JP2017024467A - Steering control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering control device which can make steering processing smoothly transit to manual steering processing from automatic steering processing while suppressing the imposition of a burden to a user.SOLUTION: When a prescribed condition is established in the case that an automatic steering switch 46 is turned on, automatic steering processing is performed by a turn of a turning wheel 16 by a turning-side actuator 30 while keeping a steering wheel 10 stationary. In this situation, on condition that a contact sensing sensor 44 detects that a hand of a user touches the steering wheel 10, as preparation for transition to the manual steering processing, the steering wheel 10 is controlled so as to be displaceable so that a conversion steering angle which is obtained by multiplying a steering angle with a prescribed steering angle ratio reaches a turning angle by an operation of a steering-side actuator 20.SELECTED DRAWING: Figure 1

Description

  The present invention applies a torque to the steering separately from the steering side actuator capable of operating the steering angle of the steered wheels independently of the steering angle that is the rotation angle of the steering, and the steering side actuator. The present invention relates to a steering control device that operates on a steering-side actuator.

  For example, Patent Literature 1 describes a steering control device that blocks a power transmission path between a steering wheel and a steered wheel and parks a vehicle by automatic steering when a user pushes a parking assist switch with a shift lever in a back position. Has been. In this apparatus, after parking by automatic steering, the user is guided to operate the steering so that the converted steering angle obtained by multiplying the steering angle by a predetermined steering angle ratio becomes the turning angle of the steered wheels. And a steering and a steered wheel are mechanically connected because a conversion steering angle turns into a turning angle by operation of a steering by a user.

JP 2014-189168 A

In the above-described apparatus, it is necessary to manually control the converted steering angle to the turning angle as the automatic steering is finished, which causes a problem that the user is burdened.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a steering control device that can smoothly shift from an automatic steering process to a manual steering process while suppressing a burden on the user. Is to provide.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
1. A steering-side actuator capable of operating the turning angle of the steered wheels independently of the steering angle, which is the rotation angle of the steering, and a steering-side actuator that applies torque to the steering separately from the steering-side actuator; Is a value obtained by multiplying the steering angle by a predetermined steering angle ratio by operating the steering-side actuator in response to a user operating the steering. A manual steering processing unit for executing a manual steering process for controlling to a certain converted steering angle, and an automatic steering process for executing an automatic steering process for operating the steering side actuator without causing the converted steering angle to follow the turning angle. An intention detection processing unit that detects a steering intention by a user when the automatic steering process is being executed, and the intention detection processing unit includes: On the condition that the intention of the rudder is detected, an automatic alignment steering process for executing an automatic alignment steering process for controlling the difference between the converted steering angle and the turning angle to a predetermined value or less by operating the steering side actuator A section.

  In the above configuration, the steering angle is changed by the operation of the steering side actuator by the automatic alignment steering processing unit on the condition that the intention detection processing unit detects the steering intention when the automatic steering processing is being executed. The difference between the converted steering angle and the turning angle is controlled to a predetermined value or less. Here, since the turning angle is controlled to the converted steering angle during the manual steering process, according to the automatic alignment steering process, the steering angle is automatically changed to be consistent with the turning angle during the manual steering process. be able to. Therefore, in the above configuration, it is possible to smoothly shift from the automatic steering process to the manual steering process while suppressing the burden on the user.

  2. 2. The steering control device according to claim 1, wherein the automatic alignment steering processing unit variably sets a target angular velocity that is a target value of a steering angular velocity based on a difference between the converted steering angle and the turning angle. And a steering angle operation processing unit that operates the steering side actuator so that the steering angular velocity becomes the target angular velocity.

  In the above configuration, since the target angular velocity is variably set based on the difference between the converted steering angle and the turning angle, the user can feel the difference between the converted steering angle and the turning angle depending on the target angular velocity. Compared with the case where the target angular velocity is set without taking the difference into account, the uncomfortable feeling that the steering displacement gives the user can be alleviated.

  3. 3. The steering control apparatus according to 1 or 2, wherein the automatic alignment steering processing unit detects that the intention detection processing unit detects the intention of steering, and a steering angular velocity by the steering operation is equal to or less than a specified speed. The automatic matching steering process is executed under the condition.

  If the intention detection processing unit detects the intention of steering, and the user performs the steering operation automatically when the steering is voluntarily operated, there is a concern that the user may feel uncomfortable with the steering operation. Therefore, in the above configuration, the automatic alignment steering process is executed on the condition that the steering angular velocity by the steering operation is equal to or less than the specified velocity. Therefore, when the steering angular velocity by the steering operation exceeds the specified speed, it is possible to respect the intention that the user has an intention to spontaneously adjust the steering angle.

  4). In the steering control device according to any one of 1 to 3, the automatic alignment steering processing unit stops the automatic alignment steering processing when a user operates the steering during execution of the automatic alignment steering processing. .

  If the user operates the steering while the automatic alignment steering process is being performed, it is considered that the user is willing to operate the steering angle spontaneously. If the automatic alignment steering process is continued up to such a case, there is a concern that the user may feel uncomfortable with the steering operation. Therefore, in the above configuration, when the user operates the steering during execution of the automatic alignment steering process, if the user intends to operate the steering angle voluntarily by stopping the automatic alignment steering process, the intention Can be respected.

  5. In the steering control device according to any one of the above 1 to 4, when the manual steering process is being performed, the reaction force applied to the steering by operating the steering side actuator is set to the turning angle. A reaction force application processing unit that executes a reaction force application process that controls the reaction force according to the response force, and a reaction force application processing unit that gradually changes the reaction force applied to the steering wheel after the completion of the automatic alignment steering process. A reaction force convergence processing unit that converges the reaction force applied according to the turning angle.

  In the above configuration, when the manual steering process is executed, the reaction force is applied to the steering according to the turning angle, so that the user can feel that the steering operability is good. . When the automatic alignment steering process is completed, the reaction force applied to the steering is gradually converged to a value that the reaction force application processing unit applies according to the turning angle. For this reason, since the reaction force felt by the user does not change suddenly, the user can be prevented from feeling uncomfortable. That is, since the process by the reaction force convergence processing unit is independent of the manual steering process, the gain can be adjusted independently of the manual steering process, so that the process of the reaction force convergence processing unit is not executed. Compared with the case of shifting to the manual steering process, the user can be prevented from feeling uncomfortable due to the change in the reaction force.

  6). In the steering control device according to 5 above, on the condition that an absolute value of a difference between the converted steering angle and the turning angle due to execution of the processing by the reaction force convergence processing unit is smaller than a specified value. The process proceeds to the manual steering processing unit.

  When the reaction force applied to the steering is increased by the processing by the reaction force convergence processing unit, and the difference between the converted steering angle and the turning angle becomes large, the user can steer the steering angle so that the steering angle becomes an appropriate angle. There is a concern that there is no intention to operate. Therefore, in the above configuration, the process shifts to the process by the manual steering processing unit on condition that the absolute value of the difference between the converted steering angle and the turning angle is smaller than the specified value even by the process by the reaction force convergence processing unit. As a result, in a situation where it is considered that the user appropriately operates the steering when the process is shifted to the process by the manual steering processing unit, the process can be shifted to the process by the manual steering processing unit.

  7). In any one of 1 to 6 above, in the steering control device, the automatic alignment steering processing unit is provided on the condition that the intention detection processing unit detects the steering intention and the steering angular velocity is equal to or less than a specified speed. In addition, when the automatic alignment steering process is executed and the manual steering process is executed, the reaction force applied to the steering is controlled to the reaction force according to the turning angle by operating the steering side actuator. A reaction force application processing unit that executes a reaction force application process, and the intention detection processing unit detects the intention of the steering, and the steering angular velocity exceeds a specified speed, and the converted steering angle is on the turning angle side. And a reaction force gradual change processing unit that gradually changes the reaction force applied to the steering to the reaction force applied by the reaction force application unit according to the turning angle.

  If the intention detection processing unit detects an intention to steer, and the user performs the steering operation automatically when the steering is voluntarily operated, there is a concern that the user may feel uncomfortable with the steering operation. Therefore, in the above configuration, by including the condition that the steering angular speed by the steering operation is equal to or less than the specified speed in the condition for executing the automatic steering process, when the steering angular speed by the steering operation exceeds the specified speed, If the user has a willingness to adjust the steering angle voluntarily, that will be respected.

  In the above configuration, the reaction force applied to the steering is gradually changed to the reaction force applied by the reaction force application processing unit according to the turning angle on condition that the steering angular velocity by the steering operation exceeds the specified speed. Let Thereby, when the user operates the steering spontaneously, the reaction force applied to the steering is gradually changed to the reaction force applied by the reaction force application processing unit according to the turning angle. For this reason, since the reaction force felt by the user does not change suddenly, the user can be prevented from feeling uncomfortable.

  However, even if the steering speed is high, if the steering angle changes so that the absolute value of the difference between the converted steering angle and the turning angle becomes large, it is doubtful that the steering operation is appropriate. Occurs. Therefore, in the above configuration, by adding the condition that the converted steering angle changes to the turning angle side to the condition for executing the process of gradually changing the reaction force, the reaction force can be obtained when the steering operation is appropriate. The reaction force is gradually changed by the gradual change processing unit to prepare for shifting to the manual steering process.

  8). 8. The steering control device according to claim 7, wherein the manual steering processing unit executes the manual steering processing on condition that an absolute value of a difference between the converted steering angle and the turning angle is equal to or less than the predetermined value. .

  If the manual steering process is executed when the absolute value of the difference is large, the turning angle is controlled to the converted steering angle by the manual steering process, so there is a concern that the vehicle may exhibit unintended behavior. In this respect, in the above configuration, the manual steering process is executed on condition that the absolute value of the difference between the converted steering angle and the turning angle is equal to or less than a predetermined value. Therefore, it is possible to suppress the occurrence of a situation that greatly changes.

  9. 9. The steering control device according to claim 8, wherein after the intention detection processing unit detects the intention of steering and the steering angular velocity exceeds a specified speed, an absolute difference between the converted steering angle and the turning angle is determined. When the value is less than a predetermined value greater than the predetermined value and exceeds the predetermined value, the converted steering angle and the steering are operated by operating either the steering side actuator or the steering side actuator. A fine adjustment processing unit for controlling the difference from the corner to the predetermined value or less is provided.

  After the steering angular velocity exceeds the specified speed, if the absolute value of the difference between the converted steering angle and the turning angle is below the specified value but exceeds the specified value, the converted steering angle and the turning There is a possibility that the user has not grasped the correct steering angle that matches the angle. Therefore, in the above configuration, in this case, the difference between the converted steering angle and the steered angle is controlled to a predetermined value or less by operating either the steering angle actuator or the steered side actuator by the fine adjustment processing unit. Can do.

  In addition, since the fine adjustment process is independent of the manual steering process, the gain can be adjusted independently of the manual steering process. For this reason, compared with the case of shifting to manual steering processing without executing fine adjustment processing, the user is prevented from feeling uncomfortable when the difference between the converted steering angle and the turning angle shifts to a predetermined value or less. can do.

  10. 10. The steering control device according to claim 9, wherein the automatic alignment steering processing unit detects the intention of steering by the intention detection processing unit, and the converted steering angle although the steering angular velocity has once exceeded a specified speed. When the state where the absolute value of the difference between the steering angle and the turning angle exceeds the specified value is continued for a predetermined period, the automatic alignment steering process is executed.

  If the steering angular speed once exceeds the specified speed but the absolute value of the difference between the converted steering angle and the turning angle continues to exceed the specified value for a specified period, the converted steering angle and the turning angle match. There is a possibility that the user cannot grasp the correct steering angle. Therefore, in this configuration, in this case, by executing the automatic alignment steering process, the absolute value of the difference between the converted steering angle and the turning angle can be controlled to be equal to or less than a predetermined value, and the process can be shifted to the manual steering process. .

  11. 10. The steering control device according to above 9, wherein the intention detection processing unit detects the intention of steering and the steering angular speed once exceeds a specified speed, but the difference between the converted steering angle and the turning angle. Assist processing unit that controls the difference between the converted steering angle and the steered angle to be equal to or less than the predetermined value by operating the steered side actuator when a state where the absolute value of the steerer exceeds the specified value for a predetermined period Is provided.

  If the steering angular speed once exceeds the specified speed but the absolute value of the difference between the converted steering angle and the turning angle continues to exceed the specified value for a specified period, the converted steering angle and the turning angle match. There is a possibility that the user cannot grasp the correct steering angle. Therefore, in the above configuration, in this case, the difference between the converted steering angle and the steered angle can be controlled to be equal to or less than a predetermined value by operating the steered side actuator by the assist processing unit, and the process shifts to the manual steering process. Can be made.

