JP2014083975A - Steering gear, control device thereof, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering gear with which a plurality of steering wheels can be provided in a vehicle and steering of the vehicle can be performed on the basis of operation of either of the steering wheels.SOLUTION: A steering gear 100 comprises: a plurality of steering wheels 101a and 101b for steering a vehicle 1; an electric motor 110 for steering a wheel 150 which is mechanically separated from the steering wheels 101a and 101b; a switching part for switching so as to select a steering wheel for steering the vehicle 1 out of the steering wheels 101a and 101b, and steer the vehicle 1 on the basis of operation of the selected steering wheel; and a control part for controlling drive of the electric motor 110 on the basis of operation of the steering wheel switched by the switching part.

Description

  The present invention relates to a steering device, a control device for a steering device, and a program.

  In a conventional steering device used for a vehicle or the like, a steering wheel and wheels are connected via a shaft or the like. In order to lighten the steering of the driver in this steering device, it is common to equip an electric power steering mechanism that assists steering of the steering wheel by an electric motor. On the other hand, in recent years, a steering device using a steer-by-wire system in which a steering wheel and a wheel are not connected by a shaft or the like and mechanically separated has been proposed. For example, the torque of a steering wheel operated by a driver is detected, the electric motor is controlled according to the torque, and the wheel is steered.

Patent Document 1 includes a first motor that drives a steering mechanism in response to a rotation operation of a steering wheel, a first system that includes a second motor, and a second system. The first ECU and the second ECU have a system abnormality. Mutual monitoring is performed, abnormal systems are stopped, and when each system is normal, the first ECU and the second ECU drive and control the first motor and the second motor of its own system, and the steering mechanism cooperates with each motor. When one of the two systems is abnormal, the ECU of the other system independently drives and controls the motor of its own system via a drive circuit to drive the steering mechanism. It is disclosed.
Patent Document 2 discloses that a drive-by-wire method, which is a method for steering an automobile vehicle, is a slide lever type or joystick type that is a man-machine interface operated by a driver. The steering signal is input to the steering control device through the steering signal cable by a steering operation performed by the driver from the steering signal input device, and the steering control device is a steering method for steering by controlling the steering device for steering the steering shaft. Yes, the steering signal input device and the steering control device or the steering device for steering the steering shaft are connected by a steering signal cable, so that the steering function equipment can be simplified. The steering signal input device can be set freely, in addition to the conventional steering wheel. The thing which can also be equipped in the armrest part of a driver's seat is disclosed.

JP 2004-10024 A International Publication WO2007 / 034567 Pamphlet

For example, in a training vehicle, an instructor who teaches driving of a vehicle to a teacher who sits on the driver's seat side and drives the training vehicle generally sits on the passenger seat side. When the instructor feels danger in driving the trainer, the instructor operates the sub brake pedal provided on the passenger seat side to decelerate or stop the train car and avoid the danger. However, since the conventional training vehicle does not have a steering hole on the passenger seat side, the steering operation for changing the traveling direction of the training vehicle cannot be performed, which is insufficient from the viewpoint of avoiding danger. It was sometimes.
An object of the present invention is to provide a steering device or the like that can be provided with a plurality of steering wheels in a vehicle and that can steer the vehicle based on the operation of any of the steering wheels.

For this purpose, the present invention provides a plurality of steering wheels for steering a vehicle,
An electric motor for turning a plurality of steering wheels and mechanically separated wheels, and a steering wheel for steering the vehicle from the plurality of steering wheels are selected, and the vehicle is steered based on the operation of the selected steering wheel And a motor control unit that controls the driving of the electric motor based on the operation of the steering wheel switched by the switching unit.

Here, the steering wheel is disposed on the driver's seat side and the passenger seat side of the vehicle, respectively, and the switching unit is configured to operate the steering wheel on the passenger seat side when a predetermined operation is performed on the steering wheel on the passenger seat side. It is preferable that the vehicle is switched based on the steering operation.
Further, the steering wheel is arranged on each of the driver seat side and the passenger seat side of the vehicle, and the switching unit is based on steering of the steering wheel on the passenger seat side when the braking device is activated by an operation from the passenger seat side. It is preferable to switch so as to perform the steering operation.

