JP4715472B2 - Vehicle steering control device - Google Patents

Description

The present invention relates to a vehicle steering control apparatus, and more specifically, includes a steering transmission ratio variable means for changing a steering transmission ratio that is a ratio of a steering angle change amount of a steered wheel to a steering operation amount to a steering input means. The present invention relates to a vehicle steering control device.

In a vehicle such as an automobile equipped with a power steering device for controlling steering assist torque, when the roll of the vehicle is excessive and the roll tends to roll over, the steering assist is performed so that the steered wheels are steered in a direction in which the roll of the vehicle is lowered. A steering control device that controls torque is already known, and an example thereof is described in Patent Document 1 below, for example.
JP-A-2004-9812

  In the steering control device as described above, when the steering assist torque is largely controlled so as to steer the steering wheel in the direction in which the roll of the vehicle is lowered, not only the steering torque felt by the driver greatly changes, Since the steering as the steering input means is also rotated in the direction in which the steering assist torque is applied, it is inevitable that the driver feels uncomfortable.

  The steering transmission ratio variable means for changing the steering transmission ratio from the steering input means to the steered wheels is well known in the art, but the roll of the vehicle equipped with the steering transmission ratio variable means has become excessive. In this case, the steering transmission ratio variable means is not sufficiently studied, and in particular, in order to prevent the roll of the vehicle equipped with the power steering device and the steering transmission ratio variable means from becoming excessive. No consideration has been given to how to control the power steering device and the steering transmission ratio variable means.

  The present invention has been made in view of the current situation of vehicles equipped with a steering transmission ratio variable means for suppressing an excessive roll of a vehicle, and a main problem of the present invention is that the roll of the vehicle is increased. By controlling the steering transmission ratio variable means so as to suppress this, it is reliably and effectively suppressed that the roll of the vehicle provided with the steering transmission ratio variable means becomes excessive.

According to the present invention, the main problem described above is that the steering transmission ratio variable for changing the steering transmission ratio, which is the ratio of the steering angle change amount of the steering wheel to the steering operation amount to the steering input means, according to the present invention. In the vehicle steering control apparatus having the means, the vehicle has a control means for controlling the steering transmission ratio by controlling the steering transmission ratio variable means, and the control means is based on the lateral force of the vehicle. The degree of instability of the roll behavior is calculated, and when the driver steers in a direction in which the degree of instability of the roll behavior increases in a situation where the degree of instability of the roll behavior is equal to or greater than a steering transmission ratio control reference value. The steering transmission ratio is reduced, but when the driver steers in a direction in which the degree of instability of the roll behavior decreases even if the degree of instability of the roll behavior is equal to or higher than the steering transmission ratio control reference value, the steering transmission is reduced. Ratio It is achieved by a vehicle steering control apparatus characterized by not illusion.
According to the present invention, in order to effectively achieve the main problems described above, in the configuration of claim 1, the control means has an instability of the roll behavior that is greater than or equal to a steering transmission ratio control reference value. When the driver steers in a direction in which the degree of instability of the roll behavior decreases in a certain situation, the steering transmission ratio is configured to increase (configuration of claim 2).

According to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 1, the vehicle has means for generating a steering assist force according to at least a steering reaction force, The control means sets the steering assist force control reference value to a value less than or equal to the steering transmission ratio control reference value, and in a situation where the degree of instability of the roll behavior is greater than or equal to the steering assist force control reference value, When steering is performed in a direction in which the degree of instability of behavior increases, the steering assist force is configured to be reduced (configuration of claim 3 ).

According to the present invention, in order to effectively achieve the above-mentioned main problems, the steering transmission ratio variable means in the configuration of claim 1 or 3 does not depend on the steering of the driver. And the control means sets the steering wheel turning reference value to a value larger than the steering transmission ratio control reference value, and the degree of instability of the roll behavior is equal to or greater than the steering wheel turning reference value. When the driver is not steering in a direction in which the degree of instability of the roll behavior decreases, the steered wheel is steered in a direction in which the degree of instability of the roll behavior decreases (structure of claim 4 ).

According to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 4 , the magnitude of the turning angle at which the steered wheels are steered is determined by the degree of instability of the roll behavior. It is comprised so that it may become so large that it is large (structure of Claim 5 ).

Further, according to the present invention, in order to effectively achieve the main problems described above, in the configuration according to claim 4 or 5 , the driver steers the roll behavior in an increasing degree of instability. In some cases, the turning angle at which the steered wheels are steered is configured to increase as the amount of steering by the driver increases (structure of claim 6 ).

