Vehicle control device
When it is determined that there is no possibility of a driver performing a predetermined steering operation for moving a host vehicle in a lateral direction without involving a change in a final travel direction, a vehicle control device sets a steering reaction force to be greater than a standard reaction force. When it is determined that there is a possibility thereof, the vehicle control device sets the steering reaction force to be smaller than the standard reaction force, and sets an increase rate of the steering reaction force relative to an increase in the amount of steering operation from a predetermined point in time after it is determined that there is a possibility of the driver performing the predetermined steering operation and before the amount of steering operation in the predetermined steering operation becomes largest to be higher than an increase rate before the predetermined point in time.
1. A vehicle control device comprising a reaction force generator that gives a steering reaction force to a steering operation performed by a driver on a host vehicle, and a controller that executes steering reaction force control of controlling strength of the steering reaction force,
the controller being configured to, during execution of the steering reaction force control, give to the steering operation a reaction force that increases as an amount of steering operation becomes larger as the steering reaction force,
wherein the controller is configured to execute, as the steering reaction force control, active steering reaction force control in which:
when it is determined that there is no possibility of the driver performing a predetermined steering operation for moving the host vehicle in a lateral direction without involving a change in a final travel direction of the host vehicle, the steering reaction force is set to be greater than a standard reaction force;
when it is determined that there is a possibility of the driver performing the predetermined steering operation, the steering reaction force is set to be smaller than the standard reaction force; and
an increase rate of the steering reaction force relative to an increase in the amount of steering operation during a period from a predetermined point in time after it is determined that there is a possibility of the driver performing the predetermined steering operation and before the amount of steering operation in the predetermined steering operation becomes largest is set to be higher than an increase rate of the steering reaction force relative to an increase in the amount of steering operation during a period before the predetermined point in time, and
wherein the controller is configured such that:
when it is determined that there is a possibility of the driver performing the predetermined steering operation, the controller sets, as a target steering operation amount, an amount larger than an amount of steering operation that is specified by a pattern of change over time in the amount of steering operation to be achieved by the predetermined steering operation, and when an actual amount of steering operation is smaller than the target steering operation amount, the controller sets a reaction force obtained by reducing the standard reaction force as the steering reaction force and thus sets the steering reaction force to be smaller than the standard reaction force; and
from the predetermined point in time, the controller sets, as the target steering operation amount, an amount smaller than the amount of steering operation specified by the pattern of change, and when an actual amount of steering operation is larger than the target steering operation amount, the controller sets a reaction force obtained by increasing the standard reaction force as the steering reaction force, and thus sets the increase rate of the steering reaction force relative to an increase in the amount of steering operation during the period from the predetermined point in time to be higher than the increase rate of the steering reaction force relative to an increase in the amount of steering operation during the period before the predetermined point in time.
2. The vehicle control device according to claim 1 , wherein the controller is configured such that:
when it is determined that there is a possibility of the driver performing the predetermined steering operation while execution of the active steering reaction force control is requested by the driver, the controller executes the active steering reaction force control as the steering reaction force control; and
when the predetermined steering operation is performed while execution of the active steering reaction force control is not requested by the driver, the controller executes, as the steering reaction force control, normal steering reaction force control in which the amount of steering operation specified by the pattern of change is set as the target steering operation amount, and when an actual amount of steering operation is smaller than the target steering operation amount, the steering reaction force is set to be smaller than the standard reaction force, and when the actual amount of steering operation is larger than the target steering operation amount, the steering reaction force is set to be greater than the standard reaction force.
3. The vehicle control device according to according to claim 1 , wherein the steering reaction force is obtained by subtracting a steering adjustment value from the standard reaction force, the steering adjustment value corresponding to a difference between a target steering angle and an actual steering angle.