JP2010083168A - Vehicular steering device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a driver from feeling incompatibility by a reaction force to a steering wheel. <P>SOLUTION: A vehicle steering control device, which includes the steering wheel 1 as a first steering part and second steering parts 14, 15, controls the operation of a vehicular steering device that turns turning wheels 9 of a vehicle in accordance with the operation of at least one of those steering parts. This control device includes: a steering wheel operation amount detection means 3, which detects the operation amount of the steering wheel; operation amount detection means 16, 17 of the second steering parts, which detect the operation amount of the second steering parts; a turning amount control means 12, which controls the turning amount of the turning wheels based on at least one of the steering wheel operation amount detected by the steering wheel operation amount detection means and the operation amount of the second steering parts detected by the operation amount detection means of the second steering parts; a reaction force generation means 4, which gives the reaction force to the steering wheel; and a reaction force control means 11, which causes the reaction force to occur to the reaction force generation means in accordance with only the turning amount based on the steering wheel operation amount. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention is a steering unit that can be operated by the driver, and is mechanically separated from the steering wheel as the first steering unit, the second steering unit other than the steering wheel, and the steering wheel and the second steering unit. Steer-by-wire type vehicle having steering wheel steering means for steering the steering wheel of the vehicle and steering the steering wheel of the vehicle in accordance with at least one of the steering wheel and the second steering unit The present invention relates to a steering device.

Conventionally, a steering wheel as a first steering unit, which is a steering unit that can be operated by the driver, and a ring disposed near the steering wheel on the back side of the steering wheel as a second steering unit other than the steering wheel are provided. A vehicle steering apparatus that steers a steered wheel of a vehicle in response to an operation of at least one of the steering wheel and the ring is known from, for example, Patent Document 1. In this conventional vehicle steering apparatus, a steering wheel and A so-called steer-by-wire system that detects the operation amount of each ring by a sensor and operates a steering mechanism mechanically separated from the steering wheel and the ring based on electric signals from the sensors to steer the steered wheels. The method is adopted.
JP 2007-246003 A

  By the way, in the vehicle steering apparatus in which the steering wheel and the steering wheel are mechanically connected, the reaction force from the steering wheel according to the steering angle of the steering wheel (that is, the operation amount of the steering wheel) is transmitted to the steering wheel. Although it is provided to the driver as feedback information from the vehicle, the reaction force from the steering wheel is not transmitted to the steering wheel in the vehicle steering device that employs the steer-by-wire system such as the conventional vehicle steering device. . For this reason, in the steer-by-wire type vehicle steering apparatus provided with such a first operation part and a second operation part, a reaction force generating means for generating a reaction force suitable for the driver's feeling on the steering wheel is realized. It was hoped that.

  The present invention advantageously solves the above problems, and the vehicle steering apparatus according to the first aspect of the present invention includes a steering wheel operation amount detection means for detecting an operation amount of the steering wheel, and an operation of the second steering unit. At least one of a second steering unit operation amount detection unit that detects the amount, a steering wheel operation amount detected by the steering wheel operation amount detection unit, and a second steering unit operation amount detected by the second steering unit operation amount detection unit A steering amount control means for controlling the steering amount of the steered wheel by the steered wheel steering means, a reaction force generating means for giving a reaction force to the steering wheel, and the steering wheel operation amount at all times And a reaction force control means for generating a reaction force in the reaction force generation means only in accordance with the turning amount based on the above.

  Further, the vehicle steering apparatus of the present invention of the second aspect is replaced with the reaction force control means that generates a reaction force in the reaction force generation means according to only the steering amount based on the steering wheel operation amount. While the steered wheel steering means steers the steered wheel based on the steering wheel operation amount and the second steering unit operation amount, the second steering unit operation amount increases and the steered amount control unit. When the steering wheel steering means increases the steering wheel, the reaction force generating means increases the reaction force of the second steering unit operation amount, otherwise, the steering wheel operation amount And a reaction force control means for generating a reaction force in the reaction force generation means only in accordance with the turning amount based on the above.

  In the vehicle steering apparatus according to the first aspect of the present invention, the steered amount control means is a steered wheel by the steered wheel steered means based on at least one of the steering wheel manipulated variable and the second steering unit manipulated variable. When the steering amount is controlled, the reaction force control means always causes the reaction force generation means to generate a reaction force according to only the turning amount based on the steering wheel operation amount.

