Steering control device and steering control method
A steering control device includes a processor configured to execute a reaction force control process. The reaction force control process includes a reaction force torque calculation process of calculating a reaction force torque operation amount. The reaction force torque calculation process includes a deviation compensation calculation process of calculating a deviation-compensating component. The deviation compensation calculation process includes a process of calculating a positional deviation, a process of calculating the deviation-compensating component based on the positional deviation, and a process of switching among a plurality of calculation states for calculating the deviation-compensating component. The process of switching among the calculation states is a process of permitting switching among the calculation states on the condition that a permission condition is met. The permission condition is met based on an operation amount that varies in association with a driver's operation of an operation member.
1. A steering control device configured to control a steering device of a vehicle, the steering device having a structure in which a power transmission path between an operation unit and a turning unit is cut off, the operation unit including an operation member and a reaction force motor configured to generate a reaction force torque that resists a driver's operation of the operation member, the turning unit being configured to turn a turning wheel and including a turning motor configured to generate a turning torque for turning the turning wheel, the steering control device comprising a processor configured to execute a reaction force control process for controlling operation of the reaction force motor so as to apply the reaction force torque to the operation member,
wherein the reaction force control process includes a reaction force torque calculation process of calculating a reaction force torque operation amount indicating the reaction force torque to be generated by the reaction force motor,
the reaction force torque calculation process including a deviation compensation calculation process of calculating a deviation-compensating component, the deviation-compensating component being a component that is reflected in the reaction force torque operation amount so as to compensate for discrepancy in a relationship between an operation position of the operation member and a turning position of the turning wheel,
the deviation compensation calculation process including:
a process of calculating a positional deviation that quantitatively indicates a degree of discrepancy in the relationship between the operation position and the turning position;
a process of calculating the deviation-compensating component based on the positional deviation; and
a process of switching among a plurality of calculation states for calculating the deviation-compensating component, the plurality of calculation states including a first calculation state that is set in a context where operation of the turning motor is not restricted and a second calculation state that is set in a context where the operation of the turning motor is restricted, the second calculation state being a calculation state in which the deviation-compensating component of a larger absolute value is calculated than in the first calculation state,
the process of switching among the calculation states being a process of permitting switching among the calculation states on a condition that a permission condition is met, the permission condition being met based on an operation amount that varies in association with the driver's operation of the operation member.
2. The steering control device according to claim 1 , wherein:
the operation amount includes an operation torque that is input into the operation member;
the permission condition includes a condition based on a result of a comparison in magnitude between the operation torque and a torque threshold value; and
the process of switching among the calculation states is a process of permitting switching among the calculation states on a condition that a torque permission condition is met, the torque permission condition being met when an absolute value of the operation torque is equal to or larger than the torque threshold value.
3. The steering control device according to claim 2 , wherein:
the operation amount includes the positional deviation;
the permission condition includes a condition based on a result of a comparison in magnitude between the positional deviation and a positional deviation threshold value; and
the process of switching among the calculation states is a process of permitting switching among the calculation states on a condition that at least either a positional deviation permission condition or the torque permission condition is met, the positional deviation permission condition being met when an absolute value of the positional deviation is smaller than the positional deviation threshold value.
4. The steering control device according to claim 1 , wherein:
the operation amount includes a deviation compensation-related component that is obtained in association with a calculation of the deviation-compensating component;
the permission condition includes a condition based on a result of a comparison in magnitude between the deviation compensation-related component and a deviation compensation-related component threshold value; and
the process of switching among the calculation states is a process of permitting switching among the calculation states on a condition that a deviation compensation-related component permission condition is met, the deviation compensation-related component permission condition being met when an absolute value of the deviation compensation-related component is smaller than the deviation compensation-related component threshold value.
5. The steering control device according to claim 2 , wherein:
the operation amount includes an operation speed of the operation member;
the permission condition includes a condition based on a result of a comparison in magnitude between the operation speed and an operation speed threshold value; and
the process of switching among the calculation states is a process of permitting switching among the calculation states on a condition at least that an operation speed permission condition is met, the operation speed permission condition being met when an absolute value of the operation speed is smaller than the operation speed threshold value.
6. A steering control method of controlling a steering device of a vehicle having a structure in which a power transmission path between an operation unit and a turning unit is cut off, the operation unit including an operation member and a reaction force motor configured to generate a reaction force torque that resists a driver's operation of the operation member, the turning unit including a turning motor configured to generate a turning torque for turning a turning wheel, the steering control method comprising executing, by a processor, a reaction force control process for controlling operation of the reaction force motor so as to apply the reaction force torque to the operation member,
wherein the reaction force control process includes a reaction force torque calculation process of calculating a reaction force torque operation amount indicating the reaction force torque to be generated by the reaction force motor,
the reaction force torque calculation process including a deviation compensation calculation process of calculating a deviation-compensating component, the deviation-compensating component being a component that is reflected in the reaction force torque operation amount so as to compensate for discrepancy in a relationship between an operation position of the operation member and a turning position of the turning wheel,
the deviation compensation calculation process including:
a process of calculating a positional deviation that quantitatively indicates a degree of discrepancy in the relationship between the operation position and the turning position;
a process of calculating the deviation-compensating component based on the positional deviation; and
a process of switching among a plurality of calculation states for calculating the deviation-compensating component, the plurality of calculation states including a first calculation state that is set in a context where operation of the turning motor is not restricted and a second calculation state that is set in a context where the operation of the turning motor is restricted, the second calculation state being a calculation state in which the deviation-compensating component of a larger absolute value is calculated than in the first calculation state,
the process of switching among the calculation states being a process of permitting switching among the calculation states on a condition that a permission condition is met, the permission condition being met based on an operation amount that varies in association with the driver's operation of the operation member.