Steering apparatus and steering controller

1. A steering apparatus comprising:

a steering member that turns turning wheels of a vehicle;

an actuator that assists an operation on the steering member;

a steering angle detector that detects a steering angle of the steering member;

a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and

a steering controller that includes

a steering angular velocity coefficient setting unit that sets a steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector, that includes a first negative feedback unit, and that sets the steering angular velocity coefficient for the steering angular velocity having the same magnitude to become larger as a feedback quantity of the first negative feedback unit becomes larger,

a torque coefficient setting unit that sets a torque coefficient on the basis of the torque detected by the torque detector, that includes a second negative feedback unit, that sets the torque coefficient for the torque having the same magnitude to become larger as a feedback quantity of the second negative feedback unit becomes larger, and that sets a feedback quantity of the torque coefficient setting unit when the torque is in a predetermined high-frequency range to become larger than a feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range, and

a correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient,

wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.

2. The steering apparatus according to claim 1 , wherein

the steering controller sets the feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined low-frequency range to become larger than the feedback quantity of the torque coefficient setting unit when the torque is in a predetermined low-frequency range.

3. The steering apparatus according to claim 1 or 2 , wherein

the steering angular velocity coefficient setting unit includes a first amplifier that amplifies and outputs an input corresponding to the steering angular velocity which is the speed of the steering angle detected by the steering angle detector, a first filter that performs a low-pass filtering process of removing a predetermined high-frequency component of the output of the first amplifier and outputting the resultant as the steering angular velocity coefficient, and a first negative feedback circuit that constitutes the first negative feedback unit and that negatively feeds back the output of the first filter to the input of the first amplifier with a predetermined feedback quantity, and

wherein the torque coefficient setting unit includes a second amplifier that amplifies and outputs an input corresponding to the torque detected by the torque detector, a second filter that performs a high-pass filtering process of removing a predetermined low-frequency component of the output of the second amplifier and outputting the resultant as the torque coefficient, and a second negative feedback circuit that constitutes the second negative feedback unit and that negatively feeds back the output of the second filter to the input of the second amplifier with a predetermined feedback quantity.

4. The steering apparatus according to claim 1 , wherein

the correction assistance quantity calculating unit calculates the correction assistance quantity on the basis of first steering power based on the steering angular velocity coefficient, the torque detected by the torque detector, and the steering angular velocity which is the speed of the steering angle detected by the steering angle detector and second steering power based on the torque coefficient, a differential value of the torque detected by the torque detector, and the steering angle detected by the steering angle detector.

5. The steering apparatus according to claim 4 , wherein

the first steering power is a value corresponding to a value obtained by dividing the product of the steering angular velocity coefficient, the torque detected by the torque detector, and the steering angular velocity which is the speed of the steering angle detected by the steering angle detector by the absolute value of the torque detected by the torque detector, and

wherein the second steering power is a value corresponding to a value obtained by dividing the product of the torque coefficient, the differential value of the torque detected by the torque detector, and the steering angle detected by the steering angle detector by the absolute value of the steering angle detected by the steering angle detector.

6. A steering apparatus comprising:

a steering member that turns turning wheels of a vehicle;

an actuator that assists an operation on the steering member;

a steering angle detector that detects a steering angle of the steering member;

a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and

a steering controller that includes

a steering angular velocity coefficient setting unit that sets a steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector,

a torque coefficient setting unit that sets a torque coefficient on the basis of the torque detected by the torque detector and that sets the torque coefficient when the torque is in a predetermined high-frequency range to become larger than the steering angular velocity coefficient when the steering angular velocity is in a predetermined high-frequency range, and

a correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient,

wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.

7. A steering apparatus comprising:

a steering member that turns turning wheels of a vehicle;

an actuator that assists an operation on the steering member;

a steering angle detector that detects a steering angle of the steering member;

a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and

a steering controller that includes

a steering angular velocity coefficient setting unit that includes a first amplifier that amplifies and outputs an input corresponding to the steering angular velocity which is the speed of the steering angle detected by the steering angle detector, a first filter that performs a low-pass filtering process of removing a predetermined high-frequency component of the output of the first amplifier and outputting the resultant as a steering angular velocity coefficient, and a first negative feedback circuit that negatively feeds back the output of the first filter to the input of the first amplifier, and that sets the steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector,

a torque coefficient setting unit that includes a second amplifier that amplifies and outputs an input corresponding to the torque detected by the torque detector, a second filter that performs a high-pass filtering process of removing a predetermined low-frequency component of the output of the second amplifier and outputting the resultant as a torque coefficient, and a second negative feedback circuit that negatively feeds back the output of the second filter to the input of the second amplifier, and that sets the torque coefficient on the basis of the torque detected by the torque detector, and

a correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient,

wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.

8. A steering apparatus comprising:

a steering member that turns turning wheels of a vehicle;

an actuator that assists an operation on the steering member; and

a steering controller that includes

a correction assistance quantity calculating unit that calculates an correction assistance quantity on the basis of a steering angular velocity coefficient determined depending on a steering angular velocity which is the speed of a steering angle of the steering member and a torque coefficient determined depending on a torque acting on a steering shaft unit rotating along with the steering member,

a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient on the basis of the steering angular velocity, that includes a first negative feedback unit, and that sets the steering angular velocity coefficient for the steering angular velocity having the same magnitude to become larger as a feedback quantity of the first negative feedback unit becomes larger, and

a torque coefficient setting unit that sets the torque coefficient on the basis of the torque acting on the steering shaft unit rotating along with the steering member, that includes a second negative feedback unit, that sets the torque coefficient for the torque having the same magnitude to become larger as a feedback quantity of the second negative feedback unit becomes larger, and that sets a feedback quantity of the torque coefficient setting unit when the torque acting on the steering shaft unit rotating along with the steering member is in a predetermined high-frequency range to become larger than a feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range,

wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.