To alleviate discomfort given to a driver when a steering operation is performed during steering support control.SOLUTION: A controller 10 is applied to a vehicle equipped with a steering device 30 which assists steering by driving a motor 31 and changes a tire angle in synchronization with a change in a steering angle and drives. The controller 10 drives the motor 31 on the basis of a target tire angle, thereby executing steering support control of changing a tire angle and a steering angle. The controller 10 includes a control driving amount calculation section 23 for calculating a control driving amount based on the target tire angle under an executing state of the steering support control. The controller 10 includes a steering driving amount calculation section 24 for calculating a steering driving amount which is a driving amount of the motor 31 corresponding to a steering torque. The controller 10 includes a control section 25 which calculates, when steering is executed under an executing state of steering support control, a sum of the control driving amount and the steering driving amount as a cooperative driving amount and controls the motor 31 on the basis of the cooperative driving amount.SELECTED DRAWING: Figure 1

    【課題】操舵支援制御の実施中に操舵が行われた際、運転者に与える違和感を軽減する。【解決手段】制御装置10は、電動機31の駆動によって操舵をアシストするとともに、ステア角の変化に同期してタイヤ角を変更させる操舵装置30を備える車両に適用される。制御装置10は、目標タイヤ角を基に電動機31を駆動させることによって、タイヤ角及びステア角を変更させる操舵支援制御を実施する。制御装置10は、操舵支援制御が実行されている状態では、目標タイヤ角に基づいた制御駆動量を算出する制御駆動量算出部23を備えている。制御装置10は、操舵トルクに応じた電動機31の駆動量である操舵駆動量を算出する操舵駆動量算出部24を備えている。制御装置10は、操舵支援制御が実行されている状態で操舵が行われたときに、制御駆動量と操舵駆動量との和を協調駆動量として算出し、この協調駆動量を基に電動機31を制御する制御部25を備えている。【選択図】図1


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    Title :

    VEHICULAR DRIVING SUPPORT DEVICE


    Additional title:

    車両の運転支援装置


    Contributors:

    Publication date :

    2020-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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