TW200307617A - Vehicle steering control apparatus - Google Patents

Abstract

A vehicle steering control apparatus has a steering reaction force adjusting mechanism 16 capable of adjusting steering reaction force of a vehicle; a steering torque detecting means 6 for detecting steering torque exerted by a steering operation; and a steering speed detecting means 8 for detecting a steering speed at which the steering operation is carried out. The steering reaction force adjusted by the steering reaction force adjusting mechanism 16 is increased in such a case that the steering torque detected by the steering torque detecting means 6 is larger than or equal to a preset torque value and the steering speed detected by the steering speed detecting means 8 is higher than or equal to a preset torque value.

Description

200307617

V. Description of the invention (1) The technical field to which the invention belongs The present invention relates to a steering-reaction force of a vehicle-controlled steering vehicle. The prior art has recently been able to apply a steering assist force (a power steering device has become a universal feature of vehicles). / Auxiliary steering twist The steering torque required when operating the steering wheel ^^, in order to reduce the driver's orientation to the device, in response to the direction and amplitude of this kind of power steering torque: ^: = Turn c plus transpose. When the vehicle is driving at a low speed, the power-increasing power steering is equipped with steering force. T The vehicle is driven at a high speed to reduce the steering feel. Q The center steering assist force is used to provide smoothness. Eliminating the hydraulic power of Q 丄 丄 'L t steering assist force 鳇 A, in addition to the evil, has also developed the use of motors to generate steering assistance force mechanism. Because this kind of electric steering mechanism can be used in various ways Different technologies. Door assist force, for example, for the exit control technology, when the maximum steering angle is near the predetermined steering angle, the steering angle is at the steering torque and at the electric power. Protecting the steering system in the mechanism: Positive assist opening: JP: A-2〇 (U-253356 discloses a reduction / correction amount of increasing the auxiliary steering torque in response to the maximum steering speed = two of the steering speed. Also, even in the so-called & quot "Fast control of steering wheel operation", the steering system t can still

7042-5684-PF (N1); Ahddub.ptd Page 5 200307617 Description of the invention (2) Safeguarding another 'Japanese unexamined patent publication' Power Steering Mechanism, in response to vehicle S ^ —A-9-58493 disclosure — This kind of electric control power steering device detects the speed of the vehicle and the torque of the steering wheel to limit the torque of the motor wheel and responds to the torque detected when the high-speed vehicle sees the taxi: output power. These technologies can avoid excessive operation S, steering wheel problems caused by the wrong steering wheel operation, these problems can not be withdrawn from the control of the auxiliary force control. On the other hand, the power steering device is also responded to the vehicle speed and steering torque system and technology.

菖 Steering assist control operation Easy steering with light steering wheel operation The driver may oversteer the steering wheel. Appropriate adjustment of auxiliary power for special vehicles can properly control auxiliary power. When driving, the driver of the vehicle can feel very good. On the other hand, it is envisaged that if a driver can respond to dynamics such as lane change, even a driver who is still related to this technology, & has developed the following technologies. Note that the "steering reaction force" below acts in the opposite direction to the "steering assistance force". Therefore, 'decreasing the steering assist force means increasing the steering reaction force. JP-UM + 2-43765, JP + 6-92 252, JP-A-8-268309 and

JP-A-1 Bu 1 29926 discloses a steering reaction force that can be controlled in response to a vehicle's coasting angle. JP-A-6-92253 and JP ~ a-8-40293 disclose a technique for controlling steering reaction force in response to an oversteer / understeer state. However, in these traditional control technologies, it is necessary to be able to sense various operations of the vehicle.

