Steering reaction force control apparatus for vehicle

Patent metadata

Field	Value
Publication number	US-9802645-B2
Application number	US-201615249633-A
Country	US
Kind code	B2
Filing date	Aug 29, 2016
Priority date	Sep 8, 2015
Publication date	Oct 31, 2017
Grant date	Oct 31, 2017

Abstract

Provided is a steering reaction force control apparatus for a vehicle including a driving support device configured to control an electric power steering device via a controller so that a steered angle of steered wheels reaches a target steered angle. When the driving support device is operating, the controller calculates a target steering spring torque based on a corrected steering angle corrected by a target steering angle for driving support control. When the magnitude of the corrected steering angle is less than a reference value, the target steering spring torque is calculated so that the magnitude of the target steering spring torque becomes larger in a case where the driving support device is operating compared with a case where the driving support device is not operating.

First claim

What is claimed is:

1. A steering reaction force control apparatus for a vehicle, which is to be applied to a vehicle having an electric power steering device and a driving support device configured to control the electric power steering device so that a steered angle of steered wheels reaches a target steered angle, the steering reaction force control apparatus comprising:
a controller configured to control the electric power steering device and the driving support device; and
the controller being configured to:
acquire a steering indication value representing an actual steering operation amount of a driver;
calculate a target steering reaction force including a target steering spring force that is based on the steering indication value; and
control the electric power steering device so that a steering reaction force reaches the target steering reaction force; and
calculate the target steering spring force based on the steering indication value when the driving support device is not operating and calculate the target steering spring force based on a corrected steering indication value acquired by correcting the steering indication value with a target steering indication value corresponding to the target steered angle when the driving support device is operating; wherein
when a magnitude of the steering indication value for calculating the target steering spring force is less than a reference value, the controller is configured to calculate the target steering spring force so that a magnitude of the target steering spring force becomes larger when the driving support device is operating compared with when the driving support device is not operating wherein, when the magnitude of the steering indication value for calculating the target steering spring force is more than the reference value, the controller is configured to calculate the target steering spring force so that the magnitude of the target steering spring force becomes smaller when the driving support device is operating compared with when the driving support device is not operating.

2. The steering reaction force control apparatus for a vehicle according to claim 1 , wherein a difference between the target steering spring force when the driving support device is operating and the target steering spring force when the driving support device is not operating is 0 when the magnitude of the steering indication value for calculating the target steering spring force is the reference value, and gradually increases as a magnitude of a difference between the magnitude of the steering indication value for calculating the target steering spring force and the reference value increases in a range equal to or less than a predetermined value.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kudo Yoshio

Classifications

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D6/008 Primary

  Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications · CPC title

• B62D5/0463

  calculating assisting torque from the motor based on driver input · CPC title

• B62D5/04 Primary

  electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear · CPC title

• 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