Steering control device
A steering control device includes control circuitry configured to perform synchronization control. The synchronization control includes a target synchronization angle calculating process of calculating a target synchronization angle that is a steering-side rotation angle satisfying a predetermined correspondence relationship with respect to a turning-side rotation angle; a target relay angle calculating process of calculating a target relay angle that is located closer to a first side in a circumferential direction than a first-side angle is, the first-side angle being one of the steering-side rotation angle and the target synchronization angle and being located closer to the first side than another of the steering-side rotation angle and the target synchronization angle is; and a motor driving process of operating a steering-side motor such that the steering-side rotation angle reaches the target synchronization angle after operating the steering-side motor such that the steering-side rotation angle reaches the target relay angle.
1. A steering control device configured to control a steering system with a structure in which a power transmission path between a steering unit that is connected to a steering wheel and a turning unit that turns turning wheels is cut off, the steering control device comprising
control circuitry configured to perform synchronization control for adjusting a steering-side rotation angle that is a rotation angle convertible to a steering angle of the steering wheel, by operating a steering-side motor such that a positional relationship between the steering-side rotation angle and a turning-side rotation angle that is a rotation angle convertible to a turning angle of the turning wheels is a predetermined correspondence relationship, the steering unit including the steering-side motor configured to rotate the steering wheel,
wherein the synchronization control includes:
a target synchronization angle calculating process of calculating a target synchronization angle that is the steering-side rotation angle satisfying the predetermined correspondence relationship with respect to the turning-side rotation angle;
a target relay angle calculating process of calculating a target relay angle that is located closer to a first side in a circumferential direction than a first-side angle is, the first-side angle being one of the steering-side rotation angle and the target synchronization angle and being located closer to the first side than another of the steering-side rotation angle and the target synchronization angle is; and
wherein a lower limit of a rotation amount is set based on visibility of rotation of the steering wheel, and the lower limit is set as a minimum rotation amount; and
when an absolute value of an angle difference between the steering-side rotation angle and the target synchronization angle is larger than a predetermined angle difference, the target relay angle calculating process calculates, as the target relay angle, an angle that is located closer to the first side by the minimum rotation amount than the first-side angle is;
a motor driving process of operating the steering-side motor such that the steering-side rotation angle reaches the target synchronization angle after operating the steering-side motor such that the steering-side rotation angle reaches the target relay angle.
2. A steering control device configured to control a steering system with a structure in which a power transmission path between a steering unit that is connected to a steering wheel and a turning unit that turns turning wheels is cut off, the steering control device comprising
control circuitry configured to perform synchronization control for adjusting a steering-side rotation angle that is a rotation angle convertible to a steering angle of the steering wheel, by operating a steering-side motor such that a positional relationship between the steering-side rotation angle and a turning-side rotation angle that is a rotation angle convertible to a turning angle of the turning wheels is a predetermined correspondence relationship, the steering unit including the steering-side motor configured to rotate the steering wheel,
wherein the synchronization control includes:
a target synchronization angle calculating process of calculating a target synchronization angle that is the steering-side rotation angle satisfying the predetermined correspondence relationship with respect to the turning-side rotation angle;
a target relay angle calculating process of calculating a target relay angle that is located closer to a first side in a circumferential direction than a first-side angle is, the first-side angle being one of the steering-side rotation angle and the target synchronization angle and being located closer to the first side than another of the steering-side rotation angle and the target synchronization angle is;
wherein a lower limit of a rotation amount is set based on visibility of rotation of the steering wheel, and the lower limit is set as a minimum rotation amount;
a rotation amount greater than the minimum rotation amount is set as an intermediate rotation amount; and
when an absolute value of an angle difference between the steering-side rotation angle and the target synchronization angle is equal to or less than a predetermined angle difference, the target relay angle calculating process calculates, as the target relay angle, an angle that is located closer to the first side by the intermediate rotation amount than the first-side angle is;
and a motor driving process of operating the steering-side motor such that the steering-side rotation angle reaches the target synchronization angle after operating the steering-side motor such that the steering-side rotation angle reaches the target relay angle.
3. The steering control device according to claim 2 , wherein the intermediate rotation amount is a rotation amount that is equal to or less than a sum value of the minimum rotation amount and the predetermined angle difference.