According to the present invention, in order to effectively achieve the main problem described above, in the structure according to any one of claims 4 to 6, when the control means turns the steering wheel, The steering assist force is configured to be controlled so as to reduce a change in the steering reaction force caused by the turning (configuration of claim 7 ).

According to the configuration of claim 1, the degree of instability of the roll behavior of the vehicle is obtained based on the magnitude of the lateral force of the vehicle, and the degree of instability of the roll behavior is equal to or greater than the steering transmission ratio control reference value. When the driver steers in the direction in which the degree of instability of the roll behavior increases, the steering transmission ratio is reduced. However, even if the degree of instability of the roll behavior is greater than the steering transmission ratio control reference value, the driver Therefore, when steering is performed in a direction in which the degree of instability of the roll behavior decreases, the steering transmission ratio is not reduced. Therefore, when steering in a direction in which the degree of instability of the roll behavior decreases, the degree of instability of the roll behavior is prevented while preventing the ratio of the steering angle change amount of the steered wheel to the steering operation amount from being unnecessarily reduced. When the vehicle is steered in an increasing direction, the ratio of the steering angle change amount of the steered wheel to the steering operation amount is reduced, thereby suppressing an increase in the turning lateral acceleration of the vehicle and degrading the instability of the roll behavior. It can be reliably and effectively suppressed.
According to the second aspect of the present invention, when the driver steers in a direction in which the degree of instability of the roll behavior decreases, the steering transmission ratio is increased. Therefore, when steering in a direction in which the degree of instability of the roll behavior decreases, the ratio of the steering angle change amount of the steered wheel to the amount of steering operation is increased, whereby the steering wheel in the direction in which the degree of stability of the roll behavior increases. The change of the rudder angle can be promoted.

According to the third aspect of the present invention, when the steering assist force control reference value is not more than the steering transmission ratio control reference value and the instability of the roll behavior is not less than the steering assist force control reference value, driving is performed. The steering assist force is reduced when the person steers in the direction in which the degree of instability of the roll behavior increases, so when the degree of instability of the roll behavior exceeds the steering assist force control reference value, the steering assist force is first reduced. As a result, the steering operation of the driver in a direction in which the degree of instability of the roll behavior increases can be suppressed, and when the degree of instability of the roll behavior exceeds the steering transmission ratio control reference value, the steering assist force becomes small. As a result, it is possible to suppress the steering operation of the driver in the direction in which the degree of instability of the roll behavior increases, and the degree of instability of the roll behavior increases. The ratio of the steering angle change amount of the steered wheel to the steering operation amount in the direction can be reduced, and therefore, the steering assist force is compared with the case where the increase in the degree of instability of the roll behavior is suppressed by controlling only the steering assist force. The change in steering torque felt by the driver can be reduced by reducing the amount of reduction of the roll, and the degree of instability of the roll behavior increases when the degree of instability of the roll behavior is greater than the steering transmission ratio control reference value. Can be effectively suppressed.

According to the fourth aspect of the present invention, the steering transmission ratio variable means can steer the steering wheel without depending on the driver's steering, and the steering wheel steering reference value is larger than the steering transmission ratio control reference value. As a value, in a situation where the degree of instability of the roll behavior is equal to or greater than the steering wheel turning reference value, the direction in which the degree of instability of the roll behavior decreases when the driver does not steer in the direction in which the degree of instability of the roll behavior decreases. Since the steering wheel is steered to the roll wheel, even if the driver does not steer the roll behavior instability in a direction where the degree of instability of the roll behavior is lower than the steering wheel steering reference value, Steering wheels are steered in a direction in which the degree of behavioral instability decreases, and the turning lateral acceleration of the vehicle is reduced to reliably and effectively prevent the degree of instability in roll behavior from further deteriorating. .

According to the fifth aspect of the present invention, the magnitude of the turning angle at which the steered wheels are steered increases as the degree of instability of the roll behavior increases. Therefore, as the degree of instability of the roll behavior increases, the turning lateral acceleration of the vehicle increases. It is possible to increase the amount of decrease in the thickness, and thereby reliably and effectively prevent the degree of instability of the roll behavior from deteriorating.

