Steering control device, steering control method, and computer program product

1. A steering control device configured to control steering via a steering actuator of a vehicle, the steering control device comprising:

a processor;

a non-transitory computer-readable storage medium; and

a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:

determine whether a maintenance condition required to keep a steering angle at a stop control angle is satisfied, the steering angle being given by the steering actuator to a tire of the vehicle, the stop control angle being the steering angle which is to be given at a stop position where the vehicle stops traveling; and

keep the steering angle at the stop control angle in a pre-stop traveling section in which the vehicle travels until the vehicle arrives at the stop position after the maintenance condition is satisfied, wherein

the maintenance condition includes a condition related to a traveling speed of the vehicle and required to start the pre-stop traveling section, and

when the processor determines, as satisfaction of the maintenance condition, that the traveling speed of the vehicle at a start position of the pre-stop traveling section is less than a predetermined threshold, the processor keeps the steering angle at the stop control angle in the pre-stop traveling section.

2. The steering control device according to claim 1 , wherein

the maintenance condition includes a condition related to a control deviation from a traveling trajectory of the vehicle and required to start the pre-stop traveling section.

3. The steering control device according to claim 2 , wherein

when the processor determines, as satisfaction of the maintenance condition, that the control deviation from the traveling trajectory of the vehicle at a start position of the pre-stop traveling section is less than a predetermined threshold, the steering angle is kept at the stop control angle in the pre-stop traveling section.

4. The steering control device according to claim 1 , wherein

the maintenance condition includes a condition related to a traveling distance of the vehicle to the stop position and required to start the pre-stop traveling section.

5. The steering control device according to claim 4 , wherein

when the processor determines, as satisfaction of the maintenance condition, that the traveling distance of the vehicle from a start position of the pre-stop traveling section to the stop position of the pre-stop traveling section is less than a predetermined distance, the steering angle is kept at the steering angle at the stop control angle in the pre-stop traveling section.

6. The steering control device according to claim 1 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to keep the steering angle at the stop control angle from a time when the pre-stop traveling section is started to a time when the vehicle arrives at the stop position.

7. The steering control device according to claim 1 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to stop keeping the steering angle at the steering position.

8. The steering control device according to claim 7 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to stop keeping the steering angle when an output value output from the steering actuator in response to keeping the steering angle at the stop position is within an acceptable range.

9. The steering control device according to claim 8 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to:

set, as the steering angle, an overshoot angle overshooting from the stop control angle; and

give an oscillation to the steering angle such that the steering angle overshoots to the overshoot angle and then the steering angle returns to the steering control angle when the output value output from the steering actuator in response to keeping the steering angle at the stop position is outside the acceptable range.

10. The steering control device according to claim 9 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to set the overshoot angle in accordance with the output value when the output value output from the steering actuator in response to keeping the steering angle at the stop position is outside the acceptable range.

11. The steering control device according to claim 9 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to repeat the oscillation of the steering angle until the output value output from the steering actuator in response to keeping the steering angle at the stop position decreases within the acceptable range.

12. The steering control device according to claim 11 , wherein

the set of computer-executable instructions stored on the non-transitory computer-readable storage medium further cause the processor to stop the oscillation of the steering angle when the output value output from the steering actuator in response to keeping the steering angle at the stop position is outside the acceptable range after a repeated number of the oscillation reaches an upper limit number.

13. A method for a processor to control steering via a steering actuator of a vehicle, the method comprising:

determining whether a maintenance condition required to keep a steering angle at a stop control angle is satisfied, the steering angle being given by the steering actuator to a tire of the vehicle, the stop control angle being the steering angle which is to be given at a stop position where the vehicle stops traveling; and

keeping the steering angle at the stop control angle in a pre-stop traveling section in which the vehicle travels until the vehicle arrives at the stop position after the maintenance condition is satisfied, wherein

the maintenance condition includes a condition related to a traveling speed of the vehicle and required to start the pre-stop traveling section, and

in response to determining, as satisfaction of the maintenance condition, that the traveling speed of the vehicle at a start position of the pre-stop traveling section is less than a predetermined threshold, the steering angle is kept at the stop control angle in the pre-stop traveling section.

14. The method according to claim 13 , wherein

the maintenance condition includes a condition related to a control deviation from a traveling trajectory of the vehicle and required to start the pre-stop traveling section.

15. The method according to claim 14 , wherein

in response to determining, as satisfaction of the maintenance condition, that the control deviation from the traveling trajectory of the vehicle at a start position of the pre-stop traveling section is less than a predetermined threshold, the steering angle is kept at the stop control angle in the pre-stop traveling section.

16. The method according to claim 13 , wherein

the maintenance condition includes a condition related to a traveling distance of the vehicle to the stop position and required to start the pre-stop traveling section.

17. The method according to claim 16 , wherein

in response to determining, as satisfaction of the maintenance condition, that the traveling distance of the vehicle from a start position of the pre-stop traveling section to the stop position of the pre-stop traveling section is less than a predetermined distance, the steering angle is kept at the stop control angle in the pre-stop traveling section.

18. The method according to claim 13 , wherein

in the keeping the steering angle, the steering angle is kept at the stop control angle from a time when the pre-stop traveling section is started to a time when the vehicle arrives at the stop position.

19. The method according to claim 13 , wherein

in the keeping the steering angle, the keeping of the steering angle is stopped at the stop position.

20. The method according to claim 19 , wherein

in the keeping the steering angle, the keeping of the steering angle is stopped when an output value output from the steering actuator in response to keeping the steering angle at the stop position is within an acceptable range.

21. The method according to claim 20 , further comprising:

setting, as the steering angle, an overshoot angle overshooting from the stop control angle; and

giving an oscillation to the steering angle such that the steering angle overshoots to the overshoot angle and then the steering angle returns to the steering control angle when the output value output from the steering actuator in response to keeping the steering angle at the stop position is outside the acceptable range.

22. The method according to claim 21 , wherein

in the setting the overshoot angle, the overshoot angle is set in accordance with the output value when the output value output from the steering actuator in response to keeping the steering angle at the stop position is outside the acceptable range.

23. The method according to claim 21 , wherein

in the giving the oscillation, the oscillation of the steering angle is repeated until the output value output from the steering actuator in response to keeping the steering angle at the stop position decreases within the acceptable range.

24. The method according to claim 23 , wherein

in the giving the oscillation, the oscillation of the steering angle is stopped when the output value output from the steering actuator in response to keeping the steering angle at the stop position is outside the acceptable range after a repeated number of the oscillation reaches an upper limit number.

25. A computer program product for controlling steering via a steering actuator of a vehicle, the computer program product being stored on at least one non-transitory computer readable medium and comprising instructions configured to, when executed by at least one processor, cause the at least one processor to:

determine whether a maintenance condition required to keep a steering angle at a stop control angle is satisfied, the steering angle being given by the steering actuator to a tire of the vehicle, the stop control angle being the steering angle which is to be given at a stop position where the vehicle stops traveling; and

keep the steering angle at the stop control angle in a pre-stop traveling section in which the vehicle travels until the vehicle arrives at the stop position after the maintenance condition is satisfied, wherein

the maintenance condition includes a condition related to a traveling speed of the vehicle and required to start the pre-stop traveling section, and

in response to determining, as satisfaction of the maintenance condition, that the traveling speed of the vehicle at a start position of the pre-stop traveling section is less than a predetermined threshold, the steering angle is kept at the stop control angle in the pre-stop traveling section.