JP4401161B2 - Apparatus, method, and program for adapting control constant in electric power steering apparatus - Google Patents

Description

  The present invention relates to a control constant design adapting apparatus for electric power steering for designing and adjusting control constants of an electric power steering apparatus.

  Conventionally, when an electric power steering device is mounted on a vehicle, control constants of various controls performed by the electric power steering device are adjusted according to the characteristics of each vehicle and the steering feeling required by the vehicle manufacturer. Yes. The adjustment of the control constant is repeatedly performed until a desired steering feeling is obtained in the vehicle on which the electric power steering apparatus is mounted. Such an operation performed to obtain a desired steering feeling when the electric power steering apparatus is mounted on the vehicle is called an adaptation operation (adaptation operation in a broad sense). The time required for the adaptation work depends on the experience of the operator, but in particular, the time required for the adjustment of the above-mentioned control constant (the adaptation work in the narrow sense) greatly depends on the experience of the operator (hereinafter, for convenience, particularly described Unless otherwise specified, the term “conformity work” is used to mean “conformance work in the narrow sense”) In general, in the development phase of the electric power steering device, the above-described adaptation work is performed by a developer who has extensive experience in the adaptation work, but in the mass production phase, the adaptation work is often performed by an operator with little experience. .

For example, when an electric power steering apparatus is mounted on a certain vehicle, it is assumed that a steering feeling of “high inertia” is obtained when the steering wheel of the vehicle is turned back. In such a case, if the worker is experienced in adapting work, for example, “in order to reduce the feeling of inertia, the control constant should be set so that the control amount of the motor ω differential control becomes large”. Since an appropriate countermeasure for the obtained steering feeling is known, the control constant is adjusted in a short time. As a result, the control amount of the motor ω differential control increases and the inertial feeling decreases. As described above, when a control constant of a certain control is changed, a control amount generated by the control is changed, and as a result, a steering feeling different from that before the change of the control constant is obtained.
Japanese Patent Publication No. 4-10319

  However, if the worker has little experience in conforming work, an appropriate countermeasure for the obtained steering feeling is not grasped. For this reason, in order to obtain a desired steering feeling, the control constant is adjusted by trial and error. As a result, a great number of man-hours are required until a desired steering feeling is obtained. In addition, due to the adjustment by trial and error, the adjusted control constants are often different for each worker, and the steering feeling after the fitting work is not constant. Furthermore, the number of vehicles that employ an electric power steering device is increasing, and there is a demand for quick adaptation work.

  Therefore, the present invention provides a control constant design adapting device for electric power steering that can be adapted quickly even by an inexperienced operator, and that a constant steering feeling can be obtained by the adapting operation regardless of the operator's work experience. The purpose is to do.

According to a first aspect of the present invention, a control for designing control constants for the plurality of controls in an electric power steering apparatus that applies a steering assist force to a steering mechanism of the vehicle by performing a plurality of controls in accordance with an operation for steering the vehicle. A control constant design adapting device for electric power steering for performing a constant design process and a control constant adapting process for adjusting the control constant,
Sensory term display selection means for displaying a plurality of sensory terms associated with the plurality of controls and receiving an instruction to select any one of the displayed sensory terms;
Among the plurality of controls, the priority order indicating the order in which the countermeasure effect is in the descending order of the countermeasure control name, which is the name of the control associated with the sensory term selected by the instruction received by the sensory term display selection means, is understood. Countermeasure control display selection means for displaying and accepting an instruction to select any one of the displayed one or more countermeasure control names;
Comment image display means for displaying a comment image indicating a guideline for adjusting a control constant of a control specified by a countermeasure control name selected by an instruction received by the countermeasure control display selection means And
According to a second invention, in the first invention,
The comment image display means includes, as the comment image, an image including an arrow indicating an operation direction of a control amount for the control specified by the selected countermeasure control name and an image displaying a characteristic of a steering torque with respect to a steering angle. It is characterized by displaying.

