JP2007186084A - Steering control device of industrial vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering control device of an industrial vehicle capable of maintaining steering feeling favorable even without a worker often adjusting a sensor to detect angles of a steering wheel and a steered wheel. <P>SOLUTION: A control means is furnished with a steering wheel setting means to set the maximum value and the minimum value of a steering wheel angle, a steering setting means to steering-set the maximum value and the minimum value of a steered angle, a correcting means to correct input values from a steering wheel detecting means and a steering detecting means and an output setting means to set output of a motor for steering by using the steering wheel angle and the steering angle corrected by the correcting means. The correcting means corrects the input value from the steering wheel detecting means by using the maximum value and the minimum value of the steering wheel angle and a previously set neutral value of the steering wheel angle and corrects the input value from the steering detecting means by using the maximum value and the minimum value of the steering angle and a previously set neutral value of the steering angle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an industrial vehicle steering control device that operates a steering motor in accordance with a rotation operation of a handle.

Conventionally, in an industrial vehicle, for example, as shown in Patent Document 1, the angles of a steering wheel and a steering wheel are detected, and a steering motor is operated based on the result. The mechanical connection structure between the steering wheel and the steered wheel is abolished.
In such a so-called steer-by-wire configuration, a sensor such as a potentiometer is used to detect the angle of the steering wheel or steering wheel. If these sensors are used as they are, the detection range may change. Therefore, measures such as periodic adjustments are required, but it is very troublesome to perform such maintenance work on each vehicle. There is a problem that it takes. Therefore, for example, as shown in Patent Document 2, the steering wheel is automatically rotated to the tire end (the limit of rotation), and the relationship between the sensor output and the steering wheel angle is corrected based on the angle detected at that time. It has been tried to do.

Japanese Patent Laid-Open No. 7-206399 JP 2000-344122 A

  Now, in the structure of the steer-by-wire as described above, there is a possibility that the detection range may change in the sensor that detects the angle of the handle. Therefore, it is desirable to take some measures for this. In addition, the change in the detection range can be considered to occur at both tire ends (limit of rotation) of the steered wheel as described in Patent Document 2, and it can be considered that the detection range also occurs at both limits of rotation of the steering wheel. Since both are not necessarily the same changes, it is desirable to be able to cope with even different changes.

  It is an object of the present invention to maintain a good steering feeling even if an operator does not frequently adjust a sensor for detecting the angle of a steering wheel or a steering wheel.

  In order to achieve the above object, the present invention provides a steering control device for an industrial vehicle that operates a steering motor in accordance with a rotation operation of a steering wheel and rotates a steering wheel by the steering motor to change its direction. And a handle detection means for detecting a handle angle which is a rotation angle of the handle, and a control means for controlling the steering motor in accordance with the handle angle. Maximum value setting means for setting a maximum value of the steering wheel angle based on an input value from the means, minimum value setting means for setting a minimum value of the steering wheel angle based on an input value from the steering wheel detection means, Correction means for correcting the input value from the handle detection means using the maximum value set by the maximum value setting means and the minimum value set by the minimum value setting means, and the correction means Output setting means for setting the output of the steering motor using the corrected steering wheel angle, the maximum value setting means, when the input value is larger than the already set maximum value, When the input value is smaller than the already set minimum value, the minimum value is set again by decreasing the minimum value. If the difference between the input value from the handle detection means and the neutral value of the steering wheel angle set in advance is larger than the neutral value, the maximum value is output from the correction means set in advance. The steering wheel angle is corrected by multiplying the ratio of the steering wheel angle with the upper limit value of the steering wheel angle, otherwise the ratio of the minimum value and the lower limit value of the steering wheel angle output from the correction means set in advance. A configuration characterized by To have.

  According to the first invention as described above, even if the detection range (maximum value or minimum value) changes due to a secular change in the handle detection means, the handle angle is corrected by the correction means, and the correction is performed. Since the output of the steering motor is set by using the steering wheel angle, the steering motor is appropriately controlled with respect to the rotation operation of the steering wheel, and a good steering feeling can be obtained. Therefore, it is possible to keep the steering feeling well without requiring the operator to adjust the handle detection means. In addition, since the steering wheel angle is corrected on the maximum value side and the minimum value side with the neutral value of the steering wheel angle as a boundary, even if the maximum value and the minimum value are different from each other, the steering wheel angle is appropriately adjusted. Can be corrected.

