JP3216441B2 - Vehicle steering system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for a vehicle such as an automobile, and more particularly to a steering device having a joystick as a steering input means.

[0002]

2. Description of the Related Art A steering wheel is generally used as a steering input means in a steering apparatus for a vehicle such as an automobile. For example, as described in US Pat. No. 5,086,870, a steering wheel is provided at one end. 2. Description of the Related Art A vehicle steering device using a joystick, which is pivotally supported by a vehicle body and pivotally operated at the other end by a driver of the vehicle, as a steering input means, has been already known.

[0003] Generally, the rotation angle range of the steering wheel is over 360 °, while the pivot angle range of the joystick is much smaller than this, so that the joystick required to steer the steered wheels by the same angle is required. Since the steering input amount can be much smaller than that of a steering wheel, a joystick-type steering device can greatly reduce the driver's burden of steering operation and can be operated with one hand. become.

[0004]

However, in the conventional joystick type steering apparatus as described above, the ratio of the actual steering angle of the steered wheels to the operation amount of the joystick is much larger than that of the steering wheel. Therefore, there is a problem that a driver accustomed to steering by the steering wheel feels strangeness or poor operability, and the steering stability of the vehicle is liable to be deteriorated due to too much steering wheel. Further, when the joystick is provided on either side of the driver's seat as described in the above-mentioned U.S. Patent Publication, for example, the joystick cannot be held by the left and right hands, and some drivers cannot use the dominant arm. In this respect, the operability is poor.

The present invention has been made in view of the above-mentioned problems in a conventional joystick-type steering device, and the main problem to be solved by the present invention is the operability of a steering device having a joystick. Is to be improved as compared with the prior art.

[0006]

According to the present invention, there are provided the following main objects: (1) a joystick and a steering wheel; first operation amount detecting means for detecting an operation amount of the joystick; An effective steering input means in a vehicle steering apparatus having a second operation amount detection means for detecting an operation amount of a steering wheel, and a steering mechanism for steering a steered wheel according to an operation amount of the joystick or the steering wheel. A changeover switch for selecting a joystick or a steering wheel, and when the operation amount of the steering input means selected by the changeover switch substantially reaches a value corresponding to the actual steering angle of the steered wheels, the actual operation of the steering input means Switching control means for executing the switching of the vehicle. And (2) a joystick that can pivot over a predetermined angle range, operation amount detection means for detecting the operation amount of the joystick, and a steering mechanism for steering the steered wheels according to the operation amount of the joystick. In a vehicle steering system having a joystick, a plurality of the joysticks are provided, and when one of the joysticks is pivoted, the other joysticks are also pivoted by the same amount in the same direction, so that they are interlocked with each other. The same pivoting operation with any joystick
The steering wheel of the vehicle steering apparatus characterized by being configured to be able to steer to the same (the second aspect), or a joystick, and the steering wheel, for detecting an operation amount of the joystick by A vehicle steering system comprising: first operation amount detection means; second operation amount detection means for detecting an operation amount of the steering wheel; and a steering mechanism for steering a steering wheel according to the operation amount of the joystick or the steering wheel. A changeover switch for selecting a joystick or a steering wheel as an effective steering input means, a means for positioning a steering input means not selected by the changeover switch to a substantially neutral position, and the changeover switch operates. The input of the steering input means that is still effective after Is achieved by a vehicle steering system, characterized in that it has a switching control unit that performs the actual switching of the steering input means when it is zero (the third aspect).

[0007]

[0008]

According to the configuration of the above described (1) [action], the driver can select a joystick or steering wheel as the effective steering input means by operating the changeover switch, not familiar with the operation of the joystick It is possible to prevent the driver from feeling poor operability and inconvenience. Further, the actual switching of the steering input means is executed when the operation amount of the steering input means selected by the changeover switch becomes substantially a value corresponding to the actual steering angle of the steered wheel. In this case, it is possible