JP2007153109A - Bi-wire type turning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a by-wire type turning device capable of preventing any sense of incongruity when turning wheels by operating a steering wheel. <P>SOLUTION: When the state is changed from ignition OFF to ignition ON, a steer-by-wire control device 40 recognizes the rotational angle of a steering wheel based on the detection signal to be received from a steering angle sensor 30, and also recognizes the tire steered angle based on the detection signal received from a turning angle sensor 57. When any specified state in which the rotational angle of the steering wheel is well harmonized with the tire steered angle is not obtained, the steer-by-wire control device 40 harmonizes both the operating position of a steering wheel 22 and the turning position of a wheel 56 with each other by changing the turning position of the wheel 56 so as to be harmonized with the operating position of the steering wheel 22 with the operating position of the steering wheel 22 being correct. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a by-wire steering device in which a handle and a wheel are mechanically separated.

  In recent years, this type of steering device (steer-by-wire system) has attracted attention as a next-generation system (see, for example, Patent Document 1). In the steer-by-wire system, the steering wheel rotation operation angle (steering wheel rotation angle) is detected by a steering angle sensor, and the wheels are electrically connected to obtain a tire turning angle corresponding to the detected steering wheel rotation angle. Controlled.

More specifically, in the by-wire type steering device, the handle rotation angle immediately after the ignition is turned off from the ignition OFF is set as the initial handle rotation angle. A change amount of the rotation angle is detected by a steering angle sensor. Then, the wheel is controlled so that the change amount of the tire turning angle corresponding to the change amount of the steering wheel rotation angle detected in this way is obtained.
JP 2004-314833 A

  By the way, in the mechanical type steering device in which the handle and the wheel are mechanically connected, the wheel is steered by mechanically transmitting the force applied to the handle to the wheel. For this reason, in the mechanical steering device, both the operation position of the steering wheel and the steering position of the wheel are always harmonized.

  On the other hand, in the by-wire type steering device, the wheels are steered by electrically processing the force applied to the steering wheel. For this reason, in the by-wire steering device, both the steering wheel operation position and the wheel steering position may not be harmonized.

  For example, the steering wheel is rotated to a position where the steering wheel rotation angle becomes 0 degrees (the rotational operation position of the steering wheel is in the straight traveling position), and the tire turning angle is accordingly 0 degrees (the wheel turning position is set to the straight traveling position). Assume that the ignition is turned off in a state where the wheel is steered to a position that is). When an external force is applied to the handle during ignition OFF and the handle rotation angle becomes 45 degrees (the rotation operation position of the handle is 45 degrees clockwise relative to the straight drive position), the handle As the rotation angle is 45 degrees, the tire turning angle is 0 degrees, so that the operation position of the steering wheel and the steering position of the wheel are not harmonized.

  Here, based on the fact that the steering wheel is rotated to a position where the steering wheel rotation angle becomes 45 degrees, the driver sets the tire turning angle to a positive value (the wheel turning position is in the right direction with respect to the straight driving position). The vehicle is moving in the right turn direction when the current steering wheel position is maintained. Therefore, a driver who wants to drive the vehicle straight at the time of starting turns the steering wheel 45 degrees counterclockwise in order to return the tire turning angle from a positive value to 0 degrees.

  However, at that time, “−45 degrees” is detected by the steering angle sensor as the change amount of the steering wheel rotation angle with respect to the initial steering wheel rotation angle. Then, in this case, the wheel is controlled so that the tire turning angle becomes a negative value from the state where the tire turning angle is 0 degrees. That is, in this case, the vehicle is advanced in the left turn direction against the driver's intention to move the vehicle straight. As a result, the driver feels uncomfortable when operating the steering wheel to steer the wheel.

  The present invention has been made by paying attention to such problems, and the purpose of the present invention is a by-wire system capable of preventing a sense of incongruity when the wheels are steered in accordance with the steering operation. It is to provide a steering device.

