Steering control device and steering device
A steering control device which applies an assist torque or a reaction torque to a steering member operated by a driver, includes: a torque loss estimation unit which estimates torque loss; and a correction amount calculation unit which calculates a correction amount according to a rack axial force estimation value calculated based on a roll rate when the torque loss estimation unit estimates the torque loss.
1. A steering control device of a steering device including a torque application unit which applies an assist torque or a reaction torque to a steering member operated by a driver, the steering control device comprising:
a torque loss estimation unit which estimates torque loss;
a rack axial force estimation unit which calculates an estimated value of a suspension damping force with reference to a roll rate of a vehicle body, and estimates a rack axial force from the estimated value of the suspension damping force; and
a correction amount calculation unit which calculates a correction amount according to the rack axial force estimation value when the torque loss estimation unit estimates the torque loss.
2. The steering control device according to claim 1 , wherein
the correction amount calculation unit calculates the correction amount according to the rack axial force estimation value with further reference to a damping coefficient-related value.
3. The steering control device according to claim 2 , wherein
the damping coefficient-related value input to the correction amount calculation unit is a control amount for controlling the suspension damping force.
4. The steering control device according to claim 2 , wherein
the correction amount calculation unit calculates the correction amount so that a reaction force applied to the steering member increases.
5. The steering control device according to claim 2 , wherein
the correction amount calculation unit estimates the rack axial force when the torque loss is estimated.
6. The steering control device according to claim 2 , wherein
the correction amount calculation unit acquires the roll rate calculated from a control amount for controlling the suspension damping force and a lateral acceleration of a vehicle.
7. The steering control device according to claim 2 , wherein
the roll rate input to the correction amount calculation unit is a roll rate referred for determining a control amount for controlling the suspension damping force.
8. The steering control device according to claim 1 , wherein
the correction amount calculation unit calculates the correction amount so that a reaction force applied to the steering member increases.
9. The steering control device according to claim 1 , wherein
the correction amount calculation unit estimates the rack axial force when the torque loss is estimated.
10. The steering control device according to claim 1 , wherein
the correction amount calculation unit acquires the roll rate calculated from a control amount for controlling the suspension damping force and a lateral acceleration of a vehicle.
11. The steering control device according to claim 1 , wherein
the roll rate input to the correction amount calculation unit is a roll rate referred for determining a control amount for controlling the suspension damping force.
12. The steering control device according to claim 1 , wherein
the torque loss estimation unit estimates the torque loss with reference to the roll rate, a steering angular speed, and a steering angle.
13. The steering control device according to claim 12 , wherein
the torque loss estimation unit estimates the torque loss when the steering member is in a returning-back state, the steering angular speed is equal to or higher than a predetermined value, and the roll rate is lower than a predetermined value.
14. The steering control device according to claim 12 , wherein
the torque loss estimation unit acquires the roll rate calculated from the control amount for controlling the suspension damping force and a lateral acceleration of a vehicle.
15. The steering control device according to claim 12 , wherein
the roll rate input to the torque loss estimation unit is a control amount referred for determining the suspension damping force.
16. The steering control device according to claim 1 , wherein
the torque loss estimation unit estimates the torque loss with reference to a yaw rate, a steering angular speed, and a steering angle.
17. The steering control device according to claim 16 , wherein
the torque loss estimation unit estimates the torque loss when the steering member is in a returning-back state, the steering angular speed is equal to or higher than a predetermined value, and the yaw rate is lower than a predetermined value.
18. The steering control device according to claim 1 , wherein
the torque loss estimation unit estimates the torque loss with reference to a lateral acceleration of a vehicle, a steering angular speed, and a steering angle.
19. The steering control device according to claim 18 , wherein
the torque loss estimation unit estimates that the torque loss occurs when the steering member is in a returning-back state, the steering angular speed is equal to or higher than a predetermined value, and the lateral acceleration of the vehicle is lower than a predetermined value.
20. A steering device which includes a steering member operated by a driver, a torque application unit which applies an assist torque or a reaction torque to the steering member, and a steering control unit, wherein
the steering control unit includes
a torque loss estimation unit which estimates torque loss,
a rack axial force estimation unit which calculates an estimated value of a suspension damping force with reference to a roll rate of a vehicle body, and estimates a rack axial force from the estimated value of the suspension damping force,
a correction amount calculation unit which calculates a correction amount according to the rack axial force estimation value when the torque loss estimation unit estimates the torque loss,
a base control amount calculation unit which calculates a base control amount with reference to a steering torque applied to the steering member and a vehicle speed, and
a control amount correction unit which corrects the base control amount calculated by the base control amount calculation unit with reference to the correction amount calculated by the correction amount calculation unit, and calculates a steering control amount for supplying to the torque application unit.