JP2006321434A - Steering device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering device capable of fitting a steering wheel to a steering angle of a steered heel by a simple constitution. <P>SOLUTION: The steering device is provided with a motor for giving virtual steering reaction force to the steering wheel. When an ignition switch is turned OFF (negative determination at S100), when deviation is generated between the steering angle of the steered wheel and a rotation position of the steering wheel (affirmative determination at S114), the motor is driven by ECU (S118) and driving force of the motor is given to the steering wheel in an opposite direction to a rotation direction of the steering wheel. Thereby, the steering wheel is rotated such that the rotation position is coincident with the steering angle of the steered wheel. Accordingly, the steering device can fit the steering wheel to the steering angle of the steered wheel by a simple constitution that the driving force of the motor for giving the virtual steering reaction force to the steering wheel is utilized. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a steering device that changes a steering angle of a steered wheel according to a rotational position of a steering wheel that is rotatably provided in a vehicle.

  Some steering devices that change the steering angle of a steering wheel have a steering wheel that is operated by a vehicle occupant electrically connected to a steering means that changes the steering angle of the steering wheel (so-called by-wire steering). Device), an example of which is disclosed in Patent Document 1 below.

  The so-called by-wire type steering device disclosed in Patent Document 1 is provided with a steering lock mechanism that restricts rotation of the steering wheel. This steering lock mechanism has a substantially cylindrical shaft lock body having a substantially C-shaped cross section. A steering shaft connected to a steering wheel is inserted into the shaft lock body, and the steering shaft is rotatable around its own axis.

  Of such a shaft lock body, a pair of cylinders fixed to the vehicle is mechanically provided in a portion separated in the circumferential direction (a portion separated in the circumferential direction in the cross section of the shaft lock body). It is connected. The pistons provided in these cylinders are opposed to each other and are accessible to each other.

  In the steering lock mechanism as described above, when the ignition switch is off, the pair of pistons are driven so as to approach each other, thereby narrowing the diameter of the shaft lock body. Is tightened by the shaft lock body. In this way, the steering shaft and the shaft lock body are mechanically connected (engaged), so that the shaft lock body locks the steering shaft, and the rotation of the steering shaft and thus the steering wheel is restricted.

  That is, the steering lock mechanism is not mechanically connected to the steering wheel when the ignition switch is on, and is mechanically connected to the steering wheel when the ignition switch is off, and the rotation of the steering wheel is prevented. Being regulated.

However, the steering device as disclosed in Patent Document 1 has a complicated structure and a heavy weight. In addition, if the steering lock mechanism is removed from the steering device in order to reduce the weight of the device, the function of locking the steering shaft is lost from the steering device. As a result, the steering wheel is turned off when the ignition switch is off. When is operated, the steering shaft is rotated, and there is a possibility that a deviation occurs between the steering angle of the steered wheels and the rotational position of the steering wheel.
JP 2004-314833 A

  In view of the above problems, an object of the present invention is to obtain a steering device that can adjust a steering wheel to a steering angle of a steered wheel with a simple configuration.

  A steering apparatus according to a first aspect of the present invention includes a steering wheel that is rotatably provided in a vehicle, and is electrically connected to the steering wheel and mechanically connected to a steering wheel so that an engine operates. A steering means for changing a steering angle of the steered wheel according to a rotational position of the steering wheel in a state where the steering wheel is in a state where the steering wheel is mechanically connected to the steering wheel, and a driving force along the rotational direction of the steering wheel is applied to the steering wheel. And when the steering wheel is rotated while the engine is operating, the motor is driven to rotate the motor in a direction opposite to the rotation direction of the steering wheel. The driving force is output to the motor, and immediately after the engine is started or the engine A controller for driving the motor to output the driving force for driving the motor to position the steering wheel at a rotational position corresponding to a steering angle of the steering wheel. And

  In the steering device according to the first aspect of the present invention, when the steering wheel and the steering means are electrically connected, and the steering wheel is rotated while the engine is operating, the rotation of the steering wheel is performed. The steering angle of the steered wheels is changed by the steering means according to the position. In this case, the motor is driven by the control device, and a driving force in the direction opposite to the rotation direction of the steering wheel output from the motor is applied to the steering wheel. As a result, a virtual steering reaction force is applied to the steering wheel. Therefore, the steering apparatus according to the first aspect of the present invention can obtain the same operation feeling as that of the conventional steering apparatus in which the steering wheel and the steering wheel are mechanically coupled.

  Here, in the steering device according to the first aspect of the present invention, the motor is driven by the control device immediately after the engine is started or before the engine is started, and the driving force of the motor is given to the steering wheel. Thereby, the steering wheel is positioned at a rotational position corresponding to the steering angle of the steering wheel. Therefore, the steering apparatus according to the first aspect of the present invention can adjust the steering wheel to the steering angle of the steered wheel with a simple configuration that uses the driving force of the motor as described above.

  The steering device according to a second aspect of the present invention is the steering device according to the first aspect, wherein when a rotational force is applied to the steering wheel before the engine is started, the rotational force is applied to the steering wheel. The driving force of the motor is applied to the steering wheel in a direction opposite to the direction in which the steering wheel is provided.

  In the steering device according to the second aspect of the present invention, when a rotational force is applied to the steering wheel before the engine is started, the motor is driven in a direction opposite to the direction in which the rotational force is applied to the steering wheel. Power is given.

  Here, the driving force of the motor is applied to the steering wheel after a rotational force is applied to the steering wheel, for example. In this case, the steering device according to the second aspect of the present invention is configured such that, after the rotational force is no longer applied to the steering wheel, the steering wheel is moved to, for example, the neutral position (here, the neutral position is the position of the steering wheel when the vehicle goes straight). The rotation position of the steering wheel).