  In order to achieve the above object, the invention according to claim 1 is directed to a by-wire type steering device in which a handle and a wheel are mechanically separated from each other, both an operation position of the handle and a steering position of the wheel. The gist is that it is equipped with a harmonizing means for harmonizing.

  According to a second aspect of the present invention, in the by-wire type steering apparatus according to the first aspect, the harmony means is configured to change the steering position of the steering wheel by changing at least one of the steering position of the steering wheel and the steering position of the wheel. The gist is to harmonize both the wheel turning position and the wheel turning position.

  According to a third aspect of the present invention, in the by-wire type steering apparatus according to the second aspect, the harmony means changes the steering position of the steering wheel by changing either the steering position of the steering wheel or the steering position of the wheel. The gist is to harmonize both the wheel position and the wheel steering position.

  According to a fourth aspect of the present invention, in the by-wire type steering apparatus according to the third aspect of the invention, the harmonization means sets the steering wheel operation position as positive and the wheel steering position in harmony with the steering wheel operation position. The gist is to harmonize both the operation position of the steering wheel and the steering position of the wheel by changing to.

  According to a fifth aspect of the present invention, in the by-wire type steering device according to the third aspect of the invention, the harmony means sets the steering position of the wheel as positive, and adjusts the operation position of the steering wheel in harmony with the steering position of the wheel. The gist is to harmonize both the operation position of the steering wheel and the steered position of the wheel by changing in this way.

  According to a sixth aspect of the present invention, in the by-wire type steering apparatus according to the second aspect of the present invention, the harmony means is configured to change both the steering wheel operating position and the wheel steering position by changing both the steering wheel operating position and the wheel steering position. The gist is to harmonize both the wheel turning position and the wheel turning position.

  According to a seventh aspect of the present invention, in the by-wire type steering apparatus according to the sixth aspect, the harmony means changes the operation position of the steering wheel so as to be in harmony with the steered position of the wheel and steers the wheel. The gist is that the operation position of the handle and the steered position of the wheel are made to approach each other by changing the position so as to be in harmony with the operation position of the handle so that they are harmonized.

  According to an eighth aspect of the present invention, in the by-wire type steering apparatus according to the sixth aspect, the handle when the specific state harmonized between the operation position of the handle and the steered position of the wheel is obtained. When the operation position of the wheel is defined as the reference operation position and the steering position of the wheel when the specific state is obtained is defined as the reference steering position, the harmony means changes the operation position of the handle to the reference operation position. The gist is to synchronize both the steering wheel operation position and the wheel steering position by changing the wheel steering position to the reference steering position to harmonize them.

  According to the present invention, even when an external force is applied to at least one of the steering wheel and the wheel and both the operation position of the steering wheel and the steered position of the wheel are not harmonized, they are harmonized by the harmony means. Accordingly, it is possible to prevent a sense of incongruity when the wheels are steered with the steering operation.

Since this invention is comprised as mentioned above, there exist the following effects.
According to the present invention, it is possible to prevent a sense of incongruity from being given when a wheel is steered in accordance with a steering operation.

Hereinafter, an embodiment in which the present invention is embodied in a steer-by-wire system for an automobile will be described.
As shown in FIG. 1, the steer-by-wire system 1 includes an input system 2, a detection system 3, a control system 4, and a steering system 5, and the input system 2 and the steering system 5 are mechanically separated. . That is, in the steer-by-wire system 1, when an operation is performed on the input system 2, an operation amount based on the operation is detected by the detection system 3. Then, the turning amount corresponding to the operation amount detected by the detection system 3 is determined by the control system 4. Then, the turning system 5 realizes the turning based on the turning amount determined by the control system 4.

  A handle 22 that can be rotated is connected to the tip of the steering shaft 21. Accordingly, when the handle 22 is rotated, the steering shaft 21 is integrally rotated accordingly.

