JP5608127B2 - Vehicle power steering device - Google Patents

Description

  The present invention relates to a power steering apparatus for a vehicle that appropriately controls an assist force with respect to a steering force of a driver.

  In recent years, various power steering devices that appropriately control the assisting force with respect to the steering force of the driver have been proposed for vehicles.

  As one of such power steering devices, for example, Patent Document 1 discloses a vehicle speed sensitive electric power steering device configured to reduce and correct the steering assist amount as the vehicle speed detected by the vehicle speed sensor increases. Has been. By variably setting the assist torque (steering assist force) by the electric power steering device according to the vehicle speed, it is possible to ensure light steering at low vehicle speeds and good steering stability at high vehicle speeds. Can be obtained.

JP 60-67264 A

  By the way, it is preferable that the characteristic of the steering assist force in this type of power steering apparatus is set so that the steering wheel angle changes linearly with respect to the steering force in terms of the driver's feeling.

  However, there is generally an error between the steering force on the driver's feeling and the actual mechanical steering force. Accordingly, such setting of the steering assist force characteristic is generally left to, for example, test driver tuning, and is difficult to quantitatively perform. Moreover, since the steering feeling felt by the driver varies among individuals, the set steering assist force characteristic does not always match the feeling of each driver.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a power steering device capable of generating a steering assist force that matches a driver's feeling.

  A power steering device according to an aspect of the present invention includes a basic assist force calculation unit that calculates a basic assist force with respect to a driver's steering force based on a preset basic assist force characteristic, and an actual steering force that is input by the driver during steering. Using the sensation characteristics set for the relationship between the actual steering force and the sensation steering force that the driver feels input, the steering angle when the driver steers the steering system to which the basic assist force is applied and the actual steering force. In order to linearly change the sensed steering force characteristic, conversion means for converting an actual rudder force characteristic indicating the relationship with the steering force into a sensed steering force characteristic indicating the relationship between the steering wheel angle and the sensed steering force Steering force interpolation characteristic setting means for setting a sensitive steering force interpolation characteristic indicating a necessary interpolation amount, and steering force compensation for setting the steering force interpolation characteristic by converting the sensitive steering force interpolation characteristic using the sensitive characteristic. A characteristic setting unit, the steering force on the basis of the interpolation characteristic calculates the interpolation quantity corresponding to the steering wheel angle, it is obtained and a interpolating means for interpolating the basic assist force in the amount of interpolation.

  According to the power steering device of the present invention, it is possible to generate a steering assist force that matches the feeling of the driver.

Schematic configuration diagram of vehicle steering system Flow chart showing susceptibility characteristic calculation routine Flowchart showing steering force interpolation characteristic setting routine for steering assist force Explanatory drawing showing an example of steering assist force characteristics Explanatory drawing showing an example of sensory characteristics by driver Explanatory drawing showing an example of actual steering force characteristics when steering assist force is applied Explanatory drawing showing an example of the sensed steering force characteristic when steering assist force is applied Explanatory drawing showing an example of actual steering force characteristics after interpolation Explanatory drawing showing an example of the sensed steering force characteristic after interpolation Explanatory drawing showing a display example of instructions to the driver

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to an embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a steering system of a vehicle, FIG. 2 is a flowchart showing a sensing characteristic calculation routine, and FIG. 3 is a flowchart showing a steering force interpolation characteristic setting routine for steering assist force. 4 is an explanatory diagram showing an example of the steering assist force characteristic, FIG. 5 is an explanatory diagram showing an example of the sensitivity characteristic by the driver, and FIG. 6 is an explanatory diagram showing an example of the actual steering force characteristic when the steering assist force is applied. FIG. 7 is an explanatory diagram showing an example of a sensed steering force characteristic when a steering assist force is applied, FIG. 8 is an explanatory diagram showing an example of an actual steering force characteristic after interpolation, and FIG. 9 is a sensed steering force characteristic after interpolation. FIG. 10 is an explanatory diagram showing a display example of instructions to the driver.

  In FIG. 1, reference numeral 1 denotes an electric power steering device. A steering shaft 2 of the electric power steering device 1 is rotatably supported by a vehicle body frame (not shown) via a steering column 3. One end side of the steering shaft 2 extends to the driver's seat side, and a steering wheel 4 as a steering input means is fixed to one end portion of the steering shaft 2. On the other hand, the other end side of the steering shaft 2 extends to the engine room side, and a pinion shaft 5 is connected to the other end portion of the steering shaft 2 via a universal joint.

  A steering gear box 6 extending in the vehicle width direction is disposed in the engine room, and a rack shaft 7 is inserted into and supported by the steering gear box 6 so as to be reciprocally movable. Furthermore, a rack (not shown) formed on the rack shaft 7 is engaged with a pinion (not shown) formed on the pinion shaft 5. Thus, a rack and pinion type steering gear mechanism is configured in the engine room, and a steering force applied to the steering wheel 4 is input to the steering gear mechanism.

  The left and right ends of the rack shaft 7 protrude from the end portions of the steering gear box 6, and a front knuckle 9 is connected to each end portion via a tie rod 8. These front knuckles 9 rotatably support left and right wheels 10L and 10R as steering wheels, and are supported by a vehicle body frame via a king pin (not shown) so as to be steerable.

  Therefore, when the steering wheel 4 is operated and the steering shaft 2 and the pinion shaft 5 are rotated, the rack shaft 7 is moved in the left-right direction by the rotation of the pinion shaft 5, and the front knuckle 9 is rotated around the king pin by the movement. The left and right wheels 10L, 10R are steered in the left-right direction.

An electric motor 12 is connected to the pinion shaft 5 via an assist transmission mechanism 11. The assist transmission mechanism 11 and the electric motor 12 constitute an electric steering assist mechanism, and the driving force generated by the electric motor 12 is transmitted to the pinion shaft 5 as an assisting force for the steering force input to the steering wheel 4 by the driver. To do. Here, the electric motor 12 is driven and controlled via the motor drive unit 21 based on a control amount (in this embodiment, a steering assist torque (steering assist force) T _assist ) set by a steering control unit 20 described later. The

The steering control unit 20, for example, a vehicle speed sensor 31 for detecting the vehicle speed V, the steering torque sensor 32, etc. are connected for detecting the steering torque (actual steering force) T _s which is added at the steering wheel 4. The steering control unit 20 is connected with, for example, an operation switch 35 as an operation input unit and a display device 36 such as a liquid crystal display in order to set a driver's sensitivity characteristics described later. . The operation switch 35 may be replaced with, for example, various switches (for example, a cruise control switch or an audio switch) disposed on the steering wheel 4 or a foot switch such as an accelerator pedal or a brake pedal. Further, for example, a display for a navigation device or a multi-function display arranged on a combination meter can be used as the display device 36.

For example, the steering control unit 20 variably sets the basic assist torque (basic assist force) T _{assist_b} based on the vehicle speed V and the actual steering force T _s . That is, for example, a map indicating the relationship between the actual steering force T _s and the basic assist force T _{assist_b} is preset and stored for each vehicle speed V in the steering control unit 20 (see FIG. 4). 20 calculates the basic assist force T _{assist_b} based on the vehicle speed V and the actual rudder force T _s .

Further, the steering control unit 20 calculates an interpolation amount T _{assist_i} corresponding to the steering wheel angle θ based on a steering force interpolation characteristic to be described later, for example, by interpolating the basic assist force T _{assist_b} with the interpolation amount T _{assist_i} , The final steering assist force T _assist (= T _{assist_b} + T _{assist_i} ) is set.

