Control device and steering device
An embodiment of the present invention allows for application of an assist torque or reaction torque which causes a driver to feel less discomfort. An ECU ( 600 ) includes a control variable calculating section ( 611 ) configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque, with reference to a steering torque applied to a steering member ( 410 ); and a control variable correcting section ( 612 ) configured to correct the control variable calculated by the control variable calculating section, with reference to a roll rate of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member.
1. A control device which applies an assist torque or reaction torque to a steering member operated by a driver, the control device comprising:
a control variable calculating section configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque, with reference to a steering torque applied to the steering member; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to a roll rate of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member,
in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a first predetermined value, and (iii) the roll rate or an absolute value thereof is less than a second predetermined value, the control variable correcting section correcting the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member.
2. The control device as set forth in claim 1 , further comprising:
a roll rate calculating section configured to calculate the roll rate, with reference to an acceleration in a longitudinal direction of the vehicle body and an acceleration in a lateral direction of the vehicle body.
3. The control device as set forth in claim 2 , wherein:
the roll rate calculating section calculates the roll rate, additionally with reference to a suspension control variable for controlling a damping force of a suspension.
4. The control device as set forth in claim 3 , further comprising:
a rolling attitude control section configured to determine a desired control variable for suspension control, by carrying out rolling attitude control with reference to the roll rate calculated by the roll rate calculating section.
5. A steering device comprising:
a steering member operated by a driver; and
a steering control section configured to apply an assist torque or reaction torque to the steering member,
the steering control section including:
a control variable calculating section configured to calculate a control variable for controlling a magnitude of the assist torque or reaction torque, with reference to a steering torque applied to the steering member; and
a control variable correcting section configured to correct the control variable calculated by the control variable calculating section, with reference to a roll rate of a vehicle body, a steering angle of the steering member, and a steering angle speed of the steering member,
in a case where (i) the steering member is in a return steering state, (ii) the steering angle speed of the steering member or an absolute value thereof is not less than a first predetermined value, and (iii) the roll rate or an absolute value thereof is less than a second predetermined value, the control variable correcting section correcting the control variable calculated by the control variable calculating section, so as to increase a reaction force applied to the steering member.
6. The steering device as set forth in claim 5 , wherein:
the roll rate of the vehicle body is referred to when a suspension control variable is calculated by a suspension control section configured to control a damping force of a suspension.
7. The steering device as set forth in claim 6 , wherein:
the steering control section supplies, to the suspension control section, a torque signal indicative of the steering torque applied to the steering member.