Stability control device
A stability control device is provided that controls a turning amount of the turning unit based on a steer-by-wire turning amount corresponding to a steering amount of a steering unit that is mechanically detached from the turning unit and based on a suppression turning amount for suppressing a yaw angle that is generated to a vehicle by a disturbance. The stability control device corrects the suppression turning amount to increase as the lateral position of a host vehicle becomes closer to the white line, when controlling the steering reaction force that is applied to the steering unit based on the steering amount, without reflecting the suppression turning amount on the steering reaction force that is applied to the steering unit.
1. A stability control device to suppress an effect of a disturbance to a host vehicle, the stability control device comprising:
a steering device that receives steering input from a driver;
a turning device configured to turn a turning wheel that is mechanically detached from the steering device;
a steer-by-wire turning amount calculation device programmed to calculate a steer-by-wire turning amount corresponding to a steering amount of the steering device;
a camera configured to capture a travel dividing line in front of the host vehicle;
a lateral position detection device programmed to determine a lateral position of the host vehicle with respect to a target travel dividing line, which is a travel dividing line that intersects with a host vehicle traveling direction;
a yaw angle detection device programmed to detect a yaw angle, which is an angle between the target travel dividing line and the host vehicle traveling direction, wherein the yaw angle is generated to the host vehicle by the disturbance, wherein the disturbance is an environmental condition that tends to cause the host vehicle to undergo a change of the lateral position;
a suppression turning amount calculation device programmed to calculate a suppression turning amount to suppress the detected yaw angle;
a suppression turning amount correction device programmed to correct the suppression turning amount by increasing the suppression turning amount to a corrected suppression turning amount as the lateral position of the host vehicle becomes closer to the target travel dividing line;
a turn control device programmed to control a turning amount of the turning device based on the steer-by-wire turning amount and the corrected suppression turning amount; and
a steering reaction force control device programmed to control the steering reaction force based on the steering amount, without reflecting the corrected suppression turning amount on a steering reaction force that is applied to the steering device.
2. The stability control device according to claim 1 , wherein
the steering reaction force control device is further programmed to control the steering reaction force that is applied to the steering device based on the steer-by-wire turning amount.
3. A stability control device to suppress an effect of a disturbance to a host vehicle, the stability control device comprising:
a controller programmed to:
control a turning amount of a turning device based on a steer-by-wire turning amount corresponding to a steering amount of a steering device that is mechanically detached from the turning device and based on a suppression turning amount for suppressing a yaw angle that is generated to the host vehicle by the disturbance, wherein the disturbance is an environmental condition that tends to cause the host vehicle to undergo a change of a lateral position;
correct the suppression turning amount so as to increase the suppression turning amount as the lateral position of the host vehicle becomes closer to a travel dividing line that intersects with a host vehicle traveling direction; and
control a steering reaction force that is applied to the steering device based on the steering amount, without reflecting the suppression turning amount on the steering reaction force that is applied to the steering device.
4. A stability control device to suppress an effect of a disturbance to a host vehicle, the stability control device comprising:
a sensor for detecting a lateral position of the host vehicle with respect to a travel dividing line that intersects with a host vehicle traveling direction; and
a controller programmed to:
control a turning amount of the turning device based on a steer-by-wire turning amount corresponding to a steering amount of a steering device that is mechanically detached from the turning device and based on a suppression turning amount for suppressing a yaw angle that is generated to the host vehicle by the disturbance, wherein the disturbance is an environmental condition that tends to cause the host vehicle to undergo a change of the lateral position;
correct the suppression turning amount to increase as the lateral position of the host vehicle becomes closer to the travel dividing line; and
control a steering reaction force that is applied to the steering device based on the steering amount, without reflecting the suppression turning amount on the steering reaction force that is applied to the steering device.