操舵制御方法及び操舵制御装置

Title:

操舵制御方法及び操舵制御装置

Document Type and Number:

Japanese Patent JP6848653

Kind Code:

B2

Abstract:

PROBLEM TO BE SOLVED: To realize a steering control method and steering control apparatus. which are capable of applying further appropriate steering reactive force.SOLUTION: A steering control method includes: calculating feed-forward (FF) axial force that is axial force applying steering reactive force in accordance with a steering angle of a steering wheel 1 that is mechanically separated from a steering wheel 2; calculating feedback (FB) axial force that is axial force returned to a driver as steering reactive force from a road surface; applying operation reactive force on the basis of final axial force obtained by allocating the FF axial force and FB axial force at a certain allocation ratio; and reducing an allocation ratio of the FF axial force in a case where an absolute value of a difference is equal to or more than a threshold, the difference between a standard slip angular velocity βcalculated on the basis of a vehicular model and an actual slip angular velocity βcalculated on the basis of lateral acceleration exerted to the vehicle.SELECTED DRAWING: Figure 1

Inventors:

Kazuhiro Igarashi

Application Number:

JP2017088377A

Publication Date:

March 24, 2021

Filing Date:

April 27, 2017

Export Citation:

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