US 12,428,049 B2
Steering control device, steering control method, and computer program product
Takashi Aoki, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Apr. 18, 2023, as Appl. No. 18/302,650.
Application 18/302,650 is a continuation of application No. PCT/JP2021/033316, filed on Sep. 10, 2021.
Claims priority of application No. 2020-178238 (JP), filed on Oct. 23, 2020.
Prior Publication US 2023/0257020 A1, Aug. 17, 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 5/0481 (2013.01); B62D 6/008 (2013.01); B62D 15/0205 (2013.01); B62D 15/025 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A steering control device of a vehicle for controlling and linking a movement of a steering member by a steering actuator with a movement of a turning tire by a turning actuator, the steering control device comprising:
a steering control unit configured to control an actual steering angle of the steering member by controlling a steering output torque output from the steering actuator; and
a turning control unit configured to control an actual turning angle of the turning tire by controlling a turning output torque output from the turning actuator, wherein
the turning control unit is configured to perform a gradual reduction control to gradually decrease the turning output torque during a linked control in which the steering control unit controls the actual steering angle in conjunction with the actual turning angle in response to a stop instruction of the vehicle,
the turning control unit is configured to cut an energization to the turning actuator after the gradual reduction control of the turning output torque performed by the turning control unit, and
the steering control unit is configured to cut an energization to the steering actuator after the gradual reduction control of the turning output torque performed by the turning control unit, wherein
the turning control unit is configured to perform the gradual reduction control of the turning output torque by gradually decreasing a current applied to the turning actuator, and
the turning control unit is configured to gradually decrease the current applied to the turning actuator by a low-pass filter whose cutoff frequency is lower than a resonance frequency of a turning system that includes the turning tire of the vehicle.