Steering control device
A steering control device (ECU) comprises a base assist unit for generating a basic assist torque and a steering torque correction unit. The steering torque correction unit outputs a corrected steering torque, which is decreasingly corrected so that an absolute value becomes smaller than an absolute value of a steering torque when a viscous load is requested to be applied to a driver by decreasing the assist torque. The base assist unit includes a target steering torque calculation unit and a servo controller. The target steering torque calculation unit calculates the target steering torque based on a steering torque. The servo controller calculates the basic assist torque to cause the corrected steering torque to follow the target steering torque.
1. A non-transitory computer readable medium storing a computer program product comprising instructions for controlling an assist torque which is generated by a steering assist motor in accordance with a steering torque of a driver, the instructions configured to, when executed by a processor, cause the processor to:
generate a basic assist torque which is a basic amount of assist torque;
generate a corrected steering torque which is corrected to decrease so that an absolute value of the corrected steering torque becomes smaller than an absolute value of a steering torque detection value, when a viscous load is required to be applied to the driver by decreasing the assist torques;
calculate a target steering torque based on the steering torque; and
calculate the basic assist torque to cause the corrected steering torque to follow the target steering torque.
2. The non-transitory computer readable medium according to claim 1 , wherein the instructions are configured to, when executed by the processor, further cause the processor to:
decrease the absolute value of the corrected steering torque, when the absolute value of a steering angle approaches an end of a steering wheel movement, which is an upper limit value, and exceeds an angular threshold value.
3. The non-transitory computer readable medium according to claim 2 , wherein the instructions are configured to, when executed by the processor, further cause the processor to:
decrease the absolute value of the corrected steering torque more as the absolute value of the steering angle is closer to the end or an absolute value of a steering angular velocity toward the end is larger.
4. The non-transitory computer readable medium according to claim 2 , wherein the instructions are configured to, when executed by the processor, further cause the processor to:
check whether a steering wheel is in a turn-in state of turning in toward the end or a turn-back state of turning back from the end;
output the corrected steering torque, which results from decreasing correction of the absolute value of the steering torque detection value in response to a check result indicating the turn-in state; and
output the steering torque detection value of the steering torque without correction in response to a check result indicating the turn-back state.
5. The non-transitory computer readable medium according to claim 1 , wherein the instructions are configured to, when executed by the processor, further cause the processor to:
calculate the target steering torque based further on a steering angular velocity in addition to the steering torque; and
calculate the corrected steering torque in accordance with a vehicle speed.
6. A steering control device for controlling an assist torque which is generated by a steering assist motor in accordance with a steering torque of a driver, the steering control device comprising a microcomputer having a memory storing a control program and programmed to:
generate a basic assist torque which is a basic amount of assist torque; and
generate a corrected steering torque, which is corrected to decrease so that an absolute value of the corrected steering torque becomes smaller than an absolute value of a steering torque detection value when a viscous load is required to be applied to the driver by decreasing the assist torque,
wherein the microcomputer is programmed to calculate a target steering torque based on the steering torque, and calculate the basic assist torque to cause the corrected steering torque to follow the target steering torque.
7. The steering control device according to claim 6 , wherein the microcomputer is programmed to:
decrease the absolute value of the corrected steering torque, when the absolute value of a steering angle approaches an end of a steering wheel movement, which is an upper limit value, and exceeds an angular threshold value.
8. The steering control device according to claim 7 , wherein the microcomputer is programmed to:
decrease the absolute value of the corrected steering torque more as the absolute value of the steering angle is closer to the end or an absolute value of a steering angular velocity toward the end is larger.
9. The steering control device according to claim 7 , wherein the microcomputer is programmed to:
check whether a steering wheel is in a turn-in state of turning in toward the end or a turn-back state of turning back from the end;
output the corrected steering torque, which results from decreasing correction of the absolute value of the steering torque detection value in response to a check result indicating the turn-in state; and
output the steering torque detection value of the steering torque without correction in response to a check result indicating the turn-back state.
10. The steering control device according to claim 6 , wherein the microcomputer is programmed to:
calculate the target steering torque based further on a steering angular velocity in addition to the steering torque; and
calculate the corrected steering torque in accordance with a vehicle speed.