To provide a steering controller capable of detecting that a steering wheel is in contact with an obstacle at appropriate timing.SOLUTION: The controller controls a steering motor for generating a driving force applied to a steering shaft. The driving force of the steering motor is transmitted to the steering shaft through a pinion shaft. The controller, when a steering wheel is in contact with an obstacle, executes control for notifying a driver of it. The controller includes a determination section for determining whether or not the steering wheel is in contact with an obstacle on the basis of a current value of the steering motor, a difference between an actual pinion angle which is a rotational angle of the pinion shaft and a target pinion angle, a pinion angular speed and a vehicle speed. In the determination section, one of conditions of determining that the steering wheel is in contact with an obstacle is that a vehicle speed is a vehicle speed in a low speed range which is at most a vehicle speed threshold value.SELECTED DRAWING: Figure 4

    【課題】転舵輪が障害物に接触していることを適切なタイミングで検出することができる操舵制御装置を提供する。【解決手段】制御装置は、転舵シャフトに付与される駆動力を発生する転舵モータを制御する。転舵モータの駆動力は、ピニオンシャフトを介して転舵シャフトに伝達される。また制御装置は、転舵輪が障害物に当たっているとき、その旨運転者に報知するための制御を実行する。制御装置は、転舵モータの電流値、ピニオンシャフトの回転角である実際のピニオン角と目標ピニオン角との差、ピニオン角速度、および車速に基づき、転舵輪が障害物に当たっているか否かを判定する判定部を有している。判定部は、車速が車速しきい値以下である低速域の車速であることを転舵輪が障害物に当たっている旨判定する条件の一つとしている。【選択図】図4


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    Title :

    STEERING CONTROLLER


    Additional title:

    操舵制御装置


    Contributors:
    NAMIKAWA ISAO (author) / ANRAKU KOJI (author) / KAKIMOTO YUSUKE (author) / KUDO YOSHIO (author)

    Publication date :

    2020-09-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern



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