Steering control device
A control device controls a reaction force motor that generates a steering reaction force to be applied to a steering mechanism of a vehicle, based on a steering reaction force command value calculated according to a steering state. An axial force distribution calculation circuit of the control device calculates a mixed axial force by summing values obtained by multiplying an ideal axial force and estimated axial forces by individually set distribution rates. The axial force distribution calculation circuit calculates a final axial force to be reflected in the steering reaction force command value, by summing values obtained by multiplying the ideal axial force and the mixed axial force by individually set distribution rates. The axial force distribution calculation circuit sets the distribution rates of the ideal axial force and the mixed axial force, based on a distribution command generated by the host control device when intervening in steering control.
1. A steering control device configured to control a motor serving as a source of a driving force that is applied to a steering mechanism of a vehicle, based on a command value calculated in accordance with a steering state, the steering control device comprising:
an axial force calculation circuit configured to calculate a plurality of axial forces to be applied to a steered shaft, based on a plurality of state quantities, the axial force calculation circuit including:
an ideal axial force calculation circuit configured to calculate an ideal axial force to be applied to the steered shaft, based on the state quantities not reflecting a vehicle behavior or not reflecting road conditions; and
an estimated axial force calculation circuit configured to calculate an estimated axial force estimated to be applied to the steered shaft, based on the state quantities reflecting a vehicle behavior or road conditions; and
a distribution calculation circuit configured to calculate a final axial force to be reflected in the command value, by summing values obtained by multiplying the plurality of axial forces by individually set distribution rates, the distribution calculation circuit including:
a first calculation circuit configured to calculate a first axial force by multiplying the ideal axial force by a first distribution rate, the first calculation circuit setting the first distribution rate based on the distribution command,
a second calculation circuit configured to calculate a second axial force by multiplying a sum by a second distribution rate, the sum being calculated by summing values obtained by multiplying the ideal axial force and the estimated axial force by individually set distribution rates, the second calculation circuit setting the second distribution rate based on the distribution command, and
a third calculation circuit configured to calculate the final axial force by summing the calculated first axial force and the calculated second axial force; wherein
the distribution calculation circuit sets the distribution rates of the plurality of axial forces, based on a distribution command on the plurality of axial forces to be applied to the steered shaft that is generated by a host control device when the host control device intervenes in steering control.
2. The steering control device according to claim 1 , wherein the distribution calculation circuit sets the distribution rate of the ideal axial force and the distribution rate of the estimated axial force such that only the ideal axial force is reflected in the final axial force, based on the distribution command.
3. The steering control device according to claim 1 , wherein
the ideal axial force calculation circuit calculates the ideal axial force, based on a target rotation angle of a rotor that rotates in accordance with an operation of a steering wheel; and
the estimated axial force calculation circuit calculates the estimated axial force, based on at least one of a lateral acceleration, a yaw rate, or a current value of the motor, which is respectively detected by a sensor.
4. The steering control device according to claim 1 , wherein the steered shaft is coupled to a steering wheel of the vehicle.