  In addition, since the process by the assist processing unit is a process independent of the manual steering process, the gain can be adjusted independently of the manual steering process. For this reason, the user feels uncomfortable by the process of shifting the difference between the converted steering angle and the turning angle to a predetermined value or less as compared with the case of shifting to the manual steering process without executing the process of the assist processing unit. This can be suppressed.

  12 In the steering control device according to any one of the above 1 to 11, the steered-side actuator can operate a steered angle of the steered wheels in a state where power from the steering is cut off. The steering-side actuator can apply a reaction force to the steering in a state where power transmission between the steering and the steered wheels is interrupted.

The system block diagram provided with the steering control apparatus concerning 1st Embodiment. The flowchart which shows the procedure of the switching process from the automatic steering process to the manual steering process in the embodiment. The flowchart which shows the detail of the manual steering process concerning the embodiment. The flowchart which shows the detail of the manual steering transfer process concerning the embodiment. The flowchart which shows the procedure of the manual alignment steering process concerning the embodiment. The flowchart which shows the procedure of the automatic alignment steering process concerning the embodiment. The flowchart which shows the detail of the confirmation process concerning the embodiment. (A)-(d) is a time chart which illustrates a manual adjustment steering process. (A)-(e) is a time chart which illustrates an automatic alignment steering process. The flowchart which shows the procedure of the manual alignment steering process concerning 2nd Embodiment.

<First Embodiment>
Hereinafter, a first embodiment of a steering control device will be described with reference to the drawings.
A steering shaft 12 is mechanically connected to the steering wheel (steering 10) shown in FIG. A steering-side actuator 20 that applies torque to the steering 10 is connected to the steering shaft 12 via the steering shaft 12. The steering-side actuator 20 includes a motor 22 and generates torque to be applied to the steering 10 by the motor 22. The steering-side actuator 20 includes a rotation angle sensor 24 that detects the rotation angle of the rotation shaft of the motor 22, and the steering side that is the rotation angle of the rotation shaft of the motor 22 based on the detection value of the rotation angle sensor 24. A rotation angle θs is calculated. Actually, the rotation angle sensor 24 may output a sine function value and a cosine function value having the rotation angle of the rotation shaft of the motor 22 as an independent variable. In this case, the steering side rotation angle θs is calculated based on these. Although this calculation process may be executed by the control device 50, in FIG. 1, it is described that the steering side actuator 20 outputs the steering side rotation angle θs in order to simplify the description.

  On the other hand, a steered side actuator 30 is connected to the steered wheel 16 of the vehicle. The steered side actuator 30 includes a motor 32, and steers the steered wheels 16 with torque generated by the motor 32. The steered side actuator 30 includes a rotation angle sensor 34 that detects the rotation angle of the rotation shaft of the motor 32, and the turning side rotation that is the rotation angle of the motor 32 is based on the detected value of the rotation angle sensor 34. The angle θt is calculated. Actually, the rotation angle sensor 34 may output a sine function value and a cosine function value having the rotation angle of the rotation shaft of the motor 32 as an independent variable. In this case, based on these, the turning side rotation angle is calculated. Although this calculation process may be executed by the control device 50, in FIG. 1, it is described that the steered side actuator 30 outputs the steered side rotation angle θt in order to simplify the explanation.

  The steering shaft 12 is provided with a torque sensor 40 that detects torque applied to the steering shaft 12. Further, the vehicle is provided with a vehicle speed sensor 42 that detects the traveling speed (vehicle speed V) of the vehicle. Further, the steering 10 is provided with a contact detection sensor 44 that detects that another member has contacted the steering 10. Further, an automatic steering switch 46 that is operated when the user desires automatic steering is provided.

  In addition to the detected values of the rotation angle sensors 24 and 34, the torque sensor 40, the contact detection sensor 44, and the vehicle speed sensor 42, the control device 50 acquires the operation state of the automatic steering switch 46, vehicle travel route information, and environmental information. Based on these, the steering side actuator 20 and the steering side actuator 30 are operated. In particular, the control device 50 automatically steers the steered wheels 16 when the user steers the steered wheels 16 according to the user's operation of the steering wheel 10 and when the user does not operate the steering 10. The automatic steering process is appropriately switched and executed. Here, when the automatic steering switch 46 is operated, the control device 50 executes an automatic steering process when a predetermined condition is satisfied. In the automatic steering process, the steering 10 is stopped regardless of whether or not the steered wheels 16 are steered. Further, when the automatic steering process is being executed, the control device 50 shifts to the manual steering process on condition that the user's intention to steer is detected. Hereinafter, the process for shifting to manual steering will be described in detail.

FIG. 2 shows a procedure for switching processing from automatic steering processing to manual steering processing. This process is repeatedly executed by the control device 50 at a predetermined cycle, for example.
In this series of processes, the control device 50 first calculates the turning angle Ta of the steered wheels 16 based on the turning side rotation angle θt (S12), and based on the steering side rotation angle θs, the rotation angle of the steering wheel 10 is calculated. A steering angle Sa is calculated (S14). Next, the control device 50 determines whether or not the manual steering transition condition is satisfied (S16). Here, the manual steering transition condition is a condition in which the logical product of the following (a), (b), and (c) is true.

(A) A condition that the user is touching the steering wheel 10. The process for determining whether or not this condition is satisfied is executed based on the output value of the touch sensor 44.
(A) A condition that the operation of the steering wheel 10 by the user is consistent with the turning angle Ta of the steered wheels 16. Specifically, the steering 10 is operated in a direction in which the absolute value of the difference between the converted steering angle Sa · Gr obtained by multiplying the steering angle Sa by the steering angle ratio Gr used in the manual steering process and the turning angle Ta increases. If there is not, it is judged to be consistent. Here, the steering angle ratio Gr is the ratio of the change amount of the turning angle Ta to the change amount of the steering angle Sa.

(C) The condition that the manual steering process is not already being executed.
When determining that the manual steering transition condition is satisfied (S16: YES), the control device 50 executes a manual steering transition process (S18). Next, the control device 50 determines whether or not the shift process to the manual steering is completed with the execution of the manual steering shift process (S20). When determining that the transition process is completed (S20: YES), the control device 50 executes a manual steering process (S22).

