Steering assist device
In a steering assist device, a correction gain setting unit sets correction gain to one if it determines that that the sign of a lateral deviation change rate is different from that of a second derivative value of a lateral deviation. The correction gain setting unit sets the correction gain to a predetermined value that is larger than one, if it determines that that the sign of the lateral deviation change rate is the same as that of the second derivative value of the lateral deviation. A gain multiplication unit corrects a lane keep assist current value calculated by a lane keep assist current value calculation unit by multiplying the lane keep assist current value by the correction gain set by the correction gain setting unit.
1. A steering assist device, comprising:
an electric motor that applies a steering driving force to a steering operation mechanism of a vehicle; and
a processor programmed to:
obtain a lateral deviation of the vehicle from a target travel line, a lateral deviation change rate or a rate of change in the lateral deviation per unit time, and a rate of change in the lateral deviation change rate per unit time,
set a steering assist current value corresponding to a target value of steering assist torque,
calculate a lane keep assist current value that makes the lateral deviation and the lateral deviation change rate closer to zero, based on the lateral deviation and the lateral deviation change rate obtained,
correct the calculated lane keep assist current value so that an absolute value of the lane keep assist current value increases, if the lateral deviation change rate and the rate of change in the lateral deviation change rate per unit time obtained are both either a positive value or a negative value,
calculate a target current value by using the set steering assist current value and the corrected lane keep assist current value, and
drivingly control the electric motor based on the calculated target current value.
2. The steering assist device according to claim 1 , wherein
the calculated lane keep assist current value is corrected by multiplying the lane keep assist current value by a correction gain that is larger than one, if the lateral deviation change rate and the rate of change in the lateral deviation change rate per unit time obtained are both either a positive value or a negative value.
3. The steering assist device according to claim 2 , wherein
the correction gain is calculated based on the lateral deviation change rate and the rate of change in the lateral deviation change rate per unit time obtained.
4. The steering assist device according to claim 1 , wherein
the calculated lane keep assist current value is corrected by adding a correction value having a same positive or negative sign as that of the lane keep assist current value to the lane keep assist current value, if the lateral deviation change rate and the rate of change in the lateral deviation change rate per unit time obtained are both either a positive value or a negative value.