US 12,403,952 B2
Control device and control method for steer by wire
Chung Kim Tang, Tokyo (JP); Kenta Maeda, Tokyo (JP); Huajun Liu, Hitachinaka (JP); Atsushi Hirata, Hitachinaka (JP); and Yasuhito Nakakuki, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Ibaraki (JP)
Appl. No. 18/569,385
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed May 10, 2022, PCT No. PCT/JP2022/019774
§ 371(c)(1), (2) Date Dec. 12, 2023,
PCT Pub. No. WO2022/270164, PCT Pub. Date Dec. 29, 2022.
Claims priority of application No. 2021-104727 (JP), filed on Jun. 24, 2021.
Prior Publication US 2024/0262417 A1, Aug. 8, 2024
Int. Cl. B62D 6/00 (2006.01)
CPC B62D 6/008 (2013.01) 12 Claims
OG exemplary drawing
 
1. A control device for steer by wire including a first motor that controls steering via a feedback actuator and a second motor that controls a steering angle of a wheel via a road wheel actuator, and being capable of bidirectionally controlling the first motor and the second motor, the control device for steer by wire comprising:
a base SAT portion that obtains a simulated feedback actuator torque based on an angle of the first motor and a vehicle speed; and
a rack force estimation portion that estimates a rack force as a reaction force based on a steering angle of the wheel and a road wheel actuator,
wherein a first control mode for controlling a simulated feedback actuator torque of the first motor and a second control mode for controlling the first motor based on a reaction force estimated by the rack force estimation portion are included, and
the first control mode and the second control mode are switched based on output of the base SAT portion and output of the rack force estimation portion.