PROBLEM TO BE SOLVED: To suppress deterioration of responsiveness with respect to a target steering angle due to an error of a road surface reaction force portion.SOLUTION: A steering device for a steer-by-wire vehicle includes: a steering state quantity detection unit (4) for detecting steering state quantity of tires; steering response estimation unit (11) for estimating steering response quantity based on a target steering angle; a command value calculation unit (13) for calculating a command value of a steering actuator for performing steering control of tires according to the target steering angle, based on the steering state quantity and the steering response quantity; and a road surface reaction force estimation unit (12) for outputting the road surface reaction force generating in the tires as a road surface reaction force estimation value, based on the steering response estimation value of the steering angle estimated by the steering response estimation unit in the last time control cycle. The steering response estimation unit (11), in this time control cycle, estimates the steering response quantity, based on the target steering angle and the road surface reaction force estimation value acquired from the road surface reaction force estimation unit.
【課題】路面反力分の誤差に起因して目標転舵角に対する応答性が低下することを抑制する。【解決手段】タイヤの転舵状態量を検出する転舵状態量検出部(4)と、目標転舵角に基づき転舵応答量を推定する転舵応答推定部(11)と、転舵状態量と転舵応答量とに基づいて、目標転舵角に応じてタイヤを転舵制御するための転舵アクチュエータの指令値を演算する指令値演算部(13)と、前回の制御サイクルにおいて転舵応答推定部により推定された転舵角の転舵応答推定値に基づいて、タイヤに発生する路面反力を路面反力推定値として出力する路面反力推定部(12)とを備え、転舵応答推定部(11)は、今回の制御サイクルにおいて、目標転舵角、および路面反力推定部から取得した路面反力推定値に基づいて、転舵応答量を推定する。【選択図】図1
STEERING DEVICE FOR STEER-BY-WIRE VEHICLE AND STEERING CONTROL METHOD FOR STEER-BY-WIRE VEHICLE
ステアバイワイア車両の操舵装置およびステアバイワイア車両の操舵制御方法
2015-12-17
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |