Steering assistance control apparatus
A steering assistance control apparatus to be applied to a vehicle includes a detection unit and a correction unit. The detection unit is configured to detect a road surface cant of a road on which the vehicle is traveling. The correction unit is configured to correct a steering target steering-wheel angle in a steering control system, on the basis of a steering characteristic value for each of left steering and right steering and the road surface cant detected by the detection unit. The steering characteristic value indicates a steering characteristic for each combination of a traveling speed and the road surface cant.
1. A steering assistance control apparatus to be applied to a vehicle, the steering assistance control apparatus comprising:
a detection unit configured to detect a road surface cant of a road on which the vehicle is traveling; and
a correction unit configured to correct a steering target steering-wheel angle in a steering control system, on a basis of a steering characteristic value for each of left steering and right steering and the road surface cant detected by the detection unit, the steering characteristic value indicating a steering characteristic for each combination of a traveling speed and the road surface cant.
2. The steering assistance control apparatus according to claim 1 , wherein the steering characteristic value comprises a value calculated on a basis of traveling information within a predetermined distance traveled by the vehicle in a past.
3. The steering assistance control apparatus according to claim 2 , wherein
the steering characteristic value comprises a value calculated on the basis of the traveling information and subjected to averaging, and
the correction unit is configured to correct the steering target steering-wheel angle on a basis of the steering characteristic value subjected to the averaging.
4. The steering assistance control apparatus according to claim 2 , wherein the steering characteristic value comprises a value calculated on a basis of the traveling information acquired in a case where the traveling speed of the vehicle is a predetermined threshold or more.
5. The steering assistance control apparatus according to claim 3 , wherein the steering characteristic value comprises a value calculated on a basis of the traveling information acquired in a case where the traveling speed of the vehicle is a predetermined threshold or more.
6. The steering assistance control apparatus according to claim 2 , wherein the steering characteristic value comprises a value calculated on a basis of the traveling information acquired in a case where a steering wheel angular velocity is a predetermined threshold or less.
7. The steering assistance control apparatus according to claim 3 , wherein the steering characteristic value comprises a value calculated on a basis of the traveling information acquired in a case where a steering wheel angular velocity is a predetermined threshold or less.
8. The steering assistance control apparatus according to claim 4 , wherein the steering characteristic value comprises a value calculated on a basis of the traveling information acquired in a case where a steering wheel angular velocity is a predetermined threshold or less.
9. The steering assistance control apparatus according to claim 5 , wherein the steering characteristic value comprises a value calculated on a basis of the traveling information acquired in a case where a steering wheel angular velocity is a predetermined threshold or less.
10. A steering assistance control apparatus to be applied to a vehicle, the steering assistance control apparatus comprising
circuitry configured to
detect a road surface cant of a road on which the vehicle is traveling, and
correct a steering target steering-wheel angle in a steering control system, on a basis of a steering characteristic value for each of left steering and right steering and the detected road surface cant, the steering characteristic value indicating a steering characteristic for each combination of a traveling speed and the road surface cant.