Vehicle steering control device

Patent metadata

Field	Value
Publication number	US-9540039-B2
Application number	US-201214413542-A
Country	US
Kind code	B2
Filing date	Jul 9, 2012
Priority date	Jul 9, 2012
Publication date	Jan 10, 2017
Grant date	Jan 10, 2017

Abstract

A vehicle steering control device includes a turning angle varying device serving as a first turn response change device for changing a gain of yaw rate of a vehicle with respect to steering operation, and a rear wheel steering device serving as a second turn response change device for changing a gain of lateral acceleration of the vehicle with respect to the steering operation. Under a state in which magnitude of curvature of a travel path is equal to or less than a first reference value, at least one of the turning angle varying and rear wheel steering devices is controlled so that a ratio of the gain of the lateral acceleration to the gain of the yaw rate increases when a width of the travel path is small compared with when the width of the travel path is large.

First claim

The invention claimed is:

1. A vehicle steering control device, comprising:
first turn response varying means for changing a gain of a yaw rate of a vehicle with respect to a steering operation;
second turn response varying means for changing a gain of a lateral acceleration of the vehicle with respect to the steering operation; and
control means for controlling the first turn response varying means and the second turn response varying means,
the control means being configured to control, under a state in which a magnitude of a curvature of a travel path is equal to or less than a reference value, at least one of the first turn response varying means and the second turn response varying means so that a ratio of the gain of the lateral acceleration to the gain of the yaw rate increases when a width of the travel path is small compared with when the width of the travel path is large.

2. The vehicle steering control device according to claim 1 , wherein the control means controls, under a state in which the width of the travel path changes to decrease, at least one of the first turn response varying means and the second turn response varying means based on a width of a travel path for control, which is corrected so that the width changes earlier and more slowly than the width of the actual travel path.

3. The vehicle steering control device according to claim 1 , wherein the control means controls, under a state in which the curvature of the travel path changes to increase, at least one of the first turn response varying means and the second turn response varying means based on a curvature of a travel path for control, which is corrected so that the curvature changes earlier and more slowly than the curvature of the actual travel path.

4. The vehicle steering control device according to claim 1 , wherein the control means acquires information on a yaw angle of the vehicle, and controls at least one of the first turn response varying means and the second turn response varying means so that a change in at least one of the gain of the yaw rate and the gain of the lateral acceleration caused by a change in the width of the travel path becomes slower when a magnitude of the yaw angle of the vehicle is large compared with when the magnitude of the yaw angle of the vehicle is small.

5. The vehicle steering control device according to claim 1 , wherein the first turn response varying means changes a relationship of a steered angle of a front wheel with respect to a steering operation amount.

6. The vehicle steering control device according to claim 1 , wherein the first turn response varying means changes a steering characteristic of the vehicle.

7. The vehicle steering control device according to claim 1 , wherein the second turn response varying means changes a relationship of a steered angle of a rear wheel with respect to a steered angle of a front wheel.

8. A vehicle steering control device, comprising:
first turn response varying means for changing a derivative gain of a yaw rate of a vehicle with respect to a steering operation speed;
second turn response varying means for changing a derivative gain of a lateral acceleration of the vehicle with respect to the steering operation speed; and
control means for controlling the first turn response varying means and the second turn response varying means,
the control means being configured to control, under a state in which a magnitude of a curvature of a travel path is equal to or more than a reference value, at least one of the first turn response varying means and the second turn response varying means so that a ratio of the derivative gain of the lateral acceleration to the derivative gain of the yaw rate increases when a width of the travel path is small compared with when the width of the travel path is large.

9. The vehicle steering control device according to claim 8 , wherein the control means controls, under a state in which the width of the travel path changes to decrease, at least one of the first turn response varying means and the second turn response varying means based on a width of a travel path for control, which is corrected so that the width changes earlier and more slowly than the width of the actual travel path.

10. The vehicle steering control device according to claim 8 , wherein the control means controls, under a state in which the curvature of the travel path changes to increase, at least one of the first turn response varying means and the second turn response varying means based on a curvature of a travel path for control, which is corrected so that the curvature changes earlier and more slowly than the curvature of the actual travel path.

11. The vehicle steering control device according to claim 8 , wherein the control means acquires information on a yaw angle of the vehicle, and controls at least one of the first turn response varying means and the second turn response varying means so that a change in at least one of the derivative gain of the yaw rate and the derivative gain of the lateral acceleration caused by a change in the width of the travel path becomes slower when a magnitude of the yaw angle of the vehicle is large compared with when the magnitude of the yaw angle of the vehicle is small.

12. The vehicle steering control device according to claim 8 , wherein the first turn response varying means changes a relationship of a steered angle of a front wheel with respect to a steering operation amount.

13. The vehicle steering control device according to claim 8 , wherein the first turn response varying means changes a steering characteristic of the vehicle.

14. The vehicle steering control device according to claim 8 , wherein the second turn response varying means changes a relationship of a steered angle of a rear wheel with respect to a steered angle of a front wheel.

Assignees

• Kunihiro Yoji
• Kojo Takahiro
• Toyota Motor Co Ltd

Inventors

• Kunihiro Yoji
• Kojo Takahiro

Classifications

• B62D5/008

  Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear · CPC title

• B62D7/159

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

• B62D6/02

  responsive only to vehicle speed · CPC title

• B62D6/04

  responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel · CPC title

• B62D6/003 Primary

  in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence) · CPC title