Steering control device and steering control method
An object of the present invention is to provide a steering control device and a steering control method that can reduce a driving burden imposed on a driver during low velocity driving. The present invention is provided with an arithmetic logic unit that changes a steering angle of a wheel 11 by driving a wheel steering actuator 7 based on a manipulated variable of a steering 3 , and calculates a controlled variable of the wheel steering actuator 7 . In turning the steering 3 , the arithmetic logic unit controls the wheel steering actuator 7 based on a first gain at which a ratio of an actual steering angle of the wheel 11 changes with respect to a steering angle δ, and in returning the steering 3 , the arithmetic logic unit controls the wheel steering actuator 7 based on a second gain that differs from the first gain.
1. A steering control device comprising an arithmetic logic unit configured to change a steering angle of a wheel to be steered by driving a wheel steering actuator based on a manipulated variable of a steering, and configured to calculate a controlled variable of the wheel steering actuator, wherein
in turning the steering, the arithmetic logic unit is configured to control the wheel steering actuator based on a first gain at which a ratio of an actual steering angle of the wheel to be steered changes with respect to a steering angle,
in returning the steering, the arithmetic logic unit is configured to control the wheel steering actuator based on a second gain that differs from the first gain, and
the arithmetic logic unit is configured to control the wheel steering actuator based on the first gain and the second gain on a condition that a vehicle velocity is less than a predetermined velocity and a shift lever is shifted to a retracting position.
2. The steering control device according to claim 1 , wherein the first gain takes a continuous value.
3. The steering control device according to claim 1 , wherein the first gain is a continuous function where a ratio of the actual steering angle of the wheel to be steered with respect to the steering angle takes an upwardly convex shape.
4. The steering control device according to claim 3 , wherein the continuous function that takes the upwardly convex shape is calculated based on the steering angle and a steering angular velocity.
5. The steering control device according to claim 3 , wherein the smaller an absolute value of a steering angle, the larger a gradient of the continuous function that takes the upwardly convex shape becomes.
6. The steering control device according to claim 3 , wherein the larger an absolute value of a steering angular velocity, the larger a gradient of the continuous function that takes the upwardly convex shape becomes.
7. The steering control device according to claim 3 , wherein the closer an absolute value of the steering angle approaches to a limit value, the closer a gradient of the continuous function that takes the upwardly convex shape approaches to 0.
8. The steering control device according to claim 1 , wherein the second gain has a linear shape.
9. The steering control device according to claim 8 , wherein the arithmetic logic unit is configured to calculate a ratio between the steering angle and an actual steering angle of the wheel to be steered based on the actual steering angle of the wheel to be steered at the time of starting returning of the steering.
10. A steering control method for steering a wheel coupled to a vehicle to be steered by controlling a wheel steering actuator based on a manipulated variable of a steering, comprising:
a steering control device configured to:
determine, via signals from a wheel velocity sensor and an acceleration sensor, that a vehicle velocity is less than a predetermined velocity, and that a shift lever is shifted to a retracted position;
determine, that the vehicle is in a turning state based on a signal from a steering angle sensor;
turning, the steering of the wheel, based on a first gain at which a ratio of an actual steering angle of the wheel to be steered changes with respect to a steering angle,
calculating, the manipulated variable of the steering, the manipulated variable transmitted to the wheel steering actuator to steer the wheel, and
returning, the steering of the wheel, based on a second gain that differs from the first gain.
11. The steering control method according to claim 10 , wherein the first gain takes a continuous value.
12. The steering control method according to claim 10 , wherein the first gain is a continuous function where a ratio of the actual steering angle of the wheel to be steered with respect to the steering angle takes an upwardly convex shape.
13. The steering control method according to claim 10 , wherein the second gain has a linear shape.
14. The steering control method according to claim 10 , wherein determining that the vehicle is in the turning state is based on a sign of a steering angle and a sign of a steering angle velocity matching.