JP2007038941A - Power steering device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power steering device for a vehicle capable of accomplishing the optimum steering assistance corresponding to characteristic of a driver and the driving condition while dispensing with input of individual information every driver and exchange of data. <P>SOLUTION: The power steering device for the vehicle is provided with a driving attitude detection means 101 for detecting driving attitude of the driver; a driving operation amount detection means 102 for detecting an operation amount of a vehicle operation device operated by the driver; a driver characteristic determination means 103 for determining the characteristic of the driver based on the driving attitude of the driver and the operation amount; a driving state detection means 104 for detecting the driving state of the vehicle based on the traveling state and the operation amount; a power steering control correction amount calculation means 105 for calculating a control correction amount of a power steering mechanism for assisting steering force of the driver based on the driving state and the characteristic of the driver; and a power steering control means 106 for controlling a steering assist amount of the power steering mechanism based on the control correction amount. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to the technical field of a power steering apparatus for a vehicle that assists a driver's steering force.

A conventional vehicle power steering device obtains individual unique information related to the sensitivity of the steering force possessed by the driver, and corrects the steering assist amount based on the obtained individual unique information, thereby providing a constant steering that does not depend on individual differences. Feeling is realized (for example, refer to Patent Document 1).
JP 2004-299594 A

  However, in the above prior art, personal specific information regarding the sensitivity of the steering force possessed by the driver is input in advance and provided, so when a plurality of drivers drive, the information of each individual is required. There was a problem that the information had to be replaced every time.

  In addition, in order to correct the steering assist amount so that the evaluation index of the steering feeling matches based on the driving state of the driver, the steering assist amount can be changed regardless of the steering feeling in situations such as turning left or right at an intersection or emergency avoidance. There was a problem that could not.

  The present invention has been made paying attention to the above-mentioned problems, and the purpose thereof is to make it optimal for the characteristics and driving conditions of the driver while eliminating the need for personal information input and data replacement for each driver. An object of the present invention is to provide a power steering device for a vehicle that can realize an appropriate steering assist.

In order to achieve the above object, the present invention provides:
Driving posture detection means for detecting the driving posture of the driver;
Driving operation amount detection means for detecting the operation amount of the vehicle operating device operated by the driver during driving;
Driver characteristic determination means for determining the characteristics of the driver based on the driving attitude of the driver detected by the driving attitude detection means and the operation amount detected by the driving operation amount detection means;
Driving state detecting means for detecting the driving state of the vehicle based on the driving state of the vehicle and the operation amount detected by the driving operation amount detecting means;
The power for calculating the control correction amount of the power steering mechanism for assisting the steering force of the driver based on the driving state of the vehicle detected by the driving state detecting unit and the driver characteristic determined by the driver characteristic determining unit. Steering control correction amount calculating means;
Power steering control means for controlling the steering assist amount of the power steering mechanism based on the control correction amount calculated by the power steering control correction amount calculating means;
It is characterized by providing.

  In the present invention, since the driver characteristics are determined based on the driving posture of the driver and the operation amount of the vehicle operating device, the characteristics of the driver can be adjusted without inputting personal information or replacing data for each driver. Obtainable. In addition, since the steering assist amount of the power steering mechanism is corrected based on the driver characteristics and the driving state of the vehicle, the optimum steering assist according to the driving situation is obtained while obtaining the optimum steering feeling that matches the driver characteristics. Can be realized. For example, a situation where a small and weak driver is turning left or right at an intersection and the steering assist amount should be increased in necessary situations, and the steering torque should not be inadvertently lightened, such as a non-small driver or a lane change on a general road Then, it is possible not to increase the steering assist amount. As a result, it is possible to realize an optimum steering assist according to the characteristics of the driver and the driving situation while eliminating the need for inputting personal information or replacing data for each driver.

(Embodiment)
FIG. 1 is a configuration diagram of a vehicle power steering apparatus according to an embodiment. The power steering apparatus for a vehicle according to the embodiment includes a driving attitude detection unit 101, a driving operation amount detection unit 102, a driver characteristic determination unit 103, a driving state detection unit 104, a power steering control correction amount calculation unit 105, Power steering control means 106.

  The driving posture detection means 101 detects the driving posture of the driver of the vehicle. The driving operation amount detection means 102 detects the operation amount of the vehicle operating device operated by the driver during driving. The driver characteristic determination unit 103 determines the driver characteristic based on the driving posture of the driver detected by the driving posture detection unit 101 and the operation amount detected by the driving operation amount detection unit 102.

