Steering system
A steering system includes a motor control apparatus that controls driving of a motor based on an assist command value. The motor control apparatus includes an angle command value calculating unit that calculates an angle command value based on an input value including a steering torque, and calculates an assist component through execution of angle feedback control allowing a turning angle of a vehicle to follow the angle command value. The motor control apparatus calculates the assist command value based on the assist component. The motor control apparatus also calculates a correction value based on a deviation between a yaw rate of the vehicle and a yaw rate command value. An input value for the angle command value calculating unit is corrected based on the correction value.
1. A steering system comprising:
a motor that applies an assist force to a steering mechanism of a vehicle; and
one or more processors programmed to control driving of the motor based on an assist command value corresponding to a target value for an output torque of the motor, wherein
the one or more processors are programmed to:
calculate an angle command value corresponding to a target value for a turning angle for a turning wheel based on an input value including a steering torque applied to a steering wheel of the vehicle in association with a steering operation,
calculate an assist component through execution of angle feedback control allowing an actual turning angle for the turning wheel to follow the angle command value,
calculate the assist command value based on the assist component,
set a state quantity command value corresponding to a target value for a state quantity indicative of a traveling state of the vehicle, and
calculate a correction value based on a deviation between an actual state quantity of the vehicle and the state quantity command value, and wherein
the input value is corrected based on the correction value, and
the motor is driven to apply the assist force to the steering mechanism based on the assist command value which is calculated based on the assist component which is calculated based partly on the angle command value after the input value for the angle command value is corrected based on the correction value, such that the actual turning angle for the turning wheel follows the angle command value corresponding to the target value for the turning angle for the turning wheel.
2. The steering system according to claim 1 , further comprising:
a traveling lane detecting unit that detects information on a lane in which the vehicle is traveling;
a vehicle speed sensor that detects a speed of the vehicle; and
a yaw rate sensor that detects a yaw rate of the vehicle, wherein
the one or more processors are programmed to set a target traveling line that allows the vehicle to keep traveling in the lane in which the vehicle is traveling, based on information on the lane detected by the traveling lane detecting unit, and sets a yaw rate command value corresponding to a target value for the yaw rate that enables a traveling line of the vehicle to follow the target traveling line, based on the target traveling line and the speed of the vehicle, and
the one or more processors are programmed to calculate the correction value based on a deviation between the yaw rate command value and the yaw rate detected by the yaw rate sensor.
3. The steering system according to claim 2 , wherein
the one or more processors are programmed to set an absolute value of the correction value such that the absolute value increases as the deviation increases.
4. The steering system according to claim 1 , further comprising:
a traveling lane detecting unit that detects information on a lane in which the vehicle is traveling, wherein
when the angle command value is defined as a first angle command value,
the one or more processors are programmed to set a target traveling line that allows the vehicle to keep traveling in a lane in which the vehicle is traveling, based on information on the lane detected by the traveling lane detecting unit, and sets a second angle command value corresponding to a target value for a turning angle that enables a traveling line of the vehicle to follow the target traveling line, based on the target traveling line, and
the one or more processors are programmed to use the first angle command value instead of the actual turning angle of the vehicle to calculate the correction value based on a deviation between the first angle command value and the second angle command value.
5. The steering system according to claim 4 , wherein
the one or more processors are programmed to set an absolute value of the correction value such that the absolute value increases as the deviation increases.
6. The steering system according to claim 1 , wherein
the assist component is calculated based on a difference between the actual turning angle for the turning wheel and the angle command value, where the angle command value is calculated based on the input value corrected using the correction value.