PROBLEM TO BE SOLVED: To provide a vehicular steering system which achieves smooth control changeover, in returning to a target travel line tracking state after completing overriding by a driver.SOLUTION: A vehicular steering system includes: a steering input unit for allowing a driver to perform steering operation; a steering force detector for detecting steering force inputted to the steering input unit; a first steering control amount calculator for calculating a first steering control amount for making a vehicle approach a target travel line; a steering control amount correction factor calculator for calculating a steering control amount correction factor for correcting a steering correction amount on the basis of the steering force; a second steering control amount calculator for calculating a second steering control amount on the basis of the first steering control amount and the steering control amount correction factor; and a steering control unit for steering and controlling the vehicle on the basis of the second steering control amount. The steering control amount correction factor calculator calculates a steering control amount correction factor so that the factor decreases with an increase in steering force and increases with reduced steering force, and so that a time change rate during increase of the steering control amount correction factor is smaller than a time change rate during decrease of the same.SELECTED DRAWING: Figure 1
【課題】運転者のオーバーライドが完了後目標走行ライン追従状態に復帰する場合において、滑らかな制御切替を実現した車両用操舵システムを提供する。【解決手段】運転者が操舵操作する操舵入力部と、操舵入力部に入力された操舵力を検出する操舵力検出部と、車両を目標走行ラインに近づけるための第1の操舵制御量を演算する第1の操舵制御量演算部と、操舵力に基づいて舵制御量を補正する舵制御量補正係数を演算する操舵制御量補正係数演算部と、第1の操舵制御量と操舵制御量補正係数とに基づいて第2の操舵制御量を演算する第2の操舵制御量演算部と、第2の操舵制御量に基づいて車両を操舵制御する操舵制御部とを備え、操舵制御量補正係数演算部は、操舵制御量補正係数を、操舵力の増加と共に減少し、操舵力の減少と共に増加する係数とし、操舵制御量補正係数の増加時の時間変化率を減少時の時間変化率より小さくするように演算する。【選択図】図1
VEHICULAR STEERING SYSTEM AND LANE KEEPING SYSTEM
車両用操舵システムおよびレーンキープシステム
2018-06-28
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |