Vehicle steering device
It is determined whether or not a vehicle is in a first vehicle state based on a detected steering torque and a detected yaw rate (step S 1 ), one-side pull is decided if the yaw rate is within a range from 2 deg/sec to 10 deg/sec (step S 4 ) for 1 second which is a first predetermined time (step S 3 ) since an absolute value of the steering torque becomes 20 Nm or larger in the first vehicle state (step S 2 ), then a target current value (one-side response) is generated.
1. A vehicle steering device comprising:
a steering torque detection unit that detects a steering torque, and a vehicle yaw rate detector that detects a vehicle yaw rate, the vehicle steering device controlling an electric current value applied to an electric motor to apply an assist torque to a steering system based on the steering torque;
a one-side pull controller that detects one-side pull of a vehicle, and calculates a correction current value, which corrects the current value to restrict the one-side pull,
wherein the one-side pull controller:
determines whether the vehicle is in a first vehicle state based on the detected steering torque and the detected vehicle yaw rate, and if so,
determines whether an absolute value of the steering torque becomes a first steering torque predetermined value or larger in the first vehicle state, and if so,
determines whether the vehicle yaw rate satisfies a predetermined condition within a first predetermined time period since the absolute value of the steering torque becomes the first steering torque predetermined value or larger in the first vehicle state, and if so,
determines that the vehicle is in the one-side pull state and calculates the correction current value in the same steering torque direction as a direction of the steering torque when the first steering torque predetermined value is satisfied, and
wherein the one-side pull controller:
detects the one-side pull of the vehicle by using the steering torque and the vehicle yaw rate,
pre-stores a relationship between a one-side pull response steering angle value and the correction current value, and
moves a midpoint in the one-side pull response steering angle value in accordance with an integrated value of the steering torque to decide the correction current value so as to restrict the one-side pull.
2. The vehicle steering device according to claim 1 , wherein the first vehicle state satisfies that the absolute value of the steering torque is smaller than a second steering torque predetermined value, which is smaller than the first steering torque predetermined value, and that an absolute value of the vehicle yaw rate is smaller than a first vehicle yaw rate amount predetermined value.
3. The vehicle steering device according to claim 1 , wherein the predetermined condition of the vehicle yaw rate is that a length of time, in which an absolute value of the vehicle yaw rate is in a range from a second vehicle yaw rate-amount predetermined value to a third vehicle yaw rate amount predetermined value, is a second predetermined time period or longer.
4. The vehicle steering device according to claim 1 , wherein the steering torque detection unit is a steering torque sensor, and the vehicle yaw rate detector is a yaw rate sensor.
5. The vehicle steering device according to claim 2 , wherein the steering torque detection unit is a steering torque sensor, and the vehicle yaw rate detector is a yaw rate sensor.
6. The vehicle steering device according to claim 3 , wherein the steering torque detection unit is a steering torque sensor, and the vehicle yaw rate detector is a yaw rate sensor.
7. A method of controlling a vehicle steering device including a steering torque sensor that detects a steering torque, and a yaw rate sensor that detects a vehicle yaw rate, the vehicle steering device controlling an electric current value applied to an electric motor to apply an assist torque to a steering system based on the steering torque, the method comprising:
determining whether the vehicle is in a first vehicle state based on the detected steering torque and the detected vehicle yaw rate, and if so,
determining whether an absolute value of the steering torque becomes a first steering torque predetermined value or larger in the first vehicle state, and if so,
determining whether the vehicle yaw rate satisfies a predetermined condition within a first predetermined time period since the absolute value of the steering torque becomes the first steering torque predetermined value or larger in the first vehicle state, and if so,
determining that a vehicle is in one-side pull state and calculating a correction current value, which corrects the current value to restrict the one-side pull, in the same steering torque direction as a direction of the steering torque when the first steering torque predetermined value is satisfied, and
applying the corrected current value to the electric motor to apply the assist torque to the steering system,
wherein the step of determining that the vehicle is in one-side pull state includes:
detecting the one-side pull of the vehicle by using the steering torque and the vehicle yaw rate,
pre-storing a relationship between a one-side pull response steering angle value and the correction current value, and
moving a midpoint in the one-side pull response steering angle value in accordance with an integrated value of the steering torque to decide the correction current value so as to restrict the one-side pull.