  In order to achieve the above object, the second aspect of the present invention is a steering control device for an industrial vehicle that operates a steering motor in accordance with a rotation operation of a steering wheel and rotates the steering wheel by the steering motor to change its direction. And a steering detection means for detecting a steering angle, which is a rotation angle of the steering wheel, and a control means for controlling the steering motor in accordance with the steering angle. Maximum value setting means for setting the maximum value of the steering angle based on an input value from the detection means; minimum value setting means for setting the minimum value of the steering angle based on an input value from the steering detection means; The input value from the steering detection means is compensated using the maximum value set by the maximum value setting means and the minimum value set by the minimum value setting means. And an output setting means for setting the output of the steering motor using the steering angle corrected by the correction means, wherein the maximum value setting means is input in comparison with the already set maximum value. When the value is larger, the maximum value is increased and reset, and the minimum value setting means reduces and resets the minimum value when the input value is smaller than the already set minimum value. The correction means sets the difference between the input value from the steering detection means and the preset neutral value of the steering angle to the maximum value in advance when the input value is larger than the neutral value. The ratio of the steering angle output from the set correction means to the upper limit value of the steering angle. Otherwise, the ratio of the minimum value to the preset lower limit value of the steering angle output from the correction means. The It has a configuration which is characterized by correcting the steering angle by calculation.

  According to the second invention as described above, even if the detection range (maximum value or minimum value) changes due to a secular change in the steering detection means, the steering angle is corrected by the correction means, and the correction is made. Since the output of the steering motor is set using the steering angle thus set, the steering motor is appropriately controlled with respect to the rotation of the steering wheel, and a good steering feeling can be obtained. Therefore, it is possible to keep the steering feeling well without requiring the operator to adjust the steering detection means and the like. In addition, since the steering angle is corrected on the maximum value side and the minimum value side with the neutral value of the steering angle as a boundary, even if the maximum value and the minimum value are different from each other, the steering angle is appropriately adjusted. Can be corrected.

  In order to achieve the above object, the third aspect of the present invention provides a steering control device for an industrial vehicle that operates a steering motor in accordance with a rotation operation of the steering wheel and rotates the steering wheel by the steering motor to change the direction thereof. A steering wheel detecting means for detecting a steering angle which is a rotational angle of the steering wheel; a steering detecting means for detecting a steering angle which is a rotational angle of the steering wheel; and the steering angle and the steering angle according to the steering angle. Control means for controlling a steering motor, the control means for setting a maximum value and a minimum value of the steering wheel angle based on an input value from the steering wheel detection means, and the steering detection Steering setting means for setting a maximum value and a minimum value of the steering angle based on an input value from the means, and the steering wheel detection means And a correction means for correcting the input value from the steering detection means, and an output setting means for setting the output of the steering motor using the steering wheel angle and the steering angle corrected by the correction means. When the input value is larger than the maximum value that has already been set, the maximum value is increased and reset, and when the input value is smaller than the minimum value that has already been set, the minimum When the input value is larger than the maximum value that has already been set, the steering setting means resets it by increasing the maximum value and resets the minimum value that has already been set. When the input value is smaller than the minimum value, the minimum value is decreased and reset, and the correction means sets the maximum and minimum values of the steering wheel angle set by the steering wheel setting means and a preset value. The neutral value of the steering wheel angle is used to correct the input value from the steering wheel detection means, the maximum and minimum values of the steering angle set by the steering setting means, and the neutral value of the steering angle set in advance. Are used to correct the input value from the steering detection means.

  According to the third aspect of the present invention, even if the detection range (maximum value or minimum value) changes due to a secular change in the steering wheel detection unit or the steering detection unit, the steering wheel angle and the steering angle are not changed. Since the output of the steering motor is set using the corrected steering wheel angle and steering angle, the steering motor is appropriately controlled with respect to the steering wheel rotation and the steering wheel rotation. Steering feeling is obtained. Therefore, it is possible to maintain a good steering feeling without requiring the operator to adjust the steering wheel detection means and the steering detection means.

  In the third aspect of the invention, the correction means is configured such that the difference between the input value from the steering wheel detection means and the preset neutral value of the steering wheel angle is greater than the neutral value. Is the ratio between the maximum value and the upper limit value of the handle angle output from the correction means set in advance; otherwise, the handle angle output from the minimum value and the preset correction means is set. The steering angle can be corrected by multiplying the ratio with the lower limit value of the steering wheel, and the correction means can calculate an input value from the steering detection means and a preset neutral value of the steering angle. If the input value is larger than the neutral value, the ratio between the maximum value and the upper limit value of the steering angle output from the correction means set in advance is set. If not, the minimum value is set. And preset Has been multiplied by the ratio between the lower limit value of the steering angle output from the correction means can be configured to correct the steering angle. In this way, even if the maximum value and the minimum value change differently, the steering wheel angle and the steering angle can be corrected appropriately.

