Steering control device, and steering control method
A steering control device is configured to control steering of a vehicle by a steering actuator. The steering control includes a trajectory following control unit and an angle following control unit. The trajectory following control unit is configured to adjust a target angle of a steering angle given to a tire of the vehicle by a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory. The angle following control unit is configured to adjust an instruction value that is given to the steering actuator and corresponds to an actual angle of the steering angle by an angle following control that causes the actual angle to follow the target angle. The trajectory following control unit is configured to forcibly set the target angle to be a fixed angle in a stop control period.
1. A steering control device configured to control steering of a vehicle by a steering actuator, the steering actuator configured to apply a torque to a tire of the vehicle which adjusts a steering angle of the tire, the steering control device comprising:
a trajectory following control unit configured to adjust a target angle of the steering angle based on a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory; and
an angle following control unit configured to adjust an instruction value that is given to the steering actuator based on an angle following control that causes an actual angle of the steering angle of the tire to follow the target angle, wherein
the trajectory following control unit is configured to forcibly set the target angle to be a fixed angle in a stop control period which starts in response to a stop of the vehicle.
2. The steering control device according to claim 1 , wherein
the trajectory following control unit is configured to keep the target angle at the fixed angle during the stop control period.
3. The steering control device according to claim 1 , wherein
the trajectory following control unit is configured to convert the target angle within a dead zone set in the stop control period into the fixed angle.
4. The steering control device according to claim 3 , wherein
the dead zone is wider as a traveling speed of the vehicle decreases in the stop control period.
5. The steering control device according to claim 1 , wherein
the trajectory following control unit is configured to release the stop control period when the tire is steered in the stop control period.
6. The steering control device according to claim 1 , wherein
the trajectory following control unit is configured to release the stop control period when a deviation between the target trajectory and an estimated trajectory according to the actual angle is expected in the stop control period.
7. The steering control device according to claim 1 , wherein
the trajectory following control unit is configured to, in response to a release of the stop control period, change the target angle from the fixed angle to an angle adjusted by the trajectory following control.
8. A steering control device configured to control steering of a vehicle by a steering actuator, the steering actuator configured to apply a torque to a tire of the vehicle which adjusts a steering angle of the tire, the steering control device comprising:
a trajectory following control unit configured to adjust a target angle of the steering angle based on a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory; and
an angle following control unit configured to adjust an instruction value that is given to the steering actuator based on an angle following control that causes an actual angle of the steering angle of the tire to follow the target angle, wherein
the angle following control unit is configured to forcibly set the instruction value to be a fixed value in a stop control period which starts in response to a stop of the vehicle.
9. The steering control device according to claim 8 , wherein
the angle following control unit is configured to keep the instruction value at the fixed value during the stop control period.
10. The steering control device according to claim 8 , wherein
the angle following control unit is configured to convert the instruction value within a dead zone set in the stop control period into the fixed value.
11. The steering control device according to claim 10 , wherein
the dead zone is wider as a traveling speed of the vehicle decreases in the stop control period.
12. The steering control device according to claim 8 , wherein
the angle following control unit is configured to release the stop control period when the tire is steered in the stop control period.
13. The steering control device according to claim 8 , wherein
the angle following control unit is configured to release the stop control period when a deviation between the target trajectory and an estimated trajectory according to the actual angle is expected in the stop control period.
14. The steering control device according to claim 8 , wherein
the angle following control unit is configured to, in response to a release of the stop control period, change the instruction value from the fixed value to a value adjusted by the angle following control.
15. A steering control method for controlling steering of a vehicle by a steering actuator, the steering actuator configured to apply a torque to a tire of the vehicle which adjusts a steering angle of the tire, the steering control method comprising:
adjusting a target angle of the steering angle based on a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory; and
adjusting an instruction value that is given to the steering actuator based on an angle following control that causes an actual angle of the steering angle of the tire to follow the target angle, wherein
in the adjusting the target angle, the target angle is forcibly set to be a fixed angle in a stop control period which starts in response to a stop of the vehicle.
16. The steering control method according to claim 15 , wherein
in the adjusting the target angle, the target angle is kept at the fixed angle during the stop control period.
17. The steering control method according to claim 15 , wherein
in the adjusting the target angle, the target angle within a dead zone set in the stop control period is converted into the fixed angle.
18. The steering control method according to claim 17 , wherein
the dead zone is wider as a traveling speed of the vehicle decreases in the stop control period.
19. The steering control method according to claim 15 , wherein
in the adjusting the target angle, the stop control period is released when the tire is steered in the stop control period.
20. The steering control method according to claim 15 , wherein
in the adjusting the target angle, the stop control period is released when a deviation between the target trajectory and an estimated trajectory according to the actual angle is expected in the stop control period.
21. The steering control method according to claim 15 , wherein
in the adjusting the target angle, the target angle is changed from the fixed angle to an angle adjusted by the trajectory following control in response to a release of the stop control period.
22. A steering control method for controlling steering of a vehicle by a steering actuator, the steering actuator configured to apply a torque to a tire of the vehicle which adjusts a steering angle of the tire, the steering control method comprising:
adjusting a target angle of the steering angle based on a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory; and
adjusting an instruction value that is given to the steering actuator based on an angle following control that causes an actual angle of the steering angle of the tire to follow the target angle, wherein
in the adjusting the instruction value, the instruction value is forcibly set to be a fixed value in a stop control period which starts in response to a stop of the vehicle.
23. The steering control method according to claim 22 , wherein
in the adjusting the instruction value, the instruction value is kept at the fixed value during the stop control period.
24. The steering control method according to claim 22 , wherein
in the adjusting the instruction value, the instruction value within a dead zone set in the stop control period is converted into the fixed value.
25. The steering control method according to claim 24 , wherein
the dead zone is wider as a traveling speed of the vehicle decreases in the stop control period.
26. The steering control method according to claim 22 , wherein
in the adjusting the instruction value, the stop control period is released when the tire is steered in the stop control period.
27. The steering control method according to claim 22 , wherein
in the adjusting the instruction value, the stop control period is released when a deviation between the target trajectory and an estimated trajectory according to the actual angle is expected in the stop control period.
28. The steering control method according to claim 22 , wherein
in the adjusting the instruction value, the instruction value is changed from the fixed value to a value adjusted by the angle following control in response to a release of the stop control period.