JP2022014256A - Steering wheel position adjusting device - Google Patents

Abstract

To make it possible to pull out a steering wheel more reliably from a storage position during automatic operation to a position where an operator can operate when changing to manual operation from automatic operation.SOLUTION: A steering wheel position adjusting device comprises: a first actuator 8 for storing a steering wheel 2 during automatic operation; a second actuator 9 for adjusting a longitudinal position of the steering wheel 2 during manual operation; an indication unit 202 which receives adjustment instruction of the longitudinal position of the steering wheel; and a control unit 100 which drives the second actuator 9 according to the adjustment instruction received by the indication part 202. The control unit 100 drives the second actuator 9 when changing to manual operation from automatic operation, thereby moving the steering wheel 2 from a storage position during automatic operation if it is determined that abnormality has occurred in the first actuator 8.SELECTED DRAWING: Figure 3

Description

The present invention relates to a steering wheel position adjusting device.

Patent Document 1 describes an electric steering device capable of adjusting the tilting position and the expansion / contraction position of the steering mechanism. This electric steering device has an electric tilt actuator and an electric telescopic mechanism, each of which is equipped with an electric motor.

Japanese Unexamined Patent Publication No. 2007-106266

In recent years, the development of self-driving vehicles has been promoted, and vehicles capable of both automatic driving and manual driving in which the system carries out all driving tasks have been proposed. An example of such a vehicle is an autonomous driving level 3 vehicle as defined by the US SAE (Societic of Automotive Engineers).
Vehicles capable of both automatic driving and manual driving are equipped with a steering wheel used for manual driving, but by retracting the steering wheel during automatic driving, the space in front of the driver's seat is secured and the driver's seat is secured. It can provide a comfortable space for the occupants sitting on the vehicle.

On the other hand, during manual driving, it is required to reliably arrange the steering wheel at a position that can be operated by the driver.
The present invention has been devised in view of the above circumstances, and when switching from automatic driving to manual driving, the steering wheel can be more reliably operated from the retracted position during automatic driving to the position where the driver can operate. The purpose is to move it.

In order to achieve the above object, the steering wheel position adjusting device according to one aspect of the present invention adjusts the first actuator for retracting the steering wheel during automatic operation and the front-rear position of the steering wheel during manual operation. The second actuator, an instruction unit for receiving an adjustment instruction for the front-rear position of the steering wheel, and a control unit for driving the second actuator in response to the adjustment instruction received by the instruction unit are provided. The control unit determines whether or not an abnormality has occurred in the first actuator, and if it is determined that an abnormality has occurred in the first actuator, the control unit drives the second actuator when switching from automatic operation to manual operation. , Move the steering wheel from the retracted position during automatic driving.

According to the present invention, when switching from automatic driving to manual driving, the steering wheel can be moved more reliably from the retracted position during automatic driving to the position where the driver can operate.

It is a schematic block diagram of the electric steering apparatus of embodiment. It is a schematic block diagram of the control device which controls the electric steering device of FIG. (A) is a diagram showing an example of the state of the electric steering device during manual operation, (b) is a diagram showing an example of the state of the electric steering device during automatic operation, and (c) is a diagram showing an example of the state of the electric steering device, and (c) is a retractable actuator. It is a figure which shows an example of the state of the electric steering apparatus at the time of manual operation when is an abnormality. It is a flowchart of an example of the operation of the control device of an embodiment. It is a flowchart of an example of the state acquisition process of an actuator. (A) to (e) are time charts illustrating an example of the operation of the steering wheel position adjusting device of the embodiment.

Embodiments of the present invention will be described in detail with reference to the drawings.
It should be noted that the embodiments of the present invention shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the configuration, arrangement, etc. of components. Is not specified as the following. The technical idea of the present invention may be modified in various ways within the technical scope specified by the claims described in the claims.

(Constitution)
FIG. 1 is a schematic configuration diagram of an electric steering device included in the steering wheel position adjusting device of the embodiment. The electric steering device 1 employs a mechanism in which the column supporting the steering shaft 3 is reduced to store the steering wheel 2. For example, the steering wheel 2 can be stored during automatic operation. The position of the retracted steering wheel 2 is hereinafter referred to as "retracted position".

Further, by extending or contracting the column, the position of the steering wheel 2 in the axial direction of the column (hereinafter, simply referred to as "axial direction") can be adjusted. As a result, the steering wheel 2 can be adjusted to the driver's favorite position during manual driving.
The position of the steering wheel 2 adjusted to the position desired by the driver is hereinafter referred to as "adjusted position". The adjusted position is an example of the "non-retracted position during manual operation" described in the claims.

The electric steering device 1 has four steering columns, that is, upper columns 4, first, which rotatably hold a steering shaft 3 extending from the steering wheel 2 and connected to a steering gear (not shown) around its axis. It includes a movable column 5, a second movable column 6, and a lower column 7. The lower column 7 is an example of the "fixed column" described in the claims.

By appropriately adjusting the relative positions of the columns 4 to 7, the steering wheel 2 can be held in a desired adjusted position or stored in a storage position.
The upper column 4 accommodates a universal joint (not shown) of the steering shaft 3 in the internal space. The upper column 4 is attached to a fork portion 51 formed at the rear end of the first movable column 5 so as to be tiltable via a tilt hinge pin 52. That is, the tilt position of the steering wheel 2 can be adjusted by appropriately swinging the upper column 4 with the tilt hinge pin 52 as a fulcrum.

