JP5471484B2 - Steering device - Google Patents

Description

  The present invention relates to a steering device for steering a vehicle.

  As a conventional steering device, for example, as described in Patent Document 1, the front wheel is steered by rotating the steering wheel (main operation), and the steering wheel is slid in the vehicle longitudinal direction (auxiliary). It is known that the front wheels are steered by performing the operation.

JP 2006-264512 A

  However, in a steering apparatus having a steering wheel capable of performing main operation and auxiliary operation as in the above-described prior art, when an operator that steers the vehicle by auxiliary operation is not mechanically connected to an operation target such as a tire. Has the following problems. That is, if the position of the steering wheel is deviated from the neutral position (N-point position) of the auxiliary operation when the vehicle is stopped, zero-point correction (0-point learning) of the steering wheel operation input (operation amount or operation force) by the auxiliary operation is performed. ) May be mislearned.

  An object of the present invention is to provide a steering device capable of accurately performing 0-point learning of steering operation input by auxiliary operation.

The present invention relates to a steering apparatus equipped with a steering wheel that is mounted on a vehicle and can perform a main operation that is a rotation operation and an auxiliary operation that is an operation in a direction different from the rotation direction by the main operation. Actuator means for driving the steering in the direction of movement, control means for controlling the actuator means so that the steering is returned to the reference position for the auxiliary operation when the vehicle is stopped, and when the steering is not returned to the reference position for the auxiliary operation And a means for prohibiting the start of the vehicle and a means for correcting the zero point of the steering operation input by the auxiliary operation when the steering is at the reference position of the auxiliary operation .

As described above, in the steering device of the present invention, the steering is returned to the reference position of the auxiliary operation when the vehicle is stopped, so that the driver does not feel uncomfortable with the subsequent auxiliary operation. In addition, since the steering is present at the reference position for the auxiliary operation when the vehicle is stopped, the zero point correction (zero point learning) of the steering operation input by the auxiliary operation can be accurately performed. Further, the steering assist operation is prevented from being performed in a state where the zero-point learning of the steering operation input by the assist operation is incorrect.

  Preferably, the vehicle is stopped when the shift lever is in the P range, when the ignition switch is OFF, or when the vehicle speed is zero. This ensures that the vehicle stops.

  Preferably, the apparatus further includes means for locking the steering assist operation when the steering returns to the reference position of the assist operation. In this case, the steering assist operation is prevented from being performed unnecessarily when the steering returns to the reference position for the assist operation when the vehicle is stopped.

  Preferably, the auxiliary operation is an operation of pushing and pulling or swinging the steering. In this case, the steering can be easily operated in a direction different from the rotation direction by the main operation.

  According to the present invention, 0-point learning of steering operation input by auxiliary operation can be performed accurately. As a result, it is possible to prevent the occurrence of malfunction due to zero-point mislearning.

It is the schematic which shows the vehicle provided with the principal part of one Embodiment of the steering device concerning this invention. It is a block diagram which shows a partial structure of one Embodiment of the steering device concerning this invention. It is a flowchart which shows the detail of the process sequence performed by the vehicle stop process part shown in FIG. It is a flowchart which shows the detail of the process sequence performed by the vehicle starting process part shown in FIG. It is a flowchart which shows the modification of the process sequence shown in FIG. It is the schematic which shows the vehicle provided with the modification of the steering apparatus shown in FIG.

  Hereinafter, a preferred embodiment of a steering apparatus according to the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a schematic view showing a vehicle including a main part of an embodiment of a steering apparatus according to the present invention. In the figure, the steering device 1 of the present embodiment includes a steering 2 that can perform an ordinary rotating operation (main operation) and an operation of pushing and pulling in the vehicle longitudinal direction (auxiliary operation). The main operation is an operation for turning each front wheel 3. Here, the auxiliary operation is an operation for turning each rear wheel 4. Each rear wheel 4 is not mechanically connected to the steering 2 and is configured to be steered by a motor (not shown).

  Further, the steering device 1 includes a steering angle sensor 5, a steering mechanism 6, a push / pull sensor 7, and a push / pull reaction force actuator 8. The steering angle sensor 5 is a sensor that detects the steering angle of the steering 2 by the main operation. The steering mechanism 6 is a mechanism that transmits the steering output of the steering 2 by the main operation to each front wheel 3.

  The push / pull sensor 7 is a sensor that detects a push / pull stroke or push / pull force of the steering wheel 2 by an auxiliary operation. The push / pull reaction force actuator 8 drives the steering 2 in the push / pull direction so as to apply a push / pull reaction force to the steering 2 when an auxiliary operation of the steering 2 is performed. At this time, a motor with a push / pull sensor 7 may be used as the push / pull reaction force actuator 8.

  Further, the steering device 1 includes a steering ECU (Electronic Control Unit) 9 constituted by a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like.