  A steering angle sensor 30 that detects the rotation angle of the steering shaft 21 is mounted on the steering shaft 21 in order to detect the rotation operation angle (handle rotation angle) of the handle 22.

  As shown in FIG. 2, the steering angle sensor 30 includes a light emitting element 31 made of an infrared LED, a slit disk 32 that is rotated integrally with the steering shaft 21, and a side opposite to the light emitting element 31 with respect to the slit disk 32. And a signal processing unit 34 for processing a signal input from the light receiving element 33. That is, in this embodiment, an optical sensor is employed as the steering angle sensor 30.

  Here, the light receiving element 33 receives the infrared light that has passed through the slit of the slit disk 32 from the light emitting element 31 and reached the light receiving element 33, and the light emitting element by the portion of the slit disk 32 where no slit is formed. Pulse signals having different voltage levels are output when the infrared rays from 31 are blocked and the infrared rays are not received. Then, the signal processing unit 34 generates a detection signal indicating the handle rotation angle by counting the pulse signal input from the light receiving element 33 along with the rotation of the slit disk 32, and outputs the detection signal to the steer-by-wire control device 40. Output.

  When the detection signal indicating the steering wheel rotation angle is input from the signal processing unit 34 of the steering angle sensor 30, the steer-by-wire control device 40 controls the steering motor 51 so that the tire turning angle corresponding to the steering wheel rotation angle is obtained. Control.

  As shown in FIG. 3, a gear mechanism 52 having a rack and a pinion is connected to the output shaft of the steered motor 51. Therefore, when the steered motor 51 is rotated, the rotational motion of the steered motor 51 is converted into a linear motion of the rack shaft 53 by the gear mechanism 52. As the rack shaft 53 moves linearly, the tie rod 54 moves to the left and right, and as a result, the wheel 56 turns in the left-right direction around the kingpin 55.

  In addition, the structure of the steering system 5 is not necessarily limited to the thing provided with the rack and the pinion. That is, it is needless to say that a steering system having a configuration that does not include a rack and a pinion may be adopted.

Next, features of the steer-by-wire system 1 will be described.
As shown in FIG. 1, the steer-by-wire control device 40 is electrically connected with a turning angle sensor 57. The turning angle of the wheel 56 (tire turning angle) is detected by the turning angle sensor 57, and a detection signal indicating the turning angle of the tire is output from the turning angle sensor 57 to the steer-by-wire control device 40. ing. That is, to the steer-by-wire control device 40, a detection signal indicating the steering wheel rotation angle is input from the steering angle sensor 30, and a detection signal indicating the tire turning angle is input from the steering angle sensor 57. .

  Here, the steer-by-wire control device 40 recognizes the steering wheel rotation angle based on the detection signal input from the steering angle sensor 30 and is input from the turning angle sensor 57 when the ignition is switched from ignition OFF to ignition ON. The tire turning angle is recognized based on the detection signal. Then, the steer-by-wire control device 40 determines whether or not a specific state harmonized between the steering wheel rotation angle and the tire turning angle is obtained.

  For example, when the steering wheel rotation angle is 0 degrees (the rotational operation position of the steering wheel 22 is in the straight traveling position) and the tire turning angle is 0 degrees (the steered position of the wheels 56 is in the straight traveling position), The steer-by-wire control device 40 determines that a specific state that is harmonious between the steering wheel rotation angle and the tire turning angle is obtained. In other words, in this case, from the viewpoint of the driver, the driver has a tire turning angle of 0 degrees on the basis that the steering wheel 22 is rotated to a position where the steering wheel rotation angle becomes 0 degrees. It is considered that the car will go straight when the current steering wheel position is maintained. On the other hand, from the viewpoint of the automobile, since the wheel 56 is steered to a position where the tire turning angle becomes 0 degrees, the automobile will go straight when the current tire position is maintained.

  Therefore, when the driver's viewpoint and the automobile's viewpoint are taken into consideration in this way, when there is a match between both viewpoints in that "the automobile is in a state where it can go straight ahead", steer-by-wire control The device 40 determines that a specific state (= a state in which the vehicle can go straight) is harmonized between the steering wheel rotation angle and the tire turning angle. In this case, when the vehicle is started, the vehicle is first straightened, and when the steering wheel 22 is rotated thereafter, a tire turning angle corresponding to the steering wheel rotation angle detected by the steering angle sensor 30 is obtained. The wheel 56 is electrically controlled by the steer-by-wire control device 40.

  Then, such steering control is performed by the steer-by-wire control device 40, and the steering wheel 22 is eventually rotated to a position where the steering wheel rotation angle becomes 0 degrees, and accordingly the tire turning angle becomes 0 degrees. It is assumed that the ignition is turned off with the wheel 56 being steered. In the case where an external force is not applied to either the handle 22 or the wheel 56 during the ignition OFF, and when the ignition is switched from the ignition OFF to the ignition ON, the steer-by-wire control device 40 causes the handle to be It is determined that a specific state in which the rotation angle and the tire turning angle are harmonized is obtained.

  On the other hand, when an external force is applied to at least one of the steering wheel 22 and the wheel 56 during the ignition OFF, the steering wheel rotation angle and the tire turning angle cannot be balanced. For example, when an external force is applied to the handle 22 during ignition OFF and the handle rotation angle becomes 45 degrees (the rotation operation position of the handle 22 is 45 degrees clockwise relative to the straight position). The steering wheel rotation angle is 45 degrees, whereas the tire turning angle is 0 degrees. That is, in this case, both the operation position of the handle 22 and the steered position of the wheel 56 are not harmonized.

  When the ignition is turned on from such a state in which the ignition is turned off, the steer-by-wire control device 40 recognizes the steering wheel rotation angle based on the detection signal input from the steering angle sensor 30, and also turns the steering angle sensor. The tire turning angle is recognized based on the detection signal input from 57. Then, the steer-by-wire control device 40 determines whether or not a specific state harmonized between the steering wheel rotation angle and the tire turning angle is obtained.

  Then, as in this example, when the steering wheel rotation angle is 45 degrees and the tire turning angle is 0 degree, the steer-by-wire control device 40 harmonizes between the steering wheel rotation angle and the tire turning angle. It is determined that the specific state is not obtained. That is, in this case, from the viewpoint of the driver, on the basis of the fact that the steering wheel 22 is rotated to a position where the steering wheel rotation angle is 45 degrees, the driver has determined that the tire turning angle is a positive value (the wheel 56 The steering position of the vehicle is in the right direction with respect to the straight-ahead position), and the vehicle recognizes that the car advances in the right turn direction when the current steering wheel position is maintained. On the other hand, from the viewpoint of the automobile, since the wheel 56 is steered to a position where the tire turning angle becomes 0 degrees, the automobile will go straight when the current tire position is maintained.

  Therefore, when the viewpoint on the driver side and the viewpoint on the vehicle side are taken into consideration in this way, when there is no matching between the two viewpoints, the steer-by-wire control device 40 determines between the steering wheel rotation angle and the tire turning angle. It is judged that a harmonious specific state is not obtained. In this case, the steer-by-wire control device 40 makes the operation position of the handle 22 positive, and changes the steered position of the wheel 56 so as to go in harmony with the operation position of the handle 22. Both the 56 steering positions are harmonized.

  More specifically, in this case, since the steering wheel rotation angle is 45 degrees, the steer-by-wire control device 40 adjusts the tire turning angle from 0 degrees to the steering rotation angle (in this case, 45 degrees) in a harmonious angle (in this case, The turning motor 51 is rotationally controlled so as to be a positive value. Accordingly, in this case, the wheel 56 is steered from the state where the steered position is in the straight traveling position to the right position with respect to the straight traveling position. Thus, from the viewpoint of the automobile, the automobile is changed to a state in which the automobile can proceed in the right turn direction.