  As described above, according to the present invention, the steering motor can be appropriately controlled with respect to the rotation operation of the steering wheel or the rotation of the steering wheel even if the steering detection means or the steering detection means undergoes secular change. Can do. Therefore, the steering feeling can be kept good without the operator adjusting the steering wheel detection means or the steering detection means.

  Hereinafter, an embodiment in which the present invention is applied to a forklift will be described with reference to the drawings.

  As shown in FIG. 1, the forklift according to this embodiment includes a pair of left and right straddle legs 2 extending rearward at the rear part of a vehicle body 1, and a rear wheel 3 is provided at the front end part of each straddle leg 2. ing. A front wheel 4 is provided at the center of the front portion of the vehicle body 1, and the front wheel 4 functions as a drive wheel and a steering wheel as will be described later. A mast 5 is erected on the rear part of the vehicle body 1, and a cab 6 is supported on the mast 5 so as to be movable up and down. The cab 6 includes a pair of left and right forks 7 extending rearward, and an operation box 8 for raising and lowering the cab 6 and a front wheel 4 are rotated as drive wheels on the front wall of the cab 6. An accelerator 9 for adjusting the traveling speed and a handle 10 for rotating the front wheel 4 as a steering wheel and changing its direction are provided.

As shown in FIG. 2, the front wheel 4 is supported by a drive device 11 provided on the vehicle body 1 so as to be rotatable about a vertical axis, and a traveling motor for driving the front wheel 4 is disposed above the drive device 11. 12 and a steering motor 13 for driving the drive device 11 are installed.
The front wheel 4 and the traveling motor 12 are connected via a gear built in the drive device 11, and the driving torque from the traveling motor 12 is transmitted to the front wheel 4 via the drive device 11, and the front wheel 4 rotates. To do. The drive device 11 and the steering motor 13 are also connected via a gear different from the above, and the drive torque from the steering motor 13 is transmitted to the drive device 11 so that the drive device 11 rotates. Here, since the front wheel 4 is supported by the drive device 11 as described above, the front wheel 4 and the drive device 11 rotate integrally. These motors are controlled by a control device 14 mounted on the vehicle body 1.

  As shown in FIG. 2, the handle 10 is provided with an angle sensor 10 </ b> A composed of a potentiometer, and a signal indicating the rotation angle (handle angle) of the handle 10 is input to the control device 14 from the angle sensor 10 </ b> A. Furthermore, an angle sensor 11A composed of a potentiometer is connected to a gear fixed to the drive device 11 among the gears connecting the drive device 11 and the steering motor 13, and the rotational angle of the front wheel 4 (from the angle sensor 11A) A signal representing the steering angle is input to the control device 14.

  As shown in FIG. 3, the control device 14 includes a steering wheel angle correction unit 141 that corrects a steering wheel angle detected by the angle sensor 10A, a steering angle correction unit 142 that corrects a steering angle detected by the angle sensor 11A, An output setting unit 143 that sets the output of the steering motor 13 based on the corrected steering wheel angle and steering angle, and a control unit 144 that controls the steering motor 13 with the output set by the output setting unit 143 are provided. Yes.

As shown in FIG. 4, the handle angle correction unit 141 corrects the handle angle input value H from the angle sensor 10 </ b> A to obtain a correction value H ′, and transmits this to the output setting unit 143.
A maximum value Ha and a minimum value Hb are set in the handle angle correction unit 141. When the input value H is larger than the maximum value Ha, the maximum value Ha is updated. When the input value H is smaller than the minimum value Hb, the minimum value Hb is updated. Is updated. Note that an initial maximum value Hmax and an initial minimum value Hmin are preset in the handle angle correction unit 141, and in an initial state, Ha = Hmax and Hb = Hmin. The steering wheel angle correction unit 141 is preset with a neutral value Hntr, an upper limit value H′max that is an upper limit of the correction value H ′, and a lower limit value H′min that is a lower limit. The correction value H ′ is obtained from the difference between the value H and the neutral value Hntr, the ratio between the maximum value Ha and the upper limit value H′max, and the ratio between the minimum value Hb and the lower limit value H′min.