In the above case, if the reaction force generating means generates a reaction force to the steering wheel with respect to the operation amount of the second steering unit together with the operation amount of the steering wheel, the steering wheel is not operated. Is likely to turn in the opposite direction (reaction force is generated), so the driver feels uncomfortable. However, according to the vehicle steering apparatus of the first aspect of the present invention, the reaction force to the steering wheel is not applied to the steering wheel because the reaction force is not applied to the steering wheel even though the steering wheel is not operated. This makes it possible to improve the driver's steering feeling.

  In the vehicle steering apparatus according to the second aspect of the present invention, the steered amount control means is the steered wheel by the steered wheel steered means based on at least one of the steering wheel manipulated variable and the second steering unit manipulated variable. When the steering amount of the steering wheel is controlled, the reaction force control means performs second steering while the steered wheel steering means steers the steered wheel based on the steering wheel operation amount and the second steering portion operation amount. And the steering amount control means increases the reaction force of the second steering part operation amount to the reaction force generation means when the steering amount control means causes the steering wheel steering means to increase the steering wheel. In other cases, a reaction force is generated in the reaction force generating means according to only the turning amount based on the steering wheel operation amount.

  Therefore, according to the vehicle steering apparatus of the second aspect of the present invention, when the steering wheel is increased by the second steering unit during steering by the steering wheel, the driver feels that the steering wheel is increased. Can be felt as feedback information from the steering wheel, and in the normal case when the steering wheel is not increased, the steering wheel is not likely to be turned in the reverse direction even though the steering wheel is not operated. Since there is no sense of incongruity due to the reaction force on the wheel, the driver's steering feeling can be further improved.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic view showing an embodiment of a vehicle steering apparatus according to the present invention. FIG. 2 is a steering wheel as a first steering section and a paddle as a second steering section of the vehicle steering apparatus according to the embodiment. FIG. 3 is a block diagram showing the configuration of the control system of the vehicle steering system of the above embodiment.

  The vehicle steering apparatus of this embodiment employs a so-called steer-by-wire system. As shown in FIGS. 1 and 2, a steering wheel 1 as a first steering section, a column assembly 2, and a handle angle sensor 3 are used. A reaction force motor 4, a backup clutch 5, a turning motor 6, a turning angle sensor 7, a rack gear mechanism 8, a steering wheel lateral force sensor 10, a right paddle 14 as a second steering unit, and A left paddle 15 and paddle angle sensors 16 and 17 are provided. The column assembly 2 has a column shaft 2a coupled to the steering wheel 1 and a torque sensor 2b for detecting torque applied to the column shaft 2a. The rack gear mechanism 8 steers the steering wheel 9 of the vehicle. A non-illustrated pinion meshed with the rack, and a steering shaft 8a coupled to the pinion. The steering shaft 8a is mechanically separated from the column shaft 2a by a backup clutch 5 that is in a releasing operation, as will be described later.

  In addition, the vehicle steering apparatus of this embodiment includes a reaction force controller 11, a turning controller 12, and a communication line 13. The reaction force controller 11 and the turning controller 12 are each configured by a normal microcomputer, and the reaction force controller 11 and the turning controller 12 are connected to the local area network (LAN) in the vehicle via the communication line 13. Configure.

  In this vehicle steering device, when the driver of the vehicle rotates the steering wheel 1, the column shaft 2 a coupled to the steering wheel 1 rotates, and the handle angle sensor 3 rotates the rotation angle of the steering wheel 1. Is obtained and the handle angle information is sent to the reaction force controller 11, and the reaction force controller 11 sends the handle angle information to the steering controller 12 via the communication line 13. Then, the steering controller 12 outputs a command (driving current) to the steering motor 6 while obtaining feedback information from the steering angle sensor 7 and the steering wheel lateral force sensor 10 based on the steering wheel angle information. The steered wheel 9 is steered according to the angle. The reaction force controller 11 outputs a command (driving current) to the reaction force motor 4 while obtaining feedback information from the torque sensor 2b and the steering wheel angle sensor 3 at the time of turning, thereby providing the steering wheel 1 with the command. Generate reaction force.