In the present embodiment, the steering force interpolation characteristic is set in the steering control unit 20, for example. Upon setting this steering force interpolation characteristic, the steering control unit 20 first and sensitive steering force T _h feel that the driver the driver has entered the real steering force T _s and the actual steering force T _s to be input at the time of steering The sensitivity characteristics indicating the relationship is set according to the following procedure. More specifically, for example, the steering control unit 20 presents the actual steering force T _s detected by the steering torque sensor 32 to the display device 36 in a state where the generation of the assist torque is prohibited, and the reference steering force T _The driver is made to perceive the reference rudder force by prompting the driver to steer up to ₀ (for example, 1 [N]). Next, the steering control unit 20 displays up to a plurality of indicated steering forces n · T ₀ set to a predetermined multiple n (for example, n = 2, 4, 8) of the reference steering force T _{0 in} a state where the steering torque is not displayed. Are sequentially urged by the driver to sample the relationship between the actual steering force T _s actually input by the driver for each indicated steering force n · T ₀ . Then, the steering control unit 20 defines a sensing steering force T _h feel driver the values of instruction steering force n · T ₀ corresponding to an actual steering force T _s with respect to the steering wheel 4 is input, the actual steering force the sensing characteristics showing the relationship between T _s and sensitive steering force T _h to function approximation (see FIG. 5). In this case, it is desirable that the function indicating the sensitivity characteristic is approximated by a power function.

Here, for example, when the basic assist force T _{assist_b} is _applied to the steering system, the steering control unit 20 handles the steering wheel angle θ and the actual steering force T _s necessary when the driver steers the steering system. The actual steering force characteristic T _s (θ) indicating the relationship with the above is preset and stored for each vehicle speed V (see FIG. 6). FIG. 6 shows only one actual steering force characteristic T _s (θ), but in the present embodiment in which the relationship between the actual steering force T _s and the basic assist force T _{assist_b} is set for each vehicle speed V. The actual steering force characteristic T _s (θ) is set for each vehicle speed V. The steering control unit 20 reads the actual steering force characteristic T _{s (theta),} sensing steering force characteristics of the actual steering force characteristics T _s with sensitive characteristics, showing the relationship between the steering wheel angle theta and sensitive steering force T _h Convert to T _{h — b} (θ).

Further, the steering control unit 20 sets the sensing steering force interpolation characteristic showing the interpolation amount [Delta] T _h required to change sensing steering force characteristic T _{H_B} the _(theta) linearly, sensitive characteristics (more specifically The steering force interpolation characteristic is set by converting the sensitive steering force interpolation characteristic using a logarithmic function of the sensitive characteristic).

  As described above, in the present embodiment, the steering control unit 20 includes the reference rudder force teaching unit, the sampling unit, the function calculating unit, the basic assist force calculating unit, the converting unit, the sensed steering force interpolation characteristic setting unit, and the steering force interpolation characteristic setting. Each function as a means and an interpolation means is realized.

Next, the sensibility characteristic calculation executed by the steering control unit 20 will be described according to the sensibility characteristic calculation routine shown in FIG. This routine is appropriately executed as an initial setting before traveling of the host vehicle, for example, in response to a setting request from the driver. When the routine starts, the steering control unit 20 first instructs the driver to start steering to the steering wheel 4 through the display on the display device 36 in step S101, and is detected by the steering torque sensor 32 along with the steering. steering torque perform the display of the (actual steering force) T _s. More specifically, for example, as shown in FIG. 10A, the steering control unit 20 gives an instruction to the driver on the display device 36 “slowly in one direction until the steering force becomes 1 [N]”. “Start steering” is displayed, and “Current steering force OO [N]” is displayed.

In step S102, the steering control unit 20 checks whether the steering input (actual steering force T _s ) by the driver has reached a preset reference steering force T ₀ (for example, 1 [N]). , if not at the reference steering force _{T 0,} the process returns to step S101.

On the other hand, if it is determined in step S102 that the actual steering force T _s by the driver has reached the reference steering force T ₀ , the steering control unit 20 proceeds to step S103 and ends the display of the actual steering force T _s . Instructs the driver to remember the current steering force. More specifically, for example, as shown in FIG. 10 (b), the steering control unit 20 displays “Current steering force is 1 [N] on the display device 36. Please memorize this feeling. "Is displayed.

