Steering apparatus
A steering apparatus for a vehicle includes a steering angle measuring unit, a vehicle speed measuring unit, a yaw rate measuring unit, a yaw rate-based reaction force control unit for controlling a steering reaction force depending on an actual yaw rate measured by the yaw rate measuring unit, and a yaw rate deviation-based reaction force control unit for determining a standard yaw rate depending on at least the steering angle and the vehicle speed, calculating a yaw rate deviation between the standard yaw rate and the actual yaw rate, and controlling the steering reaction force depending on the yaw rate deviation, and a primary control unit for executing a control operation such that a degree of contribution of the yaw rate-based reaction force control unit is decreased and a degree of contribution of the yaw rate deviation-based reaction force control unit is increased as the yaw rate deviation increases.
1. A steering apparatus for a vehicle, comprising:
a steering angle sensor;
a vehicle speed sensor;
a yaw rate sensor;
a yaw rate-based reaction force control unit configured to control a steering reaction force depending on the actual yaw rate measured by the yaw rate measuring unit;
a yaw rate deviation-based reaction force control unit configured to determine a standard yaw rate depending on at least the steering angle and the vehicle speed, calculate a yaw rate deviation between the standard yaw rate and the actual yaw rate, and control the steering reaction force depending on the yaw rate deviation;
a primary control unit configured to execute a control operation such that a degree of contribution of the yaw rate-based reaction force control unit is decreased and a degree of contribution of the yaw rate deviation-based reaction force control unit is increased as the yaw rate deviation increases; and
a mechanism which applies the steering reaction force to the steering apparatus.
2. A steering apparatus for a vehicle comprising:
a steering angle sensor;
a vehicle speed sensor;
a yaw rate sensor;
a yaw rate-based reaction force control unit configured to control a steering reaction force depending on the actual yaw rate measured by the yaw rate measuring unit;
a yaw rate deviation-based reaction force control unit configured to determine a standard yaw rate depending on at least the steering angle and the vehicle speed, calculate a yaw rate deviation between the standard yaw rate and the actual yaw rate, and control the steering reaction force depending on the yaw rate deviation; and
a primary control unit configured to execute a control operation such that a degree of contribution of the yaw rate-based reaction force control unit is decreased and a degree of contribution of the yaw rate deviation-based reaction force control unit is increased as the yaw rate deviation increases;
wherein the degree of contribution of the yaw rate-based reaction force control unit is changed by changing a yaw rate control gain, by which at least a portion of the steering reaction force is determined, depending on the yaw rate deviation.
3. A steering apparatus for a vehicle comprising:
a steering angle sensor;
a vehicle speed sensor;
a yaw rate sensor;
a yaw rate-based reaction force control unit configured to control a steering reaction force depending on the actual yaw rate measured by the yaw rate measuring unit;
a yaw rate deviation-based reaction force control unit configured to determine a standard yaw rate depending on at least the steering angle and the vehicle speed, calculate a yaw rate deviation between the standard yaw rate and the actual yaw rate, and control the steering reaction force depending on the yaw rate deviation; and
a primary control unit configured to execute a control operation such that a degree of contribution of the yaw rate-based reaction force control unit is decreased and a degree of contribution of the yaw rate deviation-based reaction force control unit is increased as the yaw rate deviation increases;
wherein the degree of contribution of the yaw rate deviation-based reaction force control unit is changed by changing a yaw rate deviation control gain, by which at least a portion of the steering reaction force is determined, depending on the yaw rate deviation.
4. A steering apparatus for a vehicle, according to claim 1 , wherein the mechanism is a ball screw mechanism operatively connected to a rack of the steering apparatus.
5. A steering apparatus for a vehicle comprising:
a steering angle sensor;
a vehicle speed sensor;
a yaw rate sensor;
a yaw rate-based reaction force control unit configured to control a steering reaction force depending on the actual yaw rate measured by the yaw rate measuring unit;
a yaw rate deviation-based reaction force control unit configured to determine a standard yaw rate depending on at least the steering angle and the vehicle speed, calculate a yaw rate deviation between the standard yaw rate and the actual yaw rate, and control the steering reaction force depending on the yaw rate deviation; and
a primary control unit configured to execute a control operation such that a degree of contribution of the yaw rate-based reaction force control unit is decreased and a degree of contribution of the yaw rate deviation-based reaction force control unit is increased as the yaw rate deviation increases;
wherein the primary control unit executes the control operation such that a degree of contribution of the yaw rate-based reaction force control unit is constant when the yaw rate deviation is less than or equal to a predetermined value, and is gradually decreased to zero as the yaw rate deviation increases beyond the predetermined value.