According to a third aspect of the present invention, the control for designing the control constants of the plurality of controls in the electric power steering apparatus that applies the steering assist force to the steering mechanism of the vehicle by performing the plurality of controls according to the operation for steering the vehicle. A method for displaying an explanatory image indicating a guideline for adjusting the control constant in a control constant design adapting device for electric power steering for performing a constant design process and a control constant adaptation process for adjusting the control constant,
A sensory term display step for displaying a plurality of sensory terms associated with the plurality of controls;
A sensory term selection step for receiving an instruction to select any one of the plurality of sensory terms displayed in the sensory term display step;
The priority order indicating the order of the countermeasure effect in order of the countermeasure control name, which is the name of the control associated with the sensory term selected by the instruction received in the sensory term selection step among the plurality of controls, is shown. A countermeasure control display step to be displayed;
A countermeasure control selection step for receiving an instruction to select any one of the one or more countermeasure control names displayed in the countermeasure control display step;
A comment image display step for displaying the comment image specified by the countermeasure control name selected by the instruction received in the countermeasure control selection step.
According to a fourth invention, in the third invention,
In the comment image display step, as the comment image, an image including an arrow indicating an operation direction of a control amount for the control specified by the selected countermeasure control name and an image displaying a characteristic of the steering torque with respect to the steering angle are displayed. It is displayed.

According to a fifth aspect of the present invention, the control for designing the control constants of the plurality of controls in the electric power steering apparatus that gives the steering assist force to the steering mechanism of the vehicle by performing a plurality of controls according to the operation for steering the vehicle. A program for displaying an explanatory image showing a guideline for adjusting the control constant in the control constant design adapting device for electric power steering for performing the constant design process and the control constant adapting process for adjusting the control constant,
A sensory term display step for displaying a plurality of sensory terms associated with the plurality of controls;
A sensory term selection step for receiving an instruction to select any one of the plurality of sensory terms displayed in the sensory term display step;
The priority order indicating the order of the countermeasure effect in order of the countermeasure control name, which is the name of the control associated with the sensory term selected by the instruction received in the sensory term selection step among the plurality of controls, is shown. A countermeasure control display step to be displayed;
A countermeasure control selection step for receiving an instruction to select any one of the one or more countermeasure control names displayed in the countermeasure control display step;
A comment image display step for displaying the comment image specified by the countermeasure control name selected by the instruction received in the countermeasure control selection step.
According to a sixth invention, in the fifth invention,
In the comment image display step, as the comment image, an image including an arrow indicating an operation direction of a control amount for the control specified by the selected countermeasure control name and an image displaying a characteristic of the steering torque with respect to the steering angle are displayed. It is displayed.

According to the first aspect, the sensory terms associated with the control performed by the electric power steering apparatus are displayed, and an instruction to select any of the sensory terms by the operator (operator) is accepted. Then, by associating a sensory term and a countermeasure control name, which is the name of the control whose control constant should be adjusted, in order to adjust the steering feeling indicated by the sensory term, the sensory term selected by the operator A countermeasure control name that is the name of the control whose control constant is to be adjusted is displayed, and an instruction for selecting one of the countermeasure control names from the operator is accepted. Further, an explanatory image showing a guideline for adjusting the control constant based on the countermeasure control name selected by the operator is displayed. As a result, even an operator with little experience in matching work can know the control for which the control constant should be adjusted based on the sensory terms, and the explanation about the control can be seen on the screen. Further, since the countermeasure control name is displayed based on the priority order, the operator can easily know the order of effect of the countermeasure control. For this reason, even an operator who has little experience in conformance work can quickly know effective countermeasure control for sensory terms, and a large amount of man-hours required for conformance work caused by trial and error in the past Is greatly reduced.
According to the second aspect, the operator can know how to change the control constant by referring to the explanation image.

According to the third invention, it is possible to provide a method for displaying an explanatory image showing a guideline for adjusting a control constant in the control constant design adapting device for electric power steering that has the same effect as the first invention. it can.
According to the fourth aspect, the same effect as in the second aspect can be obtained.

According to the fifth aspect of the invention, it is possible to provide a program that displays an explanatory image showing a guideline for adjusting the control constant in the control constant design adapting device for electric power steering that has the same effect as the first aspect of the invention. it can.
According to the sixth aspect, the same effect as in the second aspect can be obtained.

  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. For the sake of convenience of explanation, an operator who has experienced fitting work is referred to as an expert, and an operator who has little experience in fitting work is referred to as an unskilled person.