  Further, in this vehicle steering apparatus, when the driver of the vehicle performs a stroke operation so that the right paddle 14 or the left paddle 15 is pulled forward with a fingertip, the paddle angle sensors 16 and 17 acquire the stroke amount. The stroke amount information is sent to the reaction force controller 11, and the reaction force controller 11 sends the stroke amount information to the steering controller 12 via the communication line 13. The steering controller 12 outputs a command (driving current) to the steering motor 6 while obtaining feedback from the steering angle sensor 7 and the steering wheel lateral force sensor 10 based on the stroke amount information. The steered wheel 9 is steered in the direction of the paddle according to the paddle stroke amount. On the other hand, the reaction force controller 11 does not output a command (drive current) to the reaction force motor 4 with respect to the steering amount by the paddle operation, and does not generate a reaction force to the steering wheel 1.

  The reaction force controller 11 and the steering controller 12 maintain the backup clutch 5 in a disengaged state by energization while they are operating normally, but if any trouble occurs in one or both of them, the backup controller 5 and the steering controller 12 back up. The clutch 5 is deenergized, whereby the backup clutch 5 is engaged and the rack gear mechanism 8 can be rotated directly from the steering wheel 1.

  FIG. 3 shows the configuration of the vehicle steering control device of this embodiment for the above-described control. Here, as shown in the lower part of FIG. 3, the steering controller 12 sets the steering wheel angle to the rotation of the pinion. A steering wheel angle / pinion angle conversion unit 12a for converting into a corner converts the steering wheel angle information from the steering wheel angle sensor 3 into a pinion angle, and a paddle stroke / pinion angle conversion unit for converting a paddle stroke into a rotation angle of the pinion. 12b, the stroke information from the paddle angle sensors 16 and 17 is converted into pinion angles based on a predetermined relationship, and the turning command angle (pinion angle) obtained by adding the pinion angles by the adding unit 12c; The actual turning angle (actual pinion angle) from the turning angle sensor 7 is input to the command current calculation unit 12d, and the steering command is calculated from the difference between the turning command angle and the actual turning angle. It obtains the flow, giving the driver circuit (not shown) the turning command current, supplies a drive current corresponding to the steering command current to turning motor 6 from the driver circuit.

  Further, as shown in the upper part of FIG. 3, the reaction force controller 11 converts the handle angle information from the steering wheel angle sensor 3 with a handle angle / pinion angle conversion unit 11a that converts the handle angle into a pinion rotation angle. The steering command angle (pinion angle) is converted into the steering command angle, and the vehicle speed information of the vehicle detected by a vehicle speed sensor (not shown) is input to the pinion angle / axial force conversion unit 11b and obtained in advance through experiments. Using the conversion map created based on the information and stored in advance, the pinion angle is converted into a rack axial force corresponding to the vehicle speed (usually, the higher the vehicle speed, the larger the rack axial force), and the command current calculation unit 11c By multiplying the rack axial force by the conversion gain, a reaction force command current that can generate a steering wheel reaction force according to the rack axial force is calculated, and the steering angle / command current conversion unit 11d Based on the steering wheel angle information from the angle sensor 3 for the alling wheel, the steering wheel angular velocity information obtained by time differentiation of the steering wheel angle information, and the vehicle speed information, the steering wheel angle is calculated using a conversion map that is created and stored in advance based on information obtained in advance through experiments. , A reaction force command current that can generate a steering wheel reaction force according to the vehicle speed, steering wheel angle and steering wheel angular velocity (usually, the higher the vehicle speed, the larger the steering wheel angle, and the faster the steering wheel angular velocity, the larger the reaction force). The reaction force command current obtained by adding the reaction force command current from the command current calculation unit 11c and the reaction force command current from the handle angle / command current conversion unit 11d by the addition unit 11e The driving current corresponding to the reaction force command current is supplied to the reaction force motor 4 from the driver circuit.

  Therefore, the steering wheel angle sensor 3 corresponds to the steering wheel operation amount detection means, the paddles 14 and 15 correspond to the second steering part, the paddle angle sensors 16 and 17 correspond to the second steering part operation amount detection means, The rudder controller 12 corresponds to a turning amount control means, the reaction force motor 4 corresponds to a reaction force generation means, and the reaction force controller 11 corresponds to a reaction force control means.

  According to the vehicle steering control apparatus of this embodiment, the reaction force controller 11 always generates a reaction force on the reaction force motor 4 only in accordance with information on the steering wheel angle. Since no reaction force is generated on the steering wheel 1 even though the steering wheel 1 is not operated, the driver does not feel uncomfortable with the reaction force on the steering wheel 1, so that the driver's steering feeling is improved. Can do.