7042-5684-PF (Nl); Ahddub.ptd Page 6 200307617 Turn the sensor, so the cost of the vehicle will increase. Therefore, there is a need to reduce costs. SUMMARY OF THE INVENTION One of the purposes of the present invention is to provide a steering control device suitable for vehicle movements, and to cover a steering force of a vehicle when the steering reaction is applied to the steering operation. When the detection device detects and the steering speed detection device is installed with a preset speed value, the control is to increase the steering reaction reaction force adjustment mechanism in a third form, and the vehicle more forcefully adjusts the mechanism by one revolution plus the steering reaction force. When the torsional force is greater than or equal to the preset speed value, the speed is set to the steering ^ including: a force; torsional force; the steering speed and the steering position detection device force. The root-electricity includes the anti-reverse root, the preset twist control device, and the working force. The invention intends to solve the problems of the traditional technology. The low-cost vehicle steering device can assist (or steering reaction). According to a first aspect of the present invention, there is provided a steering reaction force adjustment mechanism capable of adjusting a steering torque detecting device, detecting a turning steering speed detecting device, detecting implementation; and a control device, when the steering torque is greater than or The steering speed equal to a preset torque value is greater than or equal to a steering reaction force adjustment mechanism. According to a second aspect of the present invention, the steering steering mechanism. In addition, the steer-by-wire steering device according to the present invention; and the steering reaction force applying device according to the fourth aspect of the present invention in an analog manner, when the steering force value and the steering speed are greater than or equal to the steering torque and The turn

200307617 V. Description of the invention (4) In this example, according to the fifth aspect of the present invention, 'the control device is set and completed, the more the steering torque increases, the more the amount of steering reaction force increases; and the more the steering speed increases, The more the amount of steering reaction force increases, the more it becomes. According to a sixth aspect of the present invention, the steering speed detecting device detects an angular speed of a steering wheel or an angular speed of a steering shaft as the steering speed. In addition, according to a seventh aspect of the present invention, the steering speed detecting device detects an angular speed of one of the motors in the electric power steering mechanism as the steering speed. In another example, according to the eighth aspect of the present invention, the steering The speed detecting device predicts the angular speed of the motor according to a voltage between the motor terminals and an input current of the motor. In order to make the above and other objects, features, and advantages of the present invention more comprehensible, hereinafter, a preferred embodiment is described in detail with the accompanying drawings as follows: For implementation, please refer to the drawings, Embodiments of the present invention will be described. [First Embodiment] Library of Examples

A steering device according to the present invention will now be described with reference to FIG. No.:=The vehicle steering device of the example is applied to an electric power steering mechanism. The internal arrangement of the vehicle heading device is shown in Figure 1. As in the i-th electric power steering mechanism 16, the tire 1 is mechanically connected to the-steering wheel. One of the "" port steering assist force (assisted steering torque) one motor 3 series

200307617 V. Description of the invention (5) It is determined by the steering wheel 2 and the tire 1 that it is red. In this embodiment, one half of the horsepower transmission system is controlled by an ECU (Electronic Control Unit, ei 疋 (direct current) motor. The motor 3 is controlled by a motor drive circuit 5. Ronic control unit) 4 'When the electric power steering mechanism j 6 is also adjusted at the same time as the reverse direction of steering _ ^ (Control ^) = auxiliary force, the electric power steering mechanism 16 can &#; reaction force. Because in this ECU4, input to the steering reaction force adjustment mechanism. Force sensor (steering torque detection and installation of horse gear = according to the-steering torque horse carp box like shape shift, technical equipment) 6, a vehicle speed sensor 7 and a steering wheel 2, the motor 3 produces this foot control. When the input current of the control side is large, the input steering assist force is proportional to the ground, and it is into the mine. ": The larger the steering assist force, the greater the steering assist force. On the contrary, the smaller the input power M, the smaller the steering assist force. = In the embodiment, the angular speed of the motor 3 is taken as the steering speed. The and prediction device 8 is regarded as a steering speed detection device. Establish this technique t Ϊ f: The rotation phase of the motor 3 is related to the calculation of the steering element (the voltage between the steering wheel 2 and the motor (terminal voltage) 4 far away (also using the current of the horse stable) to predict the motor \ Dasudo Electric / ^, f ^ person to motor 3 device 8 uses the following formula to predict horses] degrees "prediction of angular speed 〇 = (Vim * iU / Ke (1) where ω is the motor angular speed, is the motor end Voltage; Im is the motor current, Rm is the motor winding resistance value, Ke is the induced voltage constant. M Page 9 7042-5684-PF (Nl); Ahddub.ptd 200307617

The ECU 4 includes a basic auxiliary amount setting device u, a damping amount setting device 12 (auxiliary reduction amount setting device), a friction compensation amount setting device 13 disk, and an inertia compensation amount setting device 14 and other various functional elements. Any function element is used to set the current input to the motor 3. In particular, the basic auxiliary amount setting device 11 and the damping amount setting device 12 are the main functions for setting the input current, which will be described in detail below. The friction compensation amount setting device 丨 3 compensates the friction loss component of the motor 3, and calculates the friction = compensation amount according to the speed of each motor. The inertia compensation amount setting device 14 compensates the force applied to the motor 3 =! · The force is injured, and calculates the inertia compensation based on the angular acceleration of the motor 3

j Referring to FIG. 2, the basic assist amount setting device u will be described. To ΐ ^^ Ib " Id " ^ plus / minus 5 tiger representatives. Assistance (in the Λ basic Λ assist amount setting device 11, the auxiliary current of the basic auxiliary unit ^ is used as shown in FIG. 2) " Ib '' according to the steering torque sensor 6 ..V „. ^ ^ Force T and The value of the vehicle 4 detected by the vehicle speed sensor 7 is both “T1” and W. As shown in FIG. 2, when the value of the steering torque 丨 T 1 is less than or equal to Gordon ’s auxiliary current 113, it is 0. . When the value of steering torque 丨 Τ

Proportional to the steering torque: the value of the auxiliary current 1 & increase the line '丨 another predetermined value " T2 " (Τ2 > τ ϋ increases until the steering torque reaches the slope of the sign line) according to the car ^; and 丨, the increase rate (That is, as the speed of the vehicle increases more in FIG. 2, the basic auxiliary current Ibi)

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5. Description of the invention (7) The less the more (that is, the slope of the characteristic line in FIG. 2 decreases). In addition, when the value of the steering torque 丨 T | is increased to be greater than or equal to the predetermined value T2, the basic auxiliary current I b is reduced so that the basic auxiliary current I b does not become too large. In the damping amount setting device 12, a damping amount (damping current) " Id "for reducing the basic assist amount is set. This damping current Id is used to suppress a high steering speed during high-speed driving (in this example, it is (Angle speed of the motor). Using FIG. 3, the damping amount setting device 12 sets the damping current Id through the steering torque reducer 6, the vehicle speed sensor 7 and the motor angular speed prediction device. According to the motor angular speed The increase of the damping current I d which is set with “vehicle speed, N” is linearly proportional to the angular speed of the motor ”. Since the damping current I (1 is applied to the direction of decrease of the basic auxiliary current 丨 b, The damping current I d is applied to the opposite direction of the basic auxiliary current 丨 b, as shown in Fig. 3. That is, when the motor angular velocity " ω " is positive (in the direction of selecting one of the left-hand direction and the right-hand direction), the damping Current 1 (1 is negative current (that is, the value of the auxiliary force in this direction will decrease); when the motor angular velocity ,, ω ,, is negative (in the other direction of the left-hand direction and the right-hand direction), The current is a positive current (that is, the value of the auxiliary force along the other direction will decrease). In addition, the linear slope between the motor angular velocity ω and the damping current I d changes in response to the vehicle speed. The more the vehicle speed increases, the more , The more the slope increases. That is, the more the vehicle speed increases, the more the damping current 丨 d increases. In this vehicle steering device, the value of the angular speed of the motor is greater than or equal to ^ a predetermined value, Wth "and The value of steering torque 丨 τ | is greater than or equal to a predetermined value Tth, as shown in Figure 4, in response to the value of steering torque, the additional damping amount (additional damping current) is increased. At the same time, the additional damping current is calculated