  The driving state detection unit 104 detects the driving state of the vehicle based on the traveling state of the vehicle and the operation amount detected by the driving operation amount detection unit 102. The power steering control correction amount calculating means 105 is a power steering system that assists the steering force of the driver based on the driving state of the vehicle detected by the driving state detecting means 104 and the driver characteristics determined by the driver characteristic determining means 103. The control correction amount of the mechanism is calculated.

  The power steering control means 106 controls the steering assist amount of the power steering mechanism based on the control correction amount calculated by the power steering control correction amount calculation means 105.

  That is, the driver characteristic determining means 103 determines the driver characteristic based on the driving posture of the driver and the amount of operation of the vehicle operating device, and therefore, without inputting personal information or replacing data for each driver, Characteristics can be obtained. Further, the power steering control correction amount calculation means 105 corrects the steering assist amount of the power steering mechanism based on the driver characteristics and the driving state of the vehicle, and thus obtains an optimum steering feeling that matches the driver characteristics. Optimized steering assist according to driving conditions can be realized.

  Hereinafter, the best mode for carrying out the present invention will be described based on Examples 1 to 3.

First, the configuration will be described.
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 2 is an overall configuration diagram of a vehicle 201 to which the vehicle power steering apparatus according to the first embodiment is applied.

  The power steering device of the first embodiment includes left and right steered wheels 202L and 202R, left and right wheel speed sensors 203L and 203R, a steering mechanism 204, a power steering actuator (power steering mechanism) 205, a steering torque sensor 206, a power Steering control unit (power steering control means) 207, engine speed sensor 208, brake pedal sensor 209, steering wheel 210, steering angle sensor 211, driver's seat 212, seat position sensor 213, and power steering control And a correction unit 214.

  The left and right wheel speed sensors 203L and 203R detect the speed (vehicle speed) of the vehicle 201. The steering mechanism 204 steers the steered wheels 202L and 202R according to the operation amount of the steering wheel 210. The power steering actuator 205 assists the steering force for steering the steering mechanism 204.

  The torque sensor 206 detects the steering torque felt by the driver. The power steering control unit 207 calculates a steering assist amount for reducing the steering torque of the driver based on information from the wheel speed sensor 203 and the steering torque sensor 206, and controls the power steering actuator 205.

  Engine speed sensor 208 outputs the speed of an engine (not shown) mounted on vehicle 201. The brake pedal sensor 209 detects the operation amount of the brake pedal operated by the driver. The steering angle sensor 211 detects the angle and angular velocity at which the driver steers the steering wheel 210. The seat position sensor 213 detects the amount of adjustment of the driver's seat 212 in the front-rear direction.

  The power steering control correction unit 214 calculates an assist correction amount for power steering control based on the vehicle speed, the engine speed, the brake pedal operation amount, the steering wheel operation amount, the steering angular velocity, and the seat position.

Next, the operation will be described.
[Assist correction amount calculation control processing]
FIG. 3 is a flowchart showing the flow of the assist correction amount calculation control process executed by the power steering control correction unit 214 of the first embodiment, and each step will be described below. Note that this control process is started by turning on the ignition switch of the vehicle 201.

  In step S301, information on the driving posture of the driver is input from the output of the seat position sensor 213, and the process proceeds to step S302 (corresponding to driving posture detection means). Here, for example, if the seat position is adjusted to a position close to the steering wheel 210, it can be determined that the driver is a relatively small driver or a driver such as a rally driver who intends to actively drive. .

  In step S302, information on driver driving operation is input from the output of the brake pedal sensor 209, and the process proceeds to step S303 (corresponding to driving operation amount detecting means). Here, for example, a brake pedal force or a brake pedal stroke amount when the vehicle is stopped at the beginning of operation of the driver is detected, and if the driver is operated with a relatively weak force, It can be determined that the driver prefers driving with a light operating force.

  In step S303, the type of driver (driver characteristics) is determined based on the information in steps S301 and S302, and the process proceeds to step S304 (corresponding to driver characteristic determination means). Here, for example, if it is determined in step S301 that the driver type is small or a type to be actively operated, and if it is determined in step S302 that a weak or light operating force is preferred, the driver type is small Therefore, when performing an operation at a low speed and a large steering wheel operation amount, the steering load of the driver can be reduced by increasing the steering assist amount and reducing the steering torque. In addition, for drivers who drive actively and drivers who drive with a relatively strong force, the steering torque is lightened, which makes the operation uncomfortable and makes vehicle behavior unstable. Can be avoided.

  In step S304, it is determined whether or not the steering assist amount has been corrected in the previous control cycle, that is, whether or not the steering assist amount has been corrected. If not, the process proceeds to step S305. Control goes to step S310.

In step S305, the driver steering angular velocity of the steering wheel 210 theta determines whether greater 'is preset threshold (first predetermined value) theta' _th to operate. That is, when the steering angular velocity θ ′ is small, it is determined that an operation with a small steering wheel operation amount such as a lane change continues, and when the steering angular velocity θ ′ is large, it is determined that an operation with a large steering wheel operation amount such as an intersection turn left or right continues. If θ ′ is larger than the preset threshold θ ′ _{th, the process} proceeds to step S306, and otherwise, the process proceeds to return.

In step S306, it is determined whether or not the vehicle speed V is greater than a preset threshold value _Vth . In other words, when the vehicle speed is low, an operation with a large steering wheel operation amount such as an intersection or a general road may occur. When the vehicle speed is high, an operation with a large steering wheel operation amount such as an expressway or a main road does not occur. Judge. If V is larger than the preset threshold value V _{th, the process} proceeds to step S307. Otherwise, the process proceeds to return.

In step S307, it is determined whether or not the engine speed W is greater than a preset threshold value _Wth . That is, since the driving force is small when the engine speed is low, the change in the vehicle behavior is relatively mild, and when the engine speed is high, the driving force is large and the change in the vehicle behavior is large. . Here, if W is larger than the preset threshold value W _{th, the process} proceeds to step S308, and otherwise, the process proceeds to return.

In step S308, it is determined whether or not the absolute value of the steering angle θ of the steering wheel 210 is greater than a preset threshold value _θth . In other words, when the steering angle is near neutral, the vehicle is almost straight, so steering torque is required to transmit the neutral position to the driver. When the steering angle is away from near neutral, Since the steering torque corresponding to the corner is generated, it is determined that a driver with weak power can improve operability by reducing the steering torque. If θ is larger than the preset threshold value θ _{th, the process} proceeds to step S309. Otherwise, the process proceeds to return.

  Steps S305 to S308 correspond to driving state detection means for detecting the driving state of the vehicle based on the traveling state of the vehicle and the operation amount detected by the driving operation amount detection means.

In step S309, the steering assist amount of the power steering actuator 205 is corrected, and the process proceeds to return (corresponding to power steering control correction amount calculating means). Here, for example, as shown in FIG. 4, the relationship between the steering angle and the steering torque as shown by a solid line is usually obtained, but from the steering angle that is a predetermined angle θ ₀ away from the neutral position, a broken line is shown. The steering assist amount is corrected so that the relationship between the steering angle and the steering torque as shown in FIG. By making such corrections, the steering load can be reduced with less operating force than usual when the steering angle is large, such as when turning left or right at an intersection, without compromising the ease of straight-ahead operation near neutrality. Can be reduced.

At step S310, the the same determination reason as step S305, the driver steering angular velocity of the steering wheel 210 theta determines _th greater than 'threshold theta preset' to manipulate. If θ ′ is larger than the preset threshold θ ′ _{th, the} process proceeds to step S311. Otherwise, the process proceeds to step S314.

In step S311, for the same reason as in step S306, it is determined whether or not the vehicle speed V is greater than a preset threshold value _Vth . If V is larger than the preset threshold value V _th , the process proceeds to step S312. If not, the process proceeds to step S314.

In step S312, it is determined whether or not the engine speed W is greater than a preset threshold value _Wth for the same reason as in step S307. If W is larger than the preset threshold value W _{th, the} process proceeds to step S313. Otherwise, the process proceeds to step S314.

  Steps S310 to S312 correspond to driving state detection means for detecting the driving state of the vehicle based on the traveling state of the vehicle and the operation amount detected by the driving operation amount detection means.

  In step S313, the correction of the steering assist amount that has been performed in the processing up to the previous time is continuously executed, and then the process proceeds to return (corresponding to power steering control correction amount calculation means).