The first movable column 5 is internally fitted and supported by the second movable column 6, and is slidable in the axial direction together with the fork portion 51 that supports the upper column 4. The second movable column 6 is internally fitted and supported by the lower column 7 so as to be slidable in the axial direction.
When the steering wheel 2 is stored in the retracted position, the second movable column 6 is fed into the lower column 7 fixed to the vehicle body side, and the second movable column 6 is retracted with respect to the lower column 7 (that is, toward the front of the vehicle). Move).

Further, the first movable column 5 is inserted into the second movable column 6 as needed, and the first movable column 5 is retracted with respect to the second movable column 6.
The relative position of the first movable column 5 with respect to the second movable column 6 in the state where the steering wheel 2 is retracted is described as "first retracted position", and the position of the second movable column 6 is described as "second retracted position". do.

When positioning the retracted steering wheel 2 in the adjusted position, the second movable column 6 is extended from the lower column 7 and the second movable column 6 is advanced (that is, moved toward the rear of the vehicle) with respect to the lower column 7. ..
Further, if necessary, the first movable column 5 is extended from the second movable column 6 to advance the first movable column 5 with respect to the second movable column 6.

The relative position of the first movable column 5 with respect to the second movable column 6 in the state where the steering wheel 2 is positioned at the adjusted position is referred to as the "first forward position", and the position of the second movable column 6 is referred to as the "second forward position". Notated as "position".
By appropriately advancing and retreating the first movable column 5 with respect to the second movable column 6 positioned at the second forward position, the upper column 4 moves in the axial direction together with the steering shaft 3 and adjusts the telescopic position of the steering wheel 2. can do.

The position of the second movable column 6 is changed by the retractable actuator 8. The retractable actuator 8 is an example of the "first actuator" described in the claims.
The retractable actuator 8 includes an electric motor (for example, a DC motor with a brush) 80 and a telescopic rod device 82 driven by the electric motor 80 via a gearbox 81. For example, the telescopic rod device 82 may be a feed screw mechanism driven by an electric motor 80. The actuator rod 82a extending from the telescopic rod device 82 expands and contracts according to the rotation of the electric motor 80.

The front end portion of the telescopic rod device 82 is pivotally attached to a bracket 71 fixed to the lower column 7 with a pin 723, and constitutes a hinge. The rear end portion of the actuator rod 82a is pivotally attached to a bracket 63 fixed to the second movable column 6 with a pin 64, and constitutes a hinge.
By extending the actuator rod 82a from the telescopic rod device 82 to extend the retractable actuator 8, the second movable column 6 is extended from the lower column 7 and the second movable column 6 can be moved to the second forward position.
On the contrary, by accommodating the actuator rod 82a in the telescopic rod device 82 and reducing the retractable actuator 8, the second movable column 6 is fed into the lower column 7 and the second movable column 6 is moved to the second retracted position. be able to.

The telescopic position of the upper column 4 is adjusted by the telescopic actuator 9 having substantially the same structure as the retractable actuator 8. The telescopic actuator 9 is an example of the "second actuator" described in the claims.
The telesco actuator 9 includes an electric motor (for example, a DC motor with a brush) 90 and a telescopic rod device 92 driven by the electric motor 90 via a gearbox 91. For example, the telescopic rod device 92 may be a feed screw mechanism driven by an electric motor 90. The actuator rod 92a extending from the telescopic rod device 92 expands and contracts according to the rotation of the electric motor 90.

The front end portion of the telescopic rod device 92 is pivotally attached to a bracket 61 fixed to the second movable column 6 with a pin 62, and constitutes a hinge. The rear end portion of the actuator rod 92a is pivotally attached to a bracket 53 fixed to the fork portion 51 of the first movable column 5 with a pin 54, and constitutes a hinge.
By extending the actuator rod 92a from the telescopic rod device 92 to extend the telescopic actuator 9, the first movable column 5 is extended from the second movable column 6 and the steering wheel 2 can be retracted.
On the contrary, by accommodating the actuator rod 92a in the telescopic rod device 92 and reducing the telescopic actuator 9, the first movable column 5 is retracted into the second movable column 6 and the steering wheel 2 can be advanced. ..

The tilt position of the upper column 4 is adjusted by a tilt actuator 14 having substantially the same structure as the retractable actuator and the telescopic actuator 9. In FIG. 1, the tilt actuator 14 is omitted.
The tilt actuator 14 is pivotally attached to a bracket 41 fixed to the upper column 4 with a pin 42, and constitutes a hinge.

The steering wheel 2 can be tilted upward by driving the tilt actuator 14 and rotating the upper column 4 counterclockwise with respect to the first movable column 5. On the contrary, the steering wheel 2 can be tilted downward by rotating the upper column 4 clockwise with respect to the first movable column 5.

It may be shared with the retractable actuator 8 and the tilt actuator 14. In this case, a clutch may be provided to switch the coupling partner of the actuator rod 82a of the retractable actuator 8 between the bracket 63 of the second movable column 6 and the bracket 41 of the upper column 4.
Similarly, it may be shared with the telescopic actuator 9 and the tilt actuator 14. In this case, a clutch may be provided to switch the coupling partner of the actuator rod 92a of the telescopic actuator 9 between the bracket 53 of the first movable column 5 and the bracket 41 of the upper column 4.

The structure of the electric steering device 1 is an example, and the structure is not limited to this structure. If the actuator for retracting the steering wheel during automatic driving and the actuator for adjusting the front-rear position of the steering wheel during manual driving are independently provided, various structures can be incorporated into the electric steering device 1. It is possible to adopt.