As shown in FIG. 5, the steering angle correction unit 142 corrects the steering angle input value S from the angle sensor 11 </ b> A to obtain a correction value S ′, and transmits this to the output setting unit 143.
A maximum value Sa and a minimum value Sb are set in the steering angle correction unit 142. When the input value S is larger than the maximum value Sa, the maximum value Sa is updated, and when the input value S is smaller than the minimum value Sb, the minimum value Sb is updated. Is updated. The steering angle correction unit 142 is preset with an initial maximum value Smax and an initial minimum value Smin, and Sa = Smax and Sb = Smin in the initial state. The steering angle correction unit 142 is preset with a neutral value Sntr, an upper limit value S′max that is an upper limit of the correction value S ′, and a lower limit value S′min that is a lower limit. The correction value S ′ is obtained from the difference between the value S and the neutral value Sntr, the ratio between the maximum value Sa and the upper limit value S′max, and the ratio between the minimum value Sb and the lower limit value S′min.

  The relationship between the steering angle correction value H ′ and the steering angle correction value S ′ obtained in this way is represented by a thick straight line in FIG. The two-dot chain line in FIG. 6 represents H ′ = S ′, the upper limit value H′max is a value larger than the upper limit value S′max by a predetermined value G, and the lower limit value H′min is the lower limit value S ′. The value is smaller by the predetermined value G than min.

  The output setting unit 143 uses the steering angle correction value H ′ from the steering angle correction unit 141 and the steering angle correction value S ′ from the steering angle correction unit 142 to calculate the output duty value D of the steering motor 13. Ask. That is, as shown in FIG. 7, the output duty value D is obtained as a value proportional to the angular difference between the correction value H ′ and the correction value S ′, and this is transmitted to the control unit 144. In the output setting unit 143, the output duty value D is obtained as a value between the output duty upper limit value Dmax (> 0) and the output duty lower limit value −Dmax (<0), and the correction value H ′ and the correction value S The output duty value D is set to the output duty upper limit value Dmax when the angle difference from “is greater than or equal to the predetermined value Ga, and the output duty value D is set to the output duty lower limit value −Dmax when it is equal to or less than the predetermined value Gb.

  The control unit 144 operates the steering motor 13 with the output duty value D set in the output setting unit 143. That is, if the output duty value D is a positive value, the steering motor 13 is rotated forward, and if the output duty value D is a negative value, the steering motor 13 is rotated reversely. By operating the steering motor 13 in this way, the front wheels 4 and the drive device 11 are rotated. If the output duty value D is 0, the controller 144 stops the steering motor 13, thereby stopping the rotation of the front wheels 4 and the drive device 11.

  Hereinafter, the flow of control in the control device 14 will be further described with reference to FIGS.

  As shown in FIG. 8A, when the steering angle is detected by the angle sensor 10A and the steering angle is detected by the angle sensor 11A, and the input value H and the input value S are input to the control device 14 (S1), the steering angle correction unit 141 sets the maximum value Ha and the minimum value b of the steering wheel angle, and the steering angle correction unit 142 sets the maximum value Sa and the minimum value Sb of the steering angle (S2). Subsequently, the steering angle correction unit 141 corrects the steering angle input value H to obtain a correction value H ′, and the steering angle correction unit 142 corrects the steering angle input value S to obtain the correction value S ′ (S3). ). Further, the output setting unit 143 sets the output duty value D of the steering motor 13 using the steering angle correction value H ′ and the steering angle correction value S ′ (S4), and the control unit 144 outputs the output duty value D. Then, the steering motor 13 is operated (S5).

The setting process of the maximum value Ha and the minimum value b of the steering wheel angle and the maximum value Sa and the minimum value Sb of the steering angle in S2 is performed as shown in FIG. 8B.
The handle angle correction unit 141 determines whether or not the input value H> Ha (S20), and if the input value H> Ha, updates the maximum value Ha as Ha = Ha + 1 (S21), and the input value H> If it is not Ha, the currently set maximum value Ha is maintained. Subsequently, the handle angle correction unit 141 determines whether or not the input value H <Hb (S22), and if the input value H <Hb, updates the minimum value Hb as Hb = Hb−1 (S23). If the input value H <Hb, the currently set minimum value Hb is maintained.
The steering angle correction unit 142 determines whether or not the input value S> Sa (S24), and if the input value S> Sa, updates the maximum value Sa as Sa = Sa + 1 (S25). If it is not> Sa, the currently set maximum value Sa is maintained. Subsequently, the steering angle correction unit 142 determines whether or not the input value S <Sb (S26), and if the input value S <Sb, updates the minimum value Sb as Sb = Sb−1 (S27). ) If the input value S <Sb, the currently set minimum value Sb is maintained.

