To provide a turning controller that adopts a steer-by-wire capable of controlling a turning angle of turning wheels independently of a steering angle of a steering wheel, executes autonomous turning control, and permits a driver's intervention in steering during the execution of the autonomous turning control, and to address a problem that if a vehicle deflection event that a turning quantity of a vehicle relevant to a certain turning angle varies depending on a situation of a road surface or wheels occurs at the initiation of the steering intervention, when the vehicle deflection event is dissolved during the execution of the steering intervention, a driver may perceive a sense of wrongness.SOLUTION: When a turning direction at the initiation of a steering intervention is identical to a steering direction observed during execution of the steering intervention, the magnitude of a steering reaction force to be applied to a steering wheel is made larger than that observed during execution of autonomous turning control. When the turning direction and steering direction are different from each other, the magnitude of the steering reaction force is made smaller than that observed during the execution of the autonomous turning control.SELECTED DRAWING: Figure 8
【課題】転舵輪の転舵角度を操舵ハンドルの操舵角度とは独立して制御できるステアバイワイヤを採用し、自動転舵制御を実行し且つ自動転舵制御の実行中における運転者による操舵介入を許容する転舵制御装置において、ある転舵角度に対する車両の転舵量が路面及び車輪等の状況に応じて変化する車両偏向現象が操舵介入の開始時に発生していると、操舵介入の実行中に車両偏向現象が解消した場合、運転者が違和感を覚える可能性がある。【解決手段】操舵介入の開始時における転舵方向と操舵介入の実行中における操舵方向とが互いに同一であれば操舵ハンドルに加える操舵反力の大きさを自動転舵制御の実行中と比較して大きくし、これらの転舵方向と操舵方向とが互いに異なっていれば操舵反力の大きさを自動転舵制御の実行中と比較して小さくする。【選択図】 図8
TURNING CONTROLLER
転舵制御装置
2020-04-16
Patent
Electronic Resource
Japanese