Steering control device
A steering control device increases a steering reaction force of a steering reaction force actuator in a direction in which a lateral position of a host vehicle moves away from a travel path partition line when a turning amount of a turning actuator increases in the direction in which the lateral position of the host vehicle moves away from the travel path partition line. A steering reaction force control amount is computed for a reaction force suppression processing to reduce the steering reaction force control amount when the steering reaction force control amount has been at a threshold value or higher for a length of time. The reaction force suppression processing is carried out to control the steering reaction force actuator in lieu of the steering reaction force control amount. Meanwhile, the turning amount is maintained at a value occurring when the reaction force suppression processing began.
1. A steering control device comprising:
a steering reaction force actuator configured to impart a steering reaction force to a steering unit;
a steering reaction force control amount calculation unit that computes a steering reaction force control amount in which a steering reaction force increases in a direction in which a lateral position of a host vehicle moves away from a travel path partition line in commensurate proximity to the travel path partition line;
a steering reaction force control unit that controls the steering reaction force actuator based on the steering reaction force control amount;
a turning actuator for imparting turning torque to a turning part mechanically separated from the steering unit;
a turning control amount calculation unit that computes a turning control amount in which a turning amount increases in the direction in which the lateral position of the host vehicle moves away from the travel path partition line in commensurate proximity to the travel path partition line;
a turning control unit that controls the turning actuator based on the turning control amount;
a reaction force suppression processing unit that computes a steering reaction force control amount of reaction force suppression processing for reducing the steering reaction force control amount when a state in which the steering reaction force control amount has been at a predetermined threshold value or higher for a predetermined length of time, and that conducts a reaction force suppression processing to control the steering reaction force actuator based on the steering reaction force control amount of reaction force suppression processing in lieu of the steering reaction force control amount; and
a turning amount holding unit that holds the turning control amount at a value occurring at a starting time point of the reaction force suppression processing when the reaction force suppression processing has started.
2. The steering control device according to claim 1 , wherein
the reaction force suppression processing unit holds the steering reaction force control amount of reaction force suppression processing at a predetermined restoration threshold value when the steering reaction force control amount for reaction force processing has decreased to the predetermined restoration threshold value.
3. The steering control device according to claim 2 , further comprising
a straight-line travel assessment unit that assesses a straight-line travel state of the vehicle, where the reaction force suppression processing unit cancels the reaction force suppression processing when travel is assessed to be straight-line travel while the steering reaction force control amount for reaction force processing is being held, and restores the steering reaction force control amount for reaction force processing to the steering reaction force control amount.
4. The steering control device according to claim 2 , wherein
the reaction force suppression processing unit imparts the steering reaction force control amount to the steering reaction force actuator when the steering reaction force control amount has become less than the steering reaction force control amount for reaction force processing during the reaction force suppression processing.
5. The steering control device according to claim 2 , wherein
when the reaction force suppression processing has been canceled, the turning amount holding unit restores the turning control amount being held to the turning control amount computed by the turning control amount calculation unit.
6. The steering control device according to claim 2 , wherein
the turning amount holding unit imparts the turning control amount to the turning actuator when the turning control amount computed by the turning control amount calculation unit has become less than the value occurring at a time point of a start of the reaction force suppression processing after the reaction force suppression processing has started.
7. The steering control device according to claim 3 , wherein
the reaction force suppression processing unit imparts the steering reaction force control amount to the steering reaction force actuator when the steering reaction force control amount has become less than the steering reaction force control amount for reaction force processing during the reaction force suppression processing.
8. The steering control device according to claim 3 , wherein
when the reaction force suppression processing has been canceled, the turning amount holding unit restores the turning control amount being held to the turning control amount computed by the turning control amount calculation unit.
9. The steering control device according to claim 3 , wherein
the turning amount holding unit imparts the turning control amount to the turning actuator when the turning control amount computed by the turning control amount calculation unit has become less than the value occurring at a time point of a start of the reaction force suppression processing after the reaction force suppression processing has started.
10. The steering control device according to claim 1 , wherein
the reaction force suppression processing unit imparts the steering reaction force control amount to the steering reaction force actuator when the steering reaction force control amount has become less than the steering reaction force control amount for reaction force processing during the reaction force suppression processing.
11. The steering control device according to claim 10 , wherein
when the reaction force suppression processing has been canceled, the turning amount holding unit restores the turning control amount being held to the turning control amount computed by the turning control amount calculation unit.
12. The steering control device according to claim 10 , wherein
the turning amount holding unit imparts the turning control amount to the turning actuator when the turning control amount computed by the turning control amount calculation unit has become less than the value occurring at a time point of a start of the reaction force suppression processing after the reaction force suppression processing has started.
13. The steering control device according to claim 1 , wherein
when the reaction force suppression processing has been canceled, the turning amount holding unit restores the turning control amount being held to the turning control amount computed by the turning control amount calculation unit.
14. The steering control device according to claim 13 , wherein
the turning amount holding unit imparts the turning control amount to the turning actuator when the turning control amount computed by the turning control amount calculation unit has become less than the value occurring at a time point of a start of the reaction force suppression processing after the reaction force suppression processing has started.
15. The steering control device according to claim 1 , wherein
the turning amount holding unit imparts the turning control amount to the turning actuator when the turning control amount computed by the turning control amount calculation unit has become less than the value occurring at a time point of a start of the reaction force suppression processing after the reaction force suppression processing has started.