  FIG. 2 is a block diagram showing a partial configuration of an embodiment of the steering apparatus according to the present invention. In the figure, the steering ECU 9 is connected to the steering angle sensor 5, the push-pull sensor 7, and the push-pull reaction force actuator 8. Further, the steering ECU 9 detects a shift sensor 10 for detecting the position of the shift lever, a vehicle speed sensor 11 for detecting the vehicle speed of the vehicle, an ignition switch 12 for starting the engine, and a turning angle of the rear wheel 4. A rear wheel turning angle sensor 13 that performs the warning and a warning device 14 that gives a warning to the driver by display, voice, or the like are connected.

  The steering ECU 9 includes a vehicle stop processing unit 15 and a vehicle activation processing unit 16. The vehicle stop processing unit 15 inputs output signals from the push / pull sensor 7, the shift sensor 10, the vehicle speed sensor 11, and the ignition switch 12, performs predetermined processing, and controls the push / pull reaction force actuator 8. The vehicle activation processing unit 16 inputs output signals from the push / pull sensor 7, the ignition switch 12, and the rear wheel turning angle sensor 13, performs predetermined processing, and controls the push / pull reaction force actuator 8 and the warning device 14.

  FIG. 3 is a flowchart showing details of a processing procedure executed by the vehicle stop processing unit 15. In the figure, first, based on the output signal (detection signal) of the push / pull sensor 7, it is determined whether or not a steering reaction force is generated in the steering 2 (step S51).

  When it is determined that a steering reaction force is generated in the steering 2, it is determined whether or not the position of the shift lever is in the P (parking) range based on the output signal (detection signal) of the shift sensor 10 ( Procedure S52). When it is determined that the position of the shift lever is in the P range, the push / pull reaction force actuator 8 is controlled so as to return the push / pull position of the steering wheel 2 to the reference position (neutral position) (step S53).

  When it is determined that the position of the shift lever is not in the P range, it is determined whether or not the output signal of the ignition switch 12 is an OFF signal (step S54). When it is determined that the output signal of the ignition switch 12 is an OFF signal, the push / pull reaction force actuator 8 is controlled so as to return the push / pull position of the steering wheel 2 to the reference position (step S53).

  When it is determined that the output signal of the ignition switch 12 is not an OFF signal (is an ON signal), it is determined whether the vehicle speed of the vehicle is zero based on the output signal (detection signal) of the vehicle speed sensor 11 ( Procedure S55). When it is determined that the vehicle speed of the vehicle is zero, the push / pull reaction force actuator 8 is controlled so as to return the push / pull position of the steering wheel 2 to the reference position (step S53). When it is determined that the vehicle speed is not zero, the process returns to step S51.

  FIG. 4 is a flowchart showing details of a processing procedure executed by the vehicle activation processing unit 16. In the figure, it is first determined whether or not a vehicle system activation request has been made (step S61). At this time, it is determined whether or not there is a vehicle system activation request by determining whether or not the output signal of the ignition switch 12 is an ON signal.

  When it is determined that a vehicle system activation request has been made, it is determined whether the push / pull position of the steering wheel 2 is within the reference position range based on the detection signal of the push / pull sensor 7 (step S62). When it is determined that the push / pull position of the steering wheel 2 is not within the range of the reference position, the warning device 14 notifies the driver that the push / pull position of the steering wheel 2 is deviated from the reference position (step S63). Return to S62.

  When it is determined that the push / pull position of the steering wheel 2 is within the range of the reference position, the vehicle system is activated (step S64). Specifically, the engine is started and the vehicle can be started.

  Subsequently, zero point correction (zero point learning) of the operation force and the operation amount in the auxiliary operation of the steering 2 is performed, and an initial check of the steering 2 is performed (step S65).

  Subsequently, the output signal (detection signal) of the rear wheel turning angle sensor 13 is acquired (step S66), and the push-pull position of the steering wheel 2 is set to a position corresponding (matched) to the current turning angle of the rear wheel 4. The pushing / pulling reaction force actuator 8 is controlled (step S67).

  In the above, the push / pull reaction force actuator 8 constitutes an actuator means for driving the steering 2 with respect to the operation direction of the steering 2 by the auxiliary operation. The above steps S52 to S55 in the vehicle stop processing unit 15 of the shift sensor 10, the vehicle speed sensor 11, the ignition switch 12, and the steering ECU 9 control the actuator means 8 so that the steering 2 is returned to the reference position of the auxiliary operation when the vehicle is stopped. The control means is configured.

  Further, the above steps S62 and S63 in the vehicle activation processing unit 16 of the push / pull sensor 7 and the steering ECU 9 constitute a means for prohibiting the activation of the vehicle when the steering 2 has not returned to the reference position for the auxiliary operation.