The retractable actuator 8, the telescopic actuator 9, and the tilt actuator 14 are driven and controlled by the control device 100 shown in FIG.
The control device 100 is a communication interface (communication interface) between the power supply circuit 101 to which the battery voltage from the battery 200 mounted on the vehicle is input and the vehicle ECU (Electronic Control Unit) 201 which is an electronic control unit that performs automatic operation. A communication IF) 102 and a storage device 103 are provided. The storage device 103 stores the adjusted position of the steering wheel 2 appropriately set by the occupant and the states of the retractable actuator 8, the telescopic actuator 9, and the tilt actuator 14 as the internal status of the steering wheel position adjusting device.

Further, the control device 100 includes an MCU (Micro-controller unit) 104 that executes information processing for driving and controlling the retractable actuator 8, the telescopic actuator 9, and the tilt actuator 14, and the retractable actuator 8, the telescopic actuator 8, according to a control signal from the control device 100. It includes a retractable controller 110 that drives the actuator 9 and the tilt actuator 14, a telescopic controller 120, and a tilt controller 130, respectively.

The power supply circuit 101 generates a power supply voltage from the battery voltage from the battery 200 and supplies it to the MCU 104.
The vehicle ECU 201 inputs a retractable signal to the MCU 104 via the communication interface 102. The retractable signal is a signal instructing the steering wheel 2 to be stored in the retracted position or to be carried out from the retracted position.
The vehicle ECU 201 outputs a retractable signal "retract" instructing that the steering wheel 2 is stored in the storage position when switching from manual operation to automatic operation.

Further, the vehicle ECU 201 outputs a retractable signal "carry-out" instructing the steering wheel 2 to be moved (that is, carried out) from the retracted position when switching from automatic driving to manual driving.
While the automatic driving or the manual driving is continued, the vehicle ECU 201 outputs a retractable signal "stop" that prohibits the retracting and carrying out of the steering wheel 2.

Further, the manual switch (manual SW) 202 receives an instruction for adjusting the telescopic position of the steering wheel 2 from the occupant, and inputs a switch signal for advancing / retreating the steering wheel 2 to the MCU 104.
The tilt manual switch 202 receives an instruction for adjusting the tilt position of the steering wheel 2 from the occupant, and inputs a switch signal for changing the tilt of the steering wheel 2 to the MCU 104.

The storage device 103 stores the telescopic position and / or tilt angle of the steering wheel 2 adjusted by the occupant.
Specifically, the extension amount of the telescopic actuator 9 (that is, the extension position or the extension amount of the actuator rod 92a) is stored as the information indicating the telescopic position. As the information representing the tilt angle, the extension amount of the tilt actuator 14 (that is, the extension position or the extension amount of the actuator rod) is stored.

When the occupant operates the telescopic manual switch 202 and / or the tilt manual switch 202 to change the telescopic position and / or the tilt angle of the steering wheel 2, the telescopic actuator 9 and / or the tilt actuator 14 stored in the storage device 103. The amount of elongation is updated.
When the operation of the occupant is completed and the telescopic position and / or the tilt angle no longer changes, the extension amount of the telescopic actuator 9 and the tilt actuator 14 at that time is finally stored in the storage device 103. The telescopic position and tilt angle finally determined by these extension amounts finally stored in the storage device 103 correspond to the above-mentioned "adjusted position".

The MCU 104 outputs drive signals for driving and controlling the retractable actuator 8, the telescopic actuator 9, and the tilt actuator 14 to the retractable controller 110, the telescopic controller 120, and the tilt controller 130, respectively.
The retractable controller 110 includes a motor drive circuit 111 and a position detection circuit 112. The motor drive circuit 111 drives and controls the electric motor 80 of the retractable actuator 8 based on the drive signal from the MCU 104. The MCU 104 may control the electric motor 80 on and off, for example. Here, "on / off control" refers to control that brings the extension amount of the actuator closer to the target value by turning the electric motor on and off.
Further, the MCU 104 may control the speed and torque of the electric motor 80 by, for example, PWM control. "Speed control" means control that sets the target rotation speed of the electric motor to bring the rotation speed of the electric motor closer to the target rotation speed, and "torque control" means that the target torque of the electric motor is set. Control that brings the torque generated by the electric motor closer to the target torque.

The retractable actuator 8 is provided with a rotation position sensor 83 that detects the rotation position of the rotation axis of the electric motor 80, and the position detection circuit 112 is a retractable actuator 8 based on the rotation position detected by the rotation position sensor 83. The extension position of the actuator rod 82a (that is, the extension amount of the retractable actuator 8) is detected. The position detection circuit 112 inputs the detected extension position to the MCU 103.

Similarly, the telesco controller 120 includes a motor drive circuit 121 and a position detection circuit 122. The motor drive circuit 121 drives and controls the electric motor 90 of the telescopic actuator 9 based on the drive signal from the MCU 104. The MCU 104 may control the electric motor 90 on and off, for example. The MCU 104 may control the speed and torque of the electric motor 90 by, for example, PWM control.
The telesco actuator 9 is provided with a rotation position sensor 93 that detects the rotation position of the rotation axis of the electric motor 90, and the position detection circuit 122 of the telesco actuator 9 is based on the rotation position detected by the rotation position sensor 93. The extension position of the actuator rod 92a (that is, the extension amount of the telescopic actuator 9) is detected. The position detection circuit 122 inputs the detected extension position to the MCU 103.