In step S314, it is determined whether the steering assist correction amount that has been implemented in the previous processing is zero. Here, for example, when the steering angle is between −θ ₀ and θ ₀ shown in FIG. 4, the steering assist correction amount is zero. If the steering assist correction amount is zero, the process proceeds to step S315, and if not, the process proceeds to step S313.

  In step S315, after completing the correction of the steering assist amount that has been performed in the previous processing, the process proceeds to return.

  By performing the above processing, in the first embodiment, the steering assist amount can be increased only in an appropriate situation. For example, in a scene where a small and weak driver makes a right or left turn at an intersection, in the flowchart of FIG. 3, step S301 → step S302 → step S303 → step S304 → step S310 → step S311 → step S312 → step S313, or Step S301-> Step S302-> Step S303-> Step 304-> Step S305-> Step S306-> Step S307-> Step S308-> Go to Step S309. The steering force of a weak driver can be reduced.

  In the first embodiment, the driver's driving posture is detected based on the front / rear adjustment position of the driver's seat 212 in step S301, and the driver's driving operation amount is detected based on the brake pedal operation amount in step S302. In step S303, the driver characteristics can be estimated without using the driver's personal information.

Next, the effect will be described.
In the vehicle power steering apparatus according to the first embodiment, the effects listed below can be obtained.

  (1) Driving attitude detection means (step S301) for detecting the driving attitude of the driver, driving operation amount detection means (step S302) for detecting the operation amount of the vehicle operating device operated by the driver during driving, and driving attitude detection Driver characteristic determining means for determining the characteristics of the driver based on the driving attitude of the driver detected by the means and the operation amount detected by the driving operation amount detecting means (step S303), the driving state of the vehicle and the driving operation amount Based on the operation amount detected by the detection means, driving state detection means (steps S305 to S308, steps S310 to S312) for detecting the driving state of the vehicle, and the vehicle state detected by the driving state detection means A power steering actuator for assisting the steering force of the driver based on the driving state and the driver characteristic determined by the driver characteristic determining means. Steering assist of the power steering actuator 205 based on the power steering control correction amount calculating means (step S309, step S313) for calculating the control correction amount 205 and the control correction amount calculated by the power steering control correction amount calculating means. And a power steering control unit 207 for controlling the amount. Therefore, it is possible to realize the optimum steering assist according to the characteristics of the driver and the driving situation while making it unnecessary to input personal information and data exchange for each driver.

  (2) The driving posture detection means detects the driver's driving posture based on the front / rear adjustment position information of the driver's seat 212 adjusted by the driver before driving the vehicle, so the driver's personal information is not used. Physique and driving preferences can be inferred.

  (3) The driving operation amount detection means detects the level of the driver's operating force based on the driver's brake pedal operation amount information, so the driver's operating force and strength preference is not used without using the driver's personal information. Can be guessed.

  (4) The driver characteristic determination means determines whether the driver's driving posture is a posture close to a vehicle operating device such as an accelerator pedal, a brake pedal, and a steering wheel of the vehicle, and the strength of the driver's operating force. The characteristics are judged in 4 categories. Therefore, it can be determined whether or not the driver should increase the steering assist amount according to the driving situation.

  (5) Since the driving state detection means determines the driving state based on the vehicle speed V, the engine speed W, and the steering angle θ, for example, when the engine speed W is high even at a low speed, The engine assist is required, and the steering assist amount can be corrected only in an appropriate situation where the steering assist amount is not increased.

(6) The power steering control correction amount calculating means is configured such that when the driver characteristic determining means determines that the driver takes a posture close to the vehicle operating device and is operating with a weak force, the driving state detecting means While traveling (V <V _th ), engine speed is low (W <W _th ), steering angular velocity is equal to or greater than a threshold value (θ ′ <θ ′ _th ), and the steering angle is a predetermined angle centered on the neutral position If the above is satisfied (| θ |> θ _th ), the steering assist amount is increased. Therefore, when the steering angle becomes large when turning right or left at the intersection, the steering assist amount can be increased only in an appropriate situation, such as steering with a lighter operating force than usual and driving load can be reduced.

  The second embodiment is an example in which the steering assist amount is switched in two stages according to the steering angular velocity. The configuration of the second embodiment is the same as that of the first embodiment shown in FIG.

Next, the operation will be described.
[Assist correction amount calculation control processing]
FIG. 5 is a flowchart showing the flow of the assist correction amount calculation control process executed by the power steering control correction unit 214 of the second embodiment. Each step will be described below.