  As described above, in the present embodiment, when the vehicle stops, the push / pull position of the steering wheel 2 is returned to the reference position (neutral position), and the push / pull position of the steering wheel 2 is not within the range of the reference position. Since the start of the vehicle system is prohibited, the push-pull position of the steering wheel 2 is within the range of the reference position when learning the zero point of the operation force and the operation amount in the auxiliary operation of the steering wheel 2 after that. Will do. As a result, the zero-point learning of the operation force and the operation amount can be accurately performed, so that it is possible to prevent the occurrence of malfunction due to the zero-point erroneous learning. As a result, an obstacle at the time of initial check of the steering wheel 2 can be avoided.

  Further, when the vehicle system is activated, the push / pull position of the steering wheel 2 is within the range of the reference position, so that the driver does not feel uncomfortable when performing the auxiliary operation of the steering wheel 2.

  FIG. 5 is a flowchart showing a modification of the processing procedure executed by the vehicle stop processing unit 15. In the figure, after step S53 is executed, it is determined whether or not the push / pull position of the steering wheel 2 has returned to the reference position based on the detection signal of the push / pull sensor 7 (step S56). When it is determined that the push / pull position of the steering wheel 2 has not returned to the reference position, the process returns to step S53.

  When it is determined that the push / pull position of the steering wheel 2 has returned to the reference position, the steering wheel 2 is mechanically locked in the push / pull direction (step S57). For example, the electromagnetic solenoid is controlled so that a stopper attached to the plunger of the electromagnetic solenoid is protruded so that the pushing / pulling operation of the steering 2 cannot be performed.

  The above steps S56 and S57 constitute means for locking the auxiliary operation of the steering wheel 2 when the steering wheel 2 returns to the reference position for the auxiliary operation.

  Thus, when the push / pull position of the steering wheel 2 returns to the reference position, the push / pull operation of the steering wheel 2 is mechanically locked, thereby preventing the auxiliary operation of the steering wheel 2 from being performed carelessly.

  The present invention is not limited to the above embodiment. For example, in the above-described embodiment, the operation of pushing and pulling the steering wheel 2 in the longitudinal direction of the vehicle is an auxiliary operation. However, as the auxiliary operation of the steering wheel 2, for example, as shown in FIG. ). In this case, the swing sensor 21 for detecting the swing angle or swing torque of the steering wheel 2 by the auxiliary operation and the swing reaction force to the steering wheel 2 when the auxiliary operation of the steering wheel 2 is performed. In addition, a swing reaction force actuator 22 for driving the steering 2 in the swing direction is provided. Then, when the vehicle is stopped, the swing reaction force actuator 22 is controlled so that the swing position of the steering wheel 2 is returned to the reference position (neutral position).

  The auxiliary operation of the steering wheel 2 may be an operation in a direction different from the normal rotation direction of the steering wheel 2 by the main operation other than the above-described push-pull operation and swing operation.

  Moreover, in the said embodiment, although the reference position which returns the steering 2 in auxiliary operation was made into the neutral position of auxiliary operation, it does not need to be especially a neutral position as a reference position.

  In the above embodiment, when the vehicle system activation is requested, the engine start is prohibited when the push / pull position of the steering wheel 2 is not within the range of the reference position, but the engine start is prohibited. Instead, the start of the vehicle and the auxiliary operation of the steering 2 may be prohibited.

  Further, in the above embodiment, the rear wheel 4 is steered by the auxiliary operation of the steering 2. However, the operation target by the auxiliary operation is not particularly limited to this, for example, for adjusting the acceleration / deceleration of the vehicle. There may be.

DESCRIPTION OF SYMBOLS 1 ... Steering device, 2 ... Steering, 7 ... Push-pull sensor, 8 ... Push-pull reaction force actuator (actuator means), 9 ... Steering ECU, 10 ... Shift sensor (control means), 11 ... Vehicle speed sensor (control means), DESCRIPTION OF SYMBOLS 12 ... Ignition switch (control means), 15 ... Vehicle stop process part (control means), 16 ... Vehicle start-up process part, 21 ... Push-pull sensor, 22 ... Swing reaction force actuator (actuator means).

Claims (4)

In a steering apparatus equipped with a steering wheel mounted on a vehicle and capable of performing a main operation that is an operation to rotate and an auxiliary operation that is an operation in a direction different from the rotation direction by the main operation,
Actuator means for driving the steering with respect to the direction of operation of the steering by the auxiliary operation;
Control means for controlling the actuator means to return the steering to a reference position for the auxiliary operation when the vehicle is stopped ;
Means for prohibiting activation of the vehicle when the steering has not returned to the reference position for the auxiliary operation;
A steering device comprising: means for correcting a zero point of the steering operation input by the auxiliary operation when the steering is at a reference position of the auxiliary operation .   2. The steering apparatus according to claim 1, wherein when the vehicle is stopped, the position of the shift lever is in the P range, the ignition switch is OFF, or the vehicle speed is 0.   The steering apparatus according to claim 1 or 2, further comprising means for locking the auxiliary operation of the steering when the steering returns to a reference position of the auxiliary operation. The auxiliary operation, the steering apparatus according to any one of claims 1-3, characterized in that the operation for pushing and pulling or oscillating the steering.

Images