  Further, the driving force of the motor may be applied to the steering wheel when a rotational force is applied to the steering wheel, for example. In this case, the steering wheel does not rotate, and the steering device according to the second aspect of the present invention can be used even if there is no rotation restricting device for restricting the rotation of the steering wheel such as a steering lock device. It can be kept at a position corresponding to the rudder angle.

  A steering apparatus according to a third aspect of the invention is characterized in that, in the first aspect of the invention, the steering means is driven so that the steering angle of the steered wheel matches the rotational position of the steering wheel. .

  In the steering apparatus according to the third aspect of the present invention, the steering means is driven so that the steering angle of the steered wheel matches the rotational position of the steering wheel. As a result, even if the rotational position of the steering wheel deviates from the steering angle of the steering wheel, not only the rotational position of the steering wheel but also the steering angle of the steering wheel is corrected, and the rotational position of the steering wheel and the steering angle of the steering wheel are corrected. Can be eliminated.

  According to a fourth aspect of the present invention, there is provided a steering apparatus according to the third aspect of the present invention, further comprising a reset switch electrically connected to the control apparatus, and the steering wheel when the reset switch is turned on. And the steering angle of the steered wheel are made to coincide.

  In the steering device according to the fourth aspect of the present invention, the reset switch is electrically connected to the control device, and when the reset switch is turned on, the rotational position of the steering wheel and the steering wheel The rudder angle can be matched. For this reason, in accordance with the operation of the reset switch by the operator (for example, at the timing when the operator operates the reset switch), the deviation between the rotational position of the steering wheel and the steering angle of the steering wheel can be eliminated.

  A steering device according to a fifth aspect of the present invention is the steering device according to any one of the first to fourth aspects, wherein the steering device is mechanically coupled to the steering wheel, and the rotational position of the steering wheel and the steering are An auxiliary motor for adjusting the wheel steering angle together with the motor is provided.

  The steering apparatus according to claim 5 includes an auxiliary motor that is mechanically coupled to the steering wheel, and the rotational position of the steering wheel is controlled by the driving force of both the motor and the auxiliary motor. The rotational position and the steering angle of the steered wheels are matched. Thereby, the rotational position of the steering wheel can be controlled more reliably and easily.

  As described above, the steering device according to the present invention has an excellent effect that the steering wheel can be adjusted to the steering angle of the steering wheel with a simple configuration.

(First embodiment)
FIG. 1 shows an outline of a steering apparatus 10 according to the first embodiment of the present invention. The steering device 10 is provided in a vehicle such as an automobile.

  The steering device 10 includes a columnar steering shaft 12A. One end of the steering shaft 12 </ b> A is mechanically coupled to the steering wheel 12. The steering shaft 12A is rotatably supported around its own axis by a not-shown shaft support member provided in the vehicle. That is, the steering wheel 12 is rotatably provided on the vehicle.

  Further, a rotary encoder 22 is provided on the steering shaft 12A. The rotary encoder 22 detects the actual rotational position of the steering shaft 12A, that is, the steering wheel 12, and outputs a signal corresponding to the rotational position.

  Furthermore, a torque sensor 24 is provided on the steering shaft 12A. The torque sensor 24 detects the torque applied to the steering shaft 12A and outputs a signal corresponding to the torque.

  The torque sensor 24 is electrically connected to an ECU 14 that constitutes a steering means. The ECU 14 calculates the torque applied to the steering shaft 12A by calculation based on the detection result (output signal) output from the torque sensor 24.

  Further, the rotary encoder 22 is electrically connected to the ECU 14, and the ECU 14 is based on the detection result (output signal) output from the rotary encoder 22, and the steering shaft 12A (that is, the steering wheel 12). Is obtained by calculation. Further, the ECU 14 includes a memory (not shown), and the ECU 14 is based on an output signal from the rotary encoder 22 and information on the rotational position of the steering wheel 12 (information indicating the actual rotational position of the steering wheel 12). And the difference between the actual rotational position of the steering wheel 12 and the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18 (the amount by which the actual rotational position of the steering wheel 12 deviates from the original rotational position). Hereinafter, it is possible to store information indicating simply the rotational position deviation amount).

  Further, an ignition switch 26 is electrically connected to the ECU 14, and the ECU 14 determines whether the ignition switch 26 is turned on or is the ignition switch 26 turned off based on a signal output from the ignition switch 26. Judging.

  Further, a human body sensor (not shown) such as a seating sensor provided in the vehicle interior is electrically connected to the ECU 14, and the ECU 14 detects an occupant in the vehicle interior based on a signal output from the human body sensor. Determine if it exists.

  The ECU 14 is electrically connected to an actuator 16 that constitutes a steering means together with the ECU 14. The actuator 16 includes a motor (steering motor) such as a brushless motor, for example, and is driven according to an instruction (output signal) from the ECU 14.

  A steering gear 15 is mechanically connected to the actuator 16. The steering gear 15 is configured by, for example, a ball screw mechanism. A steering rod 17 is mechanically connected to the steering gear 15, and the steering gear 15 converts the rotational motion of the output shaft of the actuator 16 into linear motion of the steering rod 17.

  A pair of steered wheels 18 are mechanically connected to the steering rod 17 via a knuckle arm 19. The movement of the steering rod 17 is transmitted to each steered wheel 18 via the knuckle arm 19, and a pair of steered wheels 18 is operated. The rudder angle of the wheel 18 is changed.

  That is, the actuator 16 changes the steering angle of the pair of steered wheels 18 in accordance with an instruction from the ECU 14.

  In the present steering device 10, the ECU 14 gives an instruction for changing the steering angle of the steered wheels 18 to the actuator 16 in accordance with the output signal of the rotary encoder 22 when the ignition switch 26 is on.

