KR-102962969-B1 - Control unit of a steering device, control method of a steering device, and steering system

KR102962969B1KR 102962969 B1KR102962969 B1KR 102962969B1KR-102962969-B1

Abstract

The control device of a steering device, the control method of a steering device, and the steering system according to the present invention are applied to a vehicle equipped with a steering device configured to independently control the steering angle of a wheel with respect to the amount of operation of a steering input member. By comparing a target yaw rate based on a physical quantity regarding the driving state of the vehicle and the amount of operation of the steering input member with an actual yaw rate based on a physical quantity regarding the driving state of the vehicle, the steering actuator is controlled in a direction that offsets the yaw rate of the vehicle so that the actual yaw rate approaches the target yaw rate. Accordingly, vehicle behavior that matches the driver's intention can be realized.

Inventors

리우 후아준

Assignees

아스테모 가부시키가이샤

Dates

Publication Date: 20260508
Application Date: 20220708
Priority Date: 20210913

Claims (13)

A steer-by-wire steering device installed in a vehicle, comprising a steering input member and a steering device having a steering actuator that applies steering force to the wheels of the vehicle, wherein the steering input member and the steering device are mechanically separated so that the steering angle of the wheels can be independently controlled with respect to the amount of operation of the steering input member, and installed in the vehicle having the steer-by-wire steering device. A control device for a steering device having a control unit having vehicle behavior control that outputs a control signal to the steering actuator based on a physical quantity regarding the amount of operation of the steering operation input member, and modifies the steering angle with respect to the amount of operation and outputs a control signal to the steering actuator. The above control unit is, Acquire physical quantities regarding the driving state of the above vehicle, and Acquiring a physical quantity regarding the driving state of the above vehicle and a physical quantity regarding the target yaw rate based on the amount of operation of the above steering operation input member, A yaw rate deviation (γd) is calculated by comparing the actual yaw rate based on physical quantities regarding the driving state of the vehicle with the target yaw rate, and When an intervention condition including the yaw rate deviation (γd) is established in the above vehicle behavior control, the yaw rate deviation (γd) is used as the yaw rate deviation (γD) for the above vehicle behavior control, Outputting a control signal to the steering actuator in a direction that offsets the yaw rate of the vehicle so that the actual yaw rate approaches the target yaw rate. Control unit of the steering device.
In paragraph 1, The above control unit is, When the difference between the actual yaw rate and the target yaw rate increases, a control signal in a direction that offsets the yaw rate of the vehicle is output to the steering actuator so that the actual yaw rate approaches the target yaw rate. Control unit of the steering device.
In paragraph 2, The above control unit is, When the difference between the actual yaw rate and the target yaw rate is within a predetermined range, a control signal is output to the steering actuator to set the steering angle of the wheel to a steering angle according to the amount of operation of the steering operation input member. Control unit of the steering device.
In paragraph 1, The above control unit is, When braking force is generated by a braking device attached to the vehicle, a control signal in a direction that offsets the yaw rate of the vehicle is output to the steering actuator so that the actual yaw rate approaches the target yaw rate. Control unit of the steering device.
In paragraph 4, The above control unit is, When the vehicle is stopped, a control signal is output to the steering actuator to set the steering angle of the wheel to a steering angle according to the amount of operation of the steering operation input member. Control unit of the steering device.
In paragraph 5, The above control unit is, The driving speed of the steering actuator, when the steering angle of the wheel is set to the steering angle according to the amount of operation of the steering input member, is slowed down when the vehicle is stopped compared to when the vehicle is driving. Control unit of the steering device.
In paragraph 4, The above control unit is, Varying the driving speed when driving the steering actuator in a direction that offsets the yaw rate of the vehicle based on the deceleration acceleration of the vehicle. Control unit of the steering device.
In paragraph 4, The above control unit is, When braking by the above braking device is terminated, a control signal is output to the steering actuator to set the steering angle of the wheel to a steering angle according to the amount of operation of the steering operation input member. Control unit of the steering device.
In paragraph 8, The above control unit is, The driving speed of the steering actuator, when the steering angle of the wheel is set to the steering angle according to the amount of operation of the steering input member, is made faster when the vehicle is in motion than when the vehicle is stationary. Control unit of the steering device.
In paragraph 1, The above control unit is, When a driving force is generated by a driving device attached to the vehicle, a control signal in a direction that offsets the yaw rate of the vehicle is output to the steering actuator so that the actual yaw rate approaches the target yaw rate. Control unit of the steering device.
In paragraph 1, The above control unit is, Stopping the output of a control signal to the steering actuator to bring the actual yaw rate closer to the target yaw rate when an abnormality occurs in the steering device, or when the acceleration of the vehicle is greater than or equal to a predetermined value, or when the vehicle speed is less than a predetermined value. Control unit of the steering device.
A steering device for controlling a steering device for controlling a steer-by-wire type steering device, wherein the steering device is equipped with a steering operation input member and a steering actuator that applies steering force to the wheels of the vehicle, and the steering operation input member and the steering device are mechanically separated so that the steering angle of the wheels can be independently controlled with respect to the amount of operation of the steering operation input member, and the steering device performs vehicle behavior control by outputting a control signal to the steering actuator based on a physical quantity regarding the amount of operation of the steering operation input member, and modifying the steering angle with respect to the amount of operation and outputting a control signal to the steering actuator. A step of acquiring physical quantities regarding the driving state of the above vehicle, and A step of obtaining a physical quantity regarding the driving state of the vehicle and a physical quantity regarding the target yaw rate based on the amount of operation of the steering input member, and A step of calculating a yaw rate deviation (γd) by comparing the actual yaw rate based on a physical quantity regarding the driving state of the vehicle with the target yaw rate, and When an intervention condition including the yaw rate deviation (γd) is established in the vehicle behavior control, the yaw rate deviation (γd) is set as the yaw rate deviation (γD) used in the vehicle behavior control, and a control signal in a direction that offsets the yaw rate of the vehicle is output to the steering actuator so that the actual yaw rate approaches the target yaw rate. A method for controlling a steering device, comprising
As a steer-by-wire steering device installed in a vehicle, A steer-by-wire steering device having a steering input member and a steering actuator that applies steering force to the wheels of the vehicle, wherein the steering input member and the steering device are mechanically separated so that the steering angle of the wheels can be independently controlled with respect to the amount of operation of the steering input member, and As a control device, A control unit having vehicle behavior control that outputs a control signal to the steering actuator based on a physical quantity regarding the amount of operation of the steering input member, and outputs a control signal to the steering actuator by modifying the steering angle with respect to the amount of operation. The above control unit is, Acquire physical quantities regarding the driving state of the above vehicle, and Acquiring a physical quantity regarding the driving state of the above vehicle and a physical quantity regarding the target yaw rate based on the amount of operation of the above steering operation input member, A yaw rate deviation (γd) is calculated by comparing the actual yaw rate based on physical quantities regarding the driving state of the vehicle with the target yaw rate, and When an intervention condition including the yaw rate deviation (γd) is established in the above vehicle behavior control, the yaw rate deviation (γd) is used as the yaw rate deviation (γD) for the above vehicle behavior control, Outputting a control signal to the steering actuator in a direction that offsets the yaw rate of the vehicle so that the actual yaw rate approaches the target yaw rate. The above control device A steering system having

