Vehicle steering control device and method
Under an automatic turning control, a steering controller defines a value of steering angle set according to a target turning angle of the automatic turning control, as a value of steering angle at which a reaction force is equal to 0. Thereby, the steering controller controls a steering reaction force on the basis of a difference between an actual steering angle and the value of steering angle at which the reaction force is equal to 0.
1. A vehicle steering control device:
wherein a steering wheel is mechanically disconnected from a turning mechanism for turning a steering road-wheel;
configured to perform a normal control for controlling a turning angle of the steering road-wheel on the basis of a first target turning angle set according to a steering angle of the steering wheel;
configured to perform an automatic turning control for controlling the turning angle of the steering road-wheel irrespective of a driver's manipulation of the steering wheel on the basis of a second target turning angle set according to a running state of a vehicle; and
wherein the vehicle steering control device comprises a reaction-force control section configured to control a steering reaction force to be applied to the steering wheel, by defining a value of the steering angle at which the steering reaction force is equal to 0, as a value of the steering angle at a time of straight running of the vehicle, under the normal control, and to control the steering reaction force, by defining a value of the steering angle set according to the second target turning angle, as the value of the steering angle at which the steering reaction force is equal to 0, under the automatic turning control.
2. The vehicle steering control device as claimed in claim 1 , wherein
the vehicle steering control device comprises a turning reaction-force detecting section configured to detect a turning reaction force acting on the steering road-wheel; and
the reaction-force control section is configured
to calculate a turning-reaction-force variation-amount integration value by integrating a variation amount of the detected turning reaction force, and
to apply a value of the steering reaction force resulting from a sum of a first value of the steering reaction force and a second value of the steering reaction force, to the steering wheel under the automatic turning control, wherein the first value is obtained according to a difference between the detected turning reaction force and the calculated turning-reaction-force variation-amount integration value, wherein the second value is obtained based on a difference between an actual steering angle and the value of the steering angle set according to the second target turning angle.
3. The vehicle steering control device as claimed in claim 2 , wherein
the reaction-force control section is configured to fix the turning-reaction-force variation-amount integration value when a manipulation of the steering wheel is conducted under the automatic turning control.
4. The vehicle steering control device as claimed in claim 2 , wherein
the reaction-force control section is configured to increase an integration speed of the variation amount of the turning reaction force as a target deviation angle becomes greater, wherein the target deviation angle is a difference between the first target turning angle and the second target turning angle.
5. The vehicle steering control device as claimed in claim wherein
the reaction-force control section is configured to apply the steering reaction force in accordance with a difference between an actual steering angle and the value of the steering angle set according to the second target turning angle, under the automatic turning control.
6. The vehicle steering control device as claimed in claim 5 , wherein
the vehicle steering control device comprises a turning reaction-force detecting section configured to detect a turning reaction force acting on the steering road-wheel; and
the reaction-force control section is configured to apply the steering reaction force in accordance with a frequency component of the detected turning reaction force, wherein the frequency component is higher than or equal to a predetermined frequency.
7. The vehicle steering control device as claimed in claim 1 , wherein
the reaction-force control section is configured to gradually return the value of the steering angle at which the steering reaction force is equal to 0, to the value of the steering angle at the time of straight running of the vehicle, when the automatic turning control is released.
8. A vehicle steering control method comprising:
performing a normal control for controlling a turning angle of a steering road-wheel on the basis of a first target turning angle set according to a steering angle of a steering wheel, wherein the steering wheel is mechanically disconnected from a. turning mechanism for turning the steering road-wheel;
performing an automatic turning control for controlling the turning angle of the steering road-wheel irrespective of a driver's manipulation of the steering wheel on the basis of a second target turning angle set according to a running state of vehicle;
controlling a steering reaction force to be applied to the steering wheel, by defining a value of the steering angle at, which the steering reaction force is equal to 0, as a value of the steering angle obtained at a time of straight running of the vehicle, under the normal control; and
controlling the steering reaction force, by defining a value of the steering angle set according to the second target turning angle, as the value of the steering angle at which the steering reaction force is equal to 0, under the automatic turning control.