  Further, according to the vehicle steering control device of this embodiment, the second steering unit is the paddles 14 and 15 disposed in the vicinity of the steering wheel 1, so that the driver of the vehicle is holding the steering wheel 1 or It is possible to easily operate the paddles 14 and 15 as the second steering section by extending a finger forward even during steering.

  Incidentally, as described above, the driver may operate the paddles 14 and 15 while the steering wheel 1 is being steered to increase the steering angle of the traveling wheel 9 in some cases. FIG. 4 is a block diagram showing the configuration of another embodiment of the vehicle steering control apparatus of the present invention suitable for such a case. In the figure, the same parts as those in the previous embodiment are denoted by the same reference numerals. Show.

  The vehicle steering control device of this embodiment is provided with the vehicle steering device shown in FIGS. 1 and 2, and only the point that the reaction force controller 11 has a paddle stroke / pinion angle converting portion 11f and an adding portion 11g. Unlike the embodiment, it has the same configuration as the previous embodiment in other points.

  In the vehicle steering control device according to this embodiment, the paddle stroke / pinion angle conversion unit 11f of the reaction force controller 11 converts the paddle stroke into the pinion similarly to the paddle stroke / pinion angle conversion unit 12b of the steering controller 12. The paddle stroke / pinion angle conversion unit 11f converts the stroke information from the paddle angle sensors 16 and 17 into a pinion angle based on a predetermined relationship. The pinion angle and the handle angle A turning command angle (pinion angle) obtained by adding the pinion angle converted from the steering wheel angle information from the steering wheel angle sensor 3 by the pinion angle conversion unit 11a by the addition unit 11g and a vehicle speed sensor (not shown) are detected. The vehicle speed information of the vehicle is input to the pinion angle / axial force converter 11b, and the same as in the previous embodiment. Into a rack axial force corresponding to the pinion angle to the vehicle speed (usually as the vehicle speed is high, the greater the rack shaft force) using the transformation map that was created previously stored based on the information obtained in advance by experiments.

  Therefore, the adding unit 11g in this case is when the change speed of the pinion angle converted from the steering wheel angle information from the steering wheel angle sensor 3 by the steering wheel angle / pinion angle conversion unit 11a is not less than a predetermined speed of 0 or substantially 0 (that is, Only when the steering wheel is steered instead of being held), the pinion angle output from the paddle stroke / pinion angle converter 11f is added to the pinion angle output from the steering wheel angle / pinion angle converter 11a as described above. By adding, the reaction force to the steering wheel 1 with respect to both the turning amount generated by the steering wheel operation and the steering amount generated by performing the paddle operation is generated in the reaction force motor 4, otherwise ( That is, when the steering wheel is in the holding state) Depending generating a reaction force to the reaction force motor 4.

  Therefore, according to the vehicle steering control device of this embodiment, when the paddle 14 or 15 is operated during steering by the steering wheel 1, the driver feels that the steering wheel 9 is steered. When the steering wheel 1 is not being steered (when the steering wheel 1 is being held), the steering wheel 1 is turned in the opposite direction even though the steering wheel 1 is not operated. Since this is not the case, the driver does not feel discomfort due to the reaction force against the steering wheel 1, and thus the driver's steering feeling can be further improved.

  Although the present invention has been described based on the illustrated examples, the present invention is not limited to the above-described examples, and can be appropriately changed within the scope of the claims. Although the paddles 14 and 15 are used, the second steering portion in the present invention may be a ring disposed on the back side of the steering wheel so as to be close to the steering wheel.

  Further, the second steering unit according to the present invention may be a lever, a pedal, or the like disposed below the instrument panel of the vehicle so that a handicapped person can drive the vehicle with a knee or a leg when driving the vehicle. Good.

  Thus, according to the vehicle steering control device of the present invention, the steering wheel is unlikely to turn in the reverse direction even though the steering wheel is not operated, so the driver feels uncomfortable with the reaction force to the steering wheel. Since there is nothing to remember, the driver's steering feeling can be improved.

  In the vehicle steering control device according to the present invention, the reaction force control means is such that the steering amount control means steers the steered wheel based on the steering wheel operation amount and the second steering portion operation amount. In the case where the operation amount of the second steering unit is increased and the steered wheel is increased while the second steering unit operation amount is increased, the reaction force generation unit may increase the reaction force of the second steering unit operation amount. In this way, when the steering wheel is increased by the second steering unit during steering by the steering wheel, the driver can feel the sense of increasing the steering wheel as feedback information from the steering wheel. Therefore, the driver's steering feeling can be further improved.