  The present invention also provides a signal acquisition unit that acquires information including operation information of a plurality of steering wheels mechanically separated from the wheel, and a vehicle from among the plurality of steering wheels based on the information acquired by the signal acquisition unit. And a motor control unit for controlling the driving of the electric motor based on information on the operation of the steering wheel selected by the selection unit. It is a control device.

  Furthermore, the present invention provides a computer with a function of acquiring information including information on operations of a plurality of steering wheels mechanically separated from wheels, and steering a vehicle from among the plurality of steering wheels based on the acquired information. A program for realizing a function of selecting a steering wheel to be performed and a function of controlling driving of an electric motor based on information on operation of the selected steering wheel.

  The present invention can provide a steering device or the like in which a plurality of steering wheels can be provided in a vehicle and the vehicle can be steered based on the operation of any of the steering wheels.

It is a figure which shows schematic structure of the motor vehicle to which the steering device which concerns on this Embodiment is applied. It is a schematic block diagram of the control apparatus of a steering device. It is a schematic block diagram of a target current calculation part. It is a schematic block diagram of a control part. It is a figure explaining the switching part.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
<General car description>
FIG. 1 is a diagram showing a schematic configuration of an automobile 1 to which a steering device 100 according to the present embodiment is applied.
An automobile 1 that is an example of a vehicle includes a steering device 100 and a seat 14 on which a person can sit. The automobile 1 according to the present embodiment is a five-seater automobile, and the seat 14 is provided in the first row of the driver seat 15 and the passenger seat 16, and behind the driver seat 15 in the second row. And a rear seat 17.

  In addition, the automobile 1 includes a known accelerator pedal 18a, a brake pedal 18b, and a clutch pedal 18c provided on the driver's seat 15 side. Furthermore, the automobile 1 has a sub brake pedal 18d provided on the passenger seat 16 side.

  The illustrated automobile 1 is a training vehicle used in, for example, a driving school. A driver who learns how to drive the automobile 1 sits in the driver's seat 15 as a driver (driver) and operates the accelerator pedal 18a, the brake pedal 18b, the clutch pedal 18c, a steering wheel 101a described later, and the like. Perform 1 operation. Also, an instructor who teaches the trainer how to drive the car 1 sits in the passenger seat 16 and operates the brake device (brake device) by operating the sub brake pedal 18d when the trainee feels dangerous to drive. Let Thereby, the automobile 1 can be decelerated and stopped. As will be described in detail later, in the automobile 1 according to the present embodiment, the instructor can steer the automobile 1 using the steering wheel 101b provided on the passenger seat 16 side.

<Description of steering device>
Next, the steering device 100 will be described.
The illustrated steering device 100 is a steering device for arbitrarily changing the traveling direction of the automobile 1.
The steering device 100 includes wheel-like steering wheels (handles) 101a and 101b operated by a driver to steer the automobile 1, and torque sensors 102a and 102b that detect the steering torque T of the steering wheels 101a and 101b. And reaction force devices 103a and 103b for applying a steering reaction force to the driver. Hereinafter, when the steering wheel (handle) 101a and the steering wheel 101b are not distinguished from each other, they may be simply referred to as the “steering wheel 101”.

  The steering device 100 includes a tie rod 104 connected to each of the left and right wheels 150 serving as rolling wheels, and a rack shaft 105 connected to the tie rod 104. Further, the steering device 100 includes a pinion 106 a that constitutes a rack and pinion mechanism together with rack teeth 105 a formed on the rack shaft 105. The pinion 106 a is formed at the lower end portion of the pinion shaft 106. Further, the steering device 100 includes a steering gear box 107 that houses the pinion shaft 106.

  Further, the steering device 100 includes an electric motor 110 supported by the steering gear box 107, and a speed reduction mechanism 111 that reduces the driving force of the electric motor 110 and transmits it to the pinion shaft 106. Electric motor 110 according to the present embodiment is a three-phase brushless motor. The magnitude and direction of the actual current that actually flows through the electric motor 110 is detected by the motor current detector 33 (see FIG. 4).

The steering device 100 includes a control device 10 that controls the operation of the electric motor 110.
As will be described in detail later, the control device 10 detects torque signals Ta and Tb indicating the steering torque T of the steering wheels 101a and 101b detected by the torque sensors 102a and 102b, and a vehicle speed Vc which is the moving speed of the vehicle. The output value of the vehicle speed sensor 170 is input. Further, the control device 10 receives a switching signal for the steering wheel 101a and the steering wheel 101b transmitted from the changeover switch 130 and a detection signal indicating whether or not the sub brake pedal 18d has been operated.