  The basic operation of the flowchart of FIG. 5 is the same as that of the first embodiment shown in FIG. 3, and steps S401 to S408 and steps S410 to S415 of FIG. 5 are the same as steps S301 to S308 of FIG. These steps are the same as steps 310 to S315. Since the difference is only the part obtained by replacing the process of step S309 in FIG. 3 with the process of steps S4091 to S4093 in FIG. 5, only this difference will be described.

In step S4091, the driver 'threshold (second predetermined value) which is preset theta' steering angular velocity theta of the steering wheel 210 to operate _th2 to determine larger or not. That is, when the steering angular velocity θ ′ is greater than the threshold θ ′ _th2, it is determined that the emergency avoiding operation is to cope with a pedestrian jumping out. Here, if θ ′ is larger than the preset threshold θ ′ _{th2, the} process proceeds to step S4092, and otherwise, the process proceeds to step S4093.

  In step S4092, since it is determined that the driver is performing an emergency avoidance operation, the steering assist amount is corrected as in the correction pattern (1) shown in FIG.

  In step S4093, since it is determined that the driver is performing a normal driving operation such as turning left or right at the intersection, the steering assist amount is corrected as in the correction pattern (2) shown in FIG. .

  Steps S405 to S4092 correspond to driving state detection means for detecting the driving state of the vehicle based on the traveling state of the vehicle and the operation amount detected by the driving operation amount detection means.

  In the second embodiment, the correction of the steering assist amount based on the steering angular velocity θ ′ is set in two stages, so that not only the driving operation load during normal driving is reduced, but also the operability during emergency avoidance at low speed is further improved. Can be improved.

Next, the effect will be described.
In the vehicle power steering apparatus according to the second embodiment, in addition to the effects (1) to (6) of the first embodiment, the following effects can be obtained.

(7) The power steering control correction amount calculation means (steps S4092 and S4093) performs steering when the steering angular velocity θ ′ is not less than the threshold θ ′ _{th and not} more than the threshold θ ′ _th2 by the driving state detection means. When the assist amount is increased by one step and the steering angular velocity θ ′ is equal to or greater than the threshold value _θ′th2 , the steering assist amount is further increased. Therefore, for example, when turning left or right at an intersection, the assist amount is set so that a certain level of response remains while the steering torque is lighter than usual. In emergency avoidance at a low speed such as jumping out at an intersection, the steering torque is further reduced as much as possible. Emergency avoidance can be improved by turning a large steering angle in time.

  The third embodiment is an example in which the steering angle at which correction of the steering assist amount is started is varied according to the value of the steering angular velocity.

  In the first and second embodiments, as shown in FIGS. 4 and 6, the steering angle at which the correction of the steering assist amount starts is fixed, but in the third embodiment, as shown in FIG. Accordingly, the steering angle at which correction of the steering assist amount is started is varied. In other words, it is considered that the higher the steering angular velocity, the larger the steering angle that will occur after that.By starting the correction of the steering assist amount from the steering angle closer to the neutral position, the driving load is reduced and the operability during emergency avoidance is improved. Can be improved.

(Other examples)
The best mode for carrying out the present invention has been described above based on the embodiments. However, the specific configuration of the present invention is not limited to the first to third embodiments, and departs from the gist of the invention. Even if there is a design change or the like within a range not to be included, it is included in the invention.

  For example, in the first to third embodiments, an example in which the steering assist amount is corrected to reduce the steering torque of the driver has been shown. However, by reversing the determination conditions and the like, the steering assist amount is decreased. Correction can also be performed.

  In the first embodiment, the driver's driving posture is detected based on the front / rear adjustment position information of the driver's seat 212. However, the driver's driving posture is determined by the driver's driving posture adjusted before and after the driver's operation. You may detect based on at least 1 information of an adjustment position, the adjustment angle of a driver's seat backrest, the adjustment angle of a rear view mirror, the adjustment angle of a side mirror, or the adjustment angle and front-back position of a steering wheel.

  Further, in the first embodiment, an example in which the driver's operation force and degree are detected based on the driver's brake pedal operation amount information is shown. However, the driver's brake pedal operation amount, accelerator pedal operation amount, or steering wheel operation amount You may detect based on at least 1 information.