200307617 V. Description of Invention (8)

Ida " can be given according to the following equations (2) and (3), and the value of the angular velocity of the motor | I and the gain given in response to the value of the angular velocity of the motor | ω 丨, and ω is shown in Figure 5: ^

Ida: -Κ1 * (ω- (2) (applies to I ω I-0th and ω-〇)

Ida: -Κ1 * (ω + (3) (applies to 丨 ω 丨 -Gjth and ω < 〇) As shown in Fig. 5, when the value of steering torque I τ I is less than υ, thumb K1 is "." ". When the value of steering torque 丨 τ 丨 is greater than or equal to " τ :, it increases linearly in proportion to the increase in steering torque value 丨 T | until 3 turns ^ the value of torque | T | reaches another predetermined Value " τ3 "(丁 3 > | τ 丨. In addition, if the value of ° steering torque IT | is increased to be equal to or greater than the predetermined value " τ ,,, and gain K1 so as not to become too large. As described above, the vehicle steering device according to an embodiment can implement a steering operation flow as shown in FIG. 7. That is, the vehicle speed sensor 7 reads out the vehicle speed "v", and the steering torque feel The measuring device 6 reads out the steering torque "τ" (step sl10). Then, the basic assist device e calculates the device 11 to calculate the basic assist current "Ib" (step $ 20). Its-person, far current The sensor 9 and the voltage sensor respectively read the motor current, | 101 ”and the motor terminal voltage“ Em ”(step S30). Then, the above is used. Formula (1), and calculates the motor angular velocity 11 ω according to the motor current Im and the motor terminal voltage Em. "(Step S40) further 'using the damper amount setting means Shu 2 calculates the additional damping current" Ida " (step S50).

200307617 V. Description of the invention (9) Now suppose that the predetermined angular velocity constituting the reference angular velocity for performing additional damping operation is " 0th ", and the vehicle steering device determines whether the value of the steering torque ^ τ 丨 is greater than or equal to the predetermined value Tth ( Step S60). When | T | is less than Tth, the ECU4 outputs an auxiliary current " Ib + Id " (step S100). In addition, when Υτ | gTth, the vehicle steering device determines the value of the angular velocity of the motor | ω | Whether it is greater than or equal to the predetermined value "(step S70). When 0 < 6 ^, the% "outputs the auxiliary current" Ib + Id "(step S110); when ω-〇th, the above equations (2) and (3) are used to calculate the additional damping current π I da '' (step § 8〇). Then, just output “Ib + Id + Ida” as the determined auxiliary power Y. 0) Pickup violation

As described above, when the value of steering torque I τ 丨 is greater than or equal to a predetermined value Tth and the value of the angular velocity of the motor 丨 ω 丨 is greater than or equal to the predetermined value "", because the additional damping current "Ida" is added to the motor power to control the steering The reaction force can suppress the driver's excessive turning operation on the steering wheel 2. That is, when the driver suddenly turns the steering wheel excessively, the value of the motor angular speed (turning speed) | ω | and the value of the steering torque it 丨 both increase. When the value of the torsional torque IT 丨 is greater than or equal to the predetermined value Tth and the value of the angular velocity of the motor 丨 ω 丨 is greater than or specialized to the predetermined value n wth π, the vehicle steering device can determine that the steering operation of the steering wheel 2 has been performed. Strong (too fast). In this case, increase

The external damping current π I da '' suppresses excessive rotation of the steering wheel 2 caused by excessive speed and excessive force. FIG. 6 shows the difference in operation of the steering wheel 2 when the additional damping control is implemented and when the additional damping # control is not implemented. This figure shows that by using an extra ^ f to suppress the excessive amplitude of the steering wheel angle, the steering state can be quickly turned to a stable condition 'compared with the steering state when no additional damping control is implemented.