  As a result, when the driver's viewpoint and the automobile's viewpoint are taken into consideration, there is a consistency between the two viewpoints in that "the automobile is in a state where it can proceed in the right turn direction". . Therefore, in this case, the steer-by-wire control device 40 obtains a specific state in which the steering wheel rotation angle and the tire turning angle are harmonized (in this case, the state in which the vehicle can travel in the right turn direction). Judge that In such a state, when a driver who wants to drive the vehicle straight at the time of starting, rotates the handle 22 rotated to the position where the handle rotation angle becomes 45 degrees, counterclockwise 45 degrees, Accordingly, the wheel 56 is steered to a position where the tire turning angle becomes 0 degree.

  Therefore, in this case, when the vehicle is started, the vehicle is first moved straight, and when the steering wheel 22 is rotated thereafter, a tire turning angle corresponding to the steering wheel rotation angle detected by the steering angle sensor 30 is obtained. The wheel 56 is electrically controlled by the steer-by-wire control device 40. As a result, the driver can start driving the vehicle without feeling uncomfortable by moving the vehicle straight as intended to drive the vehicle straight when starting.

As described above, according to the present embodiment, the following operations and effects can be obtained.
(1) Even when an external force is applied to at least one of the handle 22 and the wheel 56 and the operation position of the handle 22 and the steered position of the wheel 56 are no longer harmonized, the steer-by-wire control device 40 Is harmonized by. Therefore, when the wheel 56 is steered in accordance with the steering operation, it is possible not to give an uncomfortable feeling.

  (2) Both the operation position of the handle 22 and the steered position of the wheel 56 are obtained by changing the steered position of the wheel 56 to be in harmony with the operation position of the handle 22 with the operation position of the handle 22 being positive. Are harmonized. Therefore, it is preferable in a situation where it is convenient to change the steered position of the wheel 56 in preference to the operation position of the handle 22. In other words, since the harmony between the two can be achieved without changing the operation position of the handle 22, for example, it is avoided that the obstacle is caught in the handle 22 in a situation where an obstacle exists near the handle 22. Being preferred.

In addition, the said embodiment can also be changed and actualized as follows.
-By changing the steering position of the wheel 56 to be positive and changing the operation position of the handle 22 so as to be in harmony with the steering position of the wheel 56, both the operation position of the handle 22 and the steering position of the wheel 56 are harmonized. You may employ | adopt the structure to make. In this case, the handle 22 that can be rotated based on the manual operation by the driver can also be rotated based on the rotational driving force of the steering motor 35 that is rotationally controlled by the steer-by-wire control device 40, as indicated by a broken line in FIG. And it is sufficient.

  If comprised in this way, it is suitable in the situation where it is convenient to change the operation position of the handle 22 in preference to the steered position of the wheel 56. In other words, since the harmony between the two can be achieved without changing the steered position of the wheel 56, for example, an obstacle may be caught in the wheel 56 in a situation where an obstacle exists in the vicinity of the wheel 56. It is preferable to be avoided.

  -It is not limited to the structure which adjusts both the operation position of the handle | steering-wheel 22 and the steering position of the wheel 56 by changing either one of the operation position of the handle | steering-wheel 22 or the steering position of the wheel 56. FIG. That is, you may employ | adopt the structure which harmonizes both the operation position of the handle | steering-wheel 22 and the steering position of the wheel 56 by changing both the operation position of the handle | steering-wheel 22 and the steering position of the wheel 56. FIG. In short, any configuration may be used as long as the operation position of the handle 22 and the steered position of the wheel 56 are harmonized by changing at least one of the operation position of the handle 22 and the steered position of the wheel 56.

