Steer-by-wire steering apparatus
A reaction force actuator applies, during normal operation, a steering reaction force, which rapidly increases upon approaching an upper limit of a virtual steering range, to a steering wheel. During rapid steering in which a turning angle velocity is greater than or equal to a predetermined value and a turning follow delay is greater than or equal to a predetermined value, the reaction force actuator applies a steering reaction force to the steering wheel based on an upper limit corresponding to a narrower virtual steering range.
1 . A steer-by-wire steering apparatus comprising:
a steering angle sensor that detects a steering angle of a steering wheel;
a turning actuator that turns a turning wheel according to a target turning angle which is a control target value of a turning angle of the turning wheel, calculated based on the steering angle;
a turning angle sensor that detects an actual turning angle which is an actual turning angle of the turning wheel turned by the turning actuator; and
a reaction force actuator that applies a steering reaction force, opposing a steering manipulation of a driver, to the steering wheel, wherein
the reaction force actuator applies, when the steering angle approaches a maximum value of a virtual steering range of the steering wheel, an end steering reaction force to the steering wheel, the end steering reaction force increasing as the steering angle approaches the maximum value of the virtual steering range, and
the virtual steering range is narrower than a steering range during a normal time, the virtual steering range being applied during controlled steering in which a turning angle velocity calculated based on the actual turning angle is greater than or equal to a predetermined value.
2 . The steer-by-wire steering apparatus according to claim 1 , wherein
the reaction force actuator applies the end steering reaction force to the steering wheel based on the steering range of the normal time in place of the narrower virtual steering range, when a turning follow delay which is a difference between the target turning angle and the actual turning angle is greater than or equal to a predetermined value during the controlled steering.
3 . The steer-by-wire steering apparatus according to claim 2 , wherein
the reaction force actuator applies the end steering reaction force to the steering wheel based on the virtual steering range which becomes narrower as the turning angle velocity becomes larger and/or as the turning follow delay becomes larger.
4 . A steer-by-wire steering apparatus comprising:
a steering angle sensor that detects a steering angle of a steering wheel;
a turning actuator that turns a turning wheel according to a target turning angle which is a control target value of a turning angle of the turning wheel, calculated based on the steering angle; and
a reaction force actuator that applies a steering reaction force, opposing a steering manipulation of a driver, to the steering wheel, wherein
the reaction force actuator applies, when the steering angle approaches a maximum value of a virtual steering range of the steering wheel, an end steering reaction force to the steering wheel, the end steering reaction force increasing as the steering angle approaches the maximum value of the virtual steering range, and
the virtual steering range is narrower than a steering range during a normal time, the virtual steering range being applied during controlled steering in which a turning angle velocity calculated based on the actual turning angle is greater than or equal to a predetermined value.