<1. Overall configuration>
FIG. 1 is a hardware configuration diagram of a control constant design adapting device for electric power steering according to an embodiment of the present invention. This apparatus includes a computer 100 such as a notebook personal computer or a desktop personal computer, an ECU (electronic control unit) 200, and a cable 300. In the computer 100, the CPU sequentially executes a program loaded from a hard disk device to a RAM (Random Access Memory), and becomes the center of this control constant design adapting device for electric power steering. The computer 100 includes a main body 10, a display device 12, an auxiliary storage device 14, and input devices such as a keyboard 16 and a mouse 18. The main body 10 includes a CPU 3, a main memory (RAM) 4, a LAN (Local Area Network) I / O interface 5, a display control unit 6, a disk I / O interface 7, an input interface 8, An output interface 9 is included. A display device 12 is connected to the display control unit 6, and an auxiliary storage device 14 is connected to the disk I / O interface 7. Further, a keyboard 16 and a mouse 18 are connected to the input interface 8, and an ECU 200 is connected to the output interface 9 via a dedicated cable 300. Further, the main body 10 is connected to the LAN 400 by the LAN I / O interface 5.

  This control constant design adapting device for electric power steering is realized based on a predetermined program executed by the CPU 3 on the premise of the presence of hardware such as the main memory 4 and the display device 12 described above.

<2. Functional configuration of control constant design adapting device for electric power steering>
FIG. 2 is a functional block diagram of the control constant design adaptation device for electric power steering. This apparatus includes a database 510, an initial design unit 520, a constant changing unit 530, a matching result output unit 540, and a matching help unit 550. The database 510 includes a vehicle information storage unit 50 and a compatibility status storage unit 52. The matching help part 550 includes a sensory term translation part 54, a simple simulation part 56, and a detailed examination part 58.

  The vehicle information storage unit 50 stores vehicle specifications, system specifications, and the like of each vehicle. The initial design unit 520 performs initial design of control constants for various controls according to the vehicle based on the vehicle specifications and system specifications stored in the vehicle information storage unit 50. The constant changing unit 530 adjusts the steering feeling with respect to the initial design performed by the initial design unit 520. Specifically, the control constants of various controls output from the initial design unit 520 are changed so that a desired steering feeling is realized. The matching status storage unit 52 stores information in which the changed control constant applied by the constant changing unit 530 and the steering feeling are associated with each other. In addition, when the control constant is changed by the constant changing unit 530, a control constant based on past information stored in the conformity status storage unit 52 can be taken out. The adaptation result output unit 540 outputs a list of control constants and specifications after the adaptation work, writes the control constants after the adaptation work to the ECU 200, and the like.

  The sensory term translation unit 54 provides information about various controls to be adjusted for adjusting the steering feeling to the operator. The detailed configuration of the sensory term translation unit 54 will be described later. The simple simulation unit 56 estimates the effect of changing the control constant performed by the constant changing unit 530 by a simple simulation. The detailed examination unit 58 estimates the effect of changing the control constant applied by the constant changing unit 530 by a detailed simulation.

<3. Configuration of Sensory Term Translation Section>
In describing the sensory term translation unit 54, the terms “sensory term” and “sensory term translation” will be described first. In the adaptation work (in a broad sense) in the electric power steering apparatus, the operator obtains various steering feelings for steering the steering wheel. When expressing the steering feeling, the operator uses terms such as “feeling of inertia”, “feeling of viscosity”, “feeling of build-up”, “feeling of being caught”, and the like. The term used to express such steering feeling is referred to as “sensory term” in this description. The sensory terms are not particularly defined terms, and the meanings may differ depending on the user of the term. However, generally speaking, the same or similar sensory terms are used for a certain steering feeling. In addition, when a certain steering feeling is obtained, the control to change the control constant to adjust the steering feeling (hereinafter referred to as “countermeasure control”, the name is referred to as “countermeasure control name”) is It is well understood by those skilled in calibration work. For this reason, it is possible to associate a sensory term with a countermeasure control name based on the knowledge of an expert. In this description, associating the sensory terms with the countermeasure control names in this way is called “sensory term translation”. The process for translating sensory terms is called “sensory term translation process”, and the sensory term translation process is performed by the sensory term translation unit 54.

