To reduce feeling of strangeness of a driver due to quick response of vehicle behavior with respect to steering angle when a ratio of a steering wheel turning angle to a steering angle is large, in a steering wheel turning device turning a steering wheel with steering wheel turning force which is based on difference between actual steering wheel turning angle and target steering wheel turning angle.SOLUTION: A steering wheel turning method is provided for turning a steering wheel of a vehicle, comprising the steps of: detecting a steering angle of a steering wheel (S1); detecting an actual steering wheel turning angle which is an actual steering wheel turning angle of the steering wheel(S2); calculating a target steering wheel turning angle of the steering wheel according to the detected steering angle (S3); calculating a turning force command value for matching the actual steering wheel turning angle with the target steering wheel turning angle on the basis of the difference between the actual steering wheel turning angle and the target steering wheel turning angle (S6); delaying the phase of the steering force command value with respect to the detected steering angle when angle ratio is large in comparison with a case where the angle ratio of the target steering wheel turning angle to the detected steering angle is small (S5); and generating a steering wheel turning force for turning the steering wheel according to the steering wheel turning force command value which causes running wheels to delay (S7).SELECTED DRAWING: Figure 6
【課題】実転舵角と目標転舵角との差に基づいた転舵力で車両の操向輪を転舵する転舵装置において、操舵角に対する転舵角の比率が大きい場合に、操舵操作に対する車両挙動の応答が早いことによる運転者の違和感を低減する。【解決手段】車両の操向輪を転舵する転舵方法であって、ステアリングホイールの操舵角を検出し(S1)、操向輪の実際の転舵角である実転舵角を検出し(S2)、検出された操舵角に応じて操向輪の目標転舵角を算出し(S3)、実転舵角と目標転舵角との差に基づいて、実転舵角を目標転舵角に一致させるための転舵力指令値を算出し(S6)、検出された操舵角に対する目標転舵角の比である角度比が小さい場合よりも角度比が大きい場合に、検出された操舵角に対して転舵力指令値の位相を遅らせ(S5)、位相を遅らせた転舵力指令値に応じて操向輪を転舵する転舵力を発生させる(S7)。【選択図】図6
TURNING METHOD AND TURNING APPARATUS
転舵方法及び転舵装置
2022-04-22
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
TURNING CONTROL DEVICE, TURNING CONTROL METHOD, AND TURNING DEVICE
European Patent Office | 2025
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