Steering reaction force control device, steering reaction force control method, and steering reaction force control system
A steering reaction force control device, a steering reaction force control method, and a steering reaction force control system according to the present invention determine an amount of torque of a steering reaction force imparted by the reaction force actuator and a direction of torque for returning the steering operation input member to a neutral position from a physical quantity related to a vehicle speed of the vehicle and a physical quantity related to the operation information of the steering operation input member, and output a control signal based on the amount of torque and the direction of torque to the reaction force actuator. As a result, it is possible to prevent the hunting of the operating position of the steering operation input member when the steering operation input member is retained in a given steering position.
1 . A steering reaction force control device provided in a vehicle that has a steering operation input member mounted in the vehicle and a reaction force actuator that imparts a steering reaction force to the steering operation input member,
the steering reaction force control device comprising a control unit that outputs a control signal to the reaction force actuator,
wherein the control unit:
acquires a physical quantity related to a vehicle speed of the vehicle,
acquires a physical quantity related to operation information of the steering operation input member,
determines an amount of torque of the steering reaction force imparted by the reaction force actuator from the physical quantity related to the vehicle speed of the vehicle and the physical quantity related to the operation information of the steering operation input member,
acquires a present value of the physical quantity related to the operation information of the steering operation input member and a previous value earlier than the present value by a predetermined time, compares the previous value with the present value to determine a change in the operation information, and determines a direction of torque for returning the steering operation input member to a neutral position from an operation history of the steering operation input member based on the change in the operation information, and
outputs a control signal based on the amount of torque and the direction of torque to the reaction force actuator.
2 . The steering reaction force control device according to claim 1 ,
wherein in the control unit, the physical quantity related to the operation information of the steering operation input member is information on an operating position of the steering operation input member detected by an operating position detector that is provided on the steering operation input member.
3 . The steering reaction force control device according to claim 1 , wherein in the control unit, the physical quantity related to the operation information of the steering operation input member is information on operation torque of the steering operation input member detected by an operation torque detector that is provided on the steering operation input member.
4 . The steering reaction force control device according to claim 1 , wherein in the control unit, the physical quantity related to the operation information of the steering operation input member is information on an active position of the reaction force actuator detected by an active position detector that is provided on the reaction force actuator.
5 . The steering reaction force control device according to claim 1 , wherein when steering of the steering operation input member is retained, the control unit sets the direction of torque to the same direction as before steering of the steering operation input member is retained.
6 . The steering reaction force control device according to claim 1 , wherein when steering of the steering operation input member is retained as the vehicle is not running, the control unit widens a dead zone of the physical quantity related to the operation information of the steering operation input member as compared to other cases, and when the physical quantity related to the operation information of the steering operation input member changes within the dead zone, the control unit maintains the amount of torque and the direction of torque.
7 . The steering reaction force control device according to claim 1 ,
wherein the amount of torque includes an amount of hysteresis torque for returning the steering operation input member to a neutral position, and
wherein the control unit restricts the amount of hysteresis torque so as not to exceed an upper limit value.
8 . The steering reaction force control device according to claim 7 , wherein the amount of hysteresis torque includes a damping component in which a direction of suppressing a change in the physical quantity related to the operation information of the steering operation input member is a direction of torque.
9 . The steering reaction force control device according to claim 7 , wherein the control unit variably sets the amount of hysteresis torque in accordance with the vehicle speed of the vehicle.
10 . A steering reaction force control method executed by a control unit for controlling a reaction force actuator that imparts a steering reaction force to a steering operation input member mounted in a vehicle, the method comprising:
acquiring a physical quantity related to a vehicle speed of the vehicle;
acquiring a physical quantity related to operation information of the steering operation input member;
determining an amount of torque of the steering reaction force imparted by the reaction force actuator from the physical quantity related to the vehicle speed of the vehicle and the physical quantity related to the operation information of the steering operation input member,
acquiring a present value of the physical quantity related to the operation information of the steering operation input member and a previous value earlier than the present value by a predetermined time, comparing the previous value with the present value to determine a change in the operation information, and determining a direction of torque for returning the steering operation input member to a neutral position from an operation history of the steering operation input member based on the change in the operation information, and
outputting a control signal based on the amount of torque and the direction of torque to the reaction force actuator.
11 . A steering reaction force control system comprising:
a steering operation input member mounted in a vehicle;
a reaction force actuator that imparts a steering reaction force to the steering operation input member;
a vehicle speed detector that detects a physical quantity related to a vehicle speed of the vehicle;
an operation information detector that detects a physical quantity related to operation information of the steering operation input member; and
a control device including a control unit that outputs a control signal to the reaction force actuator,
wherein the control unit:
acquires the physical quantity related to the vehicle speed of the vehicle from the vehicle speed detector;
acquires the physical quantity related to the operation information of the steering operation input member from the operation information detector;
determines an amount of torque of the steering reaction force imparted by the reaction force actuator from the physical quantity related to the vehicle speed of the vehicle and the physical quantity related to the operation information of the steering operation input member,
acquires a present value of the physical quantity related to the operation information of the steering operation input member and a previous value earlier than the present value by a predetermined time, compares the previous value with the present value to determine a change in the operation information, and determines a direction of torque for returning the steering operation input member to a neutral position from an operation history of the steering operation input member based on the change in the operation information, and
outputs a control signal based on the amount of torque and the direction of torque to the reaction force actuator.