  The steering device 100 configured as described above detects the steering torque T of the steering wheels 101a and 101b by the torque sensors 102a and 102b, and controls the electric motor 110 according to the detected steering torque T to control the wheels 150. Steer. Thus, a steering operation for changing the traveling direction of the automobile 1 can be performed.

Thus, the steering device 100 of the present embodiment is a so-called steer-by-wire system in which the steering wheels 101a and 101b and the wheel 150 are mechanically separated.
As will be described in detail later, in the steering device 100 of the present embodiment, the control device 10 can switch the steering wheel 101 for steering the automobile 1 between the steering wheel 101a and the steering wheel 101b. This is a difficult function in the conventional steering apparatus in which the steering wheel 101 and the wheel 150 are mechanically connected by providing the steering shaft. Then, by switching between the steering wheel 101a and the steering wheel 101b, when the automobile 1 is used for a training vehicle, for example, a driver who is sitting on the driver's seat 15 side and an instructor sitting on the passenger's seat 16 side can change the driver. Can be done. When the instructor feels danger in driving the teacher while the instructor is driving the automobile 1, the steering wheel 101 for steering the automobile 1 is steered from the steering wheel 101 a by the control device 10. Switch to wheel 101b. Thus, the instructor can not only operate the brake device by operating the sub brake pedal 18d, but also can steer the automobile 1 using the steering wheel 101b. As a result, teaching can be performed more safely. In addition, the instructor can use the steering wheel 101b to actually drive the automobile 1 to teach the trainer how to operate the driving line of the automobile 1 and the steering wheel 101.

<Description of Control Device 10>
Next, the control device 10 will be described.
FIG. 2 is a schematic configuration diagram of the control device 10 of the steering device 100.
The control device 10 is an example of a control device for a steering device, and is an arithmetic logic operation circuit including a CPU, a ROM, a RAM, a backup RAM, and the like.
As shown in the figure, the torque signal Ta detected by the torque sensor 102a by operating the steering wheel 101a and the torque signal Tb detected by the torque sensor 102b by operating the steering wheel 101b are input to the control device 10. The
Further, the control device 10 receives a switching signal M from the changeover switch 130 and a detection signal B indicating whether or not the sub brake pedal 18d has been operated. Further, a vehicle speed signal v obtained by converting the vehicle speed Vc detected by the vehicle speed sensor 170 into an output signal is input.

  Then, the control device 10 calculates a target torque based on the torque signal Ta (Tb), and calculates a target current ITF necessary for the electric motor 110 to supply the target torque, A control unit 30 that performs feedback control based on the target current ITF calculated by the target current calculation unit 20 and a steering wheel that steers the automobile 1 from the steering wheels 101a and 101b are selected, and the operation of the selected steering wheel is selected. And a switching unit 70 for switching to steer the vehicle based on the above. In the present embodiment, the control unit 30 functions as a motor control unit that controls the driving of the electric motor 110 based on the operation of the steering wheel switched by the switching unit 70. Note that the torque signal Ta (Tb) is described here because the torque signal Ta and the torque signal Tb are switched by the switching unit 70 and the target torque is calculated based on the torque signal Ta or the torque signal Tb. That is, the torque signal Ta (Tb) means the torque signal Ta or the torque signal Tb.

<Description of Target Current Calculation Unit 20>
Next, the target current calculation unit 20 will be described in detail.
FIG. 3 is a schematic configuration diagram of the target current calculation unit 20.
The target current calculation unit 20 includes a base current calculation unit 21 that calculates a base current that serves as a reference for setting the target current, an inertia compensation current calculation unit 22 that calculates a current for canceling the inertia moment of the electric motor 110, and And a damper compensation current calculation unit 23 for calculating a current for limiting the rotation of the motor. The target current calculation unit 20 includes a base current calculation unit 21, an inertia compensation current calculation unit 22, and a target current determination unit 25 that determines the target current ITF based on the values calculated by the damper compensation current calculation unit 23. I have.

  The target current calculation unit 20 is input with a torque signal Ta (Tb), a vehicle speed signal v, a rotation speed signal Nms obtained by converting the rotation speed Nm of the electric motor 110 into an output signal, and the like. The rotational speed signal Nms is, for example, a sensor configured to detect a rotational position of a rotor (rotor) of the electric motor 110 that is a three-phase brushless motor (for example, a rotor configured by a resolver, a rotary encoder, or the like that detects the rotational position of the rotor). It can be exemplified that the value obtained by differentiating the rotation angle of the electric motor 110 detected by the position detection circuit) is converted into an output signal.

