Steering control device

摘要

A steering control device includes a steering reaction force control unit that applies a steering reaction force to a steering unit in accordance with a steering reaction force characteristic that is based on steering torque and steering angle of the steering unit in which the steering torque increases as the steering angle increases. Upon applying the steering reaction force to the steering unit, an offset amount is calculated that is greater as a curvature of the white line increases, and a suppression offset amount is calculated that applies a predetermined limit to a change rate of the offset amount. When the steering torque that is opposite of the curvature is detected upon offsetting the steering reaction force characteristic, the predetermined limit is changed to a greater limit than the predetermined limit to suppress an increase in the offset amount.

主权项

1. A steering control device comprising:
a steering unit mechanically separated from a turning unit for turning a turnable wheel and that receives steering input from a driver; a steering reaction force control unit programmed to a set a steering reaction force characteristic based on a steering torque of the steering unit and a steering angle of the steering unit in which the steering torque increases as the steering angle of the steering unit increases, and apply a steering reaction force to the steering unit based on the steering reaction force characteristic; a curvature detection unit programmed to detect a curvature of a white line; an offset amount calculation unit programmed to calculate an offset amount that is greater as the detected curvature increases; a suppression offset amount calculation unit programmed to calculate a suppression offset amount that applies a predetermined limit to a change rate of the offset amount; an offset unit programmed to offset the steering reaction force characteristic such that a neutral point of the steering is moved in a curve direction according to a magnitude of the detected curvature; a lane departure suppression unit programmed to apply to the steering unit the steering reaction force that increases as a distance to the white line decreases; a hands-off assessment unit programmed to determine that a hands-off state exists when detecting the steering torque that is opposite of the curve direction of the detected curvature; and an offset suppression unit programmed to change a predetermined limit that is applied to the change rate to a limit that is greater than the predetermined limit when a determination is made that the hands-off state exists by the hands-off assessment unit.