  Moreover, the motor 20 is electrically connected to the ECU 14. The motor 20 is mechanically coupled to the steering shaft 12A via a driving force transmission member 21 such as a worm gear, and the motor 20 uses its driving force to rotate the steering shaft 12A via the driving force transmission member 21. It is given to the steering shaft 12A along the direction (that is, the rotational direction of the steering wheel 12).

  Here, the ECU 14 also functions as a control device that controls the driving of the motor 20. When the ignition switch 26 is on (the engine is operating), the ECU 14 applies a virtual steering reaction force to the steering shaft 12A and eventually the steering wheel 12 when the steering wheel 12 is rotated. Therefore, the motor 20 is driven so that the driving force of the motor 20 is applied to the steering shaft 12A in the direction opposite to the rotation direction of the steering shaft 12A. In addition, when the ignition switch 26 is off (in a state where the engine is stopped), the ECU 14 steers based on information indicating the rotational position deviation amount of the steering wheel 12 stored in its own internal memory. The motor 20 is driven so that the steering angle of the wheel 18 (more specifically, the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18) matches the actual rotational position of the steering wheel 12.

  Next, the operation of the first exemplary embodiment of the present invention will be described.

  FIG. 2 is a flowchart showing the operation procedure of the steering device 10.

  For example, when the presence of an occupant is detected by a human body sensor such as a seating sensor, the steering device 10 is operated, and the ECU 14 determines whether the ignition switch 26 is on (step 100). If the ignition switch 26 is on (if an affirmative determination is made in step 100), the process proceeds to step 102. If the ignition switch 26 is off (if a negative determination is made in step 100), the process proceeds to step 114.

  When it is determined in step 100 that the ignition switch 26 is OFF, in step 114, the original rotational position of the steering wheel 12 corresponding to the steering angle of the steering wheel 18 is determined based on the output signal from the rotary encoder 22. The ECU 14 determines whether or not the actual rotational position of the steering wheel 12 is deviated. If the actual rotational position of the steering wheel 12 is deviated (in the case of an affirmative determination in step 114), the process proceeds to step 116, and if the actual rotational position of the steering wheel 12 is not deviated (in the case of a negative determination in step 114). ) Returns to step 100 and repeats the process described above.

  If it is determined in step 114 that the actual rotational position of the steering wheel 12 is deviated, in step 116, the actual steering wheel 12 stored in the internal memory of the ECU 14 when executing the previous processing routine in step 112 described later. Based on information indicating the rotational position (that is, information indicating the actual rotational position of the steering wheel 12 when the ignition switch 26 is switched from on to off), the rotational position deviation amount of the steering wheel 12 is calculated by the ECU 14. Information indicating the rotational position deviation amount of the steering wheel 12 is stored in a memory inside the ECU 14. When the information indicating the rotational position deviation amount of the steering wheel 12 is stored in the memory inside the ECU 14, the process proceeds to step 118.

  In step 118, the motor 14 is driven by the ECU 14, and the driving force of the motor 20 is applied to the steering shaft 12A according to the output signals from the rotary encoder 22 and the torque sensor 24. The driving force of the motor 20 is applied to the steering shaft 12A in a direction opposite to the rotational direction of the steering shaft 12A (the direction in which the actual rotational position of the steering shaft 12A deviates from its original rotational position). As a result, the steering shaft 12A, that is, the steering wheel 12, is the direction in which the steering wheel 12 is rotated with respect to the actual rotational position of the steering wheel 12 when the ignition switch 26 is turned off (the above-described shifted direction). It is rotated in the opposite direction.

  When the motor 20 is thus driven and the steering wheel 12 is rotated in the opposite direction, the process proceeds to step 120.

  In step 120, the ECU 14 determines whether or not the rotational position deviation amount of the steering wheel 12 has become zero based on the output signal from the rotary encoder 22. In this step 120, when the rotational position deviation amount of the steering wheel 12 becomes zero (in the case of an affirmative determination in step 120), the routine proceeds to step 122, and when the rotational position deviation amount of the steering wheel 12 is not zero. In the case of negative determination in step 120, the process returns to step 118 and the above-described processing is repeated.

  If it is determined in step 120 that the rotational position deviation amount of the steering wheel 12 has become zero, in step 122, the drive of the motor 20 is stopped by the ECU 14. In this way, the steering device 10 corrects the actual rotational position of the steering wheel 12 and makes the difference between the actual rotational position of the steering wheel 12 and the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18. Displacement can be eliminated.

  In the present steering device 10, the processing described in the above-described steps 116 to 122 is executed, so that the driving force of the motor 20 is applied to the steering wheel 12 after the rotational force is applied to the steering wheel 12, for example. It is done. In this case, the present steering device 10 can rotate the steering wheel 12 to the original rotational position (for example, neutral position) after the rotational force is no longer applied to the steering wheel 12.

  When the driving of the motor 20 is stopped by the ECU 14 in step 122, the process returns to step 100 and the above-described processing is repeated.

  On the other hand, if it is determined in step 100 described above that the ignition switch 26 is on, in step 102, whether or not the actual rotational position of the steering wheel 12 has changed based on the output signal from the rotary encoder 22 is determined. Determined by the ECU 14. If the actual rotational position of the steering wheel 12 has changed (in the case of an affirmative determination in step 102), the routine proceeds to step 104. If the actual rotational position of the steering wheel 12 has not changed (in the negative determination in step 102) In case), the process proceeds to step 110.

  When it is determined in step 102 that the actual rotational position of the steering wheel 12 has changed, in step 104, the motor 20 is driven by the ECU 14, and the driving force of the motor 20 is steered according to the output signal from the torque sensor 24. It is given to the shaft 12A. The driving force of the motor 20 is applied to the steering shaft 12A in the direction opposite to the rotation direction of the steering shaft 12A. As a result, a virtual steering reaction force is applied to the steering shaft 12A, that is, the steering wheel 12. Therefore, the steering device 10 can obtain the same operational feeling as a conventional steering device in which the steering wheel 12 and the steering wheel 18 are mechanically coupled.

  When the motor 20 is thus driven, the process proceeds to step 106. In step 106, based on the output signal from the torque sensor 24, the ECU 14 determines whether or not the torque applied to the steering shaft 12A has become zero. In this step 106, when the torque applied to the steering shaft 12A becomes 0 (in the case of an affirmative determination in step 106), the process proceeds to step 108, and when the torque applied to the steering shaft 12A is not 0 (in step 106). In the case of negative determination), the processing returns to step 104 and the above-described processing is repeated.

  If the torque applied to the steering shaft 12A becomes zero in step 106, the drive of the motor 20 is stopped in step 108. When the drive of the motor 20 is stopped, the process proceeds to step 110.

  In step 110, it is determined whether or not the ignition switch 26 has been switched from on to off. If the ignition switch 26 is switched from ON to OFF (in the case of an affirmative determination in Step 110), the process proceeds to Step 112. If the ignition switch 26 remains on (in the case of a negative determination in Step 110), Step 102 is performed. Return to and repeat the above-described processing.

  If it is determined in step 110 that the ignition switch 26 has been switched from on to off, in step 112, information indicating the actual rotational position of the steering wheel 12 when the ignition switch 26 has been switched from on to off is information about the rotary encoder 22. Is stored in a memory inside the ECU 14 in accordance with an output signal from the ECU 14. When information indicating the actual rotational position of the steering wheel 12 is stored in the memory inside the ECU 14, this processing routine is terminated.

As described above, in the steering apparatus 10 according to the first embodiment of the present invention, when the ignition switch 26 is off, that is, before the engine is started (here, when the engine is stopped), the ECU 14 performs the motor 20. And the driving force of the motor 20 is applied to the steering wheel 12 as described above. As a result, the steering wheel 12 is positioned at a rotational position corresponding to the steering angle of the steering wheel 18 (here, the steering wheel 12 is moved to a rotational position corresponding to the steering angle of the steering wheel 18). Therefore, the steering device 10 according to the first embodiment of the present invention includes the motor 20 that applies a virtual steering reaction force to the steering shaft 12A (and thus the steering wheel 12, and the driver holding the steering wheel 12). When the ignition switch 26 is off, the steering wheel 12 can be adjusted to the steering angle of the steered wheels 18 (when the ignition switch 26 is off, the steering wheel 12 The positional relationship between the rotational position and the steering angle of the steered wheels 18 can be prevented from becoming inappropriate).
(Second Embodiment)
Next, a second embodiment of the present invention will be described. In addition, the same code | symbol is attached | subjected to the location of the same structure as the above-mentioned 1st Embodiment of this invention, and the description is abbreviate | omitted.

  The steering apparatus 10 according to the second embodiment of the present invention is obtained by changing the processing routine of the steering apparatus 10 described in the first embodiment of the present invention. In the steering device 10 according to the second embodiment of the present invention, the ECU 14 controls the steering wheel stored in its own memory when the ignition switch 26 is switched from OFF to ON (when the engine is started). The steering angle of the steering wheel 18 (more specifically, the original rotation position of the steering wheel 12 according to the steering angle of the steering wheel 18) and the actual rotation of the steering wheel 12 based on the information indicating the rotational position deviation amount of the steering wheel 18. The motor 20 is driven so as to match the position.

  The operation of the second embodiment of the present invention will be described below.

  FIG. 3 is a flowchart showing an operation procedure of the steering apparatus 10 according to the second embodiment of the present invention.

  For example, when the presence of an occupant is detected by a human body sensor such as a seating sensor, the steering device 10 is operated, and the ECU 14 determines whether or not the ignition switch 26 is on (step 140). Here, the process proceeds to the next step 154 only when the ignition switch 26 is on (in the case of an affirmative determination in step 140).

  If it is determined in step 140 that the ignition switch 26 is on, in step 154, based on the output signal from the rotary encoder 22, the original rotational position of the steering wheel 12 corresponding to the steering angle of the steered wheels 18 is determined. The ECU 14 determines whether or not the actual rotational position of the steering wheel 12 is deviated. If the actual rotational position of the steering wheel 12 is deviated (in the case of an affirmative determination in step 154), the process proceeds to step 158, and if the actual rotational position of the steering wheel 12 is not deviated (in the negative determination in step 154). In the case), the process proceeds to step 142.

  If it is determined in step 154 that the actual rotational position of the steering wheel 12 has shifted, in step 158, the actual steering wheel 12 stored in the memory in the ECU 14 at the time of execution of the previous processing routine in step 152 described later will be described. Based on information indicating the rotational position (that is, information indicating the actual rotational position of the steering wheel 12 when the ignition switch 26 is switched from on to off), the rotational position deviation amount of the steering wheel 12 is calculated by the ECU 14. Information indicating the rotational position deviation amount of the steering wheel 12 is stored in a memory inside the ECU 14. When information indicating the rotational position deviation amount of the steering wheel 12 is stored in the memory inside the ECU 14, the process proceeds to step 160.

  In step 160, the motor 14 is driven by the ECU 14, and the driving force of the motor 20 is applied to the steering shaft 12A in accordance with output signals from the rotary encoder 22 and the torque sensor 24. The driving force of the motor 20 is applied to the steering shaft 12A in a direction opposite to the rotational direction of the steering shaft 12A (the direction in which the actual rotational position of the steering shaft 12A deviates from its original rotational position). As a result, the steering shaft 12A, that is, the steering wheel 12, is the direction in which the steering wheel 12 is rotated with respect to the actual rotational position of the steering wheel 12 when the ignition switch 26 is turned off (the above-described shifted direction). It is rotated in the opposite direction.

  When the motor 20 is thus driven and the steering wheel 12 is rotated in the opposite direction, the routine proceeds to step 162.

  In step 162, the ECU 14 determines whether or not the rotational position deviation amount of the steering wheel 12 has become zero based on the output signal from the rotary encoder 22. In this step 162, when the rotational position deviation amount of the steering wheel 12 becomes zero (in the case of an affirmative determination in step 162), the process proceeds to step 164, and when the rotational position deviation amount of the steering wheel 12 is not zero. In the case of negative determination in step 162, the process returns to step 160 and the above-described processing is repeated.

  When it is determined in step 162 that the rotational position deviation amount of the steering wheel 12 has become zero, in step 164, the drive of the motor 20 is stopped by the ECU 14. In this way, the steering device 10 corrects the actual rotational position of the steering wheel 12 and makes the difference between the actual rotational position of the steering wheel 12 and the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18. Displacement can be eliminated.

  In the present steering apparatus 10, the processing as described in the above-described steps 156 to 164 is executed, so that the driving force of the motor 20 is applied to the steering wheel 12 after the rotational force is applied to the steering wheel 12, for example. It is done. In this case, the present steering device 10 can rotate the steering wheel 12 to the original rotational position (for example, neutral position) after the rotational force is no longer applied to the steering wheel 12.

  Then, when the driving of the motor 20 is stopped by the ECU 14 in step 164, the present steering device 10 performs each processing of step 142 to step 152 thereafter. Since each process of Step 142 to Step 152 is the same as Step 102 to Step 112 of the flowchart (see FIG. 2) of the first embodiment of the present invention described above, the description thereof is omitted. When the information indicating the actual rotational position of the steering wheel 12 is stored in the memory inside the ECU 14 in step 152, this processing routine is terminated.

As described above, in the steering apparatus 10 according to the second embodiment of the present invention, when the ignition switch 26 is switched from OFF to ON, that is, before the engine is started (here, when the engine is started), The motor 14 is driven by the ECU 14 and the driving force of the motor 20 is applied to the steering wheel 12 as described above. As a result, the steering wheel 12 is positioned at a rotational position corresponding to the steering angle of the steering wheel 18 (here, the steering wheel 12 is moved to a rotational position corresponding to the steering angle of the steering wheel 18). Therefore, the steering apparatus 10 according to the second embodiment of the present invention includes a motor 20 that applies a virtual steering reaction force to the steering shaft 12A (and thus the steering wheel 12, and further the driver holding the steering wheel 12). The steering wheel 12 can be adjusted to the steering angle of the steered wheels 18 when the ignition switch 26 is switched from OFF to ON (when the ignition switch 26 is switched from OFF to ON). The positional relationship between the rotational position of the steering wheel 12 and the steering angle of the steering wheel 18 can be made appropriate).
(Third embodiment)
Next, a third embodiment of the present invention will be described. In addition, the same code | symbol is attached | subjected to the location of the same structure as the above-mentioned 1st Embodiment of this invention, and the description is abbreviate | omitted.

  The steering apparatus 10 according to the third embodiment of the present invention is obtained by changing the processing routine of the steering apparatus 10 described in the first embodiment of the present invention. In the steering apparatus 10 according to the third embodiment of the present invention, the ECU 14 rotates when the ignition switch 26 is off (when the engine is stopped) and a rotational force is applied to the steering wheel 12. The motor 20 is driven so that the force is canceled (cancelled) by the driving force of the motor 20.

  The operation of the third embodiment of the present invention will be described below.

  FIG. 4 is a flowchart showing an operation procedure of the steering apparatus 10 according to the third embodiment of the present invention.

  For example, when the presence of an occupant is detected by a human body sensor such as a seating sensor, the steering device 10 is operated, and the ECU 14 determines whether or not the ignition switch 26 is on (step 220). When the ignition switch 26 is off (when a negative determination is made at step 220), the routine proceeds to step 232, and when the ignition switch 26 is on (when a positive determination is made at step 220), the routine proceeds to step 222.

  If it is determined in step 220 that the ignition switch 26 is off, in step 232, whether or not torque is applied to the steering shaft 12A by rotating the steering wheel 12 based on the output signal from the torque sensor 24. (That is, whether or not a rotational force is applied to the steering wheel 12) is determined by the ECU 14. When torque is applied to the steering shaft 12A (when an affirmative determination is made at step 232), the routine proceeds to step 234. When torque is not applied to the steering shaft 12A (when a negative determination is made at step 232), this processing routine is executed. Exit.

  When it is determined in step 232 that torque is applied to the steering shaft 12A, in step 234, the motor 20 is driven by the ECU 14, and the driving force of the motor 20 is applied to the steering shaft 12A according to the output signal from the torque sensor 24. It is done. The driving force of the motor 20 is applied to the steering shaft 12A in the direction opposite to the direction in which the torque is applied to the steering shaft 12A (the direction in which the rotational force is applied to the steering wheel 12).

  Here, the motor 20 is driven such that the strength of the driving force of the motor 20 applied to the steering shaft 12A becomes a strength that cancels out the torque applied to the steering shaft 12A (rotational force applied to the steering wheel 12). . As a result, torque applied to the steering shaft 12 </ b> A (rotational force applied to the steering wheel 12) is canceled by the driving force of the motor 20. For this reason, the steering shaft 12A, that is, the steering wheel 12 does not rotate. Therefore, even if there is no rotation restricting device for restricting the rotation of the steering wheel 12 such as a steering lock device, the steering wheel 12 is kept at the original rotation position of the steering wheel 12 according to the steering angle of the steering wheel 18. be able to.

