Steering controller and steering control method
A steering controller includes processing circuitry configured to execute a first operation process that, when an angle command value is not input from outside of the processing circuitry, calculates a first torque command value corresponding to a steering-side operation amount and operating a drive circuit of an electric motor to adjust torque of the electric motor to the first torque command value. The processing circuitry is further configured to execute a second operation process that, when the angle command value is input from the outside of the processing circuitry, calculates a second torque command value corresponding to at least an angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.
1. A steering controller for operating a steering actuator that incorporates an electric motor and steers a steerable wheel, wherein the steering controller comprises processing circuitry configured to execute:
a steering-side operation amount calculation process that calculates a steering-side operation amount based on a steering torque input by a driver, the steering-side operation amount being an operation amount of the electric motor for steering the steerable wheel and being convertible into torque required for the electric motor;
an angle-side operation amount calculation process that calculates an angle-side operation amount when an angle command value is input from outside of the processing circuitry, the angle command value being used to assist driving of the driver and being a command value of a convertible angle convertible into a steerable angle of the steerable wheel, the angle-side operation amount being used to adjust the convertible angle to the angle command value and being convertible into the torque required for the electric motor;
a first operation process that, when the angle command value is not input from the outside of the processing circuitry, calculates a first torque command value corresponding to the steering-side operation amount and operating a drive circuit of the electric motor to adjust the torque of the electric motor to the first torque command value; and
a second operation process that, when the angle command value is input from the outside of the processing circuitry, calculates a second torque command value corresponding to at least the angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.
2. The steering controller according to claim 1 , wherein the second operation process includes a process that operates the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value corresponding to both the steering-side operation amount and the angle-side operation amount.
3. The steering controller according to claim 1 , wherein the second operation process includes a varying process that varies at least one of a gain indicating a degree to which the steering-side operation amount affects the second torque command value or a gain indicating a degree to which the angle-side operation amount affects the second torque command value.
4. The steering controller according to claim 1 , wherein the steering-side operation amount is used for feedback control that adjusts the steering torque to a target torque.
5. The steering controller according to claim 4 , wherein
the processing circuitry is configured to execute a target torque calculation process that calculates the target torque, and
the target torque calculation process includes
obtaining a conversion amount by converting each of the steering-side operation amount and the steering torque into force acting on a same object, and
calculating the target torque based on a sum of the conversion amounts.
6. The steering controller according to claim 1 , wherein the processing circuitry is configured to execute a third operation process that calculates a third torque command value corresponding to the steering-side operation amount instead of the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the third torque command value in a case in which an absolute value of the steering torque is greater than or equal to a predetermined value even when the angle command value is input from the outside of the processing circuitry.
7. A steering control method for operating a steering actuator that incorporates an electric motor and steers a steerable wheel, the steering control method comprising:
calculating a steering-side operation amount based on a steering torque input by a driver, the steering-side operation amount being an operation amount of the electric motor for steering the steerable wheel and being convertible into torque required for the electric motor;
calculating an angle-side operation amount when an angle command value is input from outside, the angle command value being used to assist driving of the driver and being a command value of a convertible angle convertible into a steerable angle of the steerable wheel, the angle-side operation amount being used to adjust the convertible angle to the angle command value and being convertible into the torque required for the electric motor;
when the angle command value is not input from the outside, calculating a first torque command value corresponding to the steering-side operation amount and operating a drive circuit of the electric motor to adjust the torque of the electric motor to the first torque command value; and
when the angle command value is input from the outside, calculating a second torque command value corresponding to at least the angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.