Warning device for vehicle
In a warning device for a vehicle, a basic target current value setting unit sets a basic target current value based on a steering torque and a vehicle speed. When a lane deviation determining unit determines that there is a high possibility that a vehicle will deviate from a lane, a warning vibration wave generator generates a warning vibration wave containing a plurality of frequency components. A target current value is computed by adding the warning vibration wave to the basic target current value. A motor current to be applied to an electric motor is controlled so as to approach the target current value.
1. A warning device for a vehicle comprising:
a vibration wave generator that generates a warning vibration wave based on an operating state of a vehicle; and
a vibration applying device that applies warning vibration to a steering member based on the warning vibration wave generated by the vibration wave generator,
the warning vibration wave containing a plurality of frequency components,
wherein the vibration applying device applies the warning vibration wave in such a way whereby the frequency component having a higher frequency has a larger amplitude.
2. The warning device for a vehicle according to claim 1 , wherein:
the vehicle includes a torque detector that detects a steering torque; and
the vibration wave generator includes a second amplitude varying device that varies an amplitude of the warning vibration wave based on the steering torque detected by the torque detector.
3. The warning device for a vehicle according to claim 1 , wherein each of the frequency components contained in the warning vibration wave has a frequency different from a resonance frequency of the vehicle.
4. The warning device for a vehicle according to claim 3 , wherein each of the frequency components contained in the warning vibration wave has a frequency equal to or higher than a response frequency at which a gain is substantially equal to zero in a frequency transmission characteristic of a yaw rate with respect to a steering angle.
5. The warning device for a vehicle according to claim 1 , wherein the vibration applying device includes an electric motor for electric power steering, the electric motor being used to generate steering assisting force.
6. The warning device for a vehicle according to claim 1 , wherein the vibration applying device includes a telescopic adjustment electric motor that adjusts a position of the steering member in a vehicle longitudinal direction, or a tilt adjustment electric motor that adjusts a position of the steering member in an up-down direction.
7. A warning device for a vehicle comprising:
a vibration wave generator that generates a warning vibration wave based on an operating state of a vehicle; and
a vibration applying device that applies warning vibration to a steering member based on the warning vibration wave generated by the vibration wave generator,
the warning vibration wave containing a plurality of frequency components
wherein:
the vehicle includes a vehicle speed detector that detects a vehicle speed,
the vibration wave generator includes a frequency varying device that varies a frequency of the warning vibration wave based on the vehicle speed detected by the vehicle speed detector, and
the frequency varying device is configured to decrease the frequency of the warning vibration wave as the vehicle speed increases.
8. The warning device for a vehicle according to claim 7 , wherein the frequency varying device is configured to vary the frequency of the warning vibration wave discontinuously with respect to the vehicle speed.
9. The warning device for a vehicle according to claim 7 , wherein the vibration wave generator includes a first amplitude varying device that varies an amplitude of the warning vibration wave based on the vehicle speed detected by the vehicle speed detector.
10. The warning device for a vehicle according to claim 7 , wherein an amplitude and a frequency of the warning vibration wave are set such that a combination of the amplitude and the frequency falls outside a region where the frequency is equal to or higher than a prescribed frequency threshold and the amplitude is equal to or smaller than a prescribed vibration amplitude threshold, and the prescribed vibration amplitude threshold is increased with an increase in a vehicle speed.
11. A warning device for a vehicle comprising:
an electric motor that applies steering assisting force to a steered mechanism of a vehicle;
a torque detector that detects a steering torque;
a phase compensator that executes phase compensation on the steering torque detected by the torque detector;
a basic assist current value setting unit that sets a basic assist current value, based on a phase-compensated torque that is a steering torque the phase of which is compensated by the phase compensator;
a vibration wave generator that generates a warning vibration wave having a prescribed frequency based on an operating state of the vehicle;
a target current value computing unit that computes a target current value for the electric motor by adding the warning vibration wave generated by the vibration wave generator to the basic assist current value set by the basic assist current value setting unit; and
a motor controller that controls the electric motor based on the target current value computed by the target current value computing unit, wherein
the phase compensator includes a characteristic switching unit that switches a frequency characteristic between a normal state where the warning vibration wave is not generated by the vibration wave generator and a warning vibration wave generated state where the warning vibration wave is generated by the vibration wave generator, and
the characteristic switching unit is configured to switch the frequency characteristic such that, in the warning vibration wave generated state, a gain with respect to a prescribed frequency of the warning vibration wave is smaller than a gain with respect to the prescribed frequency in the normal state, and a phase delay with respect to the prescribed frequency is smaller than a phase delay with respect to the prescribed frequency in the normal state.
12. The warning device for a vehicle according to claim 11 , wherein:
the warning vibration wave contains a plurality of frequency components; and
the characteristic switching unit is configured to switch the frequency characteristic such that, in the warning vibration wave generated state, a gain with respect to a frequency of each of the frequency components contained in the warning vibration wave is smaller than a gain with respect to a frequency of a corresponding one of the frequency components in the normal state, and a phase delay with respect to the frequency of each of the frequency components is smaller than a phase delay with respect to the frequency of a corresponding one of the frequency components in the normal state.