  The base current calculation unit 21 calculates a base current based on the torque signal Ta (Tb) and the vehicle speed signal v from the vehicle speed sensor 170, and outputs a base current signal Imb including information on the base current Ib. Note that the base current calculation unit 21 displays, for example, a torque map Ta (Tb) and a map indicating the correspondence between the vehicle speed signal v and the base current Ib, which is created in advance based on empirical rules and stored in the ROM. The base current is calculated by substituting the signal Ta (Tb) and the vehicle speed signal v.

  The inertia compensation current calculation unit 22 calculates an inertia compensation current for canceling the inertia moment of the electric motor 110 and the system based on the torque signal Ta (Tb) and the vehicle speed signal v, and an inertia compensation current including information on this current The signal Is is output. For example, the inertia compensation current calculation unit 22 creates a map indicating the correspondence between the torque signal Ta (Tb) and the vehicle speed signal v and the inertia compensation current, which is previously created based on an empirical rule and stored in the ROM. An inertia compensation current is calculated by substituting the torque signal Ta (Tb) and the vehicle speed signal v.

  The damper compensation current calculation unit 23 calculates a damper compensation current for limiting the rotation of the electric motor 110 based on the torque signal Ta (Tb), the vehicle speed signal v, and the rotation speed signal Nms of the electric motor 110. A damper compensation current signal Id including current information is output. Note that the damper compensation current calculation unit 23 generates, for example, a torque signal Ta (Tb), a vehicle speed signal v, a rotation speed signal Nms, and a damper compensation current, which are previously created based on empirical rules and stored in the ROM. The damper compensation current is calculated by substituting the torque signal Ta (Tb), the vehicle speed signal v, and the rotational speed signal Nms into the map indicating the correspondence.

  The target current determination unit 25 is calculated by the base current signal Imb calculated by the base current calculation unit 21, the inertia compensation current signal Is calculated by the inertia compensation current calculation unit 22, and the damper compensation current calculation unit 23. A target current is determined based on the damper compensation current signal Id, and a target current signal ITF including information on this current is output. The target current determination unit 25, for example, creates a compensation current obtained by adding the inertia compensation current to the base current and subtracting the damper compensation current based on an empirical rule in advance and storing it in the ROM. The target current is calculated by substituting it into a map showing the correspondence between the current and the target current.

<Description of Control Unit 30>
Next, the control unit 30 will be described in detail.
FIG. 4 is a schematic configuration diagram of the control unit 30.
The control unit 30 detects a motor drive control unit 31 that controls the operation of the electric motor 110, a motor drive unit 32 that drives the electric motor 110, an actual current that actually flows through the electric motor 110, and an actual current detection signal Im. Is output to the motor drive control unit 31.
The motor drive control unit 31 is supplied to the target current finally determined by the target current calculation unit 20 (value indicated by the target current signal ITF) and the electric motor 110 detected by the motor current detection unit 33. A feedback (F / B) control unit 40 that performs feedback control based on a deviation from the actual current (value indicated by the actual current detection signal Im), and a PWM (pulse width modulation) signal for PWM driving the electric motor 110 And a PWM signal generation unit 60 for generation.

  The feedback control unit 40 includes a deviation calculation unit 41 for obtaining a deviation between the target current finally determined by the target current calculation unit 20 and the actual current detected by the motor current detection unit 33, and the deviation is zero. A feedback (F / B) processing unit 42 for performing feedback processing.

The feedback (F / B) processing unit 42 performs feedback control so that the target current and the actual current coincide with each other. For example, the feedback (F / B) processing unit 42 is proportional to the deviation calculated by the deviation calculating unit 41 with a proportional factor. Then, integration processing is performed by the integration element, and these values are added by the addition operation unit.
The PWM signal generation unit 60 generates a PWM signal for driving the electric motor 110 by PWM (pulse width modulation) based on the output value from the feedback control unit 40, and outputs the generated PWM signal 60a.