According to the sixth aspect of the present invention, when the driver steers in a direction in which the degree of instability of the roll behavior increases, the steering angle for turning the steered wheels is large in the amount of steering by the driver. Therefore, even when the driver steers in a direction in which the degree of instability of the roll behavior increases, it is possible to reliably and effectively prevent the turning lateral acceleration of the vehicle from becoming excessive.

According to the seventh aspect of the present invention, when the steered wheels are steered, the steering assist force is controlled so as to reduce the change in the steering reaction force caused by the steered wheels. The possibility that the driver may feel uncomfortable due to the change in the steering reaction force accompanying the rudder can be reliably reduced.

[Preferred embodiment of problem solving means]
According to one preferred embodiment of the present invention, in the configuration of the claims 1 to 7, configured such that the direction in which instability degree of rolling behavior is increased which is a direction in which the magnitude of the steering angle of the steering wheel is increased (Preferred embodiment 1 ).

According to another preferred embodiment of the present invention, in the constitution of the above-described claims 3 to 7 or the preferred embodiment 1, the reduction amount of the steering assist force is increased as the degree of instability of the roll behavior is higher. (Preferred embodiment 2 )

According to another preferred aspect of the present invention, in the configuration of the above-mentioned claims 1 to 7 or the preferred aspect 1 or 2 , the instability of the roll behavior is not less than the steering assist force control reference value. In this case, the steering assist force is configured to increase when the driver steers in a direction in which the degree of instability of the roll behavior decreases (preferred aspect 3 ).

According to another preferred aspect of the present invention, in the configuration of claim 7 or preferred aspects 1 to 3 , the control means is caused by turning the steered wheel based on the steered amount of the steered wheel. A change amount of the steering reaction force is estimated, and the steering assist force is controlled based on the estimated change amount of the steering reaction force (Preferable Mode 4 ).

According to another preferred aspect of the present invention, in the configuration of the above-mentioned claims 1 to 7 or the preferred aspects 1 to 4 , the steering transmission ratio variable means rotates the steering wheel relative to the steering input means. It is comprised so that the turning angle variable means to drive a rudder may be included (preferred aspect 5 ).

According to another preferred aspect of the present invention, in the configuration of the preferred aspect 5 described above, the turning angle varying means rotates the steering wheel side rotating member relative to the steering input means side rotating member. Thus, the steered wheel is configured to be steered (preferred aspect 6 ).

  The present invention will now be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram showing one embodiment of a vehicle steering control device according to the present invention applied to a vehicle equipped with an automatic steering device and an electric power steering device.

  In FIG. 1, 10FL and 10FR respectively indicate the left and right front wheels of the vehicle 12, and 10RL and 10RR respectively indicate the left and right rear wheels of the vehicle. The left and right front wheels 10FL and 10FR, which are the steering wheels, are driven via a rack bar 18 and tie rods 20L and 20R by a rack-and-pinion type electric power steering device 16 driven in response to an operation of the steering wheel 14 by a driver. Steered.

  In the illustrated embodiment, the electric power steering device 16 is a rack coaxial type electric power steering device, and converts the electric motor 22 and the rotational torque of the electric motor 22 into a force in the reciprocating direction of the rack bar 18. For example, it has a ball screw type conversion mechanism 24 and functions as an auxiliary steering force generator that reduces the driver's steering burden by generating an auxiliary steering force that drives the rack bar 18 relative to the housing 26. To do. The auxiliary steering force generator may be of any configuration known in the art.

  The steering wheel 14 is drivably connected to the pinion shaft 34 of the electric power steering device 16 through an upper steering shaft 28A, a turning angle varying device 30, a lower steering shaft 28B, and a universal joint 32. In the illustrated embodiment, the turning angle varying device 30 is connected to the lower end of the upper steering shaft 28A on the housing 36A side, and to the upper end of the lower steering shaft 28B on the rotor 36B side. A motor 36 for turning driving is included.

By thus turning angle varying apparatus 30 that rotationally drives the lower steering shaft 28B relative to the upper steering shaft 28A, the change of the steering angle of the front wheels 10FL and 10FR of the right and left is steered wheels relative to the rotational angle of the steering wheel 14 It functions as a steering gear ratio variable device (steering transmission ratio varying means) that changes the ratio of the amount, that is, the steering transmission ratio (the reciprocal of the steering gear ratio), and the left and right front wheels 10FL as needed regardless of the driver's steering. And 10FR also functions as an automatic steering device that drives the auxiliary steering relatively to the steering wheel 14.

