Steering control device

摘要

A control computing unit calculates current axial force of a steering rack based on a turning current. Moreover, the control computing unit calculates lateral axial force of the steering rack based on a lateral acceleration. Then, the control computing unit calculates steering reaction force based on the current axial force at a time of a steering increasing operation of a steering wheel, and calculates the steering reaction force based on the current axial force and the lateral axial force at a time of a steering returning operation of the steering wheel.

主权项

1. A steering control device, comprising:
a steering wheel mechanically separated from steered wheels; a turning actuator configured to turn the steered wheels in accordance with an operation amount for the steering wheel; a turning current detecting unit configured to detect a turning current flowing through the turning actuator; a current axial force calculating unit configured to calculate a current axial force of a steering rack based on the turning current; a lateral G axial force calculating unit configured to calculate a lateral G axial force of the steering rack based on a lateral acceleration acting on a vehicle; a steering reaction force calculating unit configured to calculate a steering reaction force based on at least either the current axial force calculated by the current axial force calculating unit or the lateral G axial force calculated by the lateral G axial force calculating unit; and a reaction force actuator configured to apply the steering reaction force calculated by the steering reaction force calculating unit, wherein the steering reaction force calculating unit is configured to calculate the steering reaction force based on the current axial force at a time of a steering increasing operation of the steering wheel, and to calculate the steering reaction force based on the current axial force and the lateral G axial force at a time of a steering returning operation of the steering wheel, so that an allocation of the lateral G axial force at the time of the steering returning operation is larger than the allocation of the lateral G axial force at the time of the steering increasing operation.