Vehicle steering control device

Patent metadata

Field	Value
Publication number	US-10597076-B2
Application number	US-201314780091-A
Country	US
Kind code	B2
Filing date	Mar 27, 2013
Priority date	Mar 27, 2013
Publication date	Mar 24, 2020
Grant date	Mar 24, 2020

Abstract

Provided is a steering control device (10) for a vehicle (12), including a front wheel steering device (14) and a rear wheel steering device (42). When a magnitude of a steering angle (MA) is large in a state in which rear wheels are steered by the rear wheel steering device in the same phase with respect to front wheels, the steering control device carries out calculation so as to increase a rear wheel target correction steering angle Δδbt for a correction steering for the rear wheels (18RL and 18RR) toward an opposite phase direction with respect to the front wheels (18FL and 18FR) compared with when the magnitude of the steering angle is small, and controls the rear wheel steering device based on the target correction steering angle Δδbt, thereby increasing a slip angle toward the inside of a turn of the vehicle.

First claim

The invention claimed is:

1. A vehicle steering control device of a vehicle, the vehicle steering control device comprising:
a front wheel steering device configured to steer a front wheel in response to a steering operation by a driver;
a rear wheel steering device configured to steer a rear wheel independently of the steering operation by the driver;
a switch that is operable by an occupant of the vehicle to switch a travel mode of the vehicle between a travel mode of a normal turning responsiveness and a travel mode of a high turning responsiveness that is higher than the normal turning responsiveness; and
an electronic control unit (ECU) that:
when the travel mode of the vehicle is the travel mode of the high turning responsiveness, sets a lower limit reference value to be decreased compared with when the travel mode of the vehicle is the travel mode of the normal turning responsiveness;
when correction steering is steering the rear wheel toward an opposite phase direction with respect to the front wheel, and when a magnitude of a steering angle representing a steering operation amount by the driver is large in a state in which the rear wheel is steered in the same phase with respect to the front wheel by the rear wheel steering device, controls the rear wheel steering device so that a magnitude of a correction steering amount is large compared with when the magnitude of the steering angle is small; and
when the magnitude of the steering angle is equal to or less than the lower limit reference value, the correction steering is inhibited from being carried out.

2. The vehicle steering control device according to claim 1 , wherein, when the magnitude of the steering angle is large, a ratio of the magnitude of the correction steering amount to the magnitude of the steering angle is large compared with when the magnitude of the steering angle is small.

3. The vehicle steering control device according to claim 1 , wherein the magnitude of the correction steering amount is large when a vehicle speed is high compared with when the vehicle speed is low.

4. The vehicle steering control device according to claim 1 , wherein the magnitude of the correction steering amount is small when a friction coefficient of a road surface is small compared with when the friction coefficient of the road surface is large.

5. The vehicle steering control device according to claim 1 , wherein the lower limit reference value is small when a vehicle speed is high compared with when the vehicle speed is low.

6. The vehicle steering control device according to claim 1 , wherein when the magnitude of the steering angle is equal to or more than an upper limit reference value, the magnitude of the correction steering amount is inhibited from being increased even when the magnitude of the steering angle increases.

7. The vehicle steering control device according to claim 6 , wherein the upper limit reference value is small when a vehicle speed is high compared with when the vehicle speed is low.

8. The vehicle steering control device according to claim 6 , wherein the upper limit reference value is small when the travel mode is the travel mode of the high turning responsiveness compared with when the travel mode is the travel mode of the normal turning responsiveness.

9. The vehicle steering control device according to claim 1 , wherein a ratio of the magnitude of the correction steering amount to the magnitude of the steering angle is large when the travel mode is the travel mode of the high turning responsiveness compared with when the travel mode is the travel mode of the normal turning responsiveness, and a period of a transition of the travel mode between the two travel modes is long when the magnitude of the steering angle is large compared with when the magnitude of the steering angle is small.

Assignees

• Takashima Toru
• Kojo Takahiro
• Toyota Motor Co Ltd

Inventors

• Takashima Toru
• Kojo Takahiro

Classifications

• B62D6/00

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title

• B62D7/159 Primary

  characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition · CPC title

• B62D6/006

  using a measured or estimated road friction coefficient · CPC title

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title