Similarly, the tilt controller 130 includes a motor drive circuit 131 and a position detection circuit 132. The motor drive circuit 131 drives and controls the electric motor 140 of the tilt actuator 14 based on the drive signal from the MCU 104. The MCU 104 may control the electric motor 140 on and off, for example. The MCU 104 may control the speed and torque of the electric motor 140 by, for example, PWM control.
The tilt actuator 14 is provided with a rotation position sensor 143 that detects the rotation position of the rotation axis of the electric motor 90, and the position detection circuit 132 is the tilt actuator 14 based on the rotation position detected by the rotation position sensor 143. The extension position of the actuator rod (that is, the extension amount of the tilt actuator 14) is detected. The position detection circuit 132 inputs the detected extension position to the MCU 103.

Subsequently, an example of drive control of the retractable actuator 8, the telescopic actuator 9, and the tilt actuator 14 by the control device 100 will be described with reference to FIGS. 3A to 3C.
FIG. 3A is a diagram showing an example of the state of the electric steering device 1 during manual operation, and FIG. 3B is a diagram showing an example of the state of the electric steering device 1 during automatic operation. Is.

During manual operation ((a) in FIG. 3), the first movable column 5 and the second movable column 6 are in the first forward position and the second forward position, respectively, and the columns 5 to 7 are extended to extend the steering wheel 2. It is positioned in the adjusted position.
During automatic operation ((b) in FIG. 3), the first movable column 5 and the second movable column 6 are in the first retracted position and the second retracted position, respectively, and the columns 5 to 7 are reduced to reduce the steering wheel 2. It is stored in the storage position.

When the manual operation is switched to the automatic operation, the vehicle ECU 201 outputs a retractable signal "retract" instructing that the steering wheel 2 is stored in the storage position to the MCU 104. Switching from manual operation to automatic operation is performed according to the operation of a changeover switch (not shown). In addition, various input devices such as voice recognition can be used.
Upon receiving the retractable signal "retracted", the MCU 104 determines whether or not an abnormality has occurred in the retractable actuator 8.
For example, the MCU 104 determines that an abnormality has occurred in the retractable actuator 8 when the locked state of the retractable actuator 8 continues for the threshold time or longer, and determines that no abnormality has occurred when the locked state does not continue for the threshold time or longer. It's okay.
For example, when the MCU 104 outputs the drive signal of the retractable actuator 8 but the extension amount of the retractable actuator 8 (for example, the extension position of the actuator rod 82a) does not change, the retractable actuator 8 is in the locked state. It may be determined that it is in.

If no abnormality has occurred in the retractable actuator 8, the MCU 104 outputs a control signal for rotating the electric motor 80 in the direction in which the retractable actuator 8 shrinks to the motor drive circuit 111 of the retractable controller 110. As a result, the MCU 104 moves the second movable column 6 from the second forward position to the second backward position.

Further, the MCU 104 outputs a control signal for rotating the electric motor 90 in the direction in which the telesco actuator 9 shrinks to the motor drive circuit 121 of the telesco controller 120. As a result, the MCU 104 moves the first movable column 5 from the first forward position to the first backward position.

As a result, the positions of the first movable column 5 and the second movable column 6 become the first retracted position and the second retracted position, respectively, and the steering wheel 2 is stored in the retracted position as shown in FIG. 3B. ..
The relative positions of the first movable column 5 and the second movable column 6 when the steering wheel 2 is in the retracted position, and the first movable column 5 and the second in the state where the steering wheel 2 is positioned in the adjusted position. If there is no change between the position relative to the movable column 6 (that is, the first retracted position and the first advanced position are equal), it is not necessary to drive the telescopic actuator 9.

On the other hand, when an abnormality occurs in the retractable actuator 8, the steering wheel 2 can no longer be stored in the retracted position. Rather, it may stop at a position in the middle of storing the steering wheel 2 in the retracted position, making it impossible to return the steering wheel 2 to the adjusted position. Therefore, when an abnormality occurs in the retractable actuator 8, the MCU 104 does not execute the retracting process of the steering wheel 2 even if the telescopic actuator 9 is normal.

When the automatic operation is switched to the manual operation, the vehicle ECU 201 outputs a retractable signal “unloading” instructing the steering wheel 2 to be carried out from the retracted position to the MCU 104. Switching from automatic operation to manual operation is performed according to the operation of a changeover switch (not shown). In addition, various input devices such as voice recognition can be used. In addition, it is determined whether or not the automatic operation is normally performed, and if it is determined that the automatic operation is not normally performed, the automatic operation is switched to the manual operation regardless of the operation of the above-mentioned switch or the like. May be good.
Upon receiving the retractable signal "unloading", the MCU 104 determines whether or not an abnormality has occurred in the retractable actuator 8.

Further, the MCU 104 determines whether or not an abnormality has occurred in the telescopic actuator 9.
For example, the MCU 104 determines that an abnormality has occurred in the telescopic actuator 9 when the locked state of the telescopic actuator 9 continues for the threshold time or longer, and determines that no abnormality has occurred when the locked state does not continue for the threshold time or longer. It's okay.
For example, when the MCU 104 outputs the drive signal of the telesco actuator 9 but the extension amount of the telesco actuator 9 (for example, the feeding position of the actuator rod 92a) does not change, the telesco actuator 9 is in the locked state. It may be determined that it is in.

When no abnormality has occurred in the retractable actuator 8, the MCU 104 outputs a control signal for rotating the electric motor 80 in the direction in which the retractable actuator 8 extends to the motor drive circuit 111 of the retractable controller 110. As a result, the MCU 104 extends the retractable actuator 8 by a preset extension amount L1 to move the second movable column 6 from the second retracted position to the second forward position.