  When the motor 20 is thus driven and the steering wheel 12 is restricted from rotating as described above, the routine proceeds to step 236.

  In step 236, the ECU 14 determines whether or not the torque applied to the steering shaft 12A has become zero based on the output signal from the torque sensor 24. In this step 236, when the torque applied to the steering shaft 12A becomes zero (in the case of an affirmative determination in step 236), the process proceeds to step 238, and when the torque applied to the steering shaft 12A is not zero (in step 236). In the case of negative determination), the processing returns to step 234 and the above-described processing is repeated.

  In step 238, the driving of the motor 20 is stopped by the ECU 14. When the driving of the motor 20 is stopped by the ECU 14, this processing routine is ended.

  In the present steering device 10, the processing as described in Steps 234 to 238 described above is executed, so that the driving force of the motor 20 is the steering shaft 12 </ b> A when a rotational force is applied to the steering wheel 12, and eventually the steering wheel. 12 is given. As a result, the steering wheel 12 does not rotate. In this case, the present steering device 10 can be positioned at a position corresponding to the steering angle of the steering wheel 18 (the steering wheel 18) even without a rotation restricting device that restricts the rotation of the steering wheel 12 such as a steering lock device. The original rotation position of the steering wheel 12 according to the rudder angle can be kept.

  On the other hand, when it is determined in the above-described step 220 that the ignition switch 26 is turned on, the processes from step 222 to step 230 are performed thereafter. Since each process of step 222 to step 230 is the same as step 102 to step 110 in the flowchart (see FIG. 2) of the first embodiment of the present invention described above, description thereof is omitted. Then, it is determined in step 230 whether or not the ignition switch 26 has been switched from on to off. If the ignition switch 26 has been switched from on to off (in the case of an affirmative determination in step 230), this processing routine is terminated. If the ignition switch 26 remains on (in the case of negative determination in step 230), the process returns to step 222 and the above-described processing is repeated.

As described above, in the steering apparatus 10 according to the third embodiment of the present invention, when the ignition switch 26 is off, that is, before the engine is started (here, when the engine is stopped), the ECU 14 performs the motor 20. And the driving force of the motor 20 is applied to the steering wheel 12 as described above. As a result, the steering wheel 12 is positioned at a rotational position corresponding to the steering angle of the steering wheel 18 (here, the steering wheel 12 is held at a rotational position corresponding to the steering angle of the steering wheel 18). Therefore, the steering apparatus 10 according to the third embodiment of the present invention includes a motor 20 that applies a virtual steering reaction force to the steering shaft 12A (and thus the steering wheel 12, and the driver holding the steering wheel 12). When the ignition switch 26 is off, the steering wheel 12 can be adjusted to the steering angle of the steered wheels 18 (when the ignition switch 26 is off, the steering wheel 12 The positional relationship between the rotational position and the steering angle of the steering wheel 18 can be maintained in an appropriate positional relationship).
(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described. In addition, the same code | symbol is attached | subjected to the location of the same structure as the above-mentioned 1st Embodiment of this invention, and the description is abbreviate | omitted.

  FIG. 5 shows an outline of a steering apparatus 10 according to the fourth embodiment of the present invention. The steering device 10 according to the fourth embodiment of the present invention is provided with the reset switch 28 in the steering device 10 described in the first embodiment of the present invention. When the reset switch 28 is operated, steering is performed. The actual rotational position of the wheel 12 is made to coincide with the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18.

  The reset switch 28 is provided, for example, in the vicinity of the driver's seat in the passenger compartment, and is electrically connected to the ECU 14. When the ignition switch 26 is switched from OFF to ON (when the engine is started) and the reset switch 28 is operated (when the reset switch 28 is turned ON), the ECU 14 drives the motor 20. Then, a process of adjusting the actual rotational position of the steering wheel 12 to the original rotational position of the steering wheel 12 corresponding to the steering angle of the steering wheel 18 is executed.

  The operation of the fourth embodiment of the present invention will be described below.

  FIG. 6 is a flowchart showing an operation procedure of the steering apparatus 10 according to the fourth embodiment of the present invention.

  For example, when the presence of an occupant is detected by a human body sensor such as a seating sensor, the steering device 10 is operated, and the ECU 14 determines whether or not the ignition switch 26 is on (step 180). As will be described later, this processing routine ends when the ignition switch 26 is OFF. In this step 180, it is determined whether or not the ignition switch 26 has been switched from OFF to ON. The process proceeds to the next step 182 only when the ignition switch 26 is switched from OFF to ON (in the case of a positive determination at step 180).

  If it is determined in step 180 that the ignition switch 26 has been switched from OFF to ON, in step 182, the ECU 14 determines whether or not the reset switch 28 is ON based on an output signal from the reset switch 28. When the reset switch 28 is on (when an affirmative determination is made at step 182), the process proceeds to step 196. When the reset switch 28 is off (when a negative determination is made at step 182), the process proceeds to step 184.

  If it is determined in step 182 that the reset switch 28 is on, in step 196, the steering wheel 12 is moved with respect to the original rotational position corresponding to the steering angle of the steered wheel 18 based on the output signal from the rotary encoder 22. It is determined by the ECU 14 whether or not the actual rotational position is shifted. When the actual rotational position of the steering wheel 12 is deviated (in the case of an affirmative determination in step 196), the routine proceeds to step 198, and when the actual rotational position of the steering wheel 12 is not deviated (in the negative determination in step 196). If so, the process proceeds to step 192 (see connector 1).