In step S104, the steering control unit 20 determines that the command steering force n · T ₀ that is set to a set multiple n (eg, n = 2, 4, 8) with respect to the reference steering force T _{0 is} not yet set. It selects the minimum value from among the instruction steering force n · T ₀ of the selection, instructs the steering to the instruction steering force n · T ₀ to the driver, to indicate the operation on the operation switch 35 at a predetermined timing to the driver . Specifically, for example, as shown in FIG. 10C, the steering control unit 20 reads “Please start steering slowly in one direction until the steering force feels OO [N]”. Is displayed, and “Please operate the switch when the steering force feels XX [N]” is displayed.

  Then, when the process proceeds from step S104 to step S105, the steering control unit 20 checks whether or not the driver has made an operation input to the operation switch 35. If it is determined that the operation input has not been made, the steering control unit 20 stands by.

On the other hand, if it is determined in step S105 that the driver's operation input to the operation switch 35 has been made, the steering control unit 20 proceeds to step S106, and the current actual steering force T _s is set to the current indicated steering force n · T. Store in association with ₀ .

Then, when proceeding to step S107, the steering control unit 20 checks whether or not the next command steering force n · T ₀ that has not yet been selected exists, and returns to step S104 if it is determined that it exists.

On the other hand, when it is determined in step S107 that the next command steering force n · T ₀ that has not yet been selected exists, the steering control unit 20 proceeds to step S108.

Then, in step S108, the steering control unit 20, using the relationship between the actual steering force T _s obtained by sampling an instruction steering force n · T _0, for example, approximation of sensing steering force T _h shown in the following (1) After calculating the equation (sensitive characteristics), the routine is exited.
T _h = a · 10 ^bT −a (1)
That is, the steering control unit 20 is, for example, defined as sensitive steering force T _h feel driver the values of instruction steering force n · T ₀ corresponding to the actual steering force T _s with respect to the steering wheel 4 is input, the actual the sensing characteristics showing the relationship between the steering force T _s and sensitive steering force T _h is approximated by a power function (see FIG. 5).

Next, the setting of the steering force interpolation characteristic for the steering assist force executed by the steering control unit 20 will be described with reference to the flowchart of the steering force interpolation characteristic setting routine shown in FIG. In the following description, in order to simplify the description, a case where positive steering is performed mainly in one direction (for example, the right side) will be described. This routine is appropriately performed every time the above-described sensitivity characteristics are set, for example, as an initial setting before traveling of the host vehicle. When the routine starts, the steering control unit 20 firstly _selects any one of the actual steering force characteristics from the actual steering force characteristics for each vehicle speed V corresponding to the map of the basic assist force T _{assist_b} (see FIG. 4) in step S201. T _s (θ) is read (for example, see FIG. 6).

In subsequent step S202, the steering control unit 20 obtains a sensed steering force characteristic T _{h — b} (θ) shown in the following equation (2) from the read actual steering force characteristic T _s (θ).
T _h — b (θ) = a · 10 ^{bT (θ)} −a (2)
That is, the steering control unit 20 converts the actual steering force characteristic T _s (θ) into the sensitive steering force characteristic T _{h — b} (θ) using the sensitivity characteristic shown in the equation (1) (see, for example, FIG. 7).

In step S203, the steering control unit 20, in a system which the handle angle θ and sensitive steering force T _{H_B} a parameter, for example, linearly changes along the sensing steering force characteristic T _h (3) formula A target rudder force characteristic is set (see FIG. 7).
T _h ^* (θ) = C · θ + T _h0 (3)
Then, the steering control unit 20 uses the following equation (4), calculates a difference [Delta] T _h between the target steering force characteristic and sensitive steering force characteristics.
ΔT _h = T _h ^* −T _h — _b
= C · θ + T _h0 −a · 10 ^{bT (θ)} (4)
That is, the steering control unit 20 sets the characteristic shown in the equation (4) as the sensed steering force interpolation characteristic.