When no abnormality has occurred not only in the retractable actuator 8 but also in the telescopic actuator 9, the MCU 104 reads out the extension amount L2 of the telescopic actuator 9 stored in the storage device 103 as information indicating the telescopic position of the adjusted position.
Then, the MCU 104 outputs a control signal for rotating the electric motor 90 in the direction in which the telesco actuator 9 is extended to the motor drive circuit 121 of the telesco controller 120 until the telesco actuator 9 is extended by the extension amount L2.

As a result, the first movable column 5 moves from the first retracted position to the first advanced position by the length L2. That is, the telescopic actuator 9 is extended by the extension amount L2.
The relative positions of the first movable column 5 and the second movable column 6 when the steering wheel 2 is in the retracted position, and the first movable column 5 and the second in the state where the steering wheel 2 is positioned in the adjusted position. If there is no change between the position relative to the movable column 6 (that is, the first retracted position and the first advanced position are equal), it is not necessary to drive the telescopic actuator 9.

Further, the MCU 104 reads out the extension amount of the tilt actuator 14 as information indicating the tilt angle of the adjusted position. The MCU 104 outputs a control signal for rotating the electric motor 90 of the tilt actuator 14 to the motor drive circuit 131 of the tilt controller 130 until the extension amount of the tilt actuator 14 becomes equal to the read value.

As a result, the positions of the first movable column 5 and the second movable column 6 become the first forward position and the second forward position, respectively, and the steering wheel 2 is positioned at the adjusted position as shown in FIG. 3A. ..
The MCU 104 may drive the telesco actuator 9 for a period that at least partially overlaps with the drive period of the retractable actuator 8. For example, the retractable actuator 8 and the telescopic actuator 9 may be driven at the same time.
As a result, if no abnormality has occurred in the retractable actuator 8 and the telescopic actuator 9, the steering wheel 2 can be quickly carried out from the retracted position to the adjusted position.

On the other hand, when an abnormality has occurred in the retractable actuator 8 and no abnormality has occurred in the telescopic actuator 9, the MCU 104 drives the telescopic actuator 9 to carry out the steering wheel 2 from the retracted position. As a result, even if the steering wheel 2 cannot be carried out by the retractable actuator 8, the steering wheel 2 can be carried out to a position that can be operated by the driver at a minimum.
As a result, when switching from automatic operation to manual operation, the steering wheel 2 can be more reliably carried out to a position where the driver can operate.

See (c) in FIG. When an abnormality has occurred in the retractable actuator 8 and no abnormality has occurred in the telescopic actuator 9, the MCU 104 extends the telescopic actuator 9 by a preset extension amount L3.
Specifically, a control signal for rotating the electric motor 90 in the direction in which the telesco actuator 9 is extended is output to the motor drive circuit 121 of the telesco controller 120 until the telesco actuator 9 is extended by the extension amount L3.

Here, the extension amount L3 is a preset value, and the extension amount L2 is a value adjusted by the telescopic manual switch 202 and stored in the storage device 103. Therefore, the elongation amount L3 may have a value different from that of the elongation amount L2.
For example, if the extension amount L3 is longer than the extension amount L2, the steering wheel 2 can be carried out closer to the driver. As a result, when switching from automatic operation to manual operation, the steering wheel 2 can be more reliably carried out to a position where the driver can operate. The extension amount L3 may be, for example, the maximum extension amount of the telescopic actuator 9.

When it is determined that an abnormality has occurred in the retractable actuator 8 and the telescopic actuator 9 is driven to carry out the steering wheel 2 from the retracted position, the MCU 104 may generate a predetermined alarm to notify the occupant.
The alarm may be, for example, an alarm indicating that an abnormality has occurred in the retractable actuator 8 or that the steering wheel 2 cannot be carried out to the adjusted position due to an abnormality in the retractable actuator 8.
Further, if the steering wheel 2 stops in the middle of the adjusted position from the retracted position when the telescopic actuator 9 is extended to the extension amount L3, it may be an alarm notifying that the steering wheel 2 has been carried out.

On the other hand, if no abnormality has occurred in the retractable actuator 8 and an abnormality has occurred in the telescopic actuator 9, the MCU 104 drives only the retractable actuator 8 to carry out the steering wheel 2 from the retracted position. As a result, even if the telescopic actuator cannot be adjusted to the adjusted position by the telescopic actuator 9, the steering wheel 2 can be carried out to a position that can be operated by the driver at a minimum.

When an abnormality has occurred in both the retractable actuator 8 and the telescopic actuator 9, the MCU 104 does not execute the carry-out process of carrying out the steering wheel 2 from the retracted position. In this case, the state in which the steering wheel 2 is stored in the stored position continues.
In this case, the MCU 104 may output, for example, an abnormality signal for notifying the abnormality of the electric steering device 1 or an abnormality signal for notifying that the manual operation cannot be started to the vehicle ECU 201. This may prompt the vehicle ECU 201 to perform the minimum risk operation. The minimum risk operation may be, for example, a driving operation in which the vehicle changes lanes and is brought closer to the shoulder to stop, or a driving operation in which the vehicle is simply decelerated or stopped.

(motion)
Next, the operation of the control device 100 of the embodiment will be described with reference to FIG.
In step S1, the MCU 104 reads the retractable signal from the vehicle ECU 201.
In step S2, the MCU 104 determines whether or not the read retractable signal is a signal "unloading" instructing the steering wheel 2 to be moved (unloaded) from the retracted position to the adjusted position. When the read retractable signal is the signal “unloading” (step S2: Y), the process proceeds to step S3. If the read retractable signal is not the signal “unloading” (step S2: N), the process proceeds to step S9.

