To provide a steering controller that stabilizes impact alleviation control at the time of end fitting, and enhances freedom in adaptation.SOLUTION: A steering controller (ECU) 10 includes a base assist unit 40 that produces an assist torque Ta, and an end fitting time impact alleviation control unit 200. The end fitting time impact alleviation control unit 200 corrects a detection value of a steering torque Ts or an assist torque limit value on the basis of a steering angle θ and steering angular speed ω so that an absolute value of the assist torque Ta produced by the base assist unit 40 can be reduced when an absolute value of the steering angle θ approaches an end, which is an upper limit, and exceeds an angle threshold. The end fitting time impact alleviation control unit 200 corrects the detection value of the steering torque Ts or the assist torque limit value using an input value as it is for a quantity that varies depending on the steering angle θ, and using a value, which is obtained by performing filtering so as to remove a high-frequency component, for a quantity that varies depending on the steering angular speed ω.SELECTED DRAWING: Figure 2

    【課題】エンド当て時の衝撃軽減制御を安定化し、適合自由度を大きくするステアリング制御装置を提供する。【解決手段】ステアリング制御装置(ECU)10は、アシストトルクTaを生成するベースアシスト部40と、エンド当て時衝撃軽減制御部200と、を備える。エンド当て時衝撃軽減制御部200は、操舵角θの絶対値が上限値であるエンドに近づき角度閾値を超えたとき、ベースアシスト部40が生成するアシストトルクTaの絶対値を減少させるように、操舵角θ及び操舵角速度ωに基づいて、操舵トルクTsの検出値又はアシストトルク制限値の補正を行う。エンド当て時衝撃軽減制御部200は、操舵角θに応じて変化する量について、入力値をそのまま用い、操舵角速度ωに応じて変化する量について、高周波成分を除去するようにフィルタ処理した値を用いて、操舵トルクTsの検出値又はアシストトルク制限値の補正を行う。【選択図】図2


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    Title :

    STEERING CONTROLLER


    Additional title:

    ステアリング制御装置


    Contributors:

    Publication date :

    2019-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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