Steering system for vehicle
Provided is a steer-by-wire steering system for a vehicle that can reduce or eliminate the impact noise generated by the rack at the rack end. A control unit of the steering system is configured to determine a target steered angle (αt) according to the steering angle and drive the steering actuator so as to cause the steered angle to coincide with the target steered angle, and to determine a target reaction force (Tt) according to a steered state of the wheels and drive the reaction force actuator so as to cause the reaction force to coincide with the target reaction force. The control unit is further configured to set a maximum limit (αmC) on the target steered angle, the maximum limit being a value smaller than a physical maximum steered angle (αmP) of the wheels imposed by the steering mechanism.
1 . A steering system for a vehicle, comprising:
a steering member configured to receive a steering operation;
a steering mechanism mechanically separated from the steering member and including a rack that steers wheels via a movement thereof;
a steering angle sensor that detects a steering angle of the steering member;
a steered angle sensor that detects a steered angle of the wheels;
a steering actuator configured to provide a drive force to the steering mechanism;
a reaction force actuator configured to apply a reaction force to the steering member in response to the steering operation; and
a control unit configured to determine a target steered angle according to the steering angle and drive the steering actuator so as to cause the steered angle to coincide with the target steered angle, and to determine a target reaction force according to a steered state of the wheels and drive the reaction force actuator so as to cause the reaction force to coincide with the target reaction force,
wherein the control unit is configured to set a control maximum steered angle on the target steered angle, the control maximum steered angle being a value smaller than a physical maximum steered angle of the wheels imposed by the steering mechanism,
wherein the control unit is configured to generate a steering limit reaction force that defines a maximum steering control limit angle of the steering member corresponding to the control maximum steered angle, and
wherein the steering system further comprises a physical stopper that defines a physical maximum steering angle of the steering member, the physical maximum steering angle corresponding to the physical maximum steered angle, and the maximum steering control limit angle being smaller than the physical maximum steering angle.
2 . The steering system for a vehicle according to claim 1 , wherein when the steered angle deviates from zero degree although the vehicle is traveling straight ahead, the control unit is configured to correct the prescribed relationship such that the current target steered angle corresponds to a zero degree position of the steering member.
3 . The steering system for a vehicle according to claim 2 , wherein the control unit determines that the vehicle is traveling straight ahead according to a yaw rate of the vehicle.
4 . The steering system for a vehicle according to claim 2 , wherein the control unit is configured to correct the prescribed relationship such that the control maximum steered angle is a same value in both steering directions.
5 . A steering system for a vehicle, comprising:
a steering member configured to receive a steering operation;
a steering mechanism mechanically separated from the steering member and including a rack that steers wheels via a movement thereof;
a steering angle sensor that detects a steering angle of the steering member;
a steered angle sensor that detects a steered angle of the wheels;
a steering actuator configured to provide a drive force to the steering mechanism;
a reaction force actuator configured to apply a reaction force to the steering member in response to the steering operation; and
a control unit configured to determine a target steered angle according to the steering angle and drive the steering actuator so as to cause the steered angle to coincide with the target steered angle, and to determine a target reaction force according to a steered state of the wheels and drive the reaction force actuator so as to cause the reaction force to coincide with the target reaction force,
wherein the control unit is configured to set a control maximum steered angle on the target steered angle, the control maximum steered angle being a value smaller than a physical maximum steered angle of the wheels imposed by the steering mechanism,
wherein when the steered angle deviates from zero degree although the vehicle is traveling straight ahead, the control unit is configured to correct the prescribed relationship such that the current target steered angle corresponds to a zero degree position of the steering member, and
wherein the control unit is configured to correct the prescribed relationship such that the control maximum steered angle in left steering direction is changed to a predetermined value and the control maximum steered angle in right steering direction is changed to a value different from the predetermined value without changing steered positions of the steering mechanism corresponding to the control maximum steered angles in both steering directions.
6 . The steering system for a vehicle according to claim 5 , wherein in changing the control maximum steered angles in both steering directions, the control unit changes the prescribed relationship in such a manner that the control maximum steering angles in both steering directions are changed to individual values so as to correspond to changes in the control maximum steered angles.
7 . The steering system for a vehicle according to claim 5 , wherein in changing the control maximum steered angles in both steering directions, the control unit changes the prescribed relationship in such a manner that a gear ratio of the steered angle of the steered wheels to the steering angle of the steering member is changed differently between the two steering directions without changing the control maximum steering angle of the steering member.