To provide a steering control device for controlling a steer-by-wire vehicular steering device that sets reaction force with distribution of estimated axial force and ideal axial force and that is capable of conveying collision with an obstacle to a steering person when a steering wheel collides with an obstacle.SOLUTION: A steering control device has determination conditions that a steering angle deviation θpΔ between a target steering angle θp* and a steering angle θp exceeds a collision determination deviation threshold Δθpr, and that a current iq (steering current) of a q-axis exceeds a collision determination current threshold ir. The steering control device has a determination unit M40 which determines that a steering wheel collided with a curb stone when both determination conditions are satisfied. After the determination unit M40 determines that the steering wheel collided with the curb stone, the control device switches ideal axial force Fib calculated from a target steering angle to estimated axial force Fer as axial force transmitted to a rack axis, and calculates reaction force.SELECTED DRAWING: Figure 2

    【課題】推定軸力と理想軸力の配分で反力を設定するステアバイワイヤ式の車両用操舵装置を制御対象とした操舵制御装置において、障害物に転舵輪が衝突した際に、障害物の衝突を操舵者に伝えることができるステアバイワイヤ式の車両用操舵装置を制御対象とした操舵制御装置を提供する。【解決手段】操舵制御装置は、目標転舵角θp*と転舵角θpとの転舵角偏差Δθpが衝突判定偏差閾値Δθprを越えたこと、及び、q軸の電流iq(転舵電流)が衝突判定電流閾値irを越えていることを、判定条件としている。また、操舵制御装置は、両判定条件を満足したとき、転舵輪が縁石衝突と判定する判定部M40を備えている。判定部M40が縁石衝突の判定後は、ラック軸に伝達される軸力として目標転舵角から算出する理想軸力Fibを、推定軸力Ferに切り換えて、反力を演算する。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    STEERING CONTROL DEVICE FOR CONTROLLING STEER-BY-WIRE VEHICULAR STEERING DEVICE


    Additional title:

    ステアバイワイヤ式の車両用操舵装置を制御対象とした操舵制御装置


    Contributors:

    Publication date :

    2019-08-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    STEER-BY-WIRE SYSTEM VEHICULAR STEERING DEVICE

    SATO KOJI | European Patent Office | 2023

    Free access


    Steer-by-wire steering device

    HEO SUNG-MOO | European Patent Office | 2023

    Free access

    STEER-BY-WIRE STEERING DEVICE

    SATO KOJI / SAITO TAKAHIDE / ISHIKAWA SHINTAROU | European Patent Office | 2023

    Free access

    Steer-by-wire steering device

    CHO SEONG JONG | European Patent Office | 2022

    Free access