Vehicle control system, vehicle control method, and electric power steering system

1. A vehicle control system for a vehicle with an electric power steering system,

the electric power steering system comprising:

a steering mechanism configured to turn a steered wheel of a vehicle;

an electric motor configured to apply steering force to the steering mechanism;

a torque sensor configured to detect a steering torque which is generated in the steering mechanism; and

a turning angle detecting section configured to detect a turning angle of the steered wheel,

the vehicle control system for a vehicle, comprising:

an assist torque computing section configured to compute an assist torque corresponding to the steering torque detected by the torque sensor;

an automatic steering torque computing section configured to compute an automatic steering torque for carrying out automatic steering of the steered wheel; and

a section for controlling a motor torque at automatic steering cancellation, which is configured to switch a change rate of the motor torque for approximating the motor torque to the assist torque according to relationship between the motor torque of the electric motor and the assist torque and according to a change in the turning angle detected by the turning angle detecting section, after the automatic steering is cancelled based on the steering torque detected by the torque sensor.

2. The vehicle control system according to claim 1 , comprising:

an automatic steering cancellation determination section configured to determine that the automatic steering is cancelled in a case where the time when the steering torque detected by the torque sensor is larger than a predetermined torque continues for a predetermined period of time or longer than the predetermined period of time

during the automatic steering.

3. The vehicle control system according to claim 2 ,

wherein the section for controlling a motor torque at automatic steering cancellation comprises a change rate switch determination section;

the change rate switch determination section being configured to determine whether change rate switch conditions are satisfied,

the change rate switch conditions including:

that torque difference that is difference between the motor torque after the automatic steering cancellation determination by the automatic steering cancellation determination section and the assist torque is larger than a torque difference threshold value,

that angle difference that is difference between the turning angle after the automatic steering cancellation determination by the automatic steering cancellation determination section and the turning angle during the automatic steering before the cancellation determination is larger than an angle difference threshold value, and

that the torque difference and the angle difference have values with the same sign; and

wherein when the change rate switch determination section determines that the change rate switch conditions are satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the change rate switch determination section determines that the change rate switch conditions are not satisfied.

4. The vehicle control system according to claim 3 ,

wherein the section for controlling a motor torque at automatic steering cancellation comprises a turning angle rate determination section configured to determine whether a turning angle rate condition that the torque difference and a turning angle rate of the steered wheel have values with the same sign is satisfied; and

wherein when the turning angle rate determination section determines that the turning angle rate condition is satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the turning angle rate determination section determines that the turning angle rate condition is not satisfied.

5. The vehicle control system according to claim 2 ,

wherein the section for controlling a motor torque at automatic steering cancellation comprises a change rate switch determination section;

the change rate switch determination section being configured to determine whether change rate switch conditions are satisfied,

the change rate switch conditions including:

that torque difference that is difference between the motor torque after the automatic steering cancellation determination by the automatic steering cancellation determination section and the assist torque is larger than a torque difference threshold value,

that angle difference that is difference between the turning angle after the automatic steering cancellation determination by the automatic steering cancellation determination section and a target turning angle for the automatic steering before the cancellation determination is larger than an angle difference threshold value, and

that the torque difference and the angle difference have values with the same sign; and

wherein when the change rate switch determination section determines that the change rate switch conditions are satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the change rate switch determination section determines that the change rate switch conditions are not satisfied.

6. A vehicle control method for a vehicle with an electric power steering system,

the electric power steering system comprising:

a steering mechanism configured to turn a steered wheel of a vehicle;

an electric motor configured to apply steering force to the steering mechanism;

a torque sensor configured to detect a steering torque which is generated in the steering mechanism; and

a turning angle detecting section configured to detect a turning angle of the steered wheel, the vehicle control method for a vehicle comprising:

an assist torque computing step configured to compute an assist torque corresponding to a steering torque detected by the torque sensor;

an automatic steering torque computing step configured to compute an automatic steering torque for carrying out automatic steering of the steered wheel; and

a step of controlling a motor torque at automatic steering cancellation, which switches a change rate of the motor torque for approximating the motor torque to the assist torque according to relationship between the motor torque of the electric motor and the assist torque and according to a change in the turning angle detected by the turning angle detecting section, after the automatic steering is cancelled based on the steering torque detected by the torque sensor.

7. The vehicle control method according to claim 6 , comprising an automatic steering cancellation determination step configured to determine that the automatic steering is cancelled in a case where the time when the steering torque detected by the torque sensor is larger than a predetermined torque continues for a predetermined period of time or longer than the a predetermined period of time

during the automatic steering.

