Patent ID: 11964709
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 4:
5. A steering control device configured to control a reaction motor that generates a steering reaction force applied to a steering wheel of a steer-by-wire steering system in which power transmission between the steering wheel and turning wheels is cut off, the steering control device comprising:
a first processor configured to change a virtual operation range of the steering wheel according to a steering state or a vehicle state by controlling the reaction motor;
a second processor configured to change a degree of change of the virtual operation range of the steering wheel when an operation position of the steering wheel reaches a position at or within a predetermined threshold of a limit position of the virtual operation range; and
a third processor configured to calculate a limiting axial force which is an axial force of a turning shaft that turns the turning wheels which is reflected in the steering reaction force to virtually limit the operation of the steering wheel based on a target rotation angle of a shaft which rotates with the operation of the turning shaft and a vehicle speed, wherein
the second processor is configured to limit a change per unit time of the limiting axial force calculated by the third processor when the operation position of the steering wheel reaches the position at or within the predetermined threshold of the limit position of the virtual operation range, and
the second processor is configured to non-instantaneously change a value of the limiting axial force which is reflected in the steering reaction force to the current limiting axial force which is calculated by the third processor when the operation position of the steering wheel becomes no longer within the predetermined threshold of the limit position of the virtual operation range.