Steering control device
A steering control device includes a steering reaction force control unit that applies a steering reaction force to a steering unit in accordance with a steering reaction force characteristic that is based on steering torque and steering angle of the steering unit in which the steering torque increases as the steering angle increases. A curvature detection unit detects a curvature of a white line. An offset unit calculates an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature. A lateral acceleration detection unit detects a lateral acceleration of a host vehicle. An offset suppression unit suppresses an increase in the offset amount more as an absolute value of the detected lateral acceleration increases.
1. A steering control device comprising:
a steering unit mechanically separated from a turning unit for turning a turnable wheel and that receives steering input from a driver;
a steering reaction force control unit programmed to set a steering reaction force characteristic based on a steering torque of the steering unit and a steering angle of the steering unit in which the steering torque increases as the steering angle of the steering unit increases, and apply a steering reaction force to the steering unit based on the steering reaction force characteristic;
a curvature detection unit programmed to detect a curvature of a white line;
an offset unit programmed to calculate an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature;
a lateral acceleration detection unit programmed to detect a lateral acceleration of a host vehicle; and
an offset suppression unit programmed to suppress an increase in the offset amount more as an absolute value of the detected lateral acceleration increases and to hold a maximum value of the absolute value of the detected lateral acceleration when the detected curvature is equal to or greater than a predetermined curvature.
2. The steering control device according to claim 1 , wherein
the offset suppression unit is further programmed to inhibit an increase in the offset amount when the absolute value of the detected lateral acceleration is equal to or greater than a predetermined value.
3. The steering control device according to claim 1 , wherein
the steering reaction force characteristic is configured so that a change amount of the steering angle with respect to a change amount of the steering torque is smaller as the detected curvature increases.
4. A steering control device comprising:
a steering unit mechanically separated from a turning unit for turning a turnable wheel and that receives steering input from a driver;
a steering reaction force control unit programmed to set a steering reaction force characteristic based on a steering torque of the steering unit and a steering angle of the steering unit in which the steering torque increases as the steering angle of the steering unit increases, and apply a steering reaction force to the steering unit based on the steering reaction force characteristic;
a curvature detection unit programmed to detect a curvature of a white line;
an offset unit programmed to calculate an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature;
a lateral acceleration detection unit programmed to detect a lateral acceleration of a host vehicle; and
an offset suppression unit programmed to suppress an increase in the offset amount more as an absolute value of the detected lateral acceleration increases and to inhibit an increase in the offset amount when the absolute value of the detected lateral acceleration is equal to or greater than a predetermined value.
5. The steering control device according to claim 4 , wherein
the steering reaction force characteristic is configured so that a change amount of the steering angle with respect to a change amount of the steering torque is smaller as the detected curvature increases.
6. A steering control device comprising:
a steering unit mechanically separated from a turning unit for turning a turnable wheel and that receives steering input from a driver;
a steering reaction force control unit programmed to set a steering reaction force characteristic based on a steering torque of the steering unit and a steering angle of the steering unit in which the steering torque increases as the steering angle of the steering unit increases, and apply a steering reaction force to the steering unit based on the steering reaction force characteristic;
a curvature detection unit programmed to detect a curvature of a white line;
an offset unit programmed to calculate an offset amount that increases as the detected curvature increases and that offsets the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature;
a lateral acceleration detection unit programmed to detect a lateral acceleration of a host vehicle; and
an offset suppression unit programmed to suppress an increase in the offset amount more as an absolute value of the detected lateral acceleration increases,
the steering reaction force characteristic being configured so that a change amount of the steering angle with respect to a change amount of the steering torque is smaller as the detected curvature increases.