  Next, a detailed configuration of the sensory term translation unit 54 shown in FIG. 2 will be described. FIG. 3 is a functional block diagram showing a detailed configuration of the sensory term translation unit 54. The sensory term translation unit 54 includes a sensory term storage unit 54a, a sensory term display selection unit 54b, a sensory term countermeasure control corresponding unit 54c, a countermeasure control display selection unit 54d, a comment image storage unit 54e, and a comment image display unit. 54f.

  The sensory term storage unit 54a stores the sensory terms as described above. The sensory term display selection unit 54b displays the sensory terms stored in the sensory term storage unit 54a on the display unit of the display device 12 (hereinafter, “display unit of the display device 12” is abbreviated as “display unit”). The operator accepts an instruction to select any of these sensory terms. The sensory term countermeasure control correspondence unit 54c stores correspondence between sensory terms and countermeasure control names. Each of the sensory terms is associated with one or more countermeasure control names. The countermeasure control display selection unit 54d displays the countermeasure control name associated with the sensory term accepted by the sensory term display selection unit 54b on the display unit, and instructs the operator to select one of the countermeasure control names. Accept. In the comment image storage unit 54e, comment images for each countermeasure control are stored in association with the countermeasure control. The comment image display unit 54f displays a comment image associated with the countermeasure control name received by the countermeasure control display selection unit 54d on the display unit.

  In addition, the above-mentioned comment image is created based on the knowledge of the expert of the adaptation work, so that non-experts of the adaptation work can grasp the change of the steering feeling by changing the control constant of each countermeasure control. Expressed using graphs and charts.

  Next, a screen displayed when the sensory term translation unit 54 operates will be described. When an instruction for sensory term translation processing is given during operation of this apparatus, a screen 600 (hereinafter referred to as “sensory term translation screen”) 600 as shown in FIG. 4 is displayed. The sensory term translation screen 600 includes a sensory term selection unit 60, a countermeasure control selection unit 62, an end selection unit 64, and an explanation display unit 66. The end selection unit 64 is a button that can be selected with the mouse 18, and when this button is selected, the operation of the sensory term translation unit 54 ends. The sensory term selection unit 60, the countermeasure control selection unit 62, and the explanation display unit 66 will be described later.

<4. Processing of sensory term translation unit>
Next, the operation of the sensory term translation unit 54 will be described. FIG. 5 is a flowchart showing an operation procedure of the sensory term translation unit 54 in the present embodiment. When the sensory term translation process is started by an operator instruction, a sensory term translation screen 600 shown in FIG. 4 is displayed (step S8). The sensory term display selection unit 54b acquires the sensory terms stored in the sensory term storage unit 54a (step S10). Further, the sensory term display selection unit 54b displays one of the sensory terms acquired in step S10 on the sensory term selection unit 60 (step S12). After step S12 ends, the sensory term translation unit 54 enters a state of waiting for an operation by the operator (step S13). At this time, the operations that can be performed by the operator are selection of sensory terms and selection of the end selection unit 64 described later.

  Here, the sensory term selection unit 60 will be described. As shown in FIG. 6A, the sensory term selection unit 60 is an operation means called a drop-down list box, and is an inverted triangle button (hereinafter referred to as “drop button”) that can be selected with the mouse 18. 68 is provided. When the drop button 68 is selected with the mouse 18, as shown in FIG. 6B, the sensory terms acquired in step S10 are displayed in a list form. When any of the sensory terms displayed in the list form is selected with the mouse 18, only the sensory terms selected with the mouse 18 are displayed as shown in FIG. 6C. FIG. 6C shows an example in which “inertia” is selected with the mouse 18 among the sensory terms shown in FIG.

  After step S13, it is determined whether any of the sensory terms is selected by the mouse 18 in the sensory term selection unit 60 or whether the end selection unit 64 is selected by the mouse 18 (step S14). If any of the sensory terms is selected with the mouse 18 as a result of the determination, the process proceeds to step S16. On the other hand, if the end selection unit 64 is selected with the mouse 18, the process ends.

