US 12,227,239 B2
Steering control device, and steering control method
Takashi Aoki, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Sep. 21, 2022, as Appl. No. 17/934,073.
Application 17/934,073 is a continuation of application No. PCT/JP2021/002484, filed on Jan. 25, 2021.
Claims priority of application No. 2020-054729 (JP), filed on Mar. 25, 2020.
Prior Publication US 2023/0017841 A1, Jan. 19, 2023
Int. Cl. B62D 6/00 (2006.01); B62D 6/02 (2006.01); B62D 15/02 (2006.01)
CPC B62D 6/00 (2013.01) [B62D 15/025 (2013.01); B62D 6/002 (2013.01); B62D 6/02 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A steering control device configured to control steering of a vehicle by a steering actuator, the steering actuator configured to apply a torque to a tire of the vehicle which adjusts a steering angle of the tire, the steering control device comprising:
a trajectory following control unit configured to adjust a target angle of the steering angle based on a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory; and
an angle following control unit configured to adjust an instruction value that is given to the steering actuator based on an angle following control that causes an actual angle of the steering angle of the tire to follow the target angle, wherein
the trajectory following control unit is configured to forcibly set the target angle to be a fixed angle in a stop control period which starts in response to a stop of the vehicle.