Steering control system
The steering control system of a steer-by-wire vehicle includes a turning angle calculation unit for calculating a target turning angle based on a steering angle of a steering wheel, and a reaction torque calculation unit for calculating a target reaction torque based on a state of the vehicle. When an alert request is issued, the reaction torque calculation unit calculates a basic reaction torque based on the steering angle, calculates an alert reaction torque for notifying a vehicle state, and calculates the target reaction torque obtained by summing the basic reaction torque and the alert reaction torque. In a process of calculating the target turning angle from the steering angle, the turning angle calculation unit calculates the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque.
1. A steering control system for a steer-by-wire vehicle, the steering control system comprising:
a turning motor for turning wheels of the vehicle;
a reaction torque motor for applying a reaction torque to a steering wheel of the vehicle;
a controller configured to execute:
a turning angle calculation for calculating a target turning angle of the wheels for controlling the turning motor based on a steering angle of the steering wheel; and
a reaction torque calculation for calculating a target reaction torque for controlling the reaction torque motor based on a state of the vehicle,
wherein, when an alert request is issued, in the reaction torque calculation, the controller is configured to:
calculate a basic reaction torque based on the steering angle,
calculate an alert reaction torque for notifying the state of the vehicle, and
calculate the target reaction torque, which is a total torque obtained by summing the basic reaction torque and the alert reaction torque,
wherein, in a process of the turning angle calculation calculating the target turning angle from the steering angle, the controller is configured to calculate the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque, and
wherein, in the turning angle calculation, the controller is configured to:
calculate a driver steering angle from which a frequency component of a steering angle corresponding to the alert reaction torque is removed by performing a filter processing on the steering angle, and
calculate the target turning angle based on the driver steering angle.
2. The steering control system according to claim 1 ,
wherein, in the reaction torque calculation, the controller is configured to change a vibration amplitude or a vibration period of the alert reaction torque according to an emergency degree of the state of the vehicle.
3. The steering control system according to claim 1 ,
wherein, the alert request is a request issued based on a determination that the vehicle in travel deviates from a traveling lane.
4. A steering control system for a steer-by-wire vehicle, the steering control system comprising:
a turning motor for turning wheels of the vehicle;
a reaction torque motor for applying a reaction torque to a steering wheel of the vehicle;
a controller configured to execute:
a turning angle calculation for calculating a target turning angle of the wheels for controlling the turning motor based on a steering angle of the steering wheel; and
a reaction torque calculation for calculating a target reaction torque for controlling the reaction torque motor based on a state of the vehicle,
wherein, when an alert request is issued, in the reaction torque calculation, the controller is configured to:
calculate a basic reaction torque based on the steering angle,
calculate an alert reaction torque for notifying the state of the vehicle, and
calculate the target reaction torque, which is a total torque obtained by summing the basic reaction torque and the alert reaction torque,
wherein, in a process of the turning angle calculation calculating the target turning angle from the steering angle, the controller is configured to calculate the target turning angle by excluding a steering angle or a turning angle corresponding to the alert reaction torque, and
wherein, in the turning angle calculation, the controller is configured to:
calculate a first turning angle based on the steering angle, and
calculate the target turning angle from which the frequency component of the steering angle corresponding to the alert reaction torque is removed by performing a filter processing on the first turning angle.
5. The steering control system according to claim 4 ,
wherein, in the reaction torque calculation, the controller is configured to change a vibration amplitude or a vibration period of the alert reaction torque according to an emergency degree of the state of the vehicle.
6. The steering control system according to claim 4 ,
wherein, the alert request is a request issued based on a determination that the vehicle in travel deviates from a traveling lane.