200307617 V. Description of invention (ίο) For example, when the steering wheel angle is operated in order to change lanes, when no additional damping control is implemented, 'if the steering wheel 2 rotates excessively, the body will experience excessive rotation' as shown by the dashed line in FIG. 6. "To turn the direction of the vehicle body, the steering wheel must be turned excessively in the opposite direction. So turn the steering wheel to operate.成 I · 升 迷 回 _ However, when implementing additional damping control, as shown by the solid line in Figure 6 = ϋ # h steering wheel H degree period (that is, 'turn or increase between)' at the time point " tl " ~ " t2 ", point in time " t3 " ~ " t: > / time, the knife must have a considerable steering torque. When the steering speed is south, a high additional damping effect can be formed, which can suppress the choice of steering wheel angle, reduce the rotation of the steering wheel angle, and reduce the shaking of the vehicle body caused by the force of the second and second forces: turn = time back Turn to stable "1 than the value of the response to the steering torque without additional damping, T | and the angular speed of the motor (steering, =, adding additional damping current " Ida". Steering torque = (steering speed), " The additional damping current is "A". Therefore, appropriate control can be implemented in response to the vehicle's operation. "Port 2" " Quickly control the steering wheel " or operating the steering wheel incorrectly: Steering reaction force may enable the driver to achieve ^ However, it is necessary to properly steer the driver. Staying awake. In addition, because when the steering angular speed and steering torque are more than the predetermined # 2: external damping operation, even if the steering speed is high, additional damping operation will not be added That is, when the driver of the vehicle ^ page 14 7042.5684.PF (Nl); Ahddub.ptd 200307617

V. Description of the invention (11) The torsion force Λ 2 is used to operate the steering wheel 2 (that is, when the steering wheel is increased: when the steering wheel 2 is turned during such a south steering torque, it does not work 2 = J fine work. Therefore 'extra damping does not Will disturb the driver ^ turn the party: ί 2 'This can stabilize the vehicle's operation. In addition, when the car with a high center of mass position Γ can quickly turn the steering wheel 2, it will increase the turning force, which can suppress the excessive vehicle All sensors used in the above control operations are related to the standard devices used in the power structure, steering assist force (steering reaction force) ^ Cost control and can be appropriately controlled in response to vehicle operation [second Embodiment] This emperor will describe a vehicle steering device according to the second embodiment of the present sun and moon. The structure of the dance direction device is basically the same as the first one. The steering torque and the angular speed of the motor are both two. Return to the value of the steering torque and apply additional damping operation: = = As shown in the figure, the control operation is as follows: "in the turn t τ " ω) ^ and ω are both greater than or equal to the predetermined value (ITI STth and 丨 ω | bisc Up to the angular velocity to determine the basic auxiliary coefficient, 2 " Multiply the basic auxiliary current of Α 2 by this basic auxiliary coefficient " K2 ", so that the current of the motor 3 is controlled according to the set basic auxiliary current wood. That is, the basic auxiliary current n I b ,, Set as follows:

Ib = k * | T | (4) ° and

200307617 V. Description of the invention (12) (Applicable to the coefficient of the slope of basic eigenvalues when $ T < Tth).

