JP2012183881A5

JP2012183881A5 -

Info

Publication number: JP2012183881A5
Application number: JP2011047415A
Authority: JP
Filing date: 2011-03-04
Publication date: 2014-04-24

Description

上記課題を解決するために、請求項１に記載の発明は、車両の操舵系に操舵補助力を付与するモータと、操舵トルクを検出するトルクセンサと、ハンドルの操舵状態を判定する操舵状態判定手段と、を備え、前記操舵状態判定手段は、前記操舵トルクと前記操舵トルクの微分値の積が零より大きい場合には、切り込み状態と判定し、前記操舵トルクと前記操舵トルクの微分値の積が零より小さい場合には、切り戻し状態と判定し、前記操舵トルクと前記操舵トルクの微分値の積が零の場合には、保舵状態と判定すること、を要旨とする。
In order to solve the above problems, a first aspect of the present invention, a motor for applying a steering assist force to a steering system of a vehicle, a torque sensor for detecting steering torque, the steering state determining a steering state of the handle Determining means, and when the product of the steering torque and the differential value of the steering torque is greater than zero, the steering state determining means determines that the vehicle is in a cut state, and the differential value of the steering torque and the steering torque. If the product of less than zero, it is determined that the returning state, wherein when the product of the differential value of the steering torque and the steering torque is zero, the spirit and this determines the steering hold state, the.

上記構成によれば、操舵トルクと操舵トルクの微分値の積が零より大きい場合には、切り込み状態と判定し、操舵トルクと操舵トルクの微分値の積が零より小さい場合には、切り戻し状態と判定する。そして、操舵トルクと操舵トルクの微分値の積が零の場合には、保舵状態と判定する。
その結果、切り込み状態か、切り戻し状態か保舵状態かを正確に判定できる。
According to the above configuration, when the product of the steering torque and the differential value of the steering torque is larger than zero, it is determined as a cut-in state, and when the product of the steering torque and the differential value of the steering torque is smaller than zero, the switchback is performed. Judged as a state. When the product of the steering torque and the differential value of the steering torque is zero, it is determined that the steering is maintained.
As a result, it is possible to accurately determine whether the cutting state, the switching back state, or the steered state.

（アシストトルク指令値演算）
次に、本実施形態におけるアシストトルク指令値演算の態様について説明する。
本実施形態では、アシストトルク指令値演算部２２には、操舵トルクτ及び操舵トルク変化量（微分値）dτ/dtに基づいてハンドル切り込み、ハンドル切り戻し、及びハンドル保舵、即ち、ハンドルの操舵状態を判定するところの操舵状態判定手段である操舵状態判定部２５が設けられている。そして、本実施形態の操舵状態判定部２５は、ハンドルが切り込まれたと判定した場合には、操舵状態判定係数αを「０」（α＝０）に、一方、ハンドルが切り戻された、又はハンドルが保舵状態にあると判定した場合には、操舵状態判定係数αを「１」（α＝１）に設定する。
(Assist torque command value calculation)
Next, a mode of assist torque command value calculation in the present embodiment will be described.
In this embodiment, the assist torque command value calculation unit 22 performs steering wheel turning , steering wheel turning back, and steering wheel steering based on the steering torque τ and the steering torque change amount (differential value) d τ / dt, that is, the steering wheel steering. Misao steering state determination unit 25 is provided a steering state determining means where determining a steering state. When the steering state determination unit 25 determines that the steering wheel is cut, the steering state determination coefficient α is set to “0” (α = 0), while the steering wheel is turned back. Alternatively, when it is determined that the steering wheel is in the steering holding state, the steering state determination coefficient α is set to “1” (α = 1).

Claims

A motor for applying a steering assist force to the vehicle steering system;
A torque sensor for detecting steering torque ;
Comprising a steering state determining means for determining a steering state of the handle, and
When the product of the steering torque and the differential value of the steering torque is greater than zero, the steering state determination unit determines that the steering state is a cut state, and the product of the steering torque and the differential value of the steering torque is less than zero. the determines that the returning state, wherein when the product of the differential value of the steering torque and the steering torque is zero, the electric power steering device comprising a this determines that the steering holding state, the.