Steering device
A base current command value is calculated based on a steering torque and a vehicle speed. A desired steering angle value is a constant representing the virtual steering limit position. When a steering angle threshold is set to a value close to, and smaller than, the desired steering angle value, a first correction value is calculated so that a steering reaction force is increased rapidly when a steering angle becomes equal to or larger than the steering angle threshold. A second correction value is calculated so that the steering angle becomes equal to the desired steering angle value when the steering angle becomes equal to or larger than the steering angle threshold. The base current command value is corrected by the first correction value and the second correction value. The driver is thus restrained from turning the steering wheel to a position beyond the desired steering angle value.
1. A steering device for use in a vehicle, the steering device comprising:
a motor configured to generate a steering reaction torque that is applied to a steering mechanism of the vehicle;
a sensor configured to detect a state quantity corresponding to an operation state of a steering wheel by a user; and
a microcomputer or circuit configured to control driving of the motor based on a command value calculated according to the detected operation state, the microcomputer or circuit being configured to:
calculate a base command value based on the detected state quantity, the base command value being a basic control component that regulates the steering reaction torque generated by the motor,
when a steering angle value of the steering wheel reaches a threshold that is smaller than a virtual steering limit position, calculate a first correction value that increases the steering reaction torque generated by the motor by an assist torque amount,
when the detected state quantity exceeds the steering reaction torque that includes the assist torque amount, calculate a second correction value being a control component that increases the steering reaction torque so that the steering angle value becomes equal to the virtual steering limit position,
calculate the command value by adding the base command value, the first correction value, and the second correction value, and
control the driving of the motor based on the calculated command value.
2. The steering device according to claim 1 , wherein,
the virtual steering limit position is set to a value smaller than a mechanical steering limit position of at least one of the steering wheel and a steered wheel, and
the threshold is set to a value smaller than the desired steering angle value.
3. The steering device according to claim 1 , wherein,
the microcomputer or circuit is configured to decrease the threshold as a steering angular velocity of the steering wheel increases.
4. The steering device according to claim 1 , wherein,
the microcomputer or circuit is configured to determine whether the steering wheel is being turned back based on: (i) a change in the steering angle value of the steering wheel and (ii) a change in steering torque that is the state quantity, and
if the microcomputer or circuit determines that the steering wheel is being turned back, the second correction value is set to zero.
5. The steering device according to claim 1 , wherein,
the microcomputer or circuit is configured to determine whether a deviation condition is present based on:
(i) the steering angle value is equal to or larger than the threshold, and
(ii) a difference between the virtual steering limit position and the steering angle value is larger than a predetermined value, and
if the microcomputer or circuit determines that the deviation condition is present, the second correction value is set to zero.
6. An electric power steering system, comprising:
the steering device according to claim 1 ; and
a steering shaft serving as a shaft that mechanically transmits a rotary motion of the steering wheel to the steered wheel, wherein,
the state quantity includes the steering torque that is applied to the steering wheel.
7. The steering device according to claim 1 , wherein the base command value is calculated based a map defining a pre-determined steering torque to a speed of the vehicle.