  If it is determined in step 196 that the actual rotational position of the steering wheel 12 is deviated, in step 198, the actual steering wheel 12 stored in the memory inside the ECU 14 at the time of execution of the previous processing routine in step 194 described later. Based on information indicating the rotational position (that is, information indicating the actual rotational position of the steering wheel 12 when the ignition switch 26 is switched from on to off), the rotational position deviation amount of the steering wheel 12 is calculated by the ECU 14. Information indicating the rotational position deviation amount of the steering wheel 12 is stored in a memory inside the ECU 14. When the information indicating the rotational position deviation amount of the steering wheel 12 is stored in the memory inside the ECU 14, the process proceeds to step 200.

  In step 200, the motor 14 is driven by the ECU 14, and the driving force of the motor 20 is applied to the steering shaft 12A in accordance with output signals from the rotary encoder 22 and the torque sensor 24. The driving force of the motor 20 is applied to the steering shaft 12A in a direction opposite to the rotational direction of the steering shaft 12A (the direction in which the actual rotational position of the steering shaft 12A deviates from its original rotational position). As a result, the steering shaft 12A, that is, the steering wheel 12, is the direction in which the steering wheel 12 is rotated with respect to the actual rotational position of the steering wheel 12 when the ignition switch 26 is turned off (the above-described shifted direction). It is rotated in the opposite direction.

  When the motor 20 is thus driven and the steering wheel 12 is rotated in the opposite direction, the routine proceeds to step 202.

  In step 202, the ECU 14 determines whether or not the rotational position deviation amount of the steering wheel 12 has become zero based on the output signal from the rotary encoder 22. In this step 202, when the rotational position deviation amount of the steering wheel 12 becomes zero (in the case of an affirmative determination in step 202), the process proceeds to step 204, and when the rotational position deviation amount of the steering wheel 12 is not zero. In the case of negative determination in step 202, the process returns to step 200 and the above-described processing is repeated.

  When it is determined in step 202 that the rotational position deviation amount of the steering wheel 12 has become zero, in step 204, the drive of the motor 20 is stopped by the ECU 14. Thus, in the steering device 10, when the reset switch 28 is switched from OFF to ON and the reset switch 28 is turned ON, the actual rotational position of the steering wheel 12 is corrected and the steering wheel 12 is The actual rotational position and the original rotational position of the steering wheel 12 corresponding to the steering angle of the steering wheel 18 are matched. Therefore, the steering wheel according to the actual rotation position of the steering wheel 12 and the steering angle of the steering wheel 18 according to the operation of the reset switch 28 by the operator (here, at the timing when the operator operates the reset switch 28). The deviation from the original 12 rotational position can be eliminated.

  In the present steering device 10, the processing as described in the above-described steps 198 to 204 is executed. Therefore, for example, the driving force of the motor 20 is applied to the steering wheel 12 after the rotational force is applied to the steering wheel 12. It is done. In this case, the present steering device 10 can rotate the steering wheel 12 to the original rotational position (for example, neutral position) after the rotational force is no longer applied to the steering wheel 12.

  When the driving of the motor 20 is stopped by the ECU 14 in step 204, the process proceeds to step 184.

  If the drive of the motor 20 is stopped in step 204, or if it is determined in step 182 that the reset switch 28 is off, the processes in steps 184 to 194 are performed thereafter. Since the processes in steps 184 to 194 are the same as steps 102 to 112 in the flowchart (see FIG. 2) of the first embodiment of the present invention described above, the description thereof is omitted. When the information indicating the actual rotational position of the steering wheel 12 is stored in the memory inside the ECU 14 in step 194, this processing routine is ended.

  As described above, in the steering device 10 according to the fourth embodiment of the present invention, when the ignition switch 26 is switched from OFF to ON, that is, before the engine is started (here, when the engine is started), When the reset switch 28 is operated (when the reset switch 28 is turned on), the motor 20 is driven by the ECU 14 and the driving force of the motor 20 is applied to the steering wheel 12 as described above. As a result, the steering wheel 12 is positioned at a rotational position corresponding to the steering angle of the steering wheel 18 (here, the steering wheel 12 is moved to a rotational position corresponding to the steering angle of the steering wheel 18). Therefore, the steering apparatus 10 according to the fourth embodiment of the present invention includes a motor 20 that applies a virtual steering reaction force to the steering shaft 12A (and thus the steering wheel 12, and the driver holding the steering wheel 12). The steering wheel 12 can be adjusted to the steering angle of the steered wheels 18 when the reset switch 28 is operated when the engine is started (the reset switch 28 is used when the engine is started). The position relationship between the rotational position of the steering wheel 12 and the rudder angle of the steered wheel 18 can be prevented from becoming inappropriate when the is operated.

  In the steering apparatus 10 according to the present embodiment, the motor 20 is driven so as to eliminate the difference between the actual rotational position of the steering wheel 12 and the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18. However, the present invention is not limited to this. In the present invention, not only the motor 20 but also the actuator 16 is driven so as to eliminate the difference between the actual rotational position of the steering wheel 12 and the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18. There may be.

  In this case, even if the actual rotational position of the steering wheel 12 deviates from the original rotational position of the steering wheel 12 corresponding to the steering angle of the steering wheel 18, the actual rotational position of the steering wheel 12 and the steering wheel 18 By correcting both the steering angles, the deviation between the actual rotational position of the steering wheel 12 and the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18 can be eliminated.

  For example, when the reset switch 28 is operated, the steering device 10 rotates the steering wheel 12 to the neutral position by the driving force of the motor 20 and moves the pair of steering wheels 18 in the straight traveling direction of the vehicle by the driving force of the actuator 16. By making it turn, the shift | offset | difference between the actual rotation position of the steering wheel 12 and the original rotation position of the steering wheel 12 according to the rudder angle of the steering wheel 18 can be eliminated.