It is a lineblock diagram of the power steering device for vehicles of an embodiment. 1 is an overall configuration diagram of a vehicle 201 to which a vehicle power steering device according to a first embodiment is applied. 5 is a flowchart showing a flow of assist correction amount calculation control processing executed by a power steering control correction unit 214 of Embodiment 1. It is a figure which shows the relationship between the steering angle of Example 1, and a steering torque. 12 is a flowchart showing a flow of assist correction amount calculation control processing executed by a power steering control correction unit 214 of Embodiment 2. It is a figure which shows the relationship between the steering angle of Example 2, and a steering torque. It is a figure which shows the relationship between the steering angle of Example 3, and a steering torque.

Explanation of symbols

101 Driving posture detection means
102 Operation amount detection means
103 Driver characteristic judgment means
104 Operating state detection means
105 Power steering control correction amount calculation means
106 Power steering control means
201 vehicles
202L, 202R Left and right steering wheel
203L, 203R Left and right wheel speed sensor
204 Steering mechanism
205 Power steering actuator
206 Steering torque sensor
207 Power steering control unit
208 Engine speed sensor
209 Brake pedal sensor
210 Steering wheel
211 Steering angle sensor
212 Driver's seat
213 Seat position sensor
214 Power steering control correction unit

Claims (8)

Driving posture detection means for detecting the driving posture of the driver;
Driving operation amount detection means for detecting the operation amount of the vehicle operating device operated by the driver during driving;
Driver characteristic determination means for determining the characteristics of the driver based on the driving attitude of the driver detected by the driving attitude detection means and the operation amount detected by the driving operation amount detection means;
Driving state detecting means for detecting the driving state of the vehicle based on the driving state of the vehicle and the operation amount detected by the driving operation amount detecting means;
The power for calculating the control correction amount of the power steering mechanism for assisting the steering force of the driver based on the driving state of the vehicle detected by the driving state detecting unit and the driver characteristic determined by the driver characteristic determining unit. Steering control correction amount calculating means;
Power steering control means for controlling the steering assist amount of the power steering mechanism based on the control correction amount calculated by the power steering control correction amount calculating means;
A vehicle power steering apparatus comprising: In the vehicle power steering apparatus according to claim 1,
The driving posture detecting means includes a front and rear and vertical adjustment position of the driver's seat adjusted by the driver before operation of the vehicle, a driver seat back adjustment angle, a rear view mirror adjustment angle, a side mirror adjustment angle, or a steering wheel A power steering device for a vehicle, wherein a driving posture of a driver is detected based on at least one of an adjustment angle and a front-rear position. The power steering device for a vehicle according to claim 1 or 2,
The driving operation amount detection means detects a degree of an operation force of a driver based on at least one information of a brake pedal operation amount, an accelerator pedal operation amount or a steering wheel operation amount of the driver. Power steering device. The power steering device for a vehicle according to any one of claims 1 to 3,
The driver characteristic determination means is based on whether or not the driving posture of the driver is a posture close to a vehicle operating device such as an accelerator pedal, a brake pedal, and a steering wheel of the vehicle, and the strength of the operating force of the driver. A power steering apparatus for a vehicle, wherein the characteristics of the driver are determined by distinguishing them into four categories. The power steering apparatus for a vehicle according to any one of claims 1 to 4,
The power steering device for a vehicle, wherein the driving state detection means determines a driving state based on at least one of a vehicle speed, an engine speed, or a steering wheel operation amount. The vehicle power steering device according to any one of claims 1 to 5,
The power steering control correction amount calculating means determines that the vehicle is detected by the driving state detecting means when the driver characteristic determining means determines that the driver is in an attitude close to the vehicle operating device and is operated with a weak force. The steering assist amount is increased when the vehicle is running at a low speed, the engine speed is low, the steering angular velocity is not less than a first predetermined value, and the steering angle is not less than a predetermined angle centered on the neutral position. A power steering device for a vehicle. The power steering apparatus for a vehicle according to claim 6,
The power steering control correction amount calculation means increases the steering assist amount by one step when the steering angular velocity is not less than a first predetermined value and not more than a second predetermined value by the driving state detection means, and the steering angular velocity is The vehicle power steering apparatus further increases the steering assist amount when the second predetermined value or more is reached. Determining the characteristics of the driver based on the driving posture of the driver and the amount of operation of the vehicle operating device operated by the driver during driving, and detecting the driving state of the vehicle based on the driving state of the vehicle and the amount of operation;
A power steering apparatus for a vehicle, wherein a steering assist amount of a power steering mechanism is corrected based on characteristics of the driver and the driving state.

Images