  In the illustrated embodiment, the upper steering shaft 28A is provided with a steering angle sensor 40 for detecting the rotation angle of the upper steering shaft as the steering angle θ and a steering torque sensor 42 for detecting the steering torque Ts. The turning angle varying device 30 is provided with a rotation angle sensor 44 that detects the relative rotation angle of the housing 36A and the rotor 36B as the relative rotation angle θre of the lower steering shaft 22B with respect to the upper steering shaft 22A. The output is supplied to the steering control device 46.

  Further, a signal indicating the vehicle speed V detected by the vehicle speed sensor 48 and the lateral acceleration Gy of the vehicle detected by the lateral acceleration sensor 50 are input to the steering control device 46. The rotation angle sensor 44 may be replaced with a sensor that detects the rotation angle θa of the lower steering shaft 28B, and the relative rotation angle θre may be obtained as a steering angle difference θa−θ.

  As will be described later, the steering control device 46 calculates the target relative rotation angle θret of the turning angle varying device 30 and the target assist torque Ta of the electric power steering device 16, and signals indicating the target relative rotation angle θret and the target assist torque Ta. Are output to the turning angle variable control device 54 and the electric power steering (EPS) control device 56, respectively. The turning angle variable control device 54 controls the turning angle variable device 30 based on the target relative rotation angle θret, and the electric power steering control device 56 controls the electric power steering device 16 based on the target assist torque Ta. .

  As will be described later, the steering control device 46 determines the degree of instability of the vehicle behavior based on the absolute value of the lateral acceleration Gy of the vehicle, and when the degree of instability of the vehicle behavior is less than the first reference value, the normal calculation procedure Accordingly, the target relative rotation angle θret of the turning angle varying device 30 and the target steering assist torque Ta of the electric power steering device 16 are calculated.

  On the other hand, when the degree of instability of the vehicle is greater than or equal to the first reference value and less than the second reference value, the steering control device 46 follows the calculation procedure similar to that in the normal time and the target relative rotation of the turning angle varying device 30 The angle θret is calculated. When the driver's steering direction is a direction in which the degree of vehicle behavioral instability increases (increase direction), the target steering assist torque Ta is reduced so that the target steering assist torque Ta is smaller than the normal time. The assist torque Ta is calculated, and conversely, when the driver's steering direction is a direction in which the degree of instability of the vehicle is lowered (a switchback direction), the target steering assist torque Ta is increased as compared with the normal time. A target steering assist torque Ta is calculated.

  Further, when the vehicle behavior instability is equal to or greater than the second reference value and less than the third reference value, the steering control device 46 determines that the driver's steering direction is a direction in which the vehicle behavior instability increases (increase direction). ), The target steering gear ratio Rsgt is calculated so that the steering gear ratio Rsg becomes larger and the steering transmission ratio becomes smaller than in the normal state. Conversely, the driver's steering direction reduces the degree of vehicle behavior instability. When the direction is the direction (returning direction), the target steering gear ratio Rsgt is calculated so that the steering gear ratio Rsg becomes smaller than the normal time and the steering transmission ratio becomes larger.

  Further, when the vehicle behavior instability is equal to or greater than the third reference value, the steering control device 46 determines that the left and right front wheels are in a state where the driver's steering direction is a direction in which the vehicle behavior instability increases (increase direction). The target relative rotation angle θret of the turning angle varying device 30 is calculated so as to be steered relatively in the return direction, and conversely the direction in which the driver's steering direction decreases the degree of instability of the vehicle behavior (return direction) ), The target relative rotation angle θret of the turning angle varying device 30 is calculated so as to promote the turning of the left and right front wheels in the switchback direction.

  When the vehicle behavior instability is equal to or greater than the second reference value, the steering control device 46 performs the same calculation as when the vehicle behavior instability is equal to or greater than the first reference value and less than the second reference value. The target steering assist torque Ta is calculated according to the procedure. Also

  Further, the steering control device 46 outputs a signal indicating the target assist torque Ta to the electric power steering control device 56 and also outputs a signal indicating the target relative rotation angle θret to the steered angle variable control device 54, and the electric power steering. The control device 56 controls the electric power steering device 16 based on the target assist torque Ta, and the turning angle variable control device 54 controls the turning angle variable device 30 based on the target relative rotation angle θret.