FIG. 3 shows the procedure of the manual steering process.
In this series of processes, the control device 50 first calculates a reaction force Ct that is a torque applied to the steering wheel 10 by the steering side actuator 20 (S30). The reaction force Ct is a torque in the direction opposite to the torque applied by the user to rotate the steering 10. Specifically, the control device 50 calculates the reaction force Ct based on the turning angle Ta and the vehicle speed V. Here, even if the turning angle Ta is the same, the reaction force Ct is calculated to be larger as the vehicle speed V is higher. Even if the vehicle speed V is the same, the larger the absolute value of the turning angle Ta, the larger the value is calculated.

  And the control apparatus 50 performs the process which provides the calculated reaction force Ct to the steering 10 by operating the steering side actuator 20 (S32). Specifically, the torque of the motor 22 is controlled.

  Further, the control device 50 controls the turning angle Ta to the converted steering angle Sa · Gr by operating the turning side actuator 30 (S34). This processing can be realized, for example, by using the turning angle Ta as a feedback control amount, and using the operation amount for performing feedback control to the converted steering angle Sa · Gr as the torque of the motor 32 and operating the torque. it can. The control device 50 variably sets the steering angle ratio Gr according to the vehicle speed V. Specifically, the control device 50 sets the steering angle ratio Gr to a smaller value as the vehicle speed V is higher.

Note that when the process of step S34 is completed, the process of step S22 of FIG. 2 is completed.
FIG. 4 shows the procedure of the manual steering shift process in step S18 of FIG.

  In this series of processes, the control device 50 first calculates the steering angular velocity Ms based on the time series data of the steering angle Sa (S40). Next, the control device 50 determines whether or not the manual alignment steering execution flag Mf is on (S42). Here, the manual alignment steering execution flag Mf is turned on when the manual alignment steering process is executed, and is turned off when the manual alignment steering processing is not executed. In the manual adjustment steering process, when shifting from the automatic steering process to the manual steering process, the process of changing the steering angle Sa so that the converted steering angles Sa and Gr coincide with the turning angle Ta can be performed by the user operating the steering 10. It is executed when entrusting.

  When determining that the manual adjustment steering execution flag Mf is in the OFF state (S42: NO), the control device 50 determines whether or not the absolute value of the steering angular velocity Ms is larger than the specified velocity Mth (S44). This process is for determining whether or not the user intends to align the steering angle Sa with the turning angle Ta by operating the steering 10 voluntarily. That is, when the speed is higher than the specified speed Mth, it is considered that the user is operating the steering 10 spontaneously. Moreover, this process is executed when the manual steering transition condition is satisfied in step S16 in FIG. 2, and thus the condition (A) is satisfied. Therefore, when the speed is higher than the specified speed Mth, it is considered that the user intends to match the steering angle Sa with the turning angle Ta by operating the steering 10 voluntarily.

  When determining that the speed is greater than the specified speed Mth (S44: YES), the control device 50 sets the manual alignment steering execution flag Mf to the on state and sets the automatic alignment steering execution flag Af to the off state. (S46). Here, the automatic alignment steering execution flag Af is turned on when the automatic alignment steering processing is executed, and is turned off when the automatic alignment steering processing is not executed. The automatic alignment steering process automatically performs a process of changing the steering angle Sa so that the converted steering angles Sa and Gr coincide with the turning angle Ta when shifting from the automatic steering process to the manual steering process.

  On the other hand, when determining that the absolute value of the steering angular velocity Ms is equal to or less than the specified velocity Mth (S44: NO), the control device 50 determines whether or not the automatic alignment steering execution flag Af is on (S48). . When the control device 50 determines that the automatic alignment steering execution flag Af is in the OFF state (S48: NO), the controller 50 determines the elapsed time after determining that the manual steering transition condition is satisfied in step S16 of FIG. Timekeeping processing for timing is executed (S50). Then, the control device 50 determines whether or not the specified time T1 has elapsed since it was determined in step S16 that the manual steering transition condition was satisfied (S52). This process is for determining that the user voluntarily operates the steering 10 and does not intend to make the converted steering angle Sa · Gr coincide with the turning angle Ta. Here, the specified time T1 is adapted to an appropriate time for confirming that there is no intention.

  When determining that the specified time T1 has elapsed (S52: YES), the control device 50 sets the manual alignment steering execution flag Mf to the off state and sets the automatic alignment steering execution flag Af to the on state, assuming that there is no intention. (S54).

  In addition, when the process of step S46, S54 is completed, when affirmation determination is made in step S42, S48, or when negative determination is made in step S52, the process of step S18 of FIG. 2 is completed.

FIG. 5 shows the procedure of manual alignment steering processing. This process is repeatedly executed by the control device 50 at a predetermined cycle, for example.
In this series of processes, the control device 50 first determines whether or not the manual alignment steering execution flag Mf is on (S60). Then, when the manual adjustment steering execution flag Mf is on (S60: YES), the control device 50 calculates the reaction force Ct to be applied to the steering 10 when it is assumed that the manual steering process is being executed. (S62). Next, based on the reaction force Ct and the difference between the converted steering angle Sa · Gr and the turning angle Ta, the transitional reaction force torque At is calculated (S64). Here, the control device 50 sets the transitional reaction force torque At to a value that converges to the reaction force Ct as the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta decreases.

  Next, the control device 50 applies the transition reaction force torque At to the steering 10 by operating the steering actuator 20 (S66). Next, the control device 50 determines whether or not the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than a specified value Te (S68). This process determines whether or not the user has almost finished operating the steering angle Sa to a value corresponding to the turning angle Ta by operating the steering wheel 10.

  When determining that the value is equal to or less than the specified value Te (S68: YES), the control device 50 turns on the holding start flag Hf (S70). The holding start flag Hf is turned on when the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than the specified value Te during the manual adjustment steering process, and is turned off when the absolute value is larger than the specified value Te. It becomes a state.

  Next, the control device 50 executes a time measuring process for measuring the elapsed time since the holding start flag Hf is turned on (S72). Then, the control device 50 determines whether or not the specified time T2 has elapsed since the holding start flag Hf was turned on (S74). In this process, whether or not the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than the specified value Te is a result of the user appropriately performing the steering 10 operation. It is for judgment. In other words, if the user does not intend to operate the steering wheel 10 correctly, there is a possibility that even if the value once becomes equal to or less than the specified value Te, the state may be shifted to a state exceeding the specified value Te as time elapses.

