PROBLEM TO BE SOLVED: To provide an emergency steering assist system.SOLUTION: Included are an electric power steering device 13 including an assist motor 18 that assists a driver in steering, and an EPS ECU 2 that includes a d-axis current command calculation unit which calculates a d-axis current command value Idof the assist motor on the basis of a q-axis voltage saturation Vof the assist motor, and controls driving of the assist motor, and an emergency steering request determination device 40 that determines occurrence of an emergency steering request, which makes it necessary to persuade a driver to urgently change the current position of a steering wheel, according to a prediction based on ambient information on an own vehicle. If the absolute value of the d-axis current command value that is a negative value augments, a variance quantity in the d-axis current command value per time is regarded as a rising gradient. If the emergency steering request determination device determines that emergency steering is needed, the d-axis current command calculation unit makes the rising gradient of the d-axis current command value larger than the rising gradient of the d-axis current command value to be adopted at a normal time when no request for emergency steering is made.SELECTED DRAWING: Figure 1
【課題】緊急操舵支援システムを提供する。【解決手段】運転者の操舵をアシストするアシストモータ18、及び、アシストモータのq軸電圧飽和度Vqsatに基づきアシストモータのd軸電流指令値Id*を算出するd軸電流指令演算部を含みアシストモータの駆動を制御するEPS−ECU2を有する電動パワーステアリング装置13と、自車両の周辺情報に基づく予測により、運転者が現在のハンドルの位置を緊急に変化させる必要のある緊急操舵要求が発生したことを判定する緊急操舵要求判定装置40と、を備える。負の値であるd軸電流指令値の絶対値が増加する場合の時間あたりのd軸電流指令値の変化量を、立ち上がり勾配とする。緊急操舵の必要があると緊急操舵要求判定装置に判定された場合、d軸電流指令演算部はd軸電流指令値の立ち上がり勾配を、緊急操舵の要求がない通常時のd軸電流指令値の立ち上がり勾配よりも大きくする。【選択図】図1
EMERGENCY STEERING ASSIST SYSTEM
緊急操舵支援システム
2018-04-12
Patent
Electronic Resource
Japanese
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