  For example, the operation position of the handle 22 is changed by changing the operation position of the handle 22 so as to be in harmony with the steered position of the wheel 56 and changing the steered position of the wheel 56 so as to be in harmony with the operation position of the handle 22. Alternatively, a configuration may be adopted in which both the steering position of the wheel 56 and the steered position of the wheel 56 are brought closer to each other to harmonize them.

  Specifically, before the harmony, the operation position of the handle 22 is at the straight drive position (the handle rotation angle is 0 degree), and the steered position of the wheel 56 is 45 degrees in the right direction with respect to the straight drive position (tire running out). Assume that the angle is 45 degrees). In this case, the operation position of the steering wheel 22 and the steered position of the wheel 56 are set so that "a state in which the vehicle can move in the right turn direction in a mode in which the tire turning angle is 22.5 degrees" is realized. It is only necessary to make them walk together.

  The mechanical load when changing the operation position of the handle 22 is considered to be lighter than the mechanical load when changing the steered position of the wheel 56. Therefore, in the configuration in which both the operation position of the handle 22 and the steered position of the wheel 56 are brought closer to each other and the two are harmonized, the change range of the operation position of the handle 22 is increased, and the steered position of the wheel 56 is increased. A configuration in which the change width is small may be adopted. If comprised in this way, the time required until harmony is completed before harmony can be shortened.

  Alternatively, the following configuration may be adopted. That is, when the specific position in which the operation position of the handle 22 and the steered position of the wheel 56 are harmonized is obtained as the reference operation position, the specific position is obtained. The steering position of the wheel 56 is defined as a reference steering position. Then, by changing the operation position of the handle 22 to the reference operation position and changing the steered position of the wheel 56 to the reference steered position, both the operation position of the handle 22 and the steered position of the wheel 56 are synchronized with each other. A configuration that harmonizes both of them may be adopted.

  Specifically, regardless of the operation position of the handle 22 and the steered position of the wheel 56 before harmony, for example, the operation position of the handle 22 and the wheel so that the “state in which the automobile can go straight” is realized. What is necessary is just to synchronize both with 56 steering positions mutually.

  In the configuration in which both the operation position of the handle 22 and the steered position of the wheel 56 are synchronized with each other, both are harmonized with each other (in the above example, the vehicle travels straight ahead). May be set by the user.

  Prior to harmonizing both the operation position of the handle 22 and the steered position of the wheel 56, it may be notified that the change of the operation position of the handle 22 and the steered position of the wheel 56 is started. . As a notification mode, as a message to that effect, for example, “the steering wheel position and the tire position are misaligned. From now on, the tire position is adjusted to the steering wheel position” is displayed on the display means to perform visual notification. Any of a configuration, a configuration in which the message is heard by voice and an auditory notification is performed, or a combination of them is performed.

  -In the middle of harmonizing both the operation position of the handle 22 and the steered position of the wheel 56, for example, when a situation occurs in which the both cannot be harmonized due to the presence of an obstacle, the fact that the harmonizing cannot be completed. You may make it alert | report. As a notification mode, as a message to that effect, for example, “I tried to adjust the tire position to the steering wheel position, but the tire could not be moved” is displayed on the display means to give a visual notification. Any of a configuration, a configuration in which the message is heard by voice and an auditory notification is performed, or a combination of them is performed.

  -While changing the steered position of the wheel 56 so as to harmonize with the operating position of the handle 22, when the steered position of the wheel 56 cannot be changed due to the presence of an obstacle, for example, the operation of the handle 22 You may employ | adopt the structure which changes a position so that it may go in harmony with respect to the steering position of the wheel 56. FIG. In this case, a visual and audible notification using a message such as "I tried to adjust the tire position to the steering wheel position, but the tire could not be moved, so I will now move the steering wheel." You may make it perform at least one of these.

