US 12,337,906 B2
Steering control device, steering control method, and non-transitory computer readable storage medium
Takashi Aoki, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Feb. 23, 2023, as Appl. No. 18/173,459.
Application 18/173,459 is a continuation of application No. PCT/JP2021/029255, filed on Aug. 6, 2021.
Claims priority of application No. 2020-145430 (JP), filed on Aug. 31, 2020.
Prior Publication US 2023/0192181 A1, Jun. 22, 2023
Int. Cl. B62D 5/04 (2006.01); B62D 15/02 (2006.01)
CPC B62D 5/046 (2013.01) [B62D 15/02 (2013.01); B62D 15/025 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A steering control device for controlling and linking a movement of a steering member by a steering actuator and a movement of a turning wheel by a turning actuator in an automatic driving mode of a vehicle, the steering control device comprising:
a steering angle control unit that is configured to control an actual steering angle of the steering member via the steering actuator;
a turning angle control unit that is configured to control an actual turning angle of the turning wheel via the turning actuator; and
a target generation unit that is configured to generate a target steering angle, which is a control target for the actual steering angle, and a target turning angle, which is a control target for the actual turning angle, wherein:
before the turning angle control unit controls the actual turning angle toward the target turning angle to follow a planned trajectory scheduled for the vehicle, the steering angle control unit controls the actual steering angle toward the target steering angle to follow the planned trajectory.