Steering control device for vehicles
A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit ( 60 ) which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit ( 64 ), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit ( 62 ), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit ( 63 ) which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).
1. A vehicle steering control device, comprising:
a traffic lane recognition means which recognizes a traffic lane of a vehicle;
a positional deviation calculation means which calculates a displacement of a vehicle position from a target position of the traffic lane as a positional deviation based on a recognition result of the traffic lane obtained by the traffic lane recognition means;
an actuator which drives a steering mechanism that can steer steering wheels of the vehicle;
a position correction controlled variable calculation means which calculates a position correction controlled variable which is a controlled variable of the actuator for use in decreasing the positional deviation by using an integral controlled variable calculated by an integration of the positional deviation;
an actuator controlled variable determination means which determines a target controlled variable of the actuator by using the position correction controlled variable; and
an integral element determination means which performs at least one of an integral gain determination process of determining an integral gain by which the positional deviation is multiplied in the integration according to the positional deviation and an integral controlled variable limiting process of limiting the integral controlled variable to within a predetermined range set according to the positional deviation.
2. A vehicle steering control device according to claim 1 , further comprising vehicle detection means which detects a vehicle speed, wherein the integral element determination means determines the integral gain according to the vehicle speed in the integral gain determination process.
3. A vehicle steering control device according to claim 1 , further comprising speed detection means which detects a vehicle speed, wherein the integral element determination means sets the predetermined range according to the vehicle speed in the integral controlled variable limiting process.
4. A vehicle steering control device according to claim 1 , further comprising yaw rate detection means which detects a vehicle yaw rate, wherein the integral element determination means determines the integral gain according to the vehicle yaw rate in the integral gain determination process.
5. A vehicle steering control device according to claim 4 , wherein the integral element determination means determines the integral gain according to a degree of divergence between a frequency characteristic of an actual yaw rate value of the vehicle detected by the yaw rate detection means and a preset reference frequency characteristic in the integral gain determination process.
6. A vehicle steering control device according to claim 1 , further comprising yaw rate detection means which detects a vehicle yaw rate, wherein the integral element determination means sets the predetermined range according to the vehicle yaw rate in the integral controlled variable limiting process.
7. A vehicle steering control device according to claim 6 , wherein the integral element determination means sets the predetermined range according to a degree of divergence between the frequency characteristic of the actual yaw rate value of the vehicle detected by the yaw rate detection means and the preset reference frequency characteristic in the integral controlled variable limiting process.
8. A vehicle steering control device according to claim 1 , further comprising operating condition detection means which detects a driver's operating condition of the vehicle, wherein the integral element determination means determines the integral gain according to the driver's operating condition of the vehicle detected by the operating condition detection means in the integral gain determination process.
9. A vehicle steering control device according to claim 8 , wherein torque detection means is provided as the operating condition detection means to detect a torque according to a driver's operation applied to the wheel connected to the steering mechanism.
10. A vehicle steering control device according to claim 1 , further comprising operating condition detection means which detects a driver's operating condition of the vehicle, wherein the integral element determination means sets the predetermined range according to the driver's operating condition of the vehicle detected by the operating condition detection means in the integral controlled variable limiting process.
11. A vehicle steering control device according to claim 10 , wherein torque detection means is provided as the operating condition detection means to detect a torque according to a driver's operation applied to the wheel connected to the steering mechanism.
12. A vehicle steering control device according to claim 1 , further comprising:
angular deviation calculation means which calculates a gradient of the moving direction of the vehicle with respect to the direction of the traffic lane as an angular deviation based on the recognition result of the traffic lane obtained by the traffic lane recognition means; and
angle correction controlled variable calculation means which calculates an angle correction controlled variable which is a controlled variable of the actuator for use in decreasing the angular deviation according to the angular deviation and the positional deviation,
wherein the actuator controlled variable determination means determines the target controlled variable of the actuator by using the position correction controlled variable and the angle correction controlled variable.
13. A vehicle steering control device according to claim 1 , wherein:
the target position of the traffic lane is set around the center line of the traffic lane; and
the integral element determination means determines the integral gain as a value depending on whether the positional deviation indicates that the vehicle position deviates to the right of the target position or the positional deviation indicates that the vehicle position deviates to the left of the target position in the gain determination process.
14. A vehicle steering control device according to claim 1 , wherein:
the target position of the traffic lane is set around the center line of the traffic lane; and
the integral element determination means sets the predetermined range to a range depending on whether the positional deviation indicates that the vehicle position deviates to the right of the target position or the positional deviation indicates that the vehicle position deviates to the left of the target position in the integral controlled variable limiting process.
15. A vehicle equipped with one of the vehicle steering control devices according to claim 1 to claim 14 .