US 12,344,341 B2
Steering control device and steering control method
Satoshi Matsuda, Okazaki (JP); Isao Namikawa, Okazaki (JP); Koji Anraku, Okazaki (JP); Tomoyuki Iida, Nisshin (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 Oct. 25, 2023, as Appl. No. 18/383,696.
Claims priority of application No. 2022-179782 (JP), filed on Nov. 9, 2022.
Prior Publication US 2024/0149940 A1, May 9, 2024
Int. Cl. B62D 5/00 (2006.01); B62D 5/04 (2006.01); B62D 6/00 (2006.01)
CPC B62D 6/008 (2013.01) [B62D 5/006 (2013.01); B62D 5/0481 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A steering control device configured to control a steering device of a vehicle, the steering device having a structure in which a power transmission path between an operation unit and a turning unit is cut off, the operation unit including an operation member and a reaction force motor configured to generate a reaction force torque that resists a driver's operation of the operation member, the turning unit being configured to turn a turning wheel and including a turning motor configured to generate a turning torque for turning the turning wheel, the steering control device comprising a processor configured to execute a reaction force control process for controlling operation of the reaction force motor so as to apply the reaction force torque to the operation member,
wherein the reaction force control process includes a reaction force torque calculation process of calculating a reaction force torque operation amount indicating the reaction force torque to be generated by the reaction force motor,
the reaction force torque calculation process including a deviation compensation calculation process of calculating a deviation-compensating component, the deviation-compensating component being a component that is reflected in the reaction force torque operation amount so as to compensate for discrepancy in a relationship between an operation position of the operation member and a turning position of the turning wheel,
the deviation compensation calculation process including:
a process of calculating a positional deviation that quantitatively indicates a degree of discrepancy in the relationship between the operation position and the turning position;
a process of calculating the deviation-compensating component based on the positional deviation; and
a process of switching among a plurality of calculation states for calculating the deviation-compensating component, the plurality of calculation states including a first calculation state that is set in a context where operation of the turning motor is not restricted and a second calculation state that is set in a context where the operation of the turning motor is restricted, the second calculation state being a calculation state in which the deviation-compensating component of a larger absolute value is calculated than in the first calculation state,
the process of switching among the calculation states being a process of permitting switching among the calculation states on a condition that a permission condition is met, the permission condition being met based on an operation amount that varies in association with the driver's operation of the operation member.