  Further, in the steering apparatus 10 according to the present embodiment, the actual rotational position of the steering wheel 12 and the steering wheel 18 are steered when the reset switch 28 is turned on when the ignition switch 26 is switched from off to on. Although the angle (more specifically, the original rotation position of the steering wheel 12 according to the steering angle of the steering wheel 18) is adjusted, the present invention is not limited to this. In the present invention, when the reset switch 28 is turned on regardless of whether the ignition switch 26 is on or off, the actual rotational position of the steering wheel 12 and the steering angle of the steered wheels 18 may be matched.

Further, in the steering apparatus 10 according to the present embodiment, the actual rotational position of the steering wheel 12 and the steering angle of the steering wheel 18 (more specifically, the original rotational position of the steering wheel 12 according to the steering angle of the steering wheel 18). ) Is executed when the reset switch 28 is turned on when the ignition switch 26 is switched from off to on, but the present invention is not limited to this. In the present invention, the reset switch 28 is not provided, and the function of the reset switch 28 is provided to the ignition switch 26. When the ignition switch 26 is switched from OFF to ON, the actual rotational position of the steering wheel 12 and the steering wheel You may make it perform the process which matches 18 steering angles.
(Modification)
FIG. 7 schematically shows a modification of the steering device 10 according to the first to third embodiments of the present invention. A steering apparatus 10 according to this modification is provided with an auxiliary motor 30 in the steering apparatus 10 according to the first to third embodiments of the present invention.

  FIG. 8 schematically shows a modification of the steering device 10 according to the fourth embodiment of the present invention. A steering apparatus 10 according to this modification is provided with an auxiliary motor 30 in the steering apparatus 10 according to the fourth embodiment of the present invention.

  The auxiliary motor 30 shown in FIGS. 7 and 8 is mechanically coupled to the steering shaft 12 </ b> A and applies its own driving force along the direction of rotation of the steering shaft 12 </ b> A of the steering wheel 12.

  The auxiliary motor 30 is electrically connected to the above-described ECU 14, and the auxiliary motor 30 applies its own driving force in the direction opposite to the rotation direction of the steering wheel 12 together with the motor 20 in accordance with an instruction from the ECU 14. .

  In these modifications, the actual rotational position of the steering wheel 12 is controlled by the driving force of both the motor 20 and the auxiliary motor 30, and the steering wheel according to the actual rotational position of the steering wheel 12 and the steering angle of the steering wheel 18. 12 original rotational positions are matched. Thereby, the actual rotational position of the steering wheel 12 can be controlled more reliably and easily.

  Here, the auxiliary motor 30 is used to position the steering shaft 12A (more specifically, the steering wheel 12) at its original rotational position (here, rotationally move or fasten). The motor 30 may be driven when the driving force of the motor 20 is insufficient to position the steering shaft 12A at the original rotational position, and the steering shaft 12A is positioned at the original rotational position. It is also possible to always drive the motor 20 together with the motor 20.

It is a figure which shows the outline of the steering apparatus which concerns on the 1st thru | or 3rd embodiment of this invention. It is a flowchart which shows the operation | movement procedure of the steering apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement procedure of the steering apparatus which concerns on the 2nd Embodiment of this invention, and is a figure corresponding to FIG. It is a flowchart which shows the operation | movement procedure of the steering apparatus which concerns on the 3rd Embodiment of this invention, and is a figure corresponding to FIG.2 and FIG.3. It is a figure which shows the outline of the steering device which concerns on the 4th Embodiment of this invention, and is a figure corresponding to FIG. It is a flowchart which shows the operation | movement procedure of the steering apparatus which concerns on the 4th Embodiment of this invention, and is a figure corresponding to FIG. 2 thru | or FIG. It is a figure which shows the outline of the modification of the steering device which concerns on the 1st thru | or 3rd embodiment of this invention, and is a figure corresponding to FIG. It is a figure which shows the outline of the modification of the steering device which concerns on the 4th Embodiment of this invention, and is a figure corresponding to FIG.

Explanation of symbols

10 Steering device 12 Steering wheel 14 ECU (steering means, control device)
16 Actuator (steering means)
18 Steering wheel 20 Motor 26 Ignition switch 28 Reset switch 30 Auxiliary motor

Claims (5)

A steering wheel rotatably provided on the vehicle;
Steering means that is electrically connected to the steering wheel and mechanically connected to the steering wheel, and changes a steering angle of the steering wheel according to a rotational position of the steering wheel in a state where the engine is operating;
A motor that is mechanically coupled to the steering wheel and that provides a driving force to the steering wheel along a direction of rotation of the steering wheel;
When the steering wheel is rotated while being electrically connected to the motor and the engine is operating, the motor is driven to apply the driving force in a direction opposite to the rotation direction of the steering wheel. And driving the motor immediately after starting the engine or before starting the engine to position the steering wheel at a rotational position corresponding to the steering angle of the steering wheel. A control device to output to
A steering apparatus comprising: Before the engine is started, when a rotational force is applied to the steering wheel, a driving force of the motor is applied to the steering wheel in a direction opposite to a direction in which the rotational force is applied to the steering wheel.
The steering apparatus according to claim 1. Driving the steering means to adjust the steering angle of the steering wheel to the rotational position of the steering wheel;
The steering apparatus according to claim 1. A reset switch electrically connected to the control device;
When the reset switch is turned on, the rotational position of the steering wheel and the steering angle of the steered wheels are matched.
The steering apparatus according to claim 3. An auxiliary motor that is mechanically coupled to the steering wheel and that matches the rotational position of the steering wheel and the steering angle of the steering wheel together with the motor;
The steering apparatus according to any one of claims 1 to 4, wherein the steering apparatus is characterized in that

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