to claim 1 , wherein
based on a precondition that the steering mechanism is a steering mechanism of a rack-and-pinion type that has a steering shaft that includes a pinion shaft that serves as the rotary body and a steered shaft that steers steered wheels in conjunction with rotation of the pinion shaft, the motor is an assist motor that generates a steering assist force, which is torque in a same direction as a steering direction, as the drive force.
6. The steering control device according to claim 1 , wherein
based on a precondition that the steering mechanism is a steering mechanism of a steer-by-wire type in which a steering wheel that serves as the rotary body and steered wheels are mechanically decoupled from each other, the motor is a reaction force motor that generates a steering reaction force, which is torque in a direction opposite to a steering direction, as the drive force.