8. The vehicle control method according to claim 7 ,

wherein the step of controlling a motor torque at automatic steering cancellation comprises a change rate switch determination step;

the change rate switch determination step being configured to determine whether change rate switch conditions are satisfied,

the change rate switch conditions including:

that torque difference that is difference between the motor torque after the automatic steering cancellation determination by the automatic steering cancellation determination step and the assist torque is larger than a torque difference threshold value,

that angle difference that is difference between the turning angle after the automatic steering cancellation determination by the automatic steering cancellation determination step and the turning angle during the automatic steering before the cancellation determination is larger than an angle difference threshold value, and

that the torque difference and the angle difference have values with the same sign; and

wherein when the change rate switch determination step determines that the change rate switch conditions are satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the change rate switch determination step determines that the change rate switch conditions are not satisfied.

9. The vehicle control method according to claim 8 ,

wherein the step of controlling a motor torque at automatic steering cancellation comprises a turning angle rate determination step configured to determine whether a turning angle rate condition that the torque difference and a turning angle rate of the steered wheel have values with the same sign is satisfied; and

wherein when the turning angle rate determination step determines that the turning angle rate condition is satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the turning angle rate determination step determines that the turning angle rate condition is not satisfied.

10. The vehicle control method according to claim 7 ,

wherein the step of controlling a motor torque at automatic steering cancellation comprises a change rate switch determination step;

the change rate switch determination step being configured to determine whether change rate switch conditions are satisfied, the change rate switch conditions including:

that torque difference that is difference between the motor torque after the automatic steering cancellation determination by the automatic steering cancellation determination step and the assist torque is larger than a torque difference threshold value,

that angle difference that is difference between the turning angle after the automatic steering cancellation determination by the automatic steering cancellation determination step and a target turning angle for the automatic steering before the cancellation determination is larger than an angle difference threshold value, and

that the torque difference and the angle difference have values with the same sign; and

wherein when the change rate switch determination step determines that the change rate switch conditions are satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the change rate switch determination step determines that the change rate switch conditions are not satisfied.

11. An electric power steering system comprising:

a steering mechanism configured to turn a steered wheel of a vehicle;

an electric motor configured to apply steering force to the steering mechanism;

a torque sensor configured to detect a steering torque which is generated in the steering mechanism; and

a turning angle detecting section configured to detect a turning angle of the steered wheel,

an assist torque computing section configured to compute an assist torque corresponding to the steering torque detected by the torque sensor;

an automatic steering torque computing section configured to compute an automatic steering torque for carrying out automatic steering of the steered wheel; and

a section for controlling a motor torque at automatic steering cancellation, which is configured to switch a change rate of the motor torque for approximating the motor torque to the assist torque according to relationship between the motor torque of the electric motor and the assist torque and according to a change in the turning angle detected by the turning angle detecting section, after the automatic steering is cancelled based on the steering torque detected by the torque sensor.

12. The electric power steering system according to claim 11 , comprising:

an automatic steering cancellation determination section configured to determine that the automatic steering is cancelled in a case where the time when the steering torque detected by the torque sensor is larger than a predetermined torque continues for a predetermined period of time or longer than the predetermined period of time

during the automatic steering.

13. The electric power steering system according to claim 12 ,

wherein the section for controlling a motor torque at automatic steering cancellation comprises a change rate switch determination section;

the change rate switch determination section being configured to determine whether change rate switch conditions are satisfied,

the change rate switch conditions including:

that torque difference that is difference between the motor torque after the automatic steering cancellation determination by the automatic steering cancellation determination section and the assist torque is larger than a torque difference threshold value,

that angle difference that is difference between the turning angle after the automatic steering cancellation determination by the automatic steering cancellation determination section and the turning angle during the automatic steering before the cancellation determination is larger than an angle difference threshold value, and

that the torque difference and the angle difference have values with the same sign; and

wherein when the change rate switch determination section determines that the change rate switch conditions are satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the change rate switch determination section determines that the change rate switch conditions are not satisfied.

14. The electric power steering system according to claim 13 ,

wherein the section for controlling a motor torque at automatic steering cancellation comprises a turning angle rate determination section configured to determine whether a turning angle rate condition that the torque difference and a turning angle rate of the steered wheel have values with the same sign is satisfied; and

wherein when the turning angle rate determination section determines that the turning angle rate condition is satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the turning angle rate determination section determines that the turning angle rate condition is not satisfied.

15. The electric power steering system according to claim 12 ,

wherein the section for controlling a motor torque at automatic steering cancellation comprises a change rate switch determination section;

the change rate switch determination section being configured to determine whether change rate switch conditions are satisfied,

the change rate switch conditions including:

that torque difference that is difference between the motor torque after the automatic steering cancellation determination by the automatic steering cancellation determination section and the assist torque is larger than a torque difference threshold value,

that angle difference that is difference between the turning angle after the automatic steering cancellation determination by the automatic steering cancellation determination section and a target turning angle for the automatic steering before the cancellation determination is larger than an angle difference threshold value, and

that the torque difference and the angle difference have values with the same sign; and

wherein when the change rate switch determination section determines that the change rate switch conditions are satisfied, the change rate of the motor torque for approximating the motor torque to the assist torque is increased higher than when the change rate switch determination section determines that the change rate switch conditions are not satisfied.