The motor drive unit 32 is a so-called inverter, and includes, for example, six independent transistors (FETs) as switching elements. Three of the six transistors are a positive line of a power source, an electric coil of each phase, The other three transistors are connected to the electric coil of each phase and the negative side (ground) line of the power source. Then, the driving of the electric motor 110 is controlled by driving the gates of two transistors selected from the six and switching the transistors.
The motor current detection unit 33 detects the value of the actual current flowing through the electric motor 110 from the voltage generated at both ends of the shunt resistor connected to the motor drive unit 32.

<Description of Switching Unit 70>
Next, the switching unit 70 will be described in detail.
FIG. 5 is a diagram illustrating the switching unit 70.
As illustrated, the switching unit 70 includes a signal acquisition unit 71 and a selection unit 72.
The signal acquisition unit 71 acquires information including operation information of the steering wheels 101 a and 101 b mechanically separated from the wheel 150. In the present embodiment, the signal acquisition unit 71 acquires the torque signal Ta and the torque signal Tb as information on the operation of the steering wheels 101a and 101b. Further, the switching signal M and the detection signal B described above are acquired as other information.

  Based on the information acquired by the signal acquisition unit 71, the selection unit 72 selects one steering wheel for steering the automobile 1 out of the steering wheels 101a and 101b. In the present embodiment, the selection unit 72 selects the steering wheel 101 based on the torque signal Tb, the switching signal M, and the detection signal B.

First, the case where the steering wheel 101 is selected based on the switching signal M will be described.
The changeover switch 130 that outputs the changeover signal M is provided on the passenger seat 16 side as shown in FIG. 1 and can be operated by a person sitting in the passenger seat 16. That is, when the automobile 1 is used as a training vehicle, the instructor sits in the passenger seat 16 and the changeover switch 130 is operated by the instructor. When a teacher sitting in the driver's seat 15 drives the automobile 1, the changeover switch 130 is switched in advance so as to steer the automobile 1 based on the operation of the steering wheel 101 a. However, if the instructor feels danger in driving the instructor, the instructor operates the changeover switch 130 to steer the automobile 1 based on the operation of the steering wheel 101b. Thereby, instead of the teacher, the instructor operates the steering wheel 101b to steer the automobile 1.

  At this time, in the switching unit 70, the signal acquisition unit 71 acquires the switching signal M to this effect. Based on the switching signal M, the selection unit 72 changes the selection of the torque signal to be sent to the target current calculation unit 20 from the torque signal Ta from the steering wheel 101a to the torque signal Tb from the steering wheel 101b.

However, in the event of an emergency, the instructor may not have time to perform the switching operation by the changeover switch 130.
Therefore, in the present embodiment, the switching can be performed also by the torque signal Tb which is information of the steering torque T of the steering wheel 101b. That is, when the automobile 1 is used as a training vehicle, first, a teacher operates the steering wheel 101a to steer the automobile 1. At this time, the instructor operates the steering wheel 101b when the instructor intends to steer the automobile 1 in an emergency or the like. Therefore, in this case, the switching unit 70 switches to steer the automobile 1 based on the operation of the steering wheel 101b.

At this time, the switching unit 70 switches the vehicle 1 to be steered based on the operation of the steering wheel 101b on the passenger seat 16 side when a predetermined operation is performed on the steering wheel 101b on the passenger seat 16 side.
More specifically, the selection unit 72 sends to the target current calculation unit 20 when the signal acquisition unit 71 acquires a torque signal Tb having a magnitude larger than a predetermined value as the steering torque T of the steering wheel 101b. The selection of the torque signal is changed from the torque signal Ta from the steering wheel 101a to the torque signal Tb from the steering wheel 101b.

  Further, in the present embodiment, this switching can be performed also by the detection signal B indicating whether or not the sub brake pedal 18d has been operated. That is, when the automobile 1 is used as a training vehicle, the instructor operates the sub brake pedal 18d when the instructor in an emergency or the like intends to steer the automobile 1. Therefore, in this case, the switching unit 70 performs switching so that the vehicle 1 is steered by the steering wheel 101b.

At this time, the switching unit 70 switches the vehicle 1 to be steered based on the operation of the steering wheel 101b on the passenger seat 16 side when the braking device is activated by the operation from the passenger seat 16 side.
More specifically, the selection unit 72 steers the selection of a torque signal to be sent to the target current calculation unit 20 when the signal acquisition unit 71 acquires the detection signal B indicating that the sub brake pedal 18d has been operated. The torque signal Ta from the wheel 101a is changed to the torque signal Tb from the steering wheel 101b.

  In the example described in detail above, the steering wheel 101 is composed of the steering wheel 101a disposed on the driver's seat 15 side and the steering wheel 101b disposed on the passenger seat 16 side. The switching is not limited to the above, and even three or more can be switched by the above-described method.

In the example described in detail above, one steering wheel 101 is disposed on the driver seat 15 side and the passenger seat 16 side. However, the present invention is not limited to this, and the steering wheel 101 may be disposed on the rear seat 17 side. .
In the example described in detail above, the switching unit 70 is built in the control device 10, but may be provided separately from the control device 10 and may be an external device.

  In the embodiment described in detail above, torque sensors 102a and 102b are provided, and the steering torques T of the steering wheels 101a and 101b are detected by the torque sensors 102a and 102b, and the electric motor 110 is driven based on the steering torque T. Although it was controlling, it is not restricted to this. For example, a steering angle detection sensor for detecting the steering angle of the steering wheels 101a, 101b is provided together with the torque sensors 102a, 102b or together with the torque sensors 102a, 102b, and based on the steering angle instead of the steering torque T or the steering torque T. The driving of the electric motor 110 may be controlled.

  Furthermore, in the form detailed above, although the motor vehicle 1 was a training vehicle, it is not restricted to this, For example, common vehicles other than a training vehicle may be sufficient. Furthermore, the present invention may be applied to vehicles for construction and farm work, and vehicles used as play equipment.

<Description of the program>
Further, the processing performed by the control device 10 in the present embodiment can be realized by cooperation of software and hardware resources. In this case, a CPU (not shown) inside the control computer provided in the control device 10 executes a program for realizing each function of the control device 10 to realize each of these functions.

  Therefore, the processing performed by the control device 10 is based on the function of acquiring information including operation information of the plurality of steering wheels 101 mechanically separated from the wheel 150 and the plurality of steering wheels 101 based on the acquired information. Among them, it can be understood as a program that realizes a function of selecting a steering wheel for steering a vehicle and a function of controlling the driving of the electric motor 110 based on information on the operation of the selected steering wheel 101.

  The program for realizing the present embodiment can be provided not only by communication means but also by storing it in a recording medium such as a CD-ROM.

DESCRIPTION OF SYMBOLS 1 ... Automobile, 10 ... Control apparatus, 18d ... Sub brake pedal, 20 ... Target current calculation part, 30 ... Control part, 70 ... Switching part, 71 ... Signal acquisition part, 72 ... Selection part, 100 ... Steering device, 101 ... Steering wheel (handle), 110 ... electric motor, 150 ... wheel

Claims (5)

A plurality of steering wheels for steering the vehicle;
An electric motor for turning a wheel mechanically separated from the plurality of steering wheels;
A switching unit that selects a steering wheel that steers the vehicle from among the plurality of steering wheels, and switches to steer the vehicle based on an operation of the selected steering wheel;
A motor control unit for controlling the driving of the electric motor based on the operation of the steering wheel switched by the switching unit;
A steering apparatus comprising: The steering wheel is arranged on the driver's seat side and the passenger seat side of the vehicle,
The switching unit performs switching so that the vehicle is steered based on steering of the steering wheel on the passenger seat side when a predetermined operation is performed on the steering wheel on the passenger seat side. Item 2. The steering device according to Item 1. The steering wheel is arranged on the driver's seat side and the passenger seat side of the vehicle,
3. The switching unit according to claim 1, wherein the switching unit performs switching so that the vehicle is steered based on steering of the steering wheel on the passenger seat side when the braking device is operated by an operation from the passenger seat side. The steering apparatus described. A signal acquisition unit for acquiring information including operation information of a plurality of steering wheels mechanically separated from the wheel;
Based on the information acquired by the signal acquisition unit, a selection unit for selecting a steering wheel for steering the vehicle from among the plurality of steering wheels;
A motor control unit for controlling the driving of the electric motor based on information on the operation of the steering wheel selected by the selection unit;
A control device for a steering device, comprising: On the computer,
A function of acquiring information including information on operations of a plurality of steering wheels mechanically separated from the wheels;
A function of selecting a steering wheel for steering the vehicle from the plurality of steering wheels based on the acquired information;
A function of controlling the driving of the electric motor based on information on the operation of the selected steering wheel;
A program that realizes

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