STEERING CONTROL DEVICE

PROBLEM TO BE SOLVED: To provide a steering control device capable of suppressing a user from feeling a sense of incongruity when an automatic steering process is switched to a manual steering process.SOLUTION: A guard processing is performed to a change in a current command value iq* when an automatic steering process is switched to a manual steering process. In an embodiment, an amount of change in the current command value iq* to a right turn side is restricted not to exceed an allowable value RG for right turn, while an amount of change in the current command value iq* to a left turn side is restricted not to exceed an allowable value LG for left turn. The allowable value RG for the right turn and the allowable value LG for the left turn are variably set in response to a change speed ΔTrqs of a steering torque.SELECTED DRAWING: Figure 6 【課題】自動操舵処理から手動操舵処理への切替時にユーザが違和感を感じることを抑制できるようにした操舵制御装置を提供する。【解決手段】自動操舵処理から手動操舵処理への切替時に、電流指令値ｉｑ＊の変化にガード処理を施す。ここでは、電流指令値ｉｑ＊の右旋回側への変化量を、右旋回用許容値ＲＧ以下に制限し、電流指令値ｉｑ＊の左旋回側への変化量を、左旋回用許容値ＬＧ以下に制限する。右旋回用許容値ＲＧおよび左旋回用許容値ＬＧを、操舵トルクの変化速度ΔＴｒｑｓに応じて可変設定する。【選択図】図６