  Next, a steering control routine in the embodiment will be described with reference to the flowchart shown in FIG. The control according to the flowchart shown in FIG. 2 is started by closing an ignition switch not shown in the figure, and is repeatedly executed at predetermined time intervals.

  First, at step 10, a signal indicating the steering angle θ is read, and at step 20, the absolute value of the lateral acceleration Gy of the vehicle as an index value indicating the degree of instability of the roll behavior of the vehicle is steered. It is determined whether or not it is equal to or greater than a third reference value Gy3 (positive constant) as a wheel steering reference value. If a negative determination is made, the process proceeds to step 40. If an affirmative determination is made, step 30 is performed. After the flag Fc is set to 3, the routine proceeds to step 90.

  In step 40, it is determined whether or not the absolute value of the lateral acceleration Gy of the vehicle is equal to or greater than a second reference value Gy2 (a positive constant smaller than Gy3) as a steering transmission ratio control reference value. If a negative determination is made, the process proceeds to step 60. If an affirmative determination is made, the flag Fc is set to 2 in step 50, and then the process proceeds to step 90.

  In step 50, it is determined whether or not the absolute value of the lateral acceleration Gy of the vehicle is equal to or greater than a first reference value Gy1 (a positive constant less than Gy2) as a steering assist force control reference value. When a determination is made, the flag Fc is set to 1 at step 70 and then the process proceeds to step 90. When a negative determination is made, the process proceeds to step 90 after the flag Fc is set to 1 at step 80. .

  In step 90, it is determined whether or not the lateral acceleration Gy of the vehicle is a positive value, that is, whether or not the vehicle is turning left, and if a negative determination is made, the process proceeds to step 110. The process proceeds to step 100 when an affirmative determination is made.

  In step 100, for example, the steering angular velocity θd is calculated as a time differential value of the steering angle θ, and it is determined whether or not the steering angular velocity θd is a positive value, that is, the steering is increased when the vehicle turns to the left. If a negative determination is made, the process proceeds to step 170. If an affirmative determination is made, the process proceeds to step 120.

  Similarly, in step 110, for example, the steering angular velocity θd is calculated as a time differential value of the steering angle θ, and it is determined whether the steering angular velocity θd is a positive value, that is, when the driver makes a right turn. It is determined whether or not the return steering is being performed. If a negative determination is made, the process proceeds to step 120. If an affirmative determination is performed, the process proceeds to step 170.

  In step 120, when the flag Fc is 0, the target basic assist torque Tab is calculated from the map corresponding to the graph shown by the solid line in FIG. 3 based on the steering torque Ts, and when the flag Fc is not 0 Based on the absolute values of the steering torque Ts and the lateral acceleration Gy of the vehicle, the target basic assist torque Tab is calculated from a map corresponding to the graph indicated by the broken line in FIG.

  In step 130, the vehicle speed coefficient Kv is calculated from the map corresponding to the graph shown in FIG. 4 based on the vehicle speed V, and the target assist torque Ta is calculated as the product of the vehicle speed coefficient Kv and the target basic assist torque Tab. Is done.

  In step 140, it is determined whether or not the flag Fc is 3, that is, whether or not it is necessary to actively steer the left and right front wheels in the switchback direction, and a negative determination is made. Sometimes, the process proceeds to step 150, and when an affirmative determination is made, the process proceeds to step 160.

  In step 150, when the flag Fc is 0 or 1, the target steering gear ratio Rsgt is calculated from the map corresponding to the graph shown by the solid line in FIG. Otherwise, in other words, when the flag Fc is 2, the target steering gear ratio is determined from the map corresponding to the graph shown by the broken line in FIG. 5 based on the absolute values of the vehicle speed V and the lateral acceleration Gy of the vehicle. Rsgt is calculated, and based on the target steering gear ratio Rsgt, the target relative rotation angle θret of the turning angle varying device 30 for changing the steering gear ratio Rsg to the target steering gear ratio Rsgt in a manner known in the art. Is calculated.

  In step 160, when the steering angular velocity θd is a negative value, that is, when the driver is performing additional steering when turning left, the absolute value of the lateral acceleration Gy of the vehicle is used in FIG. When the target relative rotation angle θret for turning the left and right front wheels 10FL and 10FR relatively in the return direction is calculated from the map corresponding to the graph shown by the solid line, and the steering angular velocity θd is a negative value, In other words, when the driver is performing additional steering during a right turn, the left and right front wheels 10FL and the map corresponding to the graph shown by the broken line in FIG. 6 are based on the absolute value of the lateral acceleration Gy of the vehicle. A target relative rotation angle θret for turning 10FR relatively in the switchback direction is calculated.