  In step S <b> 16, the sensory term display selection unit 54 b receives an instruction for selecting a sensory term by the operator with the mouse 18 (hereinafter, the selected sensory term is referred to as “selected sensory term”). Thereafter, the countermeasure control display selection unit 54d acquires a countermeasure control name associated with the selected sensory term from the sensory term countermeasure control correspondence unit 54c (step S18). Then, the countermeasure control display selection unit 54d displays one of the countermeasure control names acquired in step S18 on the countermeasure control selection unit 62 (step S20). After completion of step S20, the sensory term translation unit 54 enters a state of waiting for an operation by the operator (step S21). At this time, the operations that can be performed by the operator are selection of a sensory term, selection of a countermeasure control name, and selection of an end selection unit.

  Here, the sensory term countermeasure control corresponding unit 54c will be described. FIG. 7 is a configuration diagram of the sensory term countermeasure control corresponding unit 54c. The sensory term countermeasure control corresponding unit 54c is for storing the association between the sensory term and the countermeasure control name, and one or more countermeasures for adjusting the sensory term and the steering feeling indicated by the sensory term. The countermeasure control name indicating the control and the priority indicating the order of the effect of the countermeasure control are retained. For example, as shown in FIG. 7, when data is stored in the sensory term countermeasure control corresponding unit 54c, the following is meant. In order to adjust the steering feeling expressed by the sensory term “inertia”, there are two countermeasure controls, “motor ω differential control” and “torque differential control”. “Motor ω differential control” is first and “torque differential control” is second. There are two countermeasure controls, “basic assist control” and “damping control”, for adjusting the steering feeling expressed by the sensory term “torque rise small”. “Basic assist control” is first and “Damping control” is second.

  Next, the countermeasure control selection unit 62 will be described. As shown in FIG. 8A, the countermeasure control selection unit 62 is an operation means called a drop-down list, like the sensory term selection unit 60. When the drop button 68 is selected with the mouse 18, as shown in FIG. 8B, the countermeasure control names acquired in step S18 are displayed in a list form. When one of the countermeasure control names displayed in the list form is selected with the mouse 18, only the countermeasure control name selected with the mouse 18 is displayed as shown in FIG. FIG. 8C shows an example in which “torque differentiation control” is selected with the mouse 18 among the countermeasure control names shown in FIG. Note that the countermeasure control names shown in FIG. 8B are arranged in order from the highest priority to the lowest priority.

  After step S21, whether any of the sensual terms is selected by the mouse 18 in the sensual term selection unit 60, whether any of the countermeasure control names is selected by the mouse 18 in the countermeasure control selection unit 62, or It is determined whether the end selection unit 64 has been selected with the mouse 18 (step S22). If any of the sensory terms is selected by the mouse 18 as a result of the determination, the process returns to step S16. If any of the countermeasure controls is selected by the mouse 18, the process proceeds to step S24, and the end selection unit 64 is operated by the mouse. If selected in step 18, the process ends.

  In step S24, the countermeasure control display selection unit 54d accepts an instruction to select a countermeasure control name by the operator with the mouse 18 (hereinafter, the selected countermeasure control name is referred to as “selected countermeasure control name”). Thereafter, the comment image display unit 54f acquires a comment image associated with the selection countermeasure control name from the comment image storage unit 54e (step S26). The comment image display unit 54f displays the comment image acquired in step S26 on the comment display unit 66 (step S28).

  FIG. 9 and FIG. 10 are diagrams schematically illustrating the comment image displayed on the comment display unit 66. The comment display section 66 displays a comment image composed of a chart, a graph, or the like explaining a guideline for adjusting the control constant for the control indicated by the selection countermeasure control name. The commentary image shown in FIG. 9 is composed of three graphs and one table. On the other hand, the commentary image shown in FIG. 10 is composed of two graphs. Thus, the configuration of the commentary image is not limited, and may be an image composed only of character data, for example.

  Here, an example of a specific comment image displayed on the comment display unit 66 is shown. The selected sensory term received by the sensory term display selection unit 54b in step S16 shown in FIG. 5 is “inertia”, and the selection measure control name received by the measure control display selection unit 54d in step S24 is “motor ω”. In the case of “differential control”, an explanation image as shown in FIG. 11 is displayed on the explanation display section 66. By referring to this commentary image, the operator can know that the control constant should be changed so that the control amount of the motor ω differential control increases in order to reduce the feeling of inertia.

