Electric power steering apparatus
When a steering operation by a driver intervenes during autonomous driving of a vehicle, the intervention operation is fully reflected and a feeling of strangeness and a feeling of discomfort that may be given to the driver are reduced. In order to attain this, an ECU of an electric power steering apparatus includes: a steering angle control section 200 to which a steering angle command value is input to control a steering angle; an assist control section 147 to which an assist map gradual change gain is input to output an assist control output gradual change gain; and a switching determination/gradual change gain generating section 145 that generates a gradual change gain, by which steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section 200 and an assist control mode by the assist control section 147 . The steering angle control section 200 has a position control section 208 , a steering angular velocity control section 212 , and steering intervention compensating and steering-wheel vibration suppressing means 220.
1. An electric power steering apparatus comprising:
a motor that applies a steering assist force to a steering of a vehicle; and
a control unit (ECU) that generates a control signal for the steering according to a steering angle command value calculated based on a target trajectory of the vehicle, where
the motor is driven by the steering angle command value to perform assist control on the steering of the vehicle, and mutually switch between an automatic steering control mode and a manual steering control mode,
wherein the ECU comprises:
a steering angle control section to which the steering angle command value is input to control a steering angle of the steering;
an assist control section that applies an auxiliary steering force to the steering using a rotational force of the motor; and
a switching determination/gradual change gain generating section that generates a gradual change gain, by which the steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section and an assist control mode by the assist control section, and
the steering angle control section comprises:
a position control section that multiplies a deviation between a target steering angle θt and an actual steering angle θr of the steering by a proportional gain, and further calculates a steering angular velocity command value ωref using a feedforward (FF) filter;
a steering angular velocity control section that calculates, by PI control using a pseudo-integration, an electric current command value for the motor based on input target steering angular velocity ωt and actual steering angular velocity ωr to make the actual steering angular velocity ωr follow the target steering angular velocity ωt; and
steering intervention compensating and steering-wheel vibration suppressing means that outputs, based on a steering torque upon driver's steering intervention, the electric current command value in a direction to release a twist of a torsion bar of the steering due to the steering intervention.
2. The electric power steering apparatus according to claim 1 , wherein the steering angle control section further has steering-wheel vibration removing means that reduces a vibrational frequency component using a filter that reduces the steering-wheel vibrational frequency component, or by phase-lag compensation.
3. The electric power steering apparatus according to claim 1 , wherein the steering angle control section further has an upper and lower limit variable limiter that limits the steering angular velocity command value ωref until completion of gradual change.
4. The electric power steering apparatus according to claim 1 , wherein the ECU has the switching determination/gradual change gain generating section multiply a signal in the steering angular velocity control section by a speed control gradual change gain output to the steering angle control section.
5. The electric power steering apparatus according to claim 1 , wherein the ECU has the switching determination/gradual change gain generating section multiply the steering angular velocity command value ωref by a speed command gradual change gain output to the steering angle control section.
6. The electric power steering apparatus according to claim 1 , wherein the steering angle control section further has a variable rate limiter that performs rate limit processing on the steering angle command value to avoid an abrupt change in steering angle control electric current command value as steering angle control output due to an abrupt change in the steering angle command value θref.
7. The electric power steering apparatus according to claim 6 , wherein the ECU has the switching determination/gradual change gain generating section multiply a steering angle command value from the variable rate limiter by a steering angle command gradual change gain output to the steering angle control section.
8. The electric power steering apparatus according to claim 1 , wherein the ECU further has an assist control section to which an assist map gradual change gain is input to output assist control output, and multiplies the output of the assist control section by an assist control output gradual change gain GFT 1 .
9. An electric power steering apparatus comprising:
a motor that applies a steering assist force to a steering of a vehicle; and
a control unit (ECU) that generates a control signal for the steering according to a steering angle command value calculated based on a target trajectory of the vehicle, where
the motor is driven by the steering angle command value to perform assist control on the steering of the vehicle, and mutually switch between an automatic steering control mode and a manual steering control mode,
wherein the ECU comprises:
a steering angle control section to which the steering angle command value is input to control a steering angle of the steering;
an assist control section that applies an auxiliary steering force to the steering using a rotational force of the motor; and
a switching determination/gradual change gain generating section that generates a gradual change gain, by which the steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section and an assist control mode by the assist control section, and
the steering angle control section comprises:
a position control section that multiplies a deviation between a target steering angle θt and an actual steering angle θr of the steering by a proportional gain, and further calculates a steering angular velocity command value ωref using a feedforward (FF) filter;
a steering angular velocity control section that calculates, by control using a proportional gain Kv and phase-lag compensation, an electric current command value for the motor based on input target steering angular velocity ωt and actual steering angular velocity ωr to make the actual steering angular velocity ωr follow the target steering angular velocity ωt; and
steering intervention compensating and steering-wheel vibration suppressing means that outputs, based on a steering torque upon driver's steering intervention, the electric current command value in a direction to release a twist of a torsion bar of the steering due to the steering intervention.