Ib = Il + k * K2 * (| T bu Tth) (5) (applied when T ^ Tth '' k is a factor constituting the slope of the basic eigenvalue). As shown in Fig. 9, the value of the basic auxiliary coefficient "K2" is determined based on the value of the motor angular velocity I ω |. Under | ω | <, the basic auxiliary coefficient "K2" is a constant. When the value of the motor angular speed | ω 丨 is greater than or equal to ω, the decrease in the basic auxiliary coefficient, 'Κ2', is linearly related to the value of the motor angular speed 丨 ω 丨 ^, until 丨 ω | reaches the preset value ", In addition, when the value of the motor angular velocity 丨 ω | is greater than or equal to the preset value " 1, the auxiliary coefficient " K2 " is 0, and the auxiliary current ^ is〗. 1 Basic Although Fig. 8 only shows the diagram of the speed of the special vehicle, the setting of the base flow 1b is related to the speed of the vehicle, which is similar to the electric power of the first embodiment because the steering process of the vehicle of the second embodiment can be shown in Fig. 10. I side by side, control the direction of flow first = vehicles; g-direction device 'because of the step. The previous process is the same as ^ ^ ^ Also 17 The steering torque is greater than or equal to the predetermined value, and the pressure is 5 to 6. The following steps in the step S70 are described below. … In the column… from the step in step S70, it is | μ !, the coefficient “κ2” (step S81). In the case of =, the basic auxiliary current is calculated based on the above equations ⑷ and ⑸. Counting " Ib + Id " is determined. After that, the power of assisting the six cymbals is output from the ECU4 (step S91). Page 16 As described above, under the condition that the value of the steering torque IT 丨 and the value of the motor angular velocity (steering angular velocity) I ω 丨 are both greater than or equal to a predetermined value, because the basic auxiliary current of the motor power that controls the steering reaction force is reduced at a predetermined rate and suppressed. The driver's excessive operation of the steering wheel 2. It can avoid the unstable operation of the vehicle caused by "quick control of the steering wheel" or the wrong operation of the steering wheel. As shown in Figure 6 of the difference in normal rotation, the additional damping control operation is used to press down the width, and the #direction state can be quickly turned to a stable state. In the first implementation of the present invention, the situation is similar to Lu. H should = turn, the value of the force " τ " and the angular speed of the motor (steering speed ί j S, # Μ extra damping current " Ida ". steering torque " T " upper two-way speed), " More and more damping current / control. In order to implement appropriate control in response to vehicle operation, when performing "quick control of the steering wheel", the steering reaction force may increase the degree of operation of the two-way steering wheel. Therefore, it is necessary to: drive: this Inaction and misbehaviour, such as M-direction & falsification *, make appropriate steering guidance for the driver. Damping; For example: set = will add extra small ,: will not add extra damping operation. ; :: Driving the steering wheel 2 during torsional torque (when face turning is required, additional damping operation is initiated. However, the angle)

200307617

: 2 When steering wheel 2 is turned during steering torque, no additional damping operation is initiated. Therefore / extra damping does not interfere with the driver turning the steering wheel, which stabilizes the vehicle. Further, in a vehicle having a high center of mass position, 'because the steering reaction force is increased when the steering wheel 2 is rapidly driven,' it is possible to suppress excessive vehicle shake. In addition, all the sensors used in the above control operations are related to the standard devices used in electric power steering. The #direction assist force (steering reaction force) can be controlled at low cost and appropriately controlled in response to vehicle operation.

2. Although the present invention has been disclosed as above with several preferred embodiments, it is not intended to limit the present invention '> [ren He, who is familiar with this art, can do a little without departing from the spirit of the present invention = within the scope' Changes and retouching, therefore, the scope of protection of the present invention shall be determined by the scope of the appended patent application. For example, in the second embodiment, the output current is controlled by a method in which both the steering torque value and the motor angular speed are greater than or equal to a predetermined value, and the basic assist coefficient 0 is determined in response to the motor angular speed value. Then, the steering torque The determined auxiliary current is multiplied by the basic auxiliary coefficient 0. In addition, instead of the basic auxiliary coefficient K2, the maximum value of the basic auxiliary current " Imax " can be determined in response to the angular speed of the motor. Then, τ will determine the basis of the steering torque: the auxiliary current is limited according to this maximum value " Imax " In this way, the output current is controlled.

