Vehicle steering control device
To provide a vehicle steering control device capable of alleviating discomfort caused by mismatch between a steering angle of a steering wheel and a steered angle of a drive wheel generated by automatic steering using an EPS device. The vehicle steering control device has a first steering assist mode of assisting driver's steering and a second steering assist mode of performing steering independently from the driver's steering. A second controller, performs phase shift suppression control to suppress a relative shift of a phase of a differential mechanism on a steering wheel side with respect to a reference phase on the steering wheel side of the differential mechanism corresponding to a phase on a rack-and-pinion side of the differential mechanism in the first steering assist mode.
1. A vehicle steering control device comprising:
a first controller that controls a speed reduction mechanism in a steering mechanism in which a steering wheel and a rack-and-pinion that steers and drives a drive wheel are connected via a differential mechanism and the speed reduction mechanism is provided in a rack of the rack-and-pinion; and
a second controller that controls the differential mechanism in the steering mechanism,
wherein
a first steering assist mode of assisting steering of a driver and
a second steering assist mode of performing steering independently from the steering of the driver are provided
as operation modes of the first controller and the second controller,
a reference correlation defining a reference phase on a side of the steering wheel of the differential mechanism corresponding to a phase on a side of the rack-and-pinion of the differential mechanism, and a correlation allowable region of the phase on the side of the steering wheel of the differential mechanism with respect to the reference phase are prescribed in the second controller,
when the phase on the side of the steering wheel of the differential mechanism deviates from the correlation allowable region in the first steering assist mode,
the second controller controls
the differential mechanism at angular velocity in accordance with a control amount of the differential mechanism
using the reference phase on the side of the steering wheel of the differential mechanism corresponding to the phase on the side of the rack-and-pinion of the differential mechanism as a target phase, and
a phase angle until the phase on the side of the steering wheel of the differential mechanism reaches the target phase as a target angle.
2. The vehicle steering control device according to claim 1 , wherein
the second controller decreases
the angular velocity as the control amount increases, and increases the angular velocity as the control amount decreases.
3. The vehicle steering control device according to claim 1 , wherein
the first steering assist mode and the second steering assist mode are switched based on an external command.
4. A vehicle steering control device comprising:
a first controller that controls a speed reduction mechanism in a steering mechanism in which a steering wheel and a rack-and-pinion that steers and drives a drive wheel are connected via a differential mechanism and the speed reduction mechanism is provided in a rack of the rack-and-pinion; and
a second controller that controls the differential mechanism in the steering mechanism,
wherein
a first steering assist mode of assisting steering of a driver and
a second steering assist mode of performing steering independently from the steering of the driver are provided
as operation modes of the first controller and the second controller,
a reference correlation defining a reference phase on a side of the steering wheel of the differential mechanism corresponding to a phase on a side of the rack-and-pinion of the differential mechanism, and a correlation allowable region of the phase on the side of the steering wheel of the differential mechanism with respect to the reference phase are prescribed in the second controller,
when the phase on the side of the steering wheel of the differential mechanism deviates from the correlation allowable region in the first steering assist mode,
the second controller controls the differential mechanism
using a phase shifted by a predetermined phase in a direction of a change of the phase on the side of the steering wheel of the differential mechanism corresponding to the phase on the side of the rack-and-pinion of the differential mechanism, as a target phase, and
a phase angle until the phase on the side of the steering wheel of the differential mechanism reaches the target phase as a target angle.
5. The vehicle steering control device according to claim 4 , wherein
when the phase on the side of the steering wheel of the differential mechanism changes in a decreasing direction, the second controller uses a phase shifted by the predetermined phase in the direction as the target phase.
6. The vehicle steering control device according to claim 4 , wherein
when the phase on the side of the steering wheel of the differential mechanism changes in an increasing direction, the second controller uses a phase shifted by the predetermined phase in the direction as the target phase.
7. The vehicle steering control device according to claim 4 , wherein
the first steering assist mode and the second steering assist mode are switched based on an external command.