  In step 170, when the flag Fc is 0, the target basic assist torque Tab is calculated from the map corresponding to the graph shown by the solid line in FIG. 3 based on the steering torque Ts, and when the flag Fc is not 0. Based on the absolute value of the steering torque Ts and the lateral acceleration Gy of the vehicle, the target basic assist torque Tab is calculated from a map corresponding to the graph shown by the one-dot chain line in FIG.

  In step 180, the vehicle speed coefficient Kv is calculated from the map corresponding to the graph shown in FIG. 4 based on the vehicle speed V, and the vehicle speed coefficient Kv, the target basic assist torque Tab, The target assist torque Ta is calculated as the product of

  In step 190, it is determined whether or not the flag Fc is 3, that is, whether or not it is necessary to actively steer the left and right front wheels in the switchback direction, and a negative determination is made. Sometimes the routine proceeds to step 200, and when an affirmative determination is made, the routine proceeds to step 210.

  In step 200, when the flag Fc is 0 or 1, the target steering gear ratio Rsgt is calculated from the map corresponding to the graph shown by the solid line in FIG. Otherwise, in other words, when the flag Fc is 2, the target steering gear is determined from the map corresponding to the graph indicated by the one-dot chain line in FIG. 5 based on the absolute values of the vehicle speed V and the lateral acceleration Gy of the vehicle. The ratio Rsgt is calculated, and the target relative rotation angle of the turning angle varying device 30 for changing the steering gear ratio Rsg to the target steering gear ratio Rsgt in a manner known in the art based on the target steering gear ratio Rsgt. θret is calculated.

  In step 210, when the steering angular velocity θd is a negative value, that is, when the driver is turning back when turning left, the absolute value of the lateral acceleration Gy of the vehicle is used in FIG. When the target relative rotation angle θret for turning the left and right front wheels 10FL and 10FR relatively in the return direction is calculated from the map corresponding to the graph shown by the solid line, and the steering angular velocity θd is a positive value, That is, when the driver is performing the back-turn steering during a right turn, the left and right front wheels 10FL and the map corresponding to the graph shown by the broken line in FIG. 7 are based on the absolute value of the lateral acceleration Gy of the vehicle. A target relative rotation angle θret for turning 10FR relatively in the switchback direction is calculated.

  In step 220, a signal indicating the target assist torque Ta is output to the electric power steering control device 56, and a signal indicating the target relative rotation angle θret is output to the turning angle variable control device 54. Return to 10.

  Thus, according to the illustrated embodiment, in steps 20 to 80, the degree of instability of the roll behavior of the vehicle is determined based on the absolute value of the lateral acceleration Gy of the vehicle, and the degree of instability of the roll behavior of the vehicle is the first. When the vehicle is steered in the direction in which the degree of instability of the vehicle increases (increase direction) when the vehicle is above the reference value, the normal operation is performed in steps 90 to 110, 120, 130, and 220. When the steering assist torque is reduced as compared with the time, the steering is further increased and the driver is steered in the direction in which the behavioral instability of the vehicle is reduced (return direction). In steps 90 to 110, 170, 180, and 220, the magnitude of the steering assist torque is increased as compared with the normal time, thereby promoting the switchback steering.

  Further, when the degree of instability of the roll behavior of the vehicle is greater than or equal to the second reference value and less than the third reference value, when the driver is steering in a direction in which the degree of instability of the vehicle behavior increases, In steps 90 to 110, 140, 150, and 220, the steering gear ratio Rsg is controlled so that the steering gear ratio Rsg becomes larger and the steering transmission ratio becomes smaller than in the normal state. When the vehicle is steered in a direction in which the degree of stability decreases, the steering gear ratio Rsg is set so that the steering gear ratio Rsg becomes smaller and the steering transmission ratio becomes larger in steps 90 to 110, 190, 200, and 220 than in the normal state. Is controlled.

