US 12,240,537 B2
Steering control device
Satoshi Matsuda, Okazaki (JP); Isao Namikawa, Okazaki (JP); Koji Anraku, Okazaki (JP); Tomoyuki Iida, Nisshin (JP); Masaharu Yamashita, Toyota (JP); and Kenji Shibata, Nagoya (JP)
Assigned to JTEKT CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by JTEKT CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 25, 2022, as Appl. No. 17/872,508.
Claims priority of application No. 2021-124642 (JP), filed on Jul. 29, 2021.
Prior Publication US 2023/0033288 A1, Feb. 2, 2023
Int. Cl. B62D 5/04 (2006.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01)
CPC B62D 5/046 (2013.01) [B62D 5/0409 (2013.01); B62D 15/0225 (2013.01); B62D 15/0235 (2013.01); B62D 5/0469 (2013.01); B62D 6/008 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A steering control device that controls a reaction motor configured to generate a steering reaction force based on a command value which is calculated according to a steering state, the steering reaction force being applied to a steering wheel of which a power transmission path to and from a turning shaft that turns turning wheels is cut off, the steering control device comprising:
a processor that is configured to:
calculate a base axial force including an axial force in which a force acting on the turning shaft via at least the turning wheels is reflected when the steering wheel is operated in a predetermined operation range;
calculate a limiting axial force which is an axial force for virtually limiting an operation of the steering wheel; and
calculate a final axial force which is a final axial force to be reflected in the command value based on the base axial force and the limiting axial force,
wherein the processor is configured to hold a steering angle at a time of limiting a turning operation of the turning wheels when the turning operation is limited,
wherein the processor is configured to calculate a reference angle by performing a limiting process of limiting the steering angle held to a virtual end angle when the turning operation of the turning wheels is limited,
wherein the processor is configured to calculate the reference angle by performing the limiting process of limiting a current steering angle to the virtual end angle when the turning operation of the turning wheels is not limited, the virtual end angle corresponding to a limit position of a virtual operation range of the steering wheel,
wherein the processor is configured to calculate a final difference which is a final difference between the reference angle and the current steering angle, and
wherein the processor is configured to calculate the limiting axial force based on a value of the final difference.