Assisting force control device and assisting force control method
An assisting force control device 1 includes a torque detection unit that detects the steering torque of a vehicle, a calculation unit that, after the torque detection unit has detected a steering torque of at least a prescribed size, integrates the steering torque to calculate an integrated torque amount, and an assisting force control unit that reduces the steering assisting force to a value that is smaller than a prescribed value in a direction in which the vehicle is prevented from deviating from a lane, such reduction carried out if the integrated torque amount calculated by the calculation unit becomes at least an integration threshold value corresponding to a traveling condition of the vehicle.
1. An assistance force control device comprising:
a storage medium configured to store a program; and
a central processing unit (CPU) coupled to the storage medium and configured to execute the program stored in the storage medium to:
detect a steering torque of a vehicle;
after detecting a steering torque equal to or greater than a predetermined magnitude, integrate the steering torque to calculate an integrated torque amount;
in a case where the integrated torque amount is equal to or greater than an integration threshold corresponding to a travel condition of the vehicle, reduce a steering assistance force of a direction preventing the vehicle from deviating from a lane to a value that is smaller than a predetermined value;
detect a position of the vehicle; and
in a case where a detected position of the vehicle is within a predetermined distance from a lane demarcation line, start integrating the steering torque of a direction bringing the vehicle close to the lane demarcation line positioned within the predetermined distance.
2. The assistance force control device according to claim wherein the CPU is further configured to:
detect a weight of the vehicle; and
increase the integration threshold as the detected weight of the vehicle increases.
3. The assistance force control device according to claim 1 , wherein the CPU is further configured to:
detect a weight of the vehicle; and
multiply the detected steering torque by a coefficient that is decreased as the detected weight of the vehicle increases to calculate the integrated torque amount.
4. The assistance force control device according to claim 1 , wherein the CPU is further configured to:
detect a travel speed of the vehicle; and
increase the integration threshold as the detected travel speed increases.
5. The assistance force control device according to claim 1 , wherein the CPU is further configured to:
detect a travel speed of the vehicle; and
multiply the detected steering torque by a coefficient that is decreased as the detected travel speed of the vehicle increases to calculate the integrated torque amount.
6. An assistance force control method comprising:
a step of detecting a steering torque of a vehicle;
a step of, after detecting a steering torque equal to or greater than a predetermined magnitude, integrating the steering torque to calculate an integrated torque amount;
a step of, in a case where the integrated torque amount is equal to or greater than a first threshold corresponding to a travel condition of the vehicle, reducing a steering assistance force of a direction preventing the vehicle from deviating from a lane to a value that is smaller than a predetermined value;
a step of detecting a position of the vehicle, and
a step of, in a case where a detected position of the vehicle is within a predetermined distance from a lane demarcation line, starting integration of the steering torque of a direction bringing the vehicle close to the lane demarcation line positioned within the predetermined distance,
wherein a computer executes the steps.