  In the vehicle steering control device according to the present invention, the second steering unit may be a paddle disposed in the vicinity of the steering wheel. In this way, the driver can easily operate the steering wheel. The second steering unit can be operated.

Furthermore, the relationship between the handle angle and the pinion angle when the handle angle / pinion angle conversion unit 11a, 12a converts the handle angle to the pinion angle, and the paddle stroke / pinion angle conversion unit 11f, 12b converts the paddle stroke into the pinion angle. The relationship between the paddle stroke and the pinion angle at the time of conversion to may be changed depending on the vehicle speed, the turning angle, or the like. That is, the present invention may be applied to a so-called VGR (Variable Gear Ratio) in which the pinion angle with respect to the steering wheel angle and the paddle stroke changes depending on the vehicle speed, the turning angle, and the like.

It is a schematic diagram which shows one Example of the steering control apparatus for vehicles of this invention with the other component of the steering apparatus for vehicles. It is explanatory drawing shown in the state which looked at the steering wheel of the said steering apparatus for vehicles, and the paddle as a 2nd steering part from upper direction. It is a block diagram which shows the structure of the steering control apparatus for vehicles of the said Example. It is a block diagram which shows the structure of other one Example of the steering control apparatus for vehicles of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Steering wheel 2 Column assembly 2a Column shaft 2b Torque sensor 3 Handle angle sensor 4 Reaction force motor 5 Backup clutch 6 Steering motor 7 Steering angle sensor 8 Rack gear mechanism 8a Steering shaft
9 Steering wheel 10 Steering wheel lateral force sensor 11 Reaction force controller 11a Handle angle / pinion angle conversion unit 11b Pinion angle / axial force conversion unit 11c, 12d Command current calculation unit 11d Handle angle / command current conversion unit 11e, 11g, 12c Adder 11f, 12b Paddle stroke / pinion angle converter 12 Steering controller 12a Handle angle / pinion angle converter 13 Communication line 14 Right paddle 15 Left paddle 16 Paddle angle sensor for right paddle 17 Paddle angle sensor for left paddle

Claims (3)

A steering wheel as a first steering part, which is a steering part operable by the driver, and a second steering part other than the steering wheel;
Steering wheel steering means that is mechanically separated from the steering wheel and the second steering unit to steer the steering wheel of the vehicle;
Steering wheel operation amount detection means for detecting the operation amount of the steering wheel;
Second steering unit operation amount detection means for detecting an operation amount of the second steering unit;
Based on at least one of the steering wheel operation amount detected by the steering wheel operation amount detection unit and the second steering unit operation amount detected by the second steering unit operation amount detection unit, A turning amount control means for controlling the turning amount;
Reaction force generating means for applying a reaction force to the steering wheel;
A reaction force control means for always generating a reaction force in the reaction force generation means only according to the steering amount based on the steering wheel operation amount;
A vehicle steering apparatus comprising: A steering wheel as a first steering part, which is a steering part operable by the driver, and a second steering part other than the steering wheel;
Steering wheel steering means that is mechanically separated from the steering wheel and the second steering unit to steer the steering wheel of the vehicle;
Steering wheel operation amount detection means for detecting the operation amount of the steering wheel;
Second steering unit operation amount detection means for detecting an operation amount of the second steering unit;
Based on at least one of the steering wheel operation amount detected by the steering wheel operation amount detection unit and the second steering unit operation amount detected by the second steering unit operation amount detection unit, A turning amount control means for controlling the turning amount;
Reaction force generating means for applying a reaction force to the steering wheel;
When the change speed of the steering wheel operation amount detected by the steering wheel operation amount detection means is equal to or higher than a predetermined speed, the steering wheel operation amount detected by the steering wheel operation amount detection means and the first 2 A reaction wheel is generated in the reaction force generating means based on the total value of the operation amount of the second steering part detected by the steering part operation amount detection means, and the steering wheel detected by the steering wheel operation amount detection means When the change rate of the operation amount is less than a predetermined speed, a reaction force is generated in the reaction force generation unit based only on the operation amount of the steering wheel detected by the steering wheel operation amount detection unit. Reaction force control means;
A vehicle steering apparatus comprising:   The vehicle steering apparatus according to claim 1, wherein the second steering unit is a paddle disposed in the vicinity of a steering wheel.

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