VEHICLE STEERING CONTROL DEVICE AND VEHICLE STEERING CONTROL METHOD

摘要

A vehicle steering control device and a vehicle steering control method achieve an ideal steering feeling. A turning controller is configured to set as a target turning angle of a turning wheel an addition value obtained by adding a steady steer control amount that is a control amount depending on a steering angle and a differential steer control amount that is a control amount depending on a steering angular velocity. In this situation, when a driver is increasingly turning a steering wheel, the differential steer control amount is computed to be smaller than the differential steer control amount when the driver is not increasingly turning the steering wheel. Accordingly, the phase of the turning angle with respect to the steering angle in the steering returning operation can be delayed as compared to the phase in the steering increasing operation.

主权项

1. A vehicle steering control device, comprising:
a turning controller configured to control turning of a turning wheel at a target turning angle depending on a steering state of a steering wheel, the steering wheel being mechanically separated from the turning wheel; and a steering returning operation detector configured to detect a steering returning operation with the steering wheel operated by a driver, wherein the turning controller comprises: a steady steer control amount computation unit configured to compute a steady steer control amount that is a control amount depending on a steering angle of the steering wheel; a differential steer control amount computation unit configured to compute a differential steer control amount that is a control amount depending on a steering angular velocity of the steering wheel; and a target turning angle setting unit configured to set as a target turning angle an addition value obtained by adding the steady steer control amount computed by the steady steer control amount computation unit and the differential steer control amount computed by the differential steer control amount computation unit, wherein the differential steer control amount computation unit comprises: a reference value computation unit configured to compute a reference value of the differential steer control amount based on the steering angular velocity of the steering wheel; and a gain multiplication unit configured to compute the differential steer control amount obtained by multiplying the reference value of the differential steer control amount computed by the reference value computation unit by a gain depending on a detection result of the steering returning operation detector, and wherein when the steering returning operation detector detects the steering returning operation with the steering wheel operated by the driver, the gain multiplication unit is configured to make the gain smaller than the gain generated when the steering returning operation detector detects the steering increasing operation.