  In the middle of changing the operation position of the handle 22 so as to harmonize with the steering position of the wheel 56, for example, when the operation position of the handle 22 cannot be changed due to the presence of an obstacle, the steering of the wheel 56 is performed. You may employ | adopt the structure which changes a position so that it may go in harmony with respect to the operation position of the handle | steering-wheel 22. FIG. In this case, a visual and audible notification using a message such as "I tried to adjust the steering wheel position to the tire position, but the steering wheel could not be moved, so I will move the tire now." You may make it perform at least one of these.

  The timing for achieving harmony between the operation position of the handle 22 and the steered position of the wheel 56 is preferably at a stage before the automobile is started, and is further at a stage before the engine is started. preferable. In addition, under conditions where all the doors are closed, the shift position is in the parking position, the brake pedal is depressed, the operation position of the handle 22 and the wheel 56 are It is preferable to achieve harmony with the steered position.

  -A steering wheel (operation member for steering) is not limited to the steering wheel 22 which can be rotated like the said embodiment. That is, the handle may be a lever that can be slid in the left-right direction. In short, the handle may be a slide operation member instead of the rotation operation member. In this case, the operation amount is not a rotation operation angle but a slide amount (movement distance).

  The steering angle sensor 30 is not limited to an optical sensor. That is, the steering angle sensor 30 may be a magnetic sensor. In this case, the magnet is rotated integrally with the steering shaft 21 as an alternative to the slit disk 32. As a substitute for the light emitting element 31 and the light receiving element 33, a magnetoresistive element (MRE), a Hall element or the like is provided.

The block diagram which shows the structure of a steer-by-wire system. Explanatory drawing which shows the structure of a detection system. Explanatory drawing which shows the structure of a steering system.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Steer-by-wire system (by-wire type steering device), 22 ... Steering wheel, 40 ... Steer-by-wire control device (harmonizing means), 56 ... Wheel.

Claims (8)

In the by-wire steering device in which the handle and the wheel are mechanically separated,
A by-wire type steering apparatus comprising a harmonizing means for harmonizing both an operation position of a steering wheel and a steering position of a wheel. In the by-wire type steering device according to claim 1,
The by-wire type steering apparatus characterized in that the harmony means harmonizes both the steering wheel operation position and the wheel steering position by changing at least one of the steering wheel operation position and the wheel steering position. In the by-wire type steering device according to claim 2,
The reconciliation means reconciles both the operation position of the steering wheel and the steering position of the wheel by changing either one of the operation position of the steering wheel or the steering position of the wheel. . In the by-wire type steering device according to claim 3,
The harmonization means harmonizes both the steering wheel operation position and the wheel steering position by changing the steering position of the wheel to be positive with respect to the steering wheel operation position, with the steering wheel operation position being positive. A featured by-wire steering device. In the by-wire type steering device according to claim 3,
The harmonization means harmonizes both the steering wheel operation position and the wheel steering position by changing the steering wheel position to be positive and changing the steering wheel operation position to match the steering wheel position. A by-wire steering device characterized by In the by-wire type steering device according to claim 2,
The by-wire steering apparatus characterized in that the harmony means reconciles both the steering wheel operating position and the wheel steering position by changing both the steering wheel operating position and the wheel steering position. In the by-wire type steering device according to claim 6,
The harmony means changes the operation position of the steering wheel so as to go in harmony with the steering position of the wheel and changes the steering position of the wheel so as to go in harmony with the operation position of the steering wheel. A by-wire type steering device characterized in that both the steering position and the steering position are brought close to each other to harmonize them. In the by-wire type steering device according to claim 6,
Steering of the wheel when the specific operation state is obtained while the operation position of the steering wheel is defined as a reference operation position when a specific state harmonized between the operation position of the steering wheel and the steering position of the wheel is obtained When the position is defined as the reference steering position,
The harmonization means synchronizes both the steering wheel operating position and the wheel steering position by changing the steering wheel operating position to the standard operating position and changing the wheel steering position to the standard steering position. A by-wire steering device characterized by harmonizing both.

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