In step S204, the steering control unit 20 converts the sensed steering force interpolation characteristic of the expression (4) using the following expression (5), and sets the steering force interpolation characteristic shown in the expression (6). .
T = (1 / b) · [log {(T _h + a) / a}] (5)
T _assist — _i = (1 / b) · [log {(C · θ + T _h0 ) / a}] − T _s (θ)
(6)
In other words, the steering control unit 20 uses a steering force that is an interpolation characteristic equivalent to an actual steering force (mechanical steering force) as a steering steering force interpolation characteristic for linearly changing the steering steering force with respect to the steering wheel angle θ. Convert to interpolation characteristics.

Then, when the process proceeds from step S204 to step S205, the steering control unit 20 checks whether or not an unprocessed actual steering force characteristic T _s (θ) exists, and unprocessed actual steering force characteristic T _s (θ). If YES, the process returns to step S201, and if it is determined that the process for the actual steering force characteristic T _s (θ) corresponding to the basic assist force T _{assist_b} at all vehicle speeds has been performed, the routine is exited.

According to such an embodiment, the driver is made to perceive the reference steering force T ₀ by prompting the driver to steer to the reference steering force T ₀ while presenting the actual steering force T _s to the steering wheel 4. By prompting the driver to sequentially steer up to a plurality of commanded steering forces n · T ₀ set to a predetermined multiple n of the reference steering force without presenting the steering force T _s , each steering steering force n · T _{0 is} adjusted. sampling the relationship between the actual steering force T _s the driver has entered Te, sensitive steering force _T h_b feel and driver instructions rudder force n · T ₀ to the steering wheel 4 corresponding to the actual steering force T _s has been input defined as by the sensing characteristics showing the relationship between the actual steering force T _s and sensitive steering force T _{H_B} to function approximation, sensing steering force actual steering force T _s and a dry mechanically detected during steering feel quantitative evaluation to the relationship between the _T h_b It is possible.

In this case, during steering to the indicated steering force n · T _0, by causing the operation input to the operating switch 35 at the timing at which the steering felt to have reached the instruction steering force n · T ₀ of the driver, an instruction The relationship between the steering force n · T ₀ and the actual steering force T _s can be accurately associated. At this time, for example, if the existing switches arranged on the steering wheel 4 are also used as the operation switch 35, it is not necessary to add new switches, and the driver can turn off the steering wheel 4 during steering. The switch can be operated without releasing the hand. Alternatively, if the operation switch 35 is also used as a foot switch such as an accelerator pedal or a brake pedal, for example, there is no need to add a new switch, and the driver releases his hand from the steering wheel 4 during steering. Switch operation can be performed.

Further, in the power steering device for calculating a basic assist force T _{Assist_b} for steering force of the driver on the basis of the basic assist force characteristic set in advance, using a sensitive characteristic set as described above, was applied to the basic assist force T _{Assist_b} The actual steering force characteristic T _s (θ) indicating the relationship between the steering wheel angle θ and the actual steering force T _s when the driver steers the steering system, and the relationship between the steering wheel angle θ and the sensed steering force _{Th_b. Is} converted into a sensed steering force characteristic T _{h — b} (θ), and a sensed steering force interpolation characteristic indicating an interpolation amount ΔT _h necessary for linearly changing the sensed steering force characteristic T _{h — b} is set. The steering force interpolation characteristic that sufficiently reflects the feeling of each driver can be set by converting the sensed steering force interpolation characteristic and setting the steering force interpolation characteristic. Based on the set steering force interpolation characteristic, the interpolation amount T _{assist_i} corresponding to the steering wheel angle θ is calculated, and the basic assist force T _{assist_b} is interpolated with the interpolation amount T _{assist_i, thereby} matching the feeling of the driver. The steering assist force T _assist can be generated, and a linear steering feeling can be realized (see, for example, FIGS. 8 and 9).

  Here, the present invention is not limited to the embodiment described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.