  FIG. 12 is a diagram illustrating another example of the comment image displayed on the comment display unit 66. The selected sensory term received by the sensory term display selection unit 54b in step S16 shown in FIG. 5 is “small torque rise”, and the selection measure control name received by the measure control display selection unit 54d in step S24 is “ In the case of “damping control”, a comment image as shown in FIG. 12 is displayed on the comment display unit 66. By referring to the comment image, the operator can know that the control constant should be changed so that the amount of damping control increases in order to increase the rising of the torque.

  After step S28 ends, the process returns to step S21, and the sensory term translation unit 54 enters a state of waiting for an operation by the operator. At this time, the operations that can be performed by the operator are selection of a sensory term, selection of a countermeasure control name, and selection of an end selection unit.

<5. Action and Effect>
As described above, according to the control constant design adapting device for electric power steering according to the present embodiment, the sensory terms for expressing the steering feeling at the time of steering the steering wheel and the steering feeling indicated by the sensory terms are adjusted. Countermeasure control is associated with each other, and the countermeasure control is associated with an explanation image composed of a chart or the like explaining the countermeasure control. The sensory terms are associated with one or a plurality of countermeasure controls, and each countermeasure control associated with a certain sensory term has a priority.

  When the sensory term translation process is started, a list of sensory terms held in advance is displayed on the screen, and the countermeasure control name associated with the sensory term selected with the mouse is displayed on the screen so that the priority order is known. Is displayed. Further, a comment image associated with the countermeasure control name selected with the mouse is displayed on the screen. In addition, the explanation image is created based on the knowledge of the expert in the calibration work, and a graph is provided so that non-experts in the calibration work can grasp the change in steering feeling caused by changing the control constant of each countermeasure control. It is expressed using charts and diagrams.

  Thereby, the operator can easily know the countermeasure control to adjust the control constant to adjust the steering feeling indicated by the sensory term and the order of the effect of the countermeasure control when the electric power steering apparatus is adapted. . Further, the operator can easily know the contents of each countermeasure control from the explanation image. For this reason, even an unskilled person in conformity work can quickly know effective countermeasure control for sensory terms, and a large number of man-hours required for conformance work due to the fact that it has been performed by trial and error in the past. Significantly reduced. In addition, even a non-skilled worker can obtain the same result as that of a skilled worker, and a stable steering feeling can be obtained after the conforming work regardless of the experience of the worker. It will be.

<6. Other>
The control constant design adapting device for electric power steering described above is realized based on a predetermined program executed by the CPU 3 on the assumption that hardware such as the main memory 4 and the display device 12 is present. Part or all of such a program is provided by a computer-readable recording medium such as a CD-ROM in which the program is recorded. That is, the user purchases a CD-ROM as a recording medium for the program, loads it into a CD-ROM drive (not shown), reads the program from the CD-ROM, and controls the electric power steering control constant. Install in the auxiliary storage device 14 of the design-compatible device. Alternatively, a program sent via a communication network such as LAN 400 or WAN (Wide Area Network) may be received and installed in the auxiliary storage device 14.

It is a hardware block diagram of the control constant design adaptation apparatus for electric power steering which concerns on one Embodiment of this invention. It is a functional block diagram of the control constant design adaptation device for electric power steering according to the embodiment. It is a functional block diagram which shows the detailed structure of the sensory term translation part in the said embodiment. It is a figure which shows the sensory term translation screen in the said embodiment. It is a flowchart which shows the operation | movement procedure of the sensory term translation part in the said embodiment. It is a figure which shows the sensory term selection part in the said embodiment. It is a block diagram of the sensory term countermeasure control corresponding | compatible part in the said embodiment. It is a figure which shows the countermeasure control selection part in the said embodiment. In the said embodiment, it is a figure which shows the description image comprised from three graphs and one table | surface. In the said embodiment, it is a figure which shows the description image comprised from two graphs. It is a figure which shows an example of the description image in the said embodiment. It is a figure which shows another example of the description image in the said embodiment.