In another example, for example, as shown in Figs. N and 12, when the motor angle is greater than or equal to a predetermined value, the maximum current " Imax " decreases in response to this situation. Therefore, in a range where the steering torque is greater than or equal to a predetermined value, the auxiliary current can be limited by the current maximum value " Imax ". That is, the maximum current

200307617 V. Description of the invention (15) The "value" Imax "is determined according to the value of the angular velocity of the motor 丨 ω |. Under 丨 ω | <ω, the maximum value of the current &quot; Imax &quot; is a fixed value. When the angular velocity of the motor is The value 丨 passes wth (6; th $ 丨 ω 丨 &lt; ㊉2), the decrease of the maximum current value and the increase of the angular velocity of the motor 丨 ω 丨 have a linear relationship until | ω | reaches the predetermined value &quot; &quot;. In addition, When I ω 丨 is greater than or equal to the predetermined value "〇2", the current maximum value 2 &quot; I max "becomes the minimum value" I Γ ", and the auxiliary current 丨 b becomes this minimum value

In the above embodiments, the steering device of the electric power steering mechanism has been exemplified. In addition, instead of the electric power steering mechanism, another steering device having a steer-by-wire can be applied. Alternatively, another steering device with a hydraulic power steering device can be used. For example, in the steer-by-wire steering system where the tires are controlled by steering actuators, as shown in Figure 13, the way of adjusting / controlling the steering reaction force can read the steering torque and steering speed separately, and then control the direction :) Steering reaction force applying device (Steering reaction force adjusting machine such as '纟 Hydraulic Power Steering Device'. The reaction force adjustment / control method shown in Figure 14 can be: ECU4 reads the steering torque and steering speed separately, and then controls An oil pressure device.

As described above, the vehicle steering device according to the present invention (described in the $ form), although using only the standard sense of the power steering device I pays for the turning and acting characteristics that can suppress the rapid control of the steering operation during the steering of the vehicle. . That is, the advantage is that in response to the steering reaction, the steering assist force (or by the steering reaction force) can be appropriately controlled and J: you

7042-5684-PF (N1); Ahddub.p td page 19 200307617 V. Description of the invention (16) Cost control. Also, when deciding on steering reaction force, do not consider steering torque. Therefore, for example, excessive steering of the steering wheel can be made from consideration of steering speed and assistance. Turning to the steering wheel The driver turns the steering wheel, so the car is stabilized without disturbing the vehicle at the center of mass position, because of the steering reaction. In addition, the increase in the high steering wheel can suppress excessive rolling of the vehicle. Relative to the fast operator In addition, because the reliability of the steering device should be added to the power steering device, and the quasi-sensor can be reduced, the probability of the auxiliary vehicle according to the second form can be increased. The steering gear is related to the electric steering mechanism, which is in place because this power performs the steering operation. Wenjia's response feature makes it easy. In addition, according to the third aspect, the vehicle applies a reaction force applying device, and the steering is more preferably a steering operation. θ should be condensed and can be easily implemented. According to the fourth form, the vehicle is steered at the steering speed. * 夕 伯 二 # 丄 Pei Zhi applies advantages because it can cope with it, and asks about the value of the force. The reason is that the vehicle can be avoided in advance. IT II: The danger of its workers filling dry cars into an unstable situation. In addition, according to the vehicle steering device in the fifth aspect, even if 4: the steering wheel is operated excessively strongly, it responds to the excessively strong direction = proper steering reaction force, and the steering can be appropriately controlled. The steering speed can be reliably detected. To dominate i

200307617 V. Description of the invention (17) In addition, according to the vehicle steering device in the eighth aspect, the sensor for detecting the angular velocity of the motor is no longer needed, and the cost can be reduced. In addition, since the sensor that senses the voltage at the motor end and the motor current sensor are related to the standard sensor used in the electric power steering mechanism, the advantage is that the occurrence rate of malfunction can be reduced.