For example, in the above-described embodiment, an example has been described in which the steering wheel 4 of the host vehicle is also used as a steering input unit and the sensitivity characteristics are set on an actual vehicle. However, the present invention is not limited to this. Of course. That is, regarding the setting of the sensitivity characteristic, the driver is prompted to steer to a preset reference steering force T ₀ while presenting the actual steering force T _s acting on the steering input means, and the reference steering force T ₀ is perceived by the driver. To prompt the driver to steer to a plurality of command steering forces n · T ₀ set to a predetermined multiple n of the reference steering force T ₀ without presenting the steering force to the steering input means, a sampling procedure driver for each instruction steering force n · T ₀ samples the relationship between the actual steering force T _s entered, the steering input means an instruction steering force n · T ₀ corresponding to the actual steering force T _s it is sufficient that and a function operation procedure driver is defined as the sensing steering force T _{H_B} feel entered, the sensitive characteristics function approximation showing the relation between the actual steering force T _s and sensitive steering force T _{H_B} for These procedures, for example, It is also possible to run outside of the bench test or the like.

In the above-described embodiment, the number of subjects at the time of setting the sensibility characteristics is not particularly mentioned, but the number of subjects may be singular or plural, for example, when there are plural subjects. It is possible to obtain an average sensation characteristic for the driver by using the average value of the sensation steering force _{Th_b} sampled for each subject.

DESCRIPTION OF SYMBOLS 1 ... Electric power steering apparatus 2 ... Steering shaft 3 ... Steering column 4 ... Steering wheel (steering input means)
DESCRIPTION OF SYMBOLS 5 ... Pinion shaft 6 ... Steering gear box 7 ... Rack shaft 8 ... Tie rod 9 ... Front knuckle 10L, 10R ... Left and right wheels 11 ... Assist transmission mechanism 12 ... Electric motor 20 ... Steering control part (reference steering force teaching means, sampling means, Function calculation means, basic assist force calculation means, conversion means, sensitive steering force interpolation characteristic setting means, steering force interpolation characteristic setting means, interpolation means)
DESCRIPTION OF SYMBOLS 21 ... Motor drive part 31 ... Vehicle speed sensor 32 ... Steering torque sensor 35 ... Operation switch (operation input means)
36 ... Display device

Claims (3)

Basic assist force calculating means for calculating a basic assist force with respect to the steering force of the driver based on a preset basic assist force characteristic;
The driver uses the sensation characteristics set for the relationship between the actual steering force input by the driver during steering and the sensation steering force that the driver feels input to the actual steering force. Converting means for converting an actual steering force characteristic indicating a relationship between a steering wheel angle and an actual steering force when steering is performed into a sensitive steering force characteristic indicating a relationship between the steering wheel angle and the sensitive steering force;
Sensitive steering force interpolation characteristic setting means for setting a sensitive steering force interpolation characteristic indicating an amount of interpolation necessary for linearly changing the sensitive steering force characteristic;
Steering force interpolation characteristic setting means for converting the sensitive steering force interpolation characteristic using the sensitive characteristic and setting the steering force interpolation characteristic;
A power steering apparatus for a vehicle, comprising: interpolation means for calculating an interpolation amount according to a steering wheel angle based on the steering force interpolation characteristic and interpolating the basic assist force with the interpolation amount. The sensing characteristics prompts steering to the reference steering force set in advance while presenting a steering force acting on the steering input means to the driver, and reference steering force teaching means to perceive the reference steering force to the driver, the steering Steering force is sequentially urged to the driver to a plurality of commanded steering forces set to a predetermined multiple of the reference steering force without presenting the steering force to the input means, and the actual steering force input by the driver for each commanded steering force Sampling means for sampling the relationship between the actual steering force, and the command steering force corresponding to the actual steering force is defined as a sensed steering force that the driver feels input to the steering input unit, and the actual steering force and the sensed steering force are defined. 2. The power steering device according to claim 1, wherein the power steering device is set by a steering force evaluation device that includes a function calculation unit that approximates a sensation characteristic indicating a relationship with a force . The setting of the sensing characteristic, the power steering apparatus according to claim 2, wherein the carried out have use a steering wheel mounted on the vehicle as the steering input means.

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