In step S3, the MCU 104 acquires the state (that is, the presence or absence of abnormality) of the retractable actuator 8. The process of step S3 will be described later with reference to FIG.
In step S4, the MCU 104 determines whether or not the retractable actuator 8 is normal, that is, whether or not an abnormality has occurred in the retractable actuator 8. When the retractable actuator 8 is normal, that is, when no abnormality has occurred in the retractable actuator 8 (step S4: Y), the process proceeds to step S5.

When the retractable actuator 8 is not normal, that is, when an abnormality occurs in the retractable actuator 8 (step S4: N), the process proceeds to step S6.
In step S5, the MCU 104 drives the retractable actuator 8 to move (carry out) the steering wheel 2 from the retracted position. Further, when the first retracting position and the first advancing position of the first movable column 5 are different, the MCU 104 drives the telescopic actuator 9.
As a result, the steering wheel 2 is carried out from the retracted position to the adjusted position, and the process is completed.

On the other hand, when it is determined in step S4 that an abnormality has occurred in the retractable actuator 8 (step S4: N), the MCU 104 acquires the state of the telescopic actuator 9 (that is, the presence or absence of the abnormality) in step S6. The process of step S6 will be described later with reference to FIG.
In step S7, it is determined whether or not the telescopic actuator 9 is normal, that is, whether or not an abnormality has occurred in the telescopic actuator 9. When the telescopic actuator 9 is normal, that is, when no abnormality has occurred in the telescopic actuator 9 (step S7: Y), the process proceeds to step S8.

When the telescopic actuator 9 is not normal, that is, when an abnormality has occurred in the telescopic actuator 9 (step S7: N), the process ends without executing the carry-out process of carrying out the steering wheel 2 from the retracted position.
On the other hand, in step S8, the MCU 104 drives the telescopic actuator 9 to move (carry out) the steering wheel 2 from the retracted position, and ends the process.

On the other hand, when it is determined in step S2 that the read retractable signal is not the signal "unloading" (step S2: N), in step S9, the MCU 104 stores the read retractable signal in the storage position of the steering wheel 2. It is determined whether or not the retractable signal "store" is used to indicate that the signal is "stored".
When the read retractable signal is the signal "stored" (step S9: Y), the process proceeds to step S10.
If the read retractable signal is not the signal "stored" (step S9: N), the read retractable signal is the signal "stop" and the process ends.

In step S10, the MCU 104 acquires the state (that is, the presence or absence of abnormality) of the retractable actuator 8. The process of step S10 will be described later with reference to FIG.
In step S11, the MCU 104 determines whether or not the retractable actuator 8 is normal, that is, whether or not an abnormality has occurred in the retractable actuator 8.
When the retractable actuator 8 is normal, that is, when no abnormality has occurred in the retractable actuator 8 (step S11: Y), the process proceeds to step S12.

When the retractable actuator 8 is not normal, that is, when an abnormality occurs in the retractable actuator 8 (step S11: N), the process ends without retracting the steering wheel 2.
In step S12, the retractable actuator 8 is driven to retract the steering wheel 2. After that, the process ends.

Next, the state acquisition process of the retractable actuator 8 in step S3 of FIG. 1 will be described with reference to FIG.
In step S20, the MCU 104 determines whether or not the retractable actuator 8 is stored in the storage device 103 as the internal status of the steering wheel position adjusting device.

If it is stored that the retractable actuator 8 is normal (step S20: Y), the process proceeds to step S22.
On the contrary, when the retractable actuator 8 is not stored as abnormal (step S20: N), the process proceeds to step S21. In this case, since it has already been determined that the state of the retractable actuator 8 is abnormal, the MCU 104 determines in step S21 that the retractable actuator 8 is abnormal and ends the process.

In step S22, the MCU 104 determines whether or not the current feeding position of the actuator rod 82a of the retractable actuator 8 has reached the target position to be reached when the steering wheel 2 has been carried out. In this case, the target position is a feeding position for moving the second movable column 6 to the second advancing position.
When the feeding position reaches the target position (step S22: Y), the retractable actuator 8 is no longer driven, so that the process ends. If the payout position has not reached the target position (step S22: N), the process proceeds to step S23.

In step S23, the MCU 104 determines whether or not the locked state of the retractable actuator 8 has been detected. If the locked state is not detected (step S23: N), the process proceeds to step S24. When the locked state is detected (step S23: Y), the process proceeds to step S25.
In step S24, the MCU 104 determines that the retractable actuator 8 is normal and ends the process.

On the other hand, when it is determined in step S23 that the locked state of the retractable actuator 8 has been detected (step S23: Y), the MCU 104 determines in step S25 whether or not the locked state has continued for a threshold time or longer. When the locked state does not continue for the threshold time or more (step S25: N), the process proceeds to step S24. The MCU 104 determines that the retractable actuator 8 is normal, and ends the process.

When the locked state continues for the threshold time or longer (step S25: Y), the process proceeds to step S26.
In step S26, the MCU 104 determines that the retractable actuator 8 is abnormal.
In step S27, the MCU 104 stores in the storage device 103 that the retractable actuator 8 is abnormal as the internal status of the steering wheel position adjusting device, and ends the process.

The state acquisition process of the telescopic actuator 9 in step S6 of FIG. 1 is the same as the process described above with reference to FIG. In this case, "retractable actuator 8" and "actuator rod 82a" are read as "telesco actuator 9" and "actuator rod 92a". Further, the "target position" in step S22 is a feeding position for moving the first movable column 5 to the first advancing position.
The state acquisition process of the retractable actuator 8 in step S10 of FIG. 1 is the same as the process described above with reference to FIG. The “target position” in step S22 is a target position to be reached when the steering wheel 2 is completely retracted, and is a feeding position for moving the second movable column 6 to the second retracted position.

