Steering control device and steering control method
Provided is a steering control device and a steering control method that can suppress the deterioration of the turning responsiveness at the initial stage of steering that may occur in a four-wheel steering vehicle and improve the steering stability when the front and rear wheels of the four-wheel steering vehicle are controlled in the same phase. A steering control device 1 of a vehicle that controls a rear wheel steering angle based on a front wheel steering angle includes a control unit 19 that controls an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a second steering section where an absolute value of the front wheel steering angle is constant and/or decreases by a time to be larger than an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a first steering section where the absolute value of the front wheel steering angle increases by a time.
1. A steering control device of a vehicle that controls a rear wheel steering angle based on a front wheel steering angle, comprising:
a control unit that controls an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a second steering section where an absolute value of the front wheel steering angle is constant and/or decreases by a time to be larger than an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a first steering section where the absolute value of the front wheel steering angle increases by a time.
2. The steering control device according to claim 1 ,
wherein, in the first steering section, the control unit adjusts the amount of change in the rear wheel steering angle to be larger in a region where an acceleration of a change in an absolute value of the front wheel steering angle is negative than in a positive region.
3. The steering control device according to claim 1 ,
wherein the control unit changes the rear wheel steering angle to follow the front wheel steering angle in the second steering section.
4. The steering control device according to claim 2 ,
wherein the control unit includes
a rear wheel steering angle calculation unit that calculates the rear wheel steering angle by multiplying the front wheel steering angle by a proportional gain, and
wherein, in the first steering section, the proportional gain changes to be large as an absolute value of the steering angle changes to a region where the absolute value is large rather than a region where the absolute value is small.
5. The steering control device according to claim 4 ,
wherein the proportional gain is a constant value in the second steering section.
6. The steering control device according to claim 1 ,
wherein the control unit includes
a rear wheel steering angle calculation unit that obtains a moment control amount by multiplying a front wheel steering angular speed of the front wheel steering angle by a proportional gain, and calculates the rear wheel steering angle based on the obtained moment control amount.
7. The steering control device according to claim 6 ,
wherein the control unit includes
a steering angular speed calculation unit that obtains a front wheel steering angular speed of the front wheel steering angle based on the front wheel steering angle and a vehicle speed of the vehicle.
8. A steering control method of a vehicle that controls a rear wheel steering angle based on a front wheel steering angle, comprising:
controlling an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a second steering section where an absolute value of the front wheel steering angle is constant and/or decreases by a time to be larger than an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a first steering section where the absolute value of the front wheel steering angle increases by a time.
9. The steering control method according to claim 8 ,
wherein, in the first steering section, the amount of change in the rear wheel steering angle is adjusted to be larger in a region where an acceleration of a change in an absolute value of the front wheel steering angle is negative than in a positive region.
10. The steering control method according to claim 8 ,
wherein the rear wheel steering angle is changed to follow the front wheel steering angle in the second steering section.
11. The steering control method according to claim 9 ,
wherein the rear wheel steering angle is calculated by multiplying the front wheel steering angle by a proportional gain, and
wherein, in the first steering section, the proportional gain changes to be large as an absolute value of the steering angle changes to a region where the absolute value is large rather than a region where the absolute value is small.
12. The steering control method according to claim 11 ,
wherein the proportional gain is a constant value in the second steering section.
13. The steering control method according to claim 8 ,
wherein a moment control amount is obtained by multiplying a front wheel steering angular speed of the front wheel steering angle by a proportional gain, and the rear wheel steering angle is calculated based on the obtained moment control amount.
14. The steering control method according to claim 13 ,
wherein a front wheel steering angular speed of the front wheel steering angle is obtained based on the front wheel steering angle and a vehicle speed of the vehicle.
15. The steering control device according to claim 2 ,
wherein the control unit changes the rear wheel steering angle to follow the front wheel steering angle in the second steering section.
16. The steering control method according to claim 9 ,
wherein the rear wheel steering angle is changed to follow the front wheel steering angle in the second steering section.