To reflect, in a vehicular steering control device for controlling steering of a vehicle by using integral control, a disturbance compensation value to the steering control when the vehicle returns from a state of traveling without receiving the integral control to a state of traveling under the integral control.SOLUTION: A vehicular steering control device 101 comprises: a vehicle state amount detection part 3 detecting the state amount of a vehicle; an integral control part 7 integrating a positional deviation between the vehicle and a target travel line; a feedback control amount calculation part 8 that calculates a feedback control amount on the basis of a deviation between a target state amount and an actual state amount; a steering control amount calculation part 9 that calculates a steering control amount on the basis of the integrated value of the integral control part 7 and the feedback control amount; a steering control execution part 10 performing steering control on the basis of the steering control amount; and a disturbance compensation value estimation part 5 estimating a disturbance compensation value. When the vehicle returns to a state of traveling under the steering control, the steering control amount calculation part 9 calculates a steering control amount on the basis of the disturbance compensation value in place of the integrated value.SELECTED DRAWING: Figure 1
【課題】積分制御を用いて車両の操舵を制御する車両用操舵制御装置において、車両が積分制御を受けずに走行する状態から積分制御を受けて走行する状態に復帰する際、外乱補償値を操舵制御へ反映することを目的とする。【解決手段】車両用操舵制御装置101は、車両の状態量を検出する車両状態量検出部3と、車両と目標走行ラインとの位置偏差を積分する積分制御部7と、目標状態量と実際の状態量との偏差に基づきフィードバック制御量を演算するフィードバック制御量演算部8と、積分制御部7の積分値とフィードバック制御量とに基づき操舵制御量を演算する操舵制御量演算部9と、操舵制御量に基づき操舵制御を行う操舵制御実施部10と、外乱補償値を推定する外乱補償値推定部5と、を備え、車両が操舵制御を受けて走行する状態に復帰する際、操舵制御量演算部9は、積分値に代えて外乱補償値に基づき操舵制御量を演算する。【選択図】図1
VEHICULAR STEERING CONTROL DEVICE
車両用操舵制御装置
2019-01-10
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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