Steering control device and steering control method
A steering control device includes an emergency determination unit configured to determine whether or not an emergency exists in which an emergency avoidance operation is to be performed, and a work adjustment unit configured to adjust work of a driver required to steer steered wheels. The work adjustment unit is configured to execute emergency adjustment processing for adjusting the work in accordance with a determination result of whether or not an emergency exists. The emergency adjustment processing includes reduction processing for reducing the work in an initial stage after the emergency determination unit determines that an emergency exists, as compared in a case in which determination is not made that an emergency exists.
1. A steering control device that controls a steering system of a vehicle, the steering system having a structure in which a power transmission path between an operation unit including an operating member and a steering unit configured to steer a steered wheel is mechanically separated, the steering control device comprising:
a target steering corresponding value computation unit configured to compute a target steering corresponding value that is a target value of a convertible value that can be converted into a steered angle of the steered wheel, based on an amount of operation of the operating member;
a steering control signal generation unit configured to generate, based on the target steering corresponding value, a steering control signal for actuation of the steering unit;
an emergency determination unit configured to determine whether or not an emergency exists in which an emergency avoidance operation is to be performed; and
a work adjustment unit configured to adjust work of a driver required to steer the steered wheels, wherein
the work adjustment unit is configured to execute emergency adjustment processing for adjusting the work in accordance with a determination result of whether or not an emergency exists,
the emergency adjustment processing includes reduction processing for reducing the work in an initial stage after the emergency determination unit has determined that an emergency exists, as compared to a case in which determination is not made that an emergency exists,
the operation unit is configured to apply, to the operating member, an operation reaction force in accordance with the amount of operation,
the steering control device further includes:
a target operation reaction force computation unit configured to compute a target operation reaction force, which is a target value of the operation reaction force, based on the amount of operation; and
an operation control signal generation unit configured to generate, based on the target operation reaction force, an operation control signal for actuation of the operation unit,
the work adjustment unit includes the target operation reaction force computation unit,
the reduction processing includes reducing target operation reaction force computation processing for computing the target operation reaction force having a smaller absolute value as compared to in a case in which determination is not made that an emergency exists, and
the emergency adjustment processing further includes weighting processing for computing, in a latter stage following the initial stage, the target operation reaction force having an absolute value greater than the target operation reaction force computed in the initial stage.
2. The steering control device according to claim 1 , wherein the reducing target operation reaction force computation processing is processing for computing the target operation reaction force based on a vehicle speed.
3. The steering control device according to claim 1 , wherein the target operation reaction force computation unit is configured to determine that a stage of avoidance by the emergency avoidance operation has shifted from the initial stage to the latter stage, based on elapsed time since determination was made that an emergency exists.
4. The steering control device according to claim 1 , wherein
the work adjustment unit further includes the target steering corresponding value computation unit, and
the emergency adjustment processing further includes suppressing target steering corresponding value computation processing for computing the target steering corresponding value such that an amount of change in the steered angle with respect to an amount of change in the amount of operation is smaller as compared to a case in which determination is not made that an emergency exists.
5. The steering control device according to claim 1 , wherein
the work adjustment unit includes the target steering corresponding value computation unit, and
the reduction processing includes reducing target steering corresponding value computation processing for computing the target steering corresponding value such that an amount of change in the steered angle as to an amount of change in the amount of operation is greater as compared to a case in which determination is not made that an emergency exists.
6. The steering control device according to claim 5 , wherein the reducing target steering corresponding value computation processing is processing for computing the target steering corresponding value based on a vehicle speed.
7. The steering control device according to claim 5 , wherein
the target steering corresponding value computation unit includes memory,
the memory stores normal computation information and emergency computation information, indicating a relation between the amount of operation and the target steering corresponding value,
the amount of operation is zero in a case in which the vehicle travels straight,
each of the normal computation information and the emergency computation information includes a small operation range that is a range of the amount of operation including zero, and a great operation range that is a range of the amount of operation having an absolute value greater than that of the small operation range,
in the small operation range, an amount of change of an absolute value of the target steering corresponding value with respect to an amount of change of the amount of operation in the emergency computation information is set to be greater than that in the normal computation information, and
the reducing target steering corresponding value computation processing is processing for computing the target steering corresponding value based on the amount of operation by using the emergency computation information.
8. The steering control device according to claim 1 , wherein the steering control signal generation unit is configured to generate the steering control signal that gradually reflects a change in the target steering corresponding value in the steered angle.
9. The steering control device according to claim 1 , wherein
the emergency determination unit is further configured to determine whether or not an emergency avoidance operation is completed, and
the work adjustment unit is configured to stop the emergency adjustment processing after the emergency determination unit determines that the emergency avoidance operation is completed.
10. The steering control device according to claim 9 , wherein the emergency determination unit is configured to determine whether or not an emergency avoidance operation has been completed based on whether or not an operation is performed in a return direction opposite to an operation direction of the operating member due to the emergency avoidance operation.
11. The steering control device according to claim 1 , wherein the emergency determination unit is configured to determine whether or not an emergency exists based on a result of comparison in magnitude between a parameter indicating a traveling state of the vehicle with a threshold value, and a result of comparison in magnitude between a parameter indicating an operation state of the operation unit with a threshold value.
12. A steering control device that controls a steering system of a vehicle, the steering system having a structure in which a power transmission path between an operation unit including an operating member and a steering unit configured to steer a steered wheel is mechanically separated, the steering control device comprising:
a target steering corresponding value computation unit configured to compute a target steering corresponding value that is a target value of a convertible value that can be converted into a steered angle of the steered wheel, based on an amount of operation of the operating member;
a steering control signal generation unit configured to generate, based on the target steering corresponding value, a steering control signal for actuation of the steering unit;
an emergency determination unit configured to determine whether or not an emergency exists in which an emergency avoidance operation is to be performed; and
a work adjustment unit configured to adjust work of a driver required to steer the steered wheels, wherein
the work adjustment unit is configured to execute emergency adjustment processing for adjusting the work in accordance with a determination result of whether or not an emergency exists,
the emergency adjustment processing includes reduction processing for reducing the work in an initial stage after the emergency determination unit has determined that an emergency exists, as compared to a case in which determination is not made that an emergency exists,
the operation unit is configured to apply, to the operating member, an operation reaction force in accordance with the amount of operation,
the steering control device further includes:
a target operation reaction force computation unit configured to compute a target operation reaction force, which is a target value of the operation reaction force, based on the amount of operation; and
an operation control signal generation unit configured to generate, based on the target operation reaction force, an operation control signal for actuation of the operation unit,
the work adjustment unit includes the target operation reaction force computation unit,
the reduction processing includes reducing target operation reaction force computation processing for computing the target operation reaction force having a smaller absolute value as compared to in a case in which determination is not made that an emergency exists,
the work adjustment unit further includes the target steering corresponding value computation unit, and
the emergency adjustment processing further includes suppressing target steering corresponding value computation processing for computing the target steering corresponding value such that an amount of change in the steered angle with respect to an amount of change in the amount of operation is smaller as compared to a case in which determination is not made that an emergency exists.
13. The steering control device according to claim 12 , wherein the reducing target operation reaction force computation processing is processing for computing the target operation reaction force based on a vehicle speed.
14. The steering control device according to claim 12 , wherein the emergency adjustment processing further includes weighting processing for computing, in a latter stage following the initial stage, the target operation reaction force having an absolute value no smaller than the target operation reaction force computed in a case in which determination is not made that an emergency exists.
15. The steering control device according to claim 12 , wherein the suppressing target steering corresponding value computation processing is processing for computing the target steering corresponding value based on a vehicle speed.
16. The steering control device according to claim 12 , wherein the steering control signal generation unit is configured to generate the steering control signal that gradually reflects a change in the target steering corresponding value in the steered angle.
17. The steering control device according to claim 12 , wherein
the emergency determination unit is further configured to determine whether or not an emergency avoidance operation is completed, and
the work adjustment unit is configured to stop the emergency adjustment processing after the emergency determination unit determines that the emergency avoidance operation is completed.
18. The steering control device according to claim 17 , wherein the emergency determination unit is configured to determine whether or not an emergency avoidance operation has been completed based on whether or not an operation is performed in a return direction opposite to an operation direction of the operating member due to the emergency avoidance operation.
19. The steering control device according to claim 12 , wherein the emergency determination unit is configured to determine whether or not an emergency exists based on a result of comparison in magnitude between a parameter indicating a traveling state of the vehicle with a threshold value, and a result of comparison in magnitude between a parameter indicating an operation state of the operation unit with a threshold value.
20. A steering control method for controlling a steering system of a vehicle, the steering system having a structure in which a power transmission path between an operation unit including an operating member and a steering unit configured to steer a steered wheel is mechanically separated,
the steering control method comprising:
computing a target steering corresponding value that is a target value of a convertible value that can be converted into a steered angle of the steered wheel, based on an amount of operation of the operating member;
generating, based on the target steering corresponding value, a steering control signal for actuation of the steering unit;
determining whether or not an emergency exists in which an emergency avoidance operation is to be performed; and
adjusting work of a driver required to steer the steered wheels, wherein
adjusting the work includes executing emergency adjustment processing for adjusting the work in accordance with a determination result of whether or not an emergency exists,
the emergency adjustment processing includes reduction processing for reducing the work in an initial stage after determination is made that an emergency exists, as compared to a case in which determination is not made that an emergency exists,
the operation unit is configured to apply, to the operating member, an operation reaction force in accordance with the amount of operation,
the steering control method further includes
computing a target operation reaction force, which is a target value of the operation reaction force, based on the amount of operation, and
generating an operation control signal for actuation of the operation unit based on the target operation reaction force,
adjusting the work includes computing the target operation reaction force,
the reduction processing includes reducing target operation reaction force computation processing for computing the target operation reaction force having a smaller absolute value as compared to in a case in which determination is not made that an emergency exists, and
the emergency adjustment processing further includes weighting processing for computing, in a latter stage following the initial stage, the target operation reaction force having an absolute value greater than the target operation reaction force computed in the initial stage.