  Further, when the degree of instability of the roll behavior of the vehicle is equal to or greater than the third reference value, when the driver is steered in a direction in which the degree of instability of the vehicle behavior increases, steps 90 to 110, 140, In 160 and 220, the relative rotation angle θre of the steering angle varying device 30 is controlled so that the left and right front wheels are relatively steered in the return direction, and conversely, the driver's behavioral instability is reduced. When the vehicle is steered in the direction, in steps 90 to 110, 190, 210, and 220, the relative rotation angle θre of the turning angle varying device 30 is controlled so that the turning of the left and right front wheels in the turning-back direction is promoted. The

  Therefore, according to the illustrated embodiment, as the degree of instability of the rolling behavior of the vehicle becomes higher, the instability of the rolling behavior of the vehicle is further deteriorated by effectively suppressing the turning of the left and right front wheels in the direction of increasing the wheel. Can be reliably and effectively suppressed, and the higher the degree of instability of the rolling behavior of the vehicle, the more effectively the steering of the left and right front wheels in the turning-back direction is effectively promoted, and the degree of instability of the rolling behavior of the vehicle. Can be reliably and effectively promoted.

  Further, according to the illustrated embodiment, when the degree of instability of the roll behavior of the vehicle is greater than or equal to the second reference value, the steering gear ratio or the turning angle of the left and right front wheels is controlled in addition to the steering assist torque. Therefore, compared with the case where only the steering assist torque is controlled, the steering assist torque is suppressed and the steering of the left and right front wheels in the reversing direction is suppressed without increasing the control amount of the steering assist torque. Can be effectively promoted, which may cause the driver to feel uncomfortable due to fluctuations in the steering torque and unnatural rotation of the steering wheel, compared to when only the steering assist torque is controlled. Can be reliably reduced.

  Further, according to the illustrated embodiment, when the degree of instability of the roll behavior of the vehicle is greater than or equal to the third reference value, when the driver is steering in a direction in which the degree of instability of the vehicle behavior increases, When the left and right front wheels are controlled to be steered relatively in the switchback direction and, conversely, when the driver is steering in a direction in which the degree of vehicle behavior instability decreases, the left and right front wheels are steered in the switchback direction. Therefore, even if the instability of the roll behavior of the vehicle is greater than or equal to the third reference value, the instability of the roll behavior of the vehicle is greater than the second reference value and the third reference As compared with the case where the steering gear ratio Rsg is controlled as in the case where the value is less than the value, the steering of the left and right front wheels is effectively suppressed and the steering of the left and right front wheels is promoted to be turned back. Can be done.

The following table summarizes the relationship between the absolute value of the lateral acceleration Gy of the vehicle and the control of the steering assist torque and the turning angle varying device in the above embodiment.
Assist torque Steer control
| Gy | <Gy1 Normal control Normal control | Gy | ≧ Gy1
Promote switchback 〃
｜ Gy | ≧ Gy2
When switching back: Large gear ratio | Gy | ≥ Gy3 増 When increasing switching: Switching back turning

  Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art.

  For example, in the above embodiment, the absolute value of the lateral acceleration Gy of the vehicle is used as an index value indicating the degree of instability of the roll behavior of the vehicle. May be an arbitrary vehicle state quantity indicating the lateral force of the vehicle, and may be, for example, the product of the yaw rate γ and the vehicle speed V of the vehicle.

  In the above-described embodiment, the reference values Gy1 to Gy3 are positive constants. However, the reference values Gy1 to Gy3 do not have to be constants. For example, the reference values Gy1 to Gy3 are determined according to the vehicle speed so as to decrease as the vehicle speed V increases. The first reference value Gy1 may be a value that is less than or equal to the second reference value Gy2, but may be smaller than the second reference value Gy2.

  Further, in the above-described embodiment, when the degree of instability of the roll behavior of the vehicle is equal to or greater than the third reference value, the driver is steered in a direction in which the degree of instability of the vehicle behavior decreases. In some cases, the left and right front wheels are steered so as to facilitate the turning of the left and right front wheels in the switchback direction, but the instability of the roll behavior of the vehicle is greater than or equal to the third reference value. Even when the vehicle is steered in a direction in which the degree of instability of the vehicle is lowered by the driver, the steering gear ratio Rsg is controlled so that the steering gear ratio Rsg becomes smaller and the steering transmission ratio becomes larger than usual. May be.

  In the above-described embodiment, the horizontal axis of FIGS. 6 and 7 is the steering angular velocity θd, but the steering when the absolute value of the lateral acceleration Gy of the vehicle increases to the third reference value Gy3. With the angle as the reference steering angle, the steering angle increment Δθ in the direction of increase relative to the reference steering angle may be calculated, and the horizontal axis in FIGS. 6 and 7 may be replaced with the steering angle increment Δθ.