  When it is determined that the specified time T2 has elapsed (S74: YES), the control device 50 operates the turning side actuator 30 to obtain the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta. A fine adjustment process for controlling the value to be equal to or smaller than the predetermined value Te is executed (S76). Here, in this embodiment, the predetermined value is set to zero. Then, when the control device 50 controls the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta to be equal to or less than a predetermined value, it is assumed that the transition process is completed (S78). Thereby, the control apparatus 50 will make an affirmative determination in step S20 of FIG.

  On the other hand, when it is determined that the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is larger than the specified value Te (S68: NO), the control device 50 sets the holding start flag Hf to the off state, Timekeeping processing is started to count the continuation time during which the holding start flag Hf is off (S80). Then, the control device 50 determines whether or not the duration time during which the holding start flag Hf is in the OFF state has reached the specified time T3 when the manual alignment steering execution flag Mf is in the ON state (S82). This process is for determining whether or not to shift to the automatic alignment steering process.

  When the specified time T3 is reached (S82: YES), the control device 50 turns on the automatic alignment steering execution flag Af and turns off the manual alignment steering execution flag Mf (S84). In other words, when the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta continues to be larger than the specified value Te, the user can make the turning angle Ta and the steering angle Sa consistent. Since it is considered that the necessary operation of the steering wheel 10 is not grasped, in this case, the process shifts to an automatic alignment steering process. Then, the control device 50 announces that the automatic alignment steering process is to be executed (S86). This is intended to suppress giving a sudden impression to the user by notifying the user before the steering 10 starts to rotate by the automatic alignment steering process.

Note that the control device 50 once ends the series of processes when the processes of steps S78 and S86 are completed or when a negative determination is made in steps S60, S74, and S82.
FIG. 6 shows a procedure of automatic alignment steering processing according to the present embodiment. This process is repeatedly executed by the control device 50 every time a predetermined condition is satisfied, for example.

  In the series of processes shown in FIG. 6, the control device 50 first determines whether or not the automatic alignment steering execution flag Af is on (S90). When the control device 50 determines that the automatic alignment steering execution flag Af is on (S90: YES), the target of the steering angular velocity Ms is based on the difference between the converted steering angle Sa · Gr and the turning angle Ta. A target angular velocity As, which is a value, is calculated (S92). Specifically, when the absolute value of the difference becomes equal to or smaller than the predetermined difference, the control device 50 gradually decreases the target angular velocity As and sets the target angular velocity As to zero when the difference becomes zero.

  Next, the control device 50 determines whether or not the absolute value of the difference between the target angular velocity As and the steering angular velocity Ms is greater than or equal to a threshold value Td (S94). This process is for determining whether or not the user is operating the steering 10 spontaneously. The threshold value Td is set to be equal to or higher than an assumed upper limit value of a control error that occurs when the steering angular velocity Ms is controlled to the target angular velocity As when the user does not operate the steering 10 spontaneously. When determining that the value is equal to or greater than the threshold value Td (S94: YES), the control device 50 turns off the automatic alignment steering execution flag Af and turns on the manual alignment steering execution flag Mf (S96).

  On the other hand, when determining that the control device 50 is less than the threshold Td (S94: NO), the control device 50 executes an automatic alignment steering process that is a process of controlling the steering angular velocity Ms to the target angular velocity As by the operation of the steering side actuator 20 (S98). . Then, the control device 50 determines whether or not the automatic alignment steering process is completed (S100). This process is a process for determining whether or not the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than the predetermined value. Here, as described above, in the present embodiment, the predetermined value is zero. Then, when the control device 50 determines that the automatic alignment steering process is completed when the difference becomes equal to or less than a predetermined value (S100: YES), the user appropriately performs steering when the process shifts to the manual steering process. A confirmation process, which is a process for confirming whether or not it is possible, is executed (S102).

FIG. 7 shows the procedure of the confirmation process.
In this series of processes, the control device 50 first calculates the reaction force Ct when it is assumed that the manual steering process is being executed based on the turning angle Ta and the vehicle speed V (S110). Then, the control device 50 performs a process of gradually shifting the reaction force applied to the steering 10 to the reaction force Ct calculated in Step S110 by operating the steering actuator 20 (S112). Next, the control device 50 determines whether or not the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than a specified value Te (S114). This process is provided in view of the possibility that the steering angle Sa may fluctuate due to the process of step S112.

  And when it is judged that it is below regulation value Te (S114: YES), control device 50 performs time-measurement processing which times the continuation time of the state which is below regulation value Te in a check process (S116). Then, when the continuation time that is equal to or less than the specified value Te becomes the specified time T4 (S118: YES), the control device 50 operates the turning side actuator 30 to convert the converted steering angle Sa · Gr and the turning. The difference from the angle Ta is controlled to zero (S120). This process is provided in view of the possibility that the steering angle Sa may fluctuate due to the process of step S112. Then, the control device 50 determines whether or not the reaction force actually applied to the steering 10 converges to the latest reaction force Ct calculated in step S112 (S122). This process is for confirming that the user intends to appropriately perform steering when the process shifts to the manual steering process in cooperation with the process of step S114. And control device 50 returns to processing of Step S110, when it makes a negative decision in Steps S122 and S118.

  In contrast, when the control device 50 determines that the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta exceeds the specified value Te (S114: NO), the automatic alignment steering execution flag Af and the manual operation are performed. Both the alignment steering execution flags Mf are turned off (S124).

In addition, when an affirmative determination is made in step S122 or when the process of step S124 is completed, the confirmation process of step S102 of FIG. 6 is completed.
Returning to FIG. 6, as a result of the confirmation process, the control device 50 determines whether or not it has been confirmed that the user intends to appropriately perform the steering when the process shifts to the manual steering process (S104). Here, it is determined that it has been confirmed when an affirmative determination is made in step S122 of FIG. 7, and it is determined that it has not been confirmed when the process of step S124 is completed. And when it is judged that the control apparatus 50 is confirmed (S104: YES), it is assumed that the transfer process to a manual steering process is completed (S106). Thereby, an affirmative determination is made in the process of step S20 of FIG.

  In addition, when the process of step S96, S106 is completed, or when negative determination is made in steps S90, S100, S104, the control device 50 temporarily ends this series of processes.

