Steering reaction force control apparatus for vehicle

Patent metadata

Field	Value
Publication number	US-9937954-B2
Application number	US-201615258389-A
Country	US
Kind code	B2
Filing date	Sep 7, 2016
Priority date	Sep 8, 2015
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

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 attenuation torque based on a steering angular velocity that is a time derivative of the steering angle or a time derivative of a corrected steering angle acquired by correcting the steered angle with a target steered angle of the driving support device. When the magnitude of the steering angular velocity is less than a reference value, the target steering attenuation torque is calculated so that the magnitude of the target steering attenuation torque becomes smaller when the driving support device is operating compared with when 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; the controller being configured to acquire a steering indication value representing an actual steering operation amount of a driver; to calculate a target steering reaction force including a target steering attenuation force that is based on a time derivative of the steering indication value; and to control the electric power steering device so that a steering reaction force reaches the target steering reaction force; and the controller being configured to calculate the target steering attenuation force based on a time derivative of the steering indication value when the driving support device is not operating and to calculate the target steering attenuation force based on one of a time derivative of the steering indication value and a time derivative of 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
the controller is configured to, when a magnitude of the one of the time derivative values of the steering indication value is less than a reference value, calculate the target steering attenuation force so that a magnitude of the target steering attenuation 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 the controller is configured to, when the magnitude of the one of the time derivative values of the steering indication value is more than the reference value, calculate the target steering attenuation force so that the magnitude of the target steering attenuation force becomes larger when the driving support device is operating compared with when the driving support device is not operating.

3. The steering reaction force control apparatus for a vehicle according to claim 2 , wherein a difference between the target steering attenuation force when the driving support device is operating and the target steering attenuation force when the driving support device is not operating is 0 when the magnitude of the one of the time derivative values of the steering indication value is the reference value, and gradually increases as a magnitude of a difference between the magnitude of the one of the time derivative values of the steering indication value 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 Primary

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

• B62D6/02

  responsive only to vehicle speed · CPC title

• B62D5/0457

  characterised by control features of the drive means as such · CPC title

• B62D6/10

  characterised by means for sensing {or determining} torque · CPC title

• B62D6/002

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