The correction processing of the steering wheel input value H and the steering angle input value S in S3 is performed as shown in FIG. 8C.
The handle angle correction unit 141 determines whether or not the input value H> Hntr (S30), and if the input value H> Hntr, calculates the correction value H ′ by the following equation (S31).
H ′ = H′max × (H−Hntr) / Ha
If the input value H> Hntr is not satisfied, the correction value H ′ is calculated by the following equation (S32).
H ′ = H′min × (H−Hntr) / Hb
The steering angle correction unit 142 determines whether or not the input value S> Sntr (S33). If the input value S> Sntr, the correction value S ′ is calculated by the following equation (S34).
S ′ = S′max × (S−Sntr) / Sa
If the input value S> Sntr is not satisfied, the correction value S ′ is calculated by the following equation (S35).
S ′ = S′min × (S−Sntr) / Sb

The setting process of the output duty value D in S4 is performed as shown in FIG. 8D.
The output setting unit 143 first obtains the output duty value D as a value proportional to the angular difference between the correction value H ′ and the correction value S ′ (S40). Here, K is a proportionality coefficient. Subsequently, the output setting unit 143 determines whether or not the output duty value D> Dmax (S41). If the output duty value D> Dmax, D = Dmax is set (S42). If the output duty value D> Dmax is not satisfied, the output duty value D obtained in S40 is maintained. Further, the output setting unit 143 determines whether or not the output duty value D <−Dmax (S43). If the output duty value D <−Dmax, D = −Dmax is set (S44). If the output duty value D <−Dmax is not satisfied, the output duty value D obtained in S40 is maintained.

  According to the embodiment of the present invention, even when the angle sensor 10A changes over time, the maximum value Ha and the minimum value Hb of the handle angle are updated while the handle 10 is being rotated, and the input is performed. The output duty value D of the steering motor 13 is set using the correction value H ′ obtained by correcting the value H by the steering wheel angle correction unit 141. Similarly, even if a secular change occurs in the angle sensor 11A, the maximum value Sa and the minimum value Sb of the steering angle are updated while the front wheel 4 and the drive device 11 are rotating, and the input value S is corrected for the steering angle. The output duty value D of the steering motor 13 is set using the correction value S ′ corrected by the unit 142. Therefore, the steering motor 13 is appropriately controlled with respect to the rotation operation of the handle 10 and the rotation of the front wheel 4, and a good steering feeling can be obtained. Of course, the steering feeling can be kept good without the operator having to adjust the angle sensor 10A and the angle sensor 11A.

  Furthermore, since the neutral value Hntr of the steering wheel angle is used as a boundary, correction is made on the maximum value Ha side and the minimum value Hb side, so that even if the maximum value Ha and the minimum value Hb are different from each other, it is appropriate. The correction value H ′ can be obtained by correcting the input value H. Similarly, since the neutral value Sntr of the steering angle is used as a boundary and correction is made on the maximum value Sa side and the minimum value Sb side, even if the maximum value Sa and the minimum value Sb are different from each other, it is appropriate. The correction value S ′ can be obtained by correcting the input value S.

  In the above embodiment, the handle angle correction unit 141 updates the maximum value Ha when Ha = Ha + 1 and updates the minimum value Hb when Hb = Hb−1. However, the input value H is used as it is. The update may be performed by setting the minimum value Hb. Similarly, in the steering angle correction unit 142, the maximum value Sa is updated when Sa = Sa + 1, and the minimum value Sb is updated when Sb = Sb−1. The input value S is directly used as the maximum value Sa and the minimum value Sb. You may make it.

1 is a perspective view of a forklift according to an embodiment of the present invention. 1 is a schematic diagram of a steer-by-wire system according to an embodiment of the present invention. It is a functional block diagram of the Example of this invention. It is a control characteristic figure of the Example of this invention. It is a control characteristic figure of the Example of this invention. It is a control characteristic figure of the Example of this invention. It is a control characteristic figure of the Example of this invention. It is a control flowchart of the Example of this invention. It is a control flowchart of the Example of this invention. It is a control flowchart of the Example of this invention. It is a control flowchart of the Example of this invention.

Explanation of symbols

4 Front Wheel 10 Handle 10A Angle Sensor 11 Drive Device 11A Angle Sensor 13 Steering Motor 14 Control Device 141 Steering Angle Correction Unit 142 Steering Angle Correction Unit 143 Output Setting Unit H Steering Angle Input Value H ′ Steering Angle Correction Value S Steering Angle Input value S 'Steering angle correction value D Steering motor output duty value

Claims (3)

A steering control device for an industrial vehicle that operates a steering motor in accordance with a rotation operation of a steering wheel, rotates a steering wheel with the steering motor, and changes the direction of the steering wheel.
Handle detection means for detecting a handle angle which is a rotation angle of the handle; and control means for controlling the steering motor according to the handle angle;
The control means sets a maximum value of the steering wheel angle based on an input value from the steering wheel detection means, and sets a minimum value of the steering wheel angle based on an input value from the steering wheel detection means. A minimum value setting means, a correction means for correcting an input value from the handle detection means using a maximum value set by the maximum value setting means, and a minimum value set by the minimum value setting means, Output setting means for setting the output of the steering motor using the steering wheel angle corrected by the correction means,
The maximum value setting means increases and resets the maximum value when the input value is larger than the already set maximum value,
When the input value is smaller than the already set minimum value, the minimum value setting means decreases and resets the minimum value,
The correction means is preset to the maximum value when the input value is larger than the neutral value due to the difference between the input value from the handle detection means and the neutral value of the steering wheel angle set in advance. If not, the ratio of the upper limit value of the steering wheel angle output from the correction means is multiplied by the ratio of the minimum value and the lower limit value of the steering wheel angle output from the correction means set in advance. A steering control device for an industrial vehicle characterized in that the steering wheel angle is corrected. A steering control device for an industrial vehicle that operates a steering motor in accordance with a rotation operation of a steering wheel, rotates a steering wheel with the steering motor, and changes the direction of the steering wheel.
Steering detection means for detecting a steering angle which is a rotation angle of the steering wheel, and control means for controlling the steering motor in accordance with the steering angle,
The control means sets a maximum value of the steering angle based on an input value from the steering detection means, and sets a minimum value of the steering angle based on an input value from the steering detection means. Minimum value setting means for correcting the input value from the steering detection means using the maximum value set by the maximum value setting means, and the minimum value set by the minimum value setting means, Output setting means for setting the output of the steering motor using the steering angle corrected by the correction means,
The maximum value setting means increases and resets the maximum value when the input value is larger than the already set maximum value,
When the input value is smaller than the already set minimum value, the minimum value setting means decreases and resets the minimum value,
When the input value is larger than the neutral value, a difference between the input value from the steering detection unit and a preset neutral value of the steering angle is set as the maximum value. The ratio of the steering angle output from the correction means to the upper limit value of the steering angle is otherwise multiplied by the ratio of the minimum value to the preset lower limit value of the steering angle output from the correction means. And a steering control device for an industrial vehicle, wherein the steering angle is corrected. A steering control device for an industrial vehicle that operates a steering motor in accordance with a rotation operation of a steering wheel, rotates a steering wheel with the steering motor, and changes the direction of the steering wheel.
Steering wheel detection means for detecting a steering wheel angle that is a rotation angle of the steering wheel, steering detection means for detecting a steering angle that is a rotation angle of the steering wheel, and the steering motor according to the steering wheel angle and the steering angle. Control means for controlling,
The control means includes a steering wheel setting means for setting a maximum value and a minimum value of the steering wheel angle based on an input value from the steering wheel detection means, and a maximum steering angle value based on an input value from the steering detection means. Steering setting means for setting a minimum value, correction means for correcting the steering wheel detection means and input values from the steering detection means, and the steering motor using the steering wheel angle and steering angle corrected by the correction means. Output setting means for setting the output of
When the input value is larger than the already set maximum value, the handle setting means increases the maximum value and resets it, and when the input value is smaller than the already set minimum value. Reduce the minimum value and reset it.
When the input value is larger than the already set maximum value, the steering setting means increases the maximum value and resets it. When the input value is smaller than the already set minimum value Reduce the minimum value and reset it.
The correction means corrects an input value from the handle detection means using a maximum value and a minimum value of the handle angle set by the handle setting means and a neutral value of the handle angle set in advance. An industry characterized in that an input value from the steering detection means is corrected using a maximum value and a minimum value of the steering angle set by the steering setting means and a neutral value of the steering angle set in advance. Vehicle steering control device.

Images