  Returning to FIG. 2, when the control device 50 determines that the manual steering transition condition is not satisfied (S16: NO), the control device 50 turns off the manual alignment steering execution flag Mf, the automatic alignment steering execution flag Af, and the holding start flag Hf. Switching (S24) and an automatic steering process are executed (S26). For this reason, even if the manual steering transition condition is once satisfied by the user touching the steering wheel 10 unintentionally even though there is no intention of steering, the state of touching the steering wheel 10 is quickly resolved. In this case, a negative determination is immediately made in step S16. For this reason, the shift to the manual steering process is not performed.

Incidentally, the controller 50 makes a negative determination in step S20 during the execution of the manual alignment steering process or the automatic alignment steering process.
Here, the operation of the present embodiment will be described.

  FIG. 8 shows an example of manual alignment steering processing. Specifically, FIG. 8A shows the change of the steering angle Sa, FIG. 8B shows the change of the turning angle Ta, and FIG. 8C shows the converted steering angle Sa · Gr and the turning. The transition of the difference from the angle Ta is shown, and FIG. 8D shows the transition of the reaction force applied to the steering 10.

  As shown in FIG. 8, after detecting the intention of manual steering at time t <b> 1, when the user operates the steering 10, the steering angle Sa is the absolute difference between the converted steering angle Sa · Gr and the turning angle Ta. When the value changes so as to decrease, the manual alignment steering process is executed. In this case, the reaction force applied to the steering 10 gradually changes to the reaction force Ct set according to the turning angle Ta during the manual steering process. Then, after the time t3 when the specified time T2 has elapsed from the time t2 when the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than the specified value Te, the steering is performed by the process of step S76 in FIG. The side actuator 30 is operated, and the turning angle Ta is finely adjusted to the converted steering angle Sa · Gr. In this case, the reaction force Ct is also finely adjusted according to the turning angle Ta. At time t4 when the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta becomes zero and the actual reaction force converges to the reaction force Ct, the manual alignment steering process is completed, and the manual steering process is completed. Transition.

  FIG. 9 shows an example of the automatic alignment steering process. Specifically, FIG. 9A shows the change of the steering angle Sa, FIG. 9B shows the change of the turning angle Ta, and FIG. 9C shows the converted steering angle Sa · Gr and the turning. FIG. 9 (d) shows the transition of the reaction force applied to the steering 10, and FIG. 9 (e) shows the transition of the target angular velocity As.

  As shown in FIG. 9, after the intention of manual steering is detected at time t1, the steering side actuator 20 is operated after time t2 when the state in which the user does not operate the steering 10 continues for a specified time T1, thereby the steering angle Sa is controlled so as to decrease the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta. In particular, at this time, the steering angle Sa is controlled so that the angular velocity becomes the target angular velocity As. FIG. 9 shows an example in which the absolute value of the target angular velocity As is gradually decreased after time t3 when the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta becomes small. Then, after time t4 when the difference between the converted steering angle Sa · Gr and the turning angle Ta becomes zero, a reaction force is applied to the steering wheel 10 by the process of step S112 in FIG. In FIG. 9, the sign of the reaction force changes before and after time t4 because the steering 10 is automatically controlled for displacement by the torque of the steering-side actuator 20 before time t4. This is because after t4, the torque on the side opposite to that when the steering wheel 10 is rotated before time t4 is applied.

  Then, when the elapsed time from the application of the reaction force reaches the specified time T4, the steered side actuator 30 is operated by the process of step S120 in FIG. 7, and the steered angle Ta is slightly reduced to the converted steering angle Sa · Gr. Adjusted.

According to the present embodiment described above, the following effects can be obtained.
(1) On the condition that the intention of manual steering is detected, an automatic alignment steering process for controlling the difference between the converted steering angle Sa · Gr and the turning angle Ta to a predetermined value or less is executed. Accordingly, it is possible to smoothly shift from the automatic steering process to the manual steering process while suppressing the burden on the user.

  (2) In the automatic alignment steering processing, the target angular velocity As is variably set based on the difference between the converted steering angle Sa · Gr and the turning angle Ta, and the steering side actuator 20 is set so that the steering angular velocity Ms becomes the target angular velocity As. Was operated. As a result, the difference between the converted steering angle Sa · Gr and the turning angle Ta can be experienced by the user by the target angular velocity As, so that the steering is compared with the case where the target angular velocity As is set without taking the difference into consideration. The uncomfortable feeling given to the user by the ten displacements can be reduced.

  (3) The automatic alignment steering process is executed on the condition that the intention of steering is detected and the absolute value of the steering angular velocity Ms by the operation of the steering 10 is equal to or less than the specified velocity Mth. Thereby, when the absolute value of the steering angular velocity Ms by the operation of the steering wheel 10 exceeds the specified velocity Mth, it is possible to respect the intention that the user has an intention to spontaneously adjust the steering angle.

  (4) When the user operates the steering 10 during execution of the automatic alignment steering process (S94: YES in FIG. 6), the automatic alignment steering process is stopped. Thereby, when a user has the intention to operate a steering angle voluntarily, the intention can be respected.

  (5) After the automatic alignment steering process is completed, the reaction force applied to the steering 10 is gradually changed to converge to the reaction force applied according to the turning angle Ta during the manual steering process (S112). Thereby, since the reaction force which a user feels does not change suddenly, it can suppress that a user feels uncomfortable.

  (6) The process proceeds to the manual steering process on condition that the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta resulting from the execution of the process of step S112 is smaller than the specified value Te. Thereby, it can transfer to a manual steering process in the condition where it is thought that a user operates steering 10 appropriately when it transfers to a manual steering process.

  (7) The reaction force applied to the steering 10 is detected on the condition that the intention of steering is detected and the steering angular velocity Ms exceeds the specified velocity Mth and the converted steering angle Sa · Gr changes to the turning angle Ta side. During the manual steering process, the reaction force Ct is gradually changed according to the turning angle Ta (S66). Thereby, since the reaction force which a user feels does not change suddenly, it can suppress that a user feels uncomfortable.

  (8) The manual steering process is executed on the condition that the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is equal to or less than a predetermined value (S78, S120). As a result, it is possible to suppress a situation in which the turning angle Ta changes unintentionally and greatly when the execution of the manual steering process is started.