Description

Control unit of a steering device, control method of a steering device, and steering system The present invention relates to a control device for a steering device, a method for controlling a steering device, and a steering system. The steering control device for a vehicle according to Patent Document 1 estimates the difference in braking force applied to the left and right wheels, calculates a braking force difference control amount according to the braking force difference in a direction that offsets the yaw moment caused by the braking force difference, and controls the output angle (turning amount) by adding the braking force difference control amount when a yaw moment caused by the braking force difference occurs. Figure 1 is a schematic diagram showing one aspect of a vehicle's steering system. Figure 2 is a flowchart illustrating the process of calculating the yaw rate deviation. Figure 3 is a flowchart illustrating the process of calculating the target steering angle. Figure 4 is a flowchart illustrating the process of calculating the yaw rate deviation. Hereinafter, embodiments of a control device for a steering device, a control method for a steering device, and a steering system according to the present invention will be described based on the drawings. FIG. 1 is a configuration diagram showing one aspect of a steering system (200) mounted on a vehicle (100). The vehicle (100) is a four-wheeled vehicle equipped with four wheels (101-104). The steering system (200) has a steering device (300) and a control device (400) for controlling the actuator of the steering device (300). The steering device (300) has a steering wheel (301) which is a steering operation member operated by a driver, a reaction force actuator (302) which applies a reaction force torque to the steering wheel (301), and a steering device (305) capable of changing the steering angle (σ) (in other words, tire angle) of the front wheels (101, 102) which are steering wheels of the vehicle (100). The steering device (305) is equipped with a steering actuator (304) that applies steering torque (in other words, steering force) to the front wheels (101, 102) through a steering member (303). The steering device (300) uses, for example, an electric motor as a reaction force actuator (302) and a steering actuator (304). In the steering device (300), the steering wheel (301) and the steering wheel (101, 102), that is, the steering device (305), are mechanically separated. That is, the steering device (300) is a steer-by-wire type steering device configured to independently control the steering angle of the front wheels (101, 102) with respect to the operating angle (in other words, amount of operation) of the steering wheel (301). The control device (400) is an electronic control device equipped with an MCU (Micro Controller Unit) (401). When the steering actuator (304) is an electric motor, the control device (400) may be equipped with a pre-driver or an inverter, etc., to control the energization to the electric motor together with the MCU (401). In addition, the system may be equipped with a driving circuit including a pre-driver or an inverter, separately from the control device (400). In addition, the MCU (401) can be replaced with a microcomputer, processor, processing unit, computing unit, etc. The MCU (401) of the control unit (400) acquires information regarding the state of the vehicle (100) and information regarding the state of the steering unit (300). And, the MCU (401) calculates the control signal (CS1) of the reaction actuator (302) and the control signal (CS2) of the steering actuator (304) based on the acquired state information, and outputs the calculated control signals (CS1, CS2) to the reaction actuator (302) and the steering actuator (304) to control the reaction torque and steering torque [i.e., the steering angle (σ) of the front wheels (101, 102)] applied to the steering wheel (301). The vehicle (100) is equipped with a wheel speed sensor (403-406) that detects the wheel speed of each wheel (101-104), a yaw rate sensor (407) that detects the yaw rate (γ) of the vehicle (100), and an acceleration sensor (408) that detects the forward/backward acceleration and lateral acceleration of the vehicle (100) as sensors for detecting the driving state of the vehicle (100). Additionally, the steering device (300) is equipped with a steering angle sensor (411) that detects the steering angle (θ) of the steering wheel (301) and a steering angle sensor (412) that detects the steering angle (σ) of the front wheels (101, 102) as sensors for detecting the operating state of the steering device (300). Additionally, when the steering device (305) changes the steering angle (σ) of the front wheels (101, 102) using a rack and pinion mechanism, the steering angle sensor (412) can detect the rotation angle of the pinion shaft as a physical quantity corresponding to the steering angle (σ). The steering angle sensor (411) detects the neutra