  Further, in the above-described embodiment, the steering transmission ratio variable means (steering gear ratio variable device) is the turning angle variable device 30 that rotationally drives the lower steering shaft 28B relative to the upper steering shaft 28A. The steering transmission ratio variable means may be of any configuration known in the art, and the means for generating a steering assist force according to at least the steering reaction force is the electric power steering device 16, For example, any configuration known in the art such as a hydraulic power steering device may be used.

It is a schematic block diagram which shows one Example of the steering control apparatus for vehicles by this invention applied to the vehicle provided with the automatic steering apparatus and the electric power steering apparatus. It is a flowchart which shows the steering control routine in an Example. It is a graph which shows the relationship between the absolute value of steering torque Ts and the lateral acceleration Gy of a vehicle, and the target basic assist torque Tab. It is a graph which shows the relationship between the vehicle speed V and the vehicle speed coefficient Kv. It is a graph which shows the relationship between the absolute value of the vehicle speed V and the lateral acceleration Gy of a vehicle, and target steering gear ratio Rsgt. 6 is a graph showing the relationship between the steering angular velocity θd and the absolute value of the lateral acceleration Gy of the vehicle and the target relative rotation angle θret at the time of additional steering. 6 is a graph showing the relationship between the steering angular velocity θd and the absolute value of the lateral acceleration Gy of the vehicle and the target relative rotation angle θret at the time of the return steering.

Explanation of symbols

DESCRIPTION OF SYMBOLS 16 Electric power steering apparatus 14 Steering wheel 30 Steering angle variable apparatus 40 Steering angle sensor 42 Torque sensor 44 Rotation angle sensor 46 Steering control apparatus 48 Vehicle speed sensor 50 Lateral acceleration sensor 54 Steering angle variable control apparatus 56 Electric power steering ( EPS) Control device

Claims (7)

In a vehicle steering control device having a steering transmission ratio variable means for changing a steering transmission ratio that is a ratio of a steering angle change amount of a steered wheel to a steering operation amount to a steering input means , the steering transmission ratio variable means is controlled. Control means for controlling the steering transmission ratio, and the control means obtains the degree of instability of the roll behavior of the vehicle based on the magnitude of the lateral force of the vehicle, and the degree of instability of the roll behavior is transmitted by steering. When the driver steers in a direction in which the degree of instability of the roll behavior increases in a situation where the ratio control reference value is equal to or greater than the ratio control reference value, the steering transmission ratio is reduced, but the degree of instability of the roll behavior is less than the steering transmission ratio. A steering control device for a vehicle , wherein the steering transmission ratio is not reduced when the driver steers in a direction in which the degree of instability of the roll behavior decreases even if the control reference value is greater than or equal to the control reference value . The control means increases the steering transmission ratio when the driver steers in a direction in which the degree of instability of the roll behavior decreases in a situation where the degree of instability of the roll behavior is equal to or greater than a steering transmission ratio control reference value. The vehicle steering control device according to claim 1, wherein:   The vehicle has means for generating a steering assist force according to at least the steering reaction force, and the control means sets the steering assist force control reference value to a value equal to or less than the steering transmission ratio control reference value, and determines the degree of instability of the roll behavior. The steering assist force is reduced when the driver is steered in a direction in which the degree of instability of the roll behavior increases in a situation where the steering assist force control value is equal to or greater than the steering assist force control reference value. The vehicle steering control device described. The steering transmission ratio variable means can steer the steered wheels without depending on the driver's steering, and the control means sets the steering wheel turning reference value as a value larger than the steering transmission ratio control reference value, In a situation where the degree of behavioral instability is equal to or greater than the steering wheel turning reference value, when the driver does not steer in a direction in which the degree of instability of the roll behavior decreases, the direction of instability of the roll behavior decreases. The vehicle steering control device according to claim 1 or 3 , wherein the steering wheel is steered. The steering control device for a vehicle according to claim 4 , wherein the turning angle at which the steered wheels are steered increases as the degree of instability of the roll behavior increases. When the instability degree of the rolling behavior is steered in a direction to increase the driver, according to claim 4 in which the magnitude of the turning angle of steering the steered wheels may be greater the larger the steering amount of the driver or vehicle steering control device according to 5. The control means when turning the steering wheel, according to any of claims 4 to 6, wherein the controller controls the steering assist force to reduce the change in the steering reaction force due to the turning of the steering wheel The vehicle steering control device.

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