To upgrade the capability of a steering angle to track a target steering angle.SOLUTION: A power steering controller 1 includes a steering information acquisition unit 121 that sequentially acquires a steering angle and steering angular speed of a traveling vehicle, a target discrimination unit 123 that estimates changes in a steering angle and steering angular speed, which will be acquired subsequently to a present time point, on the basis of cyclic changes in previously acquired steering angles and steering angular speeds, and discriminates a steering angle and steering angular speed, which will be obtained in the lapse of predetermined time after the present time point, as a target steering angle and target steering angular speed, a command value calculation unit 124 that assigns a steering angle and steering angular speed, which are acquired at the present time point, and the discriminated target steering angle and target steering angular speed into a function representing a change in the steering angle of the vehicle with respect to a command value to be issued to control driving of a motor 21 of a power steering system 2, and thus calculates the command value to be issued in the lapse of predetermined time after the present time point, and an output unit 125 that outputs the calculated command value to the power steering system 2.SELECTED DRAWING: Figure 1
【課題】目標操舵角に対する操舵角の追従性を向上する。【解決手段】パワーステアリング制御装置1は、走行する車両の操舵角及び操舵角速度を順次取得する操舵情報取得部121と、過去に取得した操舵角及び操舵角速度の周期的な変化に基づいて、現時点よりも後の操舵角及び操舵角速度の変化を推定し、推定した操舵角及び操舵角速度の変化から、現時点よりも所定時間後の時点の操舵角及び操舵角速度を目標操舵角及び目標操舵角速度として特定する目標特定部123と、パワーステアリング2のモータ21の駆動を制御するための指令値に対する車両の操舵角の変化を表す関数に、現時点で取得した操舵角及び操舵角速度と、特定した目標操舵角及び目標操舵角速度とを代入することにより、現時点から所定時間後の時点における指令値を算出する指令値算出部124と、算出した指令値を、パワーステアリング2に出力する出力部125とを備える。【選択図】図1
POWER STEERING CONTROLLER
パワーステアリング制御装置
2022-02-25
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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