Steering control device for vehicle
The vehicle fixing control unit fixes the vehicle during the charging of the backup power supply, and the vehicle fixing by the vehicle fixing device is not released regardless of the vehicle fixing release request by the operation of the vehicle fixing device operation switch until the remaining charge amount of the backup power supply reaches the fail-safe executable remaining charge amount determination value set in advance. Thus, when the vehicle travels with the vehicle fixing released, since at least the remaining charge amount is stored up to the remaining charge amount determination value that can be performed in a fail-safe manner enough to operate the steer-by-wire system at the time of starting the vehicle traveling, it is possible to sufficiently function the vehicle steering control device even in an emergency.
1 . A vehicle comprising:
a steer-by-wire system including a steering wheel, steered wheels, and a steering angle motor, the steering wheel and the steered wheels being mechanically separated from each other, the steering angle motor being configured to change a steering angle of the steered wheels in response to a steering operation on the steering wheel;
a main power supply configured to provide electric power to the steering angle motor;
a backup power supply configured to start to be charged, in response to the vehicle being powered on;
a processor configured to
determine whether the main power supply is abnormal, and
in response to a determination that the main power supply is abnormal,
switch power supply to the steering angle motor from the main power supply to the backup power supply, and
output a report that indicates an anomaly of the main power supply; and
a hydraulic brake for braking rotation of wheels of the vehicle with hydraulic pressure generated by a depressing operation of a brake pedal, wherein
the processor is further configured to
determine whether a state of charge of the backup power supply has reached a predetermined value, after starting to charge the backup power supply, and
maintain the hydraulic pressure even in a state where the brake pedal is released, while the state of charge is determined not to have reached the predetermined value.
2 . The vehicle according to claim 1 , further comprising an electric parking brake, wherein the processor is further configured not to accept a release operation of the electric parking brake while the state of charge is determined not to have reached the predetermined value in a state where the electric parking brake is operated.
3 . The vehicle according to claim 1 , further comprising a manual parking brake, wherein the processor is further configured to engage an electric lock pin to prevent the manual parking brake from moving toward a release position while the state of charge is determined not to have reached the predetermined value in a state where the manual parking brake is operated.