Explanation of symbols

54… Sensory term translation unit 54b… Sensory term display selection unit 54d… Countermeasure control display selection unit 54f… Explanation image display unit 60… Sensory term selection unit 62… Countermeasure control selection unit 66… Explanation display unit 200… ECU
550 ... Conformance help section 600 ... Sensory term translation screen

Claims (6)

Control constant design processing for designing control constants for the plurality of controls in the electric power steering apparatus that applies a steering assist force to the steering mechanism of the vehicle by performing a plurality of controls according to operations for steering the vehicle, and the control A control constant design adaptation device for electric power steering for performing a control constant adaptation process for adjusting a constant,
Sensory term display selection means for displaying a plurality of sensory terms associated with the plurality of controls and receiving an instruction to select any one of the displayed sensory terms;
Among the plurality of controls, the priority order indicating the order in which the countermeasure effect is in the descending order of the countermeasure control name, which is the name of the control associated with the sensory term selected by the instruction received by the sensory term display selection means, is understood. Countermeasure control display selection means for displaying and accepting an instruction to select any one of the displayed one or more countermeasure control names;
Comment image display means for displaying a comment image indicating a guideline for adjusting a control constant of a control specified by a countermeasure control name selected by an instruction received by the countermeasure control display selection means And The comment image display means includes, as the comment image, an image including an arrow indicating an operation direction of a control amount for the control specified by the selected countermeasure control name and an image displaying a characteristic of a steering torque with respect to a steering angle. The control constant design adapting device for electric power steering according to claim 1, wherein the device is displayed. Control constant design processing for designing control constants for the plurality of controls in the electric power steering apparatus that applies a steering assist force to the steering mechanism of the vehicle by performing a plurality of controls according to operations for steering the vehicle, and the control A method for displaying an explanatory image showing a guideline for adjusting the control constant in a control constant design adapting device for electric power steering for performing control constant adaptation processing for adjusting a constant,
A sensory term display step for displaying a plurality of sensory terms associated with the plurality of controls;
A sensory term selection step for receiving an instruction to select any one of the plurality of sensory terms displayed in the sensory term display step;
The priority order indicating the order of the countermeasure effect in order of the countermeasure control name, which is the name of the control associated with the sensory term selected by the instruction received in the sensory term selection step among the plurality of controls, is shown. A countermeasure control display step to be displayed;
A countermeasure control selection step for receiving an instruction to select any one of the one or more countermeasure control names displayed in the countermeasure control display step;
And a comment image display step of displaying the comment image specified by the countermeasure control name selected by the instruction received in the countermeasure control selection step. In the comment image display step, as the comment image, an image including an arrow indicating an operation direction of a control amount for the control specified by the selected countermeasure control name and an image displaying a characteristic of the steering torque with respect to the steering angle are displayed. 4. The method of claim 3, wherein the method is displayed. Control constant design processing for designing control constants for the plurality of controls in the electric power steering apparatus that applies a steering assist force to the steering mechanism of the vehicle by performing a plurality of controls according to operations for steering the vehicle, and the control A program for displaying an explanatory image showing a guideline for adjusting the control constant in the control constant design adapting device for electric power steering for performing the control constant adaptation processing for adjusting the constant,
A sensory term display step for displaying a plurality of sensory terms associated with the plurality of controls;
A sensory term selection step for receiving an instruction to select any one of the plurality of sensory terms displayed in the sensory term display step;
The priority order indicating the order of the countermeasure effect in order of the countermeasure control name, which is the name of the control associated with the sensory term selected by the instruction received in the sensory term selection step among the plurality of controls, is shown. A countermeasure control display step to be displayed;
A countermeasure control selection step for receiving an instruction to select any one of the one or more countermeasure control names displayed in the countermeasure control display step;
A comment image display step for displaying the comment image specified by the countermeasure control name selected by the instruction received in the countermeasure control selection step. In the comment image display step, as the comment image, an image including an arrow indicating an operation direction of a control amount for the control specified by the selected countermeasure control name and an image displaying a characteristic of the steering torque with respect to the steering angle are displayed. The program according to claim 5, wherein the program is displayed.

Images