  (9) Although the steering angular velocity Ms once exceeds the prescribed velocity Mth, the state in which the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta exceeds the prescribed value Te is continued for a predetermined period. The alignment steering process was executed (S84). Thereby, even when the user cannot grasp the correct steering angle Sa in which the converted steering angle Sa · Gr and the turning angle Ta match, the difference between the converted steering angle Sa · Gr and the turning angle Ta The absolute value can be controlled below a predetermined value.

  (10) In the manual alignment steering process, when the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta is not more than the specified value Te and exceeds the predetermined value (zero), the steering side The actuator 30 was operated to control the difference between the converted steering angle Sa · Gr and the turning angle Ta to a predetermined value or less (S76). As a result, even if the user cannot grasp the correct steering angle Sa in which the converted steering angle Sa · Gr and the turning angle Ta match, the difference between the converted steering angle Sa · Gr and the turning angle Ta is calculated. It can be controlled below a predetermined value.

  In addition, since the fine adjustment process is independent of the manual steering process, the gain can be adjusted independently of the manual steering process. For this reason, the user feels uncomfortable when the difference between the converted steering angle Sa · Gr and the turning angle Ta shifts to a predetermined value or less as compared to the case where the shift to the manual steering process is performed without executing the fine adjustment process. Can be suppressed.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment.

  FIG. 10 shows a procedure of manual alignment steering processing according to the present embodiment. This process is repeatedly executed by the control device 50 at a predetermined cycle, for example. In FIG. 10, processes corresponding to the processes shown in FIG. 4 are given the same step numbers for convenience.

  As shown in FIG. 10, in the present embodiment, during the manual adjustment steering process, a state where the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta exceeds the specified value Te is continued for the specified time T3. In the case (S82: YES), the control device 50 controls the turning angle Ta to the converted steering angle Sa · Gr by operating the turning side actuator 30 (S130).

<Other embodiments>
In addition, you may change at least 1 of each matter of the said embodiment as follows. In the following, there is a portion that illustrates the correspondence relationship between the items described in the column of “Means for Solving the Problem” and the items in the above embodiment by reference numerals, etc. There is no intention to limit. Note that the assist processing unit in the column “means for solving the problem” corresponds to step S130, and the target angular velocity setting processing unit corresponds to the control device 50 that executes the process of step S92. The automatic alignment steering processing unit corresponds to the control device 50 that executes the processing of FIG.

・ "About manual steering processing section (S22: Fig. 3)"
The predetermined steering angle ratio Gr is not limited to being variably set according to the vehicle speed V. For example, it may be variably set according to the vehicle speed V and the steering angle Sa. Further, for example, a predetermined steering angle ratio Gr may be a fixed value.

・ About “Intention Detection Processing Unit (S16)”
Detecting that the user touches the steering wheel 10 based on the output value of the contact detection sensor 44 is not limited to detecting the user's intention of steering. For example, an electrode may be embedded in the steering wheel 10 to detect that the user touches the steering wheel 10 based on a voltage change of the electrode. Further, for example, it may be detected that the user touches the steering wheel 10 based on an output value of a camera that monitors the user.

  The detection of the user's intention of steering is not limited to the detection of the user touching the steering wheel 10. For example, it may be detected that the automatic steering switch 46 is turned off as an intention of steering by the user.

・ About the calculation method of steering angular velocity (S40)
In the above embodiment, the steering angular velocity Ms is calculated based on the differential calculation (difference calculation) of the steering angle Sa. However, the present invention is not limited thereto, and may be calculated based on the torque Trq detected by the torque sensor 40, for example.

・ "Steering detection method (S94) during automatic alignment steering process"
Based on the fact that the absolute value of the difference between the target angular velocity As and the steering angular velocity Ms is greater than or equal to the threshold value Td, the detection is not limited to that detected by the user operating the steering wheel 10. For example, it may be detected that the user has operated the steering wheel 10 based on the torque Trq.

・ "Reaction force convergence processing part (S112)"
In the above embodiment, when the steering angle Sa slightly changes as the process of step S112 is executed, the steering angle Ta is operated by the steering-side actuator 30 after the specified time T4 has elapsed. Although the reaction force Ct is converged to the reaction force Ct based on the steering angle Sa corresponding to the turning angle Ta, the present invention is not limited to this. For example, in the processing of step S120, the steering angle Ta is not operated by the steering actuator 30, but the reaction force Ct is operated by the steering actuator 20, and the converted steering angle Sa · Gr is controlled to the steering angle Ta. Then, after the control, the actual reaction force may be converged to the reaction force Ct based on the steered angle Ta after the control.

・ "About the fine adjustment processing unit (S76)"
The present invention is not limited to the operation of the turning angle Ta by the turning side actuator 30. For example, the steering angle Sa may be operated by the steering side actuator 20.

・ "Conditions for transition from automatic alignment steering process to manual steering"
It is not limited to the condition that the absolute value of the difference between the converted steering angle Sa · Gr and the turning angle Ta does not exceed the specified value Te as the process of step S112 is executed. For example, when it is determined in step S100 in FIG. 6 that the automatic alignment process has been completed, the process may shift to a manual steering process.

・ About the steering angle operation processing unit (S98)
The present invention is not limited to feedback control of the steering angular velocity Ms to the target angular velocity As. For example, open loop control may be executed to calculate the operation amount (torque) of the steering side actuator 20 that is necessary for setting the target angular velocity As using the torque Trq detected by the torque sensor 40.

・ "About reaction force grant processing part (S30, S32)"
It is not restricted to what calculates reaction force Ct according to vehicle speed V and turning angle Ta. For example, the reaction force Ct may be calculated according to the vehicle speed V and the steering angle Sa. Further, for example, the reaction force Ct is calculated only based on the vehicle speed V, the reaction force Ct is calculated based only on the steering angle Sa, or the reaction force Ct is calculated only based on the turning angle Ta. May be. However, parameters used for calculating the reaction force Ct are not limited to the vehicle speed V, the turning angle Ta, and the steering angle Sa. During the manual steering process, since the turning angle Ta is controlled to the converted steering angle Sa · Gr, calculating the reaction force Ct according to the steering angle Sa is equivalent to the reaction force depending on the turning angle Ta. This can be regarded as equivalent to calculating Ct.

・ "About reaction force gradual change processing part (S62, S64)"
For example, even if the reaction force Ct is calculated according to the steering angle Sa in step S30 in FIG. 3, the reaction force Ct is calculated according to the turning angle Ta in step S62 in FIG. . Thereby, the reaction force Ct according to the turning angle Ta can be calculated.