10. The electric power steering apparatus according to claim 9 , wherein the steering angle control section further has steering-wheel vibration removing means that reduces a vibrational frequency component using a filter that reduces the steering-wheel vibrational frequency component, or by phase-lag compensation.
11. The electric power steering apparatus according to claim 9 , wherein the steering angle control section further has an upper and lower limit variable limiter that limits the steering angular velocity command value ωref until completion of gradual change.
12. The electric power steering apparatus according to claim 9 , wherein the ECU has the switching determination/gradual change gain generating section multiply a signal in the steering angular velocity control section by a speed control gradual change gain output to the steering angle control section.
13. The electric power steering apparatus according to claim 9 , wherein the ECU has the switching determination/gradual change gain generating section multiply the steering angular velocity command value ωref by a speed command gradual change gain output to the steering angle control section.
14. The electric power steering apparatus according to claim 9 , wherein the steering angle control section further has a variable rate limiter that performs rate limit processing on the steering angle command value to avoid an abrupt change in steering angle control electric current command value as steering angle control output due to an abrupt change in the steering angle command value θref.
15. The electric power steering apparatus according to claim 14 , wherein the ECU has the switching determination/gradual change gain generating section multiply a steering angle command value from the variable rate limiter by a steering angle command gradual change gain output to the steering angle control section.
16. The electric power steering apparatus according to claim 9 , wherein the ECU further has an assist control section to which an assist map gradual change gain is input to output assist control output, and multiplies the output of the assist control section by an assist control output gradual change gain GFT 1 .
17. An electric power steering apparatus comprising:
a motor that applies a steering assist force to a steering of a vehicle; and
a control unit (ECU) that generates a control signal for the steering according to a steering angle command value calculated based on a target trajectory of the vehicle, where
the motor is driven by the steering angle command value to perform assist control on the steering of the vehicle, and mutually switch between an automatic steering control mode and a manual steering control mode, wherein
the ECU comprises:
a steering angle control section to which the steering angle command value is input to control a steering angle of the steering;
an assist control section that applies an auxiliary steering force to the steering using a rotational force of the motor; and
a switching determination/gradual change gain generating section that generates a gradual change gain, by which the steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section and an assist control mode by the assist control section, and the steering angle control section comprises:
a position control section that multiplies a deviation between a target steering angle θt and an actual steering angle θr of the steering by a proportional gain, and further calculates a steering angular velocity command value ωref using a feedforward (FF) filter;
a steering angular velocity control section that calculates, by proportional control, an electric current command value for the motor based on input target steering angular velocity ωt and actual steering angular velocity ωr to make the actual steering angular velocity ωr follow the target steering angular velocity ωt; and
steering intervention compensating and steering-wheel vibration suppressing means that outputs, based on a steering torque upon driver's steering intervention, the electric current command value in a direction to release a twist of a torsion bar of the steering due to the steering intervention.
18. The electric power steering apparatus according to claim 17 , wherein the steering angle control section further has steering-wheel vibration removing means that reduces a vibrational frequency component using a filter that reduces the steering-wheel vibrational frequency component, or by phase-lag compensation.
19. The electric power steering apparatus according to claim 17 , wherein the steering angle control section further has an upper and lower limit variable limiter that limits the steering angular velocity command value ωref until completion of gradual change.
20. The electric power steering apparatus according to claim 17 , wherein the ECU has the switching determination/gradual change gain generating section multiply a signal in the steering angular velocity control section by a speed control gradual change gain output to the steering angle control section.
21. The electric power steering apparatus according to claim 17 , wherein the ECU has the switching determination/gradual change gain generating section multiply the steering angular velocity command value ωref by a speed command gradual change gain output to the steering angle control section.
22. The electric power steering apparatus according to claim 17 , wherein the steering angle control section further has a variable rate limiter that performs rate limit processing on the steering angle command value to avoid an abrupt change in steering angle control electric current command value as steering angle control output due to an abrupt change in the steering angle command value θref.
23. The electric power steering apparatus according to claim 22 , wherein the ECU has the switching determination/gradual change gain generating section multiply a steering angle command value from the variable rate limiter by a steering angle command gradual change gain output to the steering angle control section.
24. The electric power steering apparatus according to claim 17 , wherein the ECU further has an assist control section to which an assist map gradual change gain is input to output assist control output, and multiplies the output of the assist control section by an assist control output gradual change gain GFT 1 .