Next, an example of the operation of the steering wheel position adjusting device of the embodiment will be described with reference to FIGS. 6A to 6E.
FIG. 6A is a time chart of the retractable signal input from the vehicle ECU 201.
6 (b) and 6 (d) are time charts of the detection signal output from the rotation position sensor 83 of the retractable actuator 8 and the detection signal output from the rotation position sensor 93 of the telescopic actuator 9. In this example, the rotation position sensors 83 and 93 are sensors that output a number of pulse signals according to the rotation amount of the electric motors 80 and 90.
6 (c) and 6 (d) are time charts of the drive states of the retractable actuator 8 and the telescopic actuator 9 by the MCU 104.

At time t1, when the retractable signal changes from the signal "stop" to "unload" when the automatic operation is switched to the manual operation ((a) in FIG. 6), the drive state of the retractable actuator 8 by the MCU 104 changes from "stop" to "retractable operation". It changes to "unloading" ((c) in FIG. 6).
When the drive state of the retractable actuator 8 is "unloading", the MCU 104 outputs a control signal for rotating the electric motor 80 in the direction in which the retractable actuator 8 extends to the motor drive circuit 111 of the retractable controller 110.
As a result, when the electric motor 80 rotates, the second movable column 6 is driven and the steering wheel 2 starts to be carried out. The rotation position sensor 83 outputs a number of pulses corresponding to the amount of movement of the second movable column 6 ((b) in FIG. 6).

When the pulse output from the rotation position sensor 83 is stopped at time t2 and the locked state of the retractable actuator 8 is detected, the retractable actuator 8 is normal until the lock detection period T1 in which the locked state is detected becomes equal to or longer than the threshold time. (Steps S24 and S25 in FIG. 5). Therefore, the drive state of the retractable actuator 8 is maintained as “carrying out” (steps S4 and S5 in FIG. 4).

When the lock detection period T1 becomes equal to or longer than the threshold time at time t3, the retractable actuator 8 is determined to be abnormal (steps S25 and S26 in FIG. 5). Therefore, the drive state of the retractable actuator 8 by the MCU 104 changes from “unloading” to “stopping” ((c) in FIG. 6). As a result, the MCU 104 stops the output of the drive signal to the retractable actuator 8.

On the other hand, the drive state of the telescopic actuator 9 by the MCU 104 changes from "stop" to "unload" (steps S4 and S6 to S8 in FIG. 6 (e) and FIG. 4).
When the drive state of the telesco actuator 9 is "unloading", the MCU 104 outputs a control signal to the motor drive circuit 121 of the telesco controller 120 to rotate the electric motor 90 in the direction in which the telesco actuator 9 extends.
As a result, when the electric motor 90 rotates, the first movable column 5 is driven and the steering wheel 2 continues to be carried out. The rotation position sensor 93 outputs a number of pulses according to the amount of movement of the first movable column 5 ((d) in FIG. 6).

(Effect of embodiment)
(1) A retractable actuator 8 for retracting the steering wheel 2 during automatic operation, a telescopic actuator 9 for adjusting the front-rear position of the steering wheel 2 during manual operation, and an instruction for adjusting the front-rear position of the steering wheel 2. The telescopic manual switch 202 is provided, and the control device 100 for driving the telescopic actuator 9 in response to the adjustment instruction received by the telescopic manual switch 202 is provided. The control device 100 determines whether or not an abnormality has occurred in the retractable actuator 8, and if it is determined that an abnormality has occurred in the retractable actuator 8, the control device 100 drives the telescopic actuator 9 when switching from automatic operation to manual operation. Then, the steering wheel 2 is moved from the retracted position during automatic operation.

Therefore, even if the retractable actuator 8 cannot carry out the steering wheel 2, the telescopic actuator 9 can at least carry out the steering wheel 2 to a position that can be operated by the driver.
As a result, when switching from automatic operation to manual operation, the steering wheel 2 can be more reliably carried out to a position where the driver can operate.

(2) When the control device 100 determines that no abnormality has occurred in the retractable actuator 8, the control device 100 drives the retractable actuator 8 and the telescopic actuator 9 at the time of switching from the automatic operation to the manual operation, and drives the steering wheel 2. It may be moved from the stored position to the non-stored position during manual operation. At this time, when it is determined that an abnormality has occurred in the retractable actuator 8, the length L3 in which the telesco actuator 9 moves the steering wheel 2 is determined, and when it is determined that no abnormality has occurred, the telesco actuator 9 shifts the steering wheel 2. It may be different from the moving length L2.

If the retractable actuator 8 is normal, the telescopic actuator 9 is used to adjust the telescopic position. Therefore, the length L2 is a variable length adjusted by the occupant.
Even if the length L2 is set to be too small by setting the length L3 in which the telescopic actuator 9 moves the steering wheel 2 from the retracted position to a value different from the length L2 when the retractable actuator 8 is abnormal. , The steering wheel 2 can be carried out to a position where the driver can operate it.

(3) The control device 100 determines that the length L3 at which the telescopic actuator 9 moves the steering wheel 2 when it is determined that an abnormality has occurred in the retractable actuator 8 is the length when it is not determined that an abnormality has occurred in the retractable actuator 8. It may be longer than L2. As a result, even if the length L2 is set to be too small, the steering wheel 2 can be carried out to a position where the driver can operate it.

