STEERING CONTROL DEVICE
A steering control device includes a processor. The processor is configured to calculate an axial force component and a restriction reaction force. The processor is also configured to calculate target reaction torque based on a reaction force component obtained by adding the axial force component and the restriction reaction force. The processor is also configured to limit an absolute value of the reaction force component to a limit value or less, the limit value being such a value that the reaction force component does not become too large.
1 . A steering control device that controls a steering system having a structure in which power transmission between a steering unit and a steering unit is mechanically separated, the steered unit being a unit that steers a steered wheel according to a steering operation that is input to the steering unit, the steering control device being configured to control operation of a steering-side motor provided in the steering unit such that motor torque according to target reaction torque is generated, and the target reaction torque being a target value of a steering reaction force that is a force against the steering operation that is input to the steering unit, the steering control device comprising a processor configured to:
calculate an axial force component corresponding to an axial force acting on a steered shaft that operates so as to steer the steered wheel;
calculate a restriction reaction force to restrict a steering operation of the steered wheel in one direction such that a vehicle comes into a condition in which steering of the steered wheel in the one direction is restricted;
calculate the target reaction torque based on a reaction force component obtained by adding the axial force component and the restriction reaction force; and
limit an absolute value of the reaction force component to a limit value or less, the limit value being such a value that the reaction force component does not become too large.
2 . The steering control device according to claim 1 , wherein the processor is configured to, as the restriction reaction force, calculate an obstacle contact reaction force to restrict a steering operation of the steered wheel toward an obstacle when the vehicle comes into a condition in which the steered wheel is in contact with the obstacle as a result of being steered.
3 . The steering control device according to claim 1 , wherein the processor is configured to, as the restriction reaction force, calculate an end reaction force that is a reaction force against further turning of the steering unit when the absolute value of a steering angle of the steering unit approaches a limit steering angle.
4 . The steering control device according to claim 1 , wherein the processor has a reaction force component adjustment map that is used to adjust the reaction force component, and the processor is configured to set the absolute value of the reaction force component after adjustment using the reaction force component adjustment map to the limit value or less.
5 . The steering control device according to claim 1 , wherein the processor is configured to adjust the limit value based on a vehicle speed.