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Figure 1 is a vehicle steering pen diagram according to an embodiment of the present invention; <Block Figure 2 is a basic auxiliary control operation diagram of a vehicle steering device · Figure 3 is a damping control operation diagram of a vehicle steering device; The figure is the additional damping control operation diagram of the vehicle steering device. Figure 5 is the relationship between steering torque and gain in the vehicle steering device and the elapsed time. Figure 6 is the relationship between the steering wheel angle in the vehicle steering device. Figure 7 of the control is a flow chart of the vehicle direction control according to the first embodiment of the present invention; t Figure 8 is a diagram of the current reduction according to the present invention; Figure 9 of the auxiliary system of the vehicle direction control device of an embodiment is The figure in the vehicle steering device; the relationship between the angular velocity and the gain of the horse in the J-shirt. Figure 10 is a flowchart of the vehicle direction according to the second embodiment of the present invention; The example of a vehicle steering device is according to another embodiment of the present invention, which is a fish red ¥ human-like — Figure 12 is a diagram of the relationship between the angular speed of the motor and the gain; Figure 13 is another steering system applied to the present invention ; Figure 14 is applied to the hair Mingzhi is another steering system. Symbol Description:

200307617 The drawings briefly explain 1 ~ tire; 3 ~ motor; 5 ~ motor drive circuit; 8 ~ motor angular velocity prediction device; 9 ~ current sensor; 11 ~ basic auxiliary amount setting device; 13 ~ friction compensation amount setting device; 14 ~ Inertial compensation amount setting device; 2 ~ steering wheel; 4 ~ ECU; 6 ~ steering torque sensor; 7 ~ vehicle speed sensor; 10 ~ voltage sensor; 12 ~ damping amount setting device 15 ~ battery; 1 6 ~ Electric power steering mechanism. »

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Claims (1)

200307617 6. Scope of patent application 1. A vehicle steering device, including a steering reaction force adjustment mechanism that can adjust the steering reaction force of a vehicle; a steering torque detection device that detects the steering torque applied by a steering operation; A steering speed detecting device that detects a steering speed when the steering operation is performed; and A control device, when the steering torque detected by the steering torque detection device is greater than or equal to a preset torque value and the steering speed detected by the steering speed detection device is greater than or equal to a preset speed value, the The control device controls the steering reaction force adjustment mechanism to increase the steering reaction force. 2. The vehicle steering device according to item 1 of the scope of patent application, wherein the steering reaction force adjustment mechanism is an electric steering mechanism. 3. The vehicle steering device as described in item 1 of the scope of the patent application, further comprising a steer-by-wire steering device, wherein the steering reaction force adjustment mechanism is a steering reaction force applying device that applies a steering reaction force in a simulated manner. 4. The vehicle steering device according to item 1, 2, or 3 of the scope of the patent application, wherein when the steering torque is greater than or equal to the preset torque value and the steering speed is greater than or equal to the preset speed value, the control The device sets the steering reaction force in response to the steering torque and the steering speed. 5. The vehicle steering device according to item 4 of the scope of patent application, wherein the control device is set such that the more the steering torque increases, the more the amount of steering reaction force increases; and the more the steering speed increases, the steering reaction The more the amount of force increases. 200307617 6. Scope of Patent Application 6. · If the scope of patent application is the first! The steering device according to item 2, 2, 3, 4 or 5, wherein the steering speed detecting device detects &gt; of a steering wheel or an angular speed of a steering shaft as the steering speed. 7. The vehicle steering device described in item 2 of the scope of patent application, the steering speed detecting device measures a corner speed of one of the electric steering mechanisms as the steering speed. 8. The vehicle steering device as described in item 7 of the scope of patent application, the steering speed detecting device predicts the angular speed of the motor based on an input voltage and an input current of the motor. Vehicle control! Speed One of i Among which (Motor 7042.5684-PF (Nl); Ahddub.ptd Page 25