To provide a steering control device which reduces discomfort of a passenger in a stopping vehicle.SOLUTION: A steering control device 1 which controls steering of a vehicle 2 performed by a steering actuator 3 comprises: a track following control unit 110 which adjusts a target angle θt of a steering angle θ given to a steering tire of the vehicle by track following control which causes a self-state quantity Z including a position of the vehicle to follow a target track Tz; and an angle following control unit 120 which adjusts a command value Oa given to the steering actuator 3 and corresponding to an actual angle θr by angle following control which causes the actual angle θr of the steering angle θ to follow the target angle θt. The track following control unit 110 forcibly sets the target angle θt to a fixed angle θf in a stop control period Δs with the vehicle stopped.SELECTED DRAWING: Figure 2
【課題】停車中車両において乗員の違和感を抑制する舵制御装置の提供。【解決手段】操舵アクチュエータ3による車両2の操舵を制御する操舵制御装置1は、車両の位置を含む自己状態量Zを、目標軌道Tzに追従させる軌道追従制御により、車両の操舵タイヤに与えられる操舵角θの目標角θtを、調整する軌道追従制御部110と、当該操舵角θの実角θrを、目標角θtに追従させる角度追従制御により、操舵アクチュエータ3に与えられて実角θrと対応する指令値Oaを、調整する角度追従制御部120と、を備える。軌道追従制御部110は、車両の停止に伴う停止制御期間Δsにおいて、目標角θtを固定角θfに強制する。【選択図】図2
STEERING CONTROL DEVICE, STEERING CONTROL METHOD, AND STEERING CONTROL PROGRAM
操舵制御装置、操舵制御方法、操舵制御プログラム
2021-10-07
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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