To provide a steering control device that enhances a sense of ease in an automatic drive mode of a vehicle.SOLUTION: A steering control device 1 that interlinks, in an automatic drive mode of a vehicle, the motion of a steering wheel by a steering actuator 3 with the motion of a turn wheel by a turn wheel actuator 4 by control includes: a steering angle control unit 110 that controls an actual steering angle θsr of the steering wheel through the steering actuator 3; a turn angle control unit 120 that controls an actual turn angle θtr of the turn wheel through the turn wheel actuator 4; and a target generating unit 130 that generates a target steering angle θst that is a control target of the actual steering angle θsr, and a target turn angle θtt that is a control target of the actual turn angle θtr. The steering angle control unit 110 controls the actual steering angle θsr so as to be the target steering angle θst in accordance with a planned trajectory Tz before the turn angle control unit 120 controls the actual turn angle θtr so as to be the target turn angle θtt in accordance with the planned trajectory Tz planned to the vehicle.SELECTED DRAWING: Figure 3

    【課題】車両の自動運転モードにおいて安心感を高める操舵制御装置の提供。【解決手段】車両の自動運転モードにおいて、操舵アクチュエータ3によるステアリングホイールの運動と、転舵アクチュエータ4による転舵輪の運動とを、制御により連動させる操舵制御装置1は、操舵アクチュエータ3を介してステアリングホイールの実操舵角θsrを制御する操舵角制御部110と、転舵アクチュエータ4を介して転舵輪の実転舵角θtrを制御する転舵角制御部120と、実操舵角θsrの制御目標となる目標操舵角θstと、実転舵角θtrの制御目標となる目標転舵角θttとを、生成する目標生成部130とを、備える。転舵角制御部120が車両に予定される予定軌道Tzに従う目標転舵角θttへ向けて実転舵角θtrを制御するよりも早く、操舵角制御部110が当該予定軌道Tzに従う目標操舵角θstへ向けて実操舵角θsrを制御する。【選択図】図3


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    Title :

    STEERING CONTROL DEVICE, STEERING CONTROL METHOD AND STEERING CONTROL PROGRAM


    Additional title:

    操舵制御装置、操舵制御方法、操舵制御プログラム


    Contributors:

    Publication date :

    2022-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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