Actuator control device used in steering of vehicle
An actuator control device includes: a turning control value calculation unit configured to calculate a turning control value that controls an actuator configured to turn a steered wheel on a basis of an operation state amount by a driver with respect to a steering mechanism of the vehicle; a target value setting unit configured to set a target value of a state amount indicating a traveling direction of the vehicle on a basis of a surrounding environment of the vehicle; a target value control unit configured to control the actuator by integral control so that actual the state amount approaches the target value; and an integral suppression unit configured to suppress an increase in a first integral value calculated in the integral control according to a second integral value calculated according to the operation state amount.
1. An actuator control device for use in steering of a vehicle, the actuator control device comprising:
a first controller configured to calculate a turning control value that controls an actuator configured to turn a steered wheel on a basis of an operation state amount by a driver with respect to a steering mechanism of the vehicle; and
a second controller configured to set a target value of a state amount indicating a traveling direction of the vehicle on a basis of a surrounding environment of the vehicle, wherein
the first controller executes;
a target value control process to control the actuator by integral control so that an actual state amount approaches the target value; and
an integral suppression process to suppress an increase in a first integral value of a deviation Δθ, corresponding to a difference between an actual steering angle and a target steering angle, calculated in the integral control according to a second integral value calculated according to the operation state amount.
2. The actuator control device according to claim 1 , wherein in the target value control process, the first controller executes an integral control process to integrate a deviation between the actual state amount and the target value to calculate the first integral value, and control the actuator by the integral control according to the first integral value.
3. The actuator control device according to claim 2 , wherein in the integral suppression process, the first controller limits the deviation integrated in the calculation of the first integral value according to the second integral value.
4. The actuator control device according to claim 2 , wherein the first controller further executes a proportional control process to control the actuator by proportional control according to a proportional component of the deviation and a proportional component change process to change the proportional component according to the second integral value.
5. The actuator control device according claim 1 , wherein in the integral suppression process, the first controller integrates a variable that changes according to the operation state amount to calculate the second integral value, in which a rate of change in the variable with respect to the operation state amount that is equal to or more than a threshold value is larger than a rate of change in the variable with respect to the operation state amount that is below the threshold value.
6. The actuator control device according to claim 5 , wherein in the integral suppression process, the first controller determines the driver's intention of steering, and reduces a value of the variable when there is the intention of steering and the variable is a positive value to less than a value of the variable when there is not the intention of steering and the variable is a positive value.
7. The actuator control device according to claim 6 , wherein in the integral suppression process, the first controller determines the driver's intention of steering according to a change speed of a steering torque that is the operation state amount.
8. The actuator control device according to claim 5 , wherein in the integral suppression process, the first controller reduces a value of the variable according to a change speed of a steering torque that is the operation state amount.
9. The actuator control device according to claim 1 , wherein in the integral suppression process, the first controller changes a result of the integration of the first integral value according to the second integral value.
10. An actuator control device, for use in steering of a vehicle, the actuator control device comprising:
a first controller configured to calculate a turning control value that controls an actuator configured to turn a steered wheel on a basis of an operation state amount by a driver with respect to a steering mechanism of the vehicle; and
a second controller configured to set a target value of a state amount indicating a traveling direction of the vehicle on a basis of a surrounding environment of the vehicle, wherein
the first controller executes;
a target value control process to control the actuator by integral control so that an actual state amount approaches the target value; and
an integral suppression process to suppress an increase in a first integral value calculated in the integral control according to a second integral value calculated according to the operation state amount, and wherein
in the target value control process, the first controller executes a target change speed calculation process to calculate a target change speed of the state amount on a basis of a difference between the actual state amount and the target value and an integral control process to integrate a deviation between a change speed of the actual state amount and the target change speed to calculate the first integral value, and control the actuator by the integral control according to the first integral value.