(4) When the control device 100 determines that no abnormality has occurred in the retractable actuator 8, when switching from the automatic operation to the manual operation, the telescopic actuator has a period that at least partially overlaps with the drive period of the retractable actuator 8. 9 may be driven. As a result, the steering wheel 2 can be quickly carried out from the retracted position to the adjusted position.

(5) The control device 100 may generate an alarm when it is determined that an abnormality has occurred in the retractable actuator 8 and the steering wheel 2 is moved from the retracted position by the telescopic actuator 9. As a result, it is possible to notify the occupant of the abnormality of the retractable actuator 8. In addition, it is possible to notify that the steering wheel 2 cannot be carried out to the adjusted position due to an abnormality in the retractable actuator 8. Further, when the extension of the telescopic actuator 9 is completed and the steering wheel 2 is stopped in the middle of the adjusted position from the retracted position, it is possible to notify that the steering wheel 2 has been carried out.

(6) Either the retractable actuator 8 or the telescopic actuator 9 may be shared with the tilt actuator 14 for adjusting the tilt position of the steering wheel 2. As a result, the same number of actuators as the conventional steering wheel position adjusting device including the telescopic actuator 9 and the tilt actuator 14 are used, and when switching from the automatic operation to the manual operation, the position can be operated by the driver. The steering wheel 2 can be reliably carried out.

1 ... Electric steering device, 2 ... Steering wheel, 3 ... Steering shaft, 4 ... Upper column, 5 ... First movable column, 6 ... Second movable column, 7 ... Lower column, 8 ... Retractable actuator, 9 ... Telesco actuator, 14 ... Tilt actuator, 41, 53, 61, 63, 71 ... Bracket, 42, 54, 62, 64, 72 ... Pin, 51 ... Fork, 52 ... Tilt hinge pin, 80, 90, 140 ... Electric motor, 81, 91 ... Gearbox, 82, 92 ... Telescopic rod device, 82a, 92a ... Actuator rod, 83, 93, 143 ... Rotation position sensor, 100 ... Control device, 101 ... Power supply circuit, 102 ... Communication interface, 103 ... Storage device, 104 ... MCU, 110 ... Storage controller, 111, 121, 131 ... Motor drive circuit, 112, 122, 132 ... Position detection circuit, 120 ... Telesco controller, 130 ... Tilt controller, 200 ... Battery, 201 ... Vehicle ECU, 202 ... Telescopic manual switch, 203 ... Tilt manual switch

Claims (8)

The first actuator for retracting the steering wheel during automatic driving,
A second actuator for adjusting the front-rear position of the steering wheel during manual operation, and
An instruction unit that receives an instruction to adjust the position of the steering wheel in the front-rear direction,
A control unit for driving the second actuator in response to the adjustment instruction received by the instruction unit is provided.
The control unit determines whether or not an abnormality has occurred in the first actuator, and if it is determined that an abnormality has occurred in the first actuator, the second actuator is used when switching from automatic operation to manual operation. A steering wheel position adjusting device, characterized in that the steering wheel is moved from a retracted position during automatic operation by driving the steering wheel. When the control unit determines that no abnormality has occurred in the first actuator, the control unit drives the first actuator and the second actuator when switching from automatic operation to manual operation to drive the steering wheel. Move from the retracted position to the non-retracted position during manual operation,
The length at which the second actuator moves the steering wheel when it is determined that an abnormality has occurred in the first actuator, and the second actuator moves the steering wheel when it is determined that no abnormality has occurred. Different from the length to be
The steering wheel position adjusting device according to claim 1. When the control unit determines that an abnormality has occurred in the first actuator, the control unit determines the length at which the second actuator moves the steering wheel as compared with the case where it does not determine that an abnormality has occurred in the first actuator. The steering wheel position adjusting device according to claim 2, wherein the steering wheel is lengthened. When the control unit determines that no abnormality has occurred in the first actuator, the second controller has a period that at least partially overlaps with the drive period of the first actuator when switching from automatic operation to manual operation. The steering wheel position adjusting device according to claim 2 or 3, wherein the actuator is driven. The control unit generates an alarm when it determines that an abnormality has occurred in the first actuator and moves the steering wheel from the retracted position by the second actuator. Steering wheel position adjustment device in any one of 4. The steering wheel position adjustment according to any one of claims 1 to 5, wherein either the first actuator or the second actuator is shared with the actuator for adjusting the tilt position of the steering wheel. Device. A steering shaft that rotates with the steering wheel and
A first movable column that pivotally supports the steering shaft,
A second movable column that slidably supports the first movable column,
A fixed column that slidably supports the second movable column is provided.
The first actuator is fixed to the fixed column and moves the second movable column.
The second actuator is fixed to the second movable column and moves the first movable column.
Each of the first actuator and the second actuator includes a motor, a feed screw mechanism driven by the motor via a reduction mechanism, and a rotation position sensor for detecting the rotation position of the rotation axis of the motor. ,
The control unit moves the steering shaft in the front-rear direction by controlling on / off of the motors of the first actuator and the second actuator.
The steering wheel position adjusting device according to any one of claims 1 to 6. A storage device for storing the adjustment instruction received by the instruction unit is provided.
The control unit
When it is determined that no abnormality has occurred in the first actuator, the first actuator is extended by a fixed amount at the time of switching from the automatic operation to the manual operation, and the variable length according to the adjustment instruction is the first. 2 Extend the actuator and
When it is determined that an abnormality has occurred in the first actuator, the second actuator is extended by a fixed amount when switching from automatic operation to manual operation.
The steering wheel position adjusting device according to claim 7.

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