・ "About the automatic steering processing section (S26)"
It is not essential that the steering angle Sa be in a stationary state. For example, during the automatic steering process, the steering 10 may be used as a user interface for the user to input information other than steering. This can be realized, for example, when detecting that the automatic steering switch 46 is turned off as a steering intention by the user, as described in the column “About the intention detection processing unit”.

・ "About the steering side actuator (20)"
It is not limited to a reaction force actuator that applies a reaction force to the steering. For example, it is a variable steering angle ratio actuator that is interposed between a rotating shaft connected to the steering wheel 10 and a rotating shaft capable of transmitting power to the steered wheels 16 and adjusts a steering angle ratio that is a ratio of the rotation amounts thereof. May be.

·"others"
Instead of the rotation angle sensor 24, a sensor for detecting the rotation angle of the steering shaft 12 may be provided, and the steering angle Sa may be calculated based on the output value of the sensor.

  For example, the steered side actuator 30 is configured to include a rack and pinion mechanism, and instead of the rotation angle sensor 34, a sensor that detects the amount of displacement in the axial direction of the rack shaft is provided, and the steered side actuator 30 is steered based on the output value of the sensor. The angle Ta may be calculated.

  DESCRIPTION OF SYMBOLS 10 ... Steering, 12 ... Steering shaft, 16 ... Steering wheel, 20 ... Steering side actuator, 22 ... Motor, 24 ... Rotation angle sensor, 30 ... Steering side actuator, 32 ... Motor, 34 ... Rotation angle sensor, 40 ... Torque Sensor, 42 ... Vehicle speed sensor, 44 ... Contact sensing sensor, 46 ... Automatic steering switch, 50 ... Control device.

Claims (12)

A steering-side actuator capable of operating the turning angle of the steered wheels independently of the steering angle, which is the rotation angle of the steering, and a steering-side actuator that applies torque to the steering separately from the steering-side actuator; In a steering control device for which
Manual steering processing for controlling the steering angle to a converted steering angle that is a value obtained by multiplying the steering angle by a predetermined steering angle ratio by operating the steering side actuator in response to a user operating the steering. A manual steering processing unit for executing
An automatic steering processing unit for executing an automatic steering process for operating the steered side actuator without causing the converted steering angle to follow the steered angle;
A intention detection processing unit for detecting a steering intention by the user when the automatic steering process is being executed;
On the condition that the intention detection processing unit detects the intention of steering, the steering actuator is operated to control the difference between the converted steering angle and the turning angle to be equal to or less than a predetermined value. A steering control device comprising: an automatic alignment steering processing unit that executes The automatic alignment steering processing unit
A target angular velocity setting processing unit that variably sets a target angular velocity that is a target value of the steering angular velocity based on the difference between the converted steering angle and the turning angle;
The steering control device according to claim 1, further comprising: a steering angle operation processing unit that operates the steering-side actuator so that the steering angular velocity becomes the target angular velocity.   The automatic alignment steering processing unit executes the automatic alignment steering processing on the condition that the intention detection processing unit detects the intention of steering and a steering angular velocity by an operation of the steering is equal to or less than a specified speed. The steering control device according to claim 1 or 2.   The steering control device according to any one of claims 1 to 3, wherein the automatic alignment steering processing unit stops the automatic alignment steering processing when a user operates the steering during execution of the automatic alignment steering processing. . When the manual steering process is being executed, the reaction force application process is executed to control the reaction force applied to the steering by operating the steering side actuator to a reaction force corresponding to the turning angle. A processing unit;
A reaction force convergence processing unit that gradually changes a reaction force applied to the steering after the completion of the automatic alignment steering process so that the reaction force application processing unit converges to a reaction force applied according to the turning angle; The steering control device according to any one of claims 1 to 4, further comprising:   The process proceeds to the processing by the manual steering processing unit on condition that the absolute value of the difference between the converted steering angle and the turning angle by the processing by the reaction force convergence processing unit being smaller than a specified value. The steering control device according to claim 5. The automatic alignment steering processing unit executes the automatic alignment steering processing on the condition that the intention detection processing unit detects the intention of steering and a steering angular velocity is equal to or lower than a specified speed,
When the manual steering process is being executed, the reaction force application process is executed to control the reaction force applied to the steering by operating the steering side actuator to a reaction force corresponding to the turning angle. A processing unit;
Reaction force applied to the steering on the condition that the intention detection processing unit detects the intention of steering and the steering angular velocity exceeds a specified speed and the converted steering angle changes to the turning angle side. The steering control device according to claim 1, further comprising: a reaction force gradual change processing unit that gradually changes the reaction force application processing unit to a reaction force applied according to the turning angle.   The steering control device according to claim 7, wherein the manual steering processing unit executes the manual steering processing on condition that an absolute value of a difference between the converted steering angle and the turning angle is equal to or less than the predetermined value.   After the intention detection processing unit detects the intention of steering and the steering angular velocity exceeds a prescribed speed, a prescribed value in which an absolute value of a difference between the converted steering angle and the turning angle is larger than the predetermined value When the state that is less than or equal to the value and exceeds the predetermined value continues, the difference between the converted steering angle and the steered angle is less than or equal to the predetermined value by operating either the steering side actuator or the steered side actuator. The steering control device according to claim 8, further comprising a fine adjustment processing unit that performs control.   The automatic alignment steering processing unit detects a difference between the converted steering angle and the turning angle, although the intention detection processing unit detects the intention of steering and the steering angular velocity once exceeds a specified speed. The steering control device according to claim 9, wherein when the state where the absolute value exceeds the specified value is continued for a predetermined period, the automatic alignment steering process is executed.   Although the intention detection processing unit detects the intention of steering and the steering angular velocity has once exceeded the prescribed speed, the absolute value of the difference between the converted steering angle and the turning angle exceeds the prescribed value. The steering control according to claim 9, further comprising: an assist processing unit that controls the difference between the converted steering angle and the turning angle to be equal to or less than the predetermined value by operating the turning-side actuator when the state continues for a predetermined period. apparatus. The steered side actuator is capable of operating a steered angle of the steered wheels in a state where power from the steering is cut off,
The steering-side actuator is capable of applying a reaction force to the steering in a state where power transmission between the steering and the steered wheels is interrupted. Steering control device.