Steering assist apparatus for vehicle

摘要

Provided is a steering assist apparatus (10) for a vehicle, including a transmission device (22) configured to transmit a force and a displacement relating to steering between a steering wheel (18) and steered wheels (20L, 20R), a power steering device (12) configured to apply an assist torque to the transmission device, and a control device (50). When assuming the steering wheel, the transmission device, the power steering device, and the steered wheels as a steering system, the control device is configured to calculate, based on a product of a steering angular velocity and a derivative of the steering angular velocity, a product of the steering angular velocity and a steering torque, and a product of a steering angle and a derivative of the steering torque, a change rate (dDE) of an energy of the steering system, and control the assist torque based on the change rate of the energy of the steering system.

主权项

1. A steering assist apparatus for a vehicle, which is to be applied to the vehicle comprising a steering device,
the steering device comprising: a steering wheel to be operated by a driver; steered wheels; and a transmission device configured to transmit a force and a displacement relating to steering between the steering wheel and the steered wheel, the steering assist apparatus comprising: an adjustment force applying device configured to apply an adjustment force for adjusting a force relating to the steering to the transmission device; a control device configured to control the adjustment force to be applied by the adjustment force applying device to the transmission device; a steering angle detection device configured to detect a steering angle; and a steering torque detection device configured to detect a steering torque, wherein the control device is configured to acquire a steering angular velocity, a derivative of the steering angular velocity, and a derivative of the steering torque, calculate, assuming the steering wheel, the transmission device, the adjustment force applying device, and the steered wheel as a steering system, a change rate of an energy of the steering system based on a product of the steering angular velocity and the derivative of the steering angular velocity, a product of the steering angular velocity and the steering torque, and a product of the steering angle and the derivative of the steering torque, and control the adjustment force based on the change rate of the energy of the steering system.