US 12,110,072 B2
Steering control device
Go Sakayori, Tokyo (JP); Kenta Maeda, Tokyo (JP); Tomoaki Fujibayashi, Hitachinaka (JP); and Hiroki Sonoda, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/791,250
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Dec. 8, 2020, PCT No. PCT/JP2020/045708
§ 371(c)(1), (2) Date Jul. 7, 2022,
PCT Pub. No. WO2021/149381, PCT Pub. Date Jul. 29, 2021.
Claims priority of application No. 2020-009880 (JP), filed on Jan. 24, 2020.
Prior Publication US 2023/0347972 A1, Nov. 2, 2023
Int. Cl. B62D 6/00 (2006.01)
CPC B62D 6/008 (2013.01) 11 Claims
OG exemplary drawing
 
1. A steering control device for controlling a reaction force actuator that generates a reaction force against an operation of a driver in a steering wheel of a vehicle,
wherein the reaction force in a nonlinear region where a cornering force characteristic that is the relationship between the slip angle and the lateral force of tires of the vehicle becomes nonlinear is increased more than that in a linear region where the cornering force characteristic becomes linear,
wherein the steering angle of the steering wheel operated by the driver is acquired,
wherein the reaction force is increased according to an increase in the steering angle in the nonlinear region,
wherein the lateral acceleration of the vehicle and turning torque for turning the tires are acquired,
wherein the rate of change between the increased amount of the lateral acceleration and the increased amount of the turning torque is calculated in a region where the relationship between the lateral acceleration and the turning torque becomes linear, and
wherein the nonlinear degree of the cornering force characteristic is calculated on the basis of the difference between a reference turning torque obtained by multiplying the rate of change by the lateral acceleration and the turning torque.