To properly compensate a friction of a steering system in accordance with a driver's steering operation when a traffic lane deviation prevention control is started, and to prevent a traffic lane deviation without giving an unusual feeling to the driver.SOLUTION: A target steering torque and a friction compensation torque are calculated (S2 and S3), an output destination of the friction compensation torque is determined (S4), and whether or not a flag that indicates the output destination of the friction compensation torque is ON is checked (S5). When the flag is ON, a friction compensation torque adding process of adding the friction compensation torque to the target steering torque is executed (S6), a rate limiting process is executed (S7), and a process result is output to a motor driving unit that drives an EPS motor. In contrast, when the flag is OFF, the rate limiting process is executed on the target steering torque (S8), the friction compensation torque is added to the target steering torque having undergone the rate limiting process (S9), and the process result is output to the motor driving unit that drives the EPS motor.SELECTED DRAWING: Figure 5
【課題】車線逸脱防止制御の開始時に、ドライバの操舵操作に応じて操舵系の摩擦を適正に補償し、ドライバに違和感を与えることなく車線逸脱を防止する。【解決手段】目標操舵トルク、摩擦補償トルクを算出した後(S2,S3)、摩擦補償トルクの出力先を判定し(S4)、摩擦補償トルクの出力先を示すフラグがONか否かを調べる(S5)。フラグONの場合、目標操舵トルクに摩擦補償トルクを加算する摩擦補償トルク加算処理を行った(S6)後、レートリミット処理を行い(S7)、EPSモータを駆動するモータ駆動部に出力する。一方、フラグOFFの場合には、目標操舵トルクをレートリミット処理し(S8)、レートリミット処理後の目標操舵トルクに摩擦補償トルクを加算し(S9)、EPSモータを駆動するモータ駆動部に出力する。【選択図】図5
VEHICULAR TRAFFIC LANE DEVIATION PREVENTION CONTROL DEVICE
車両の車線逸脱防止制御装置
2019-07-04
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
TRAFFIC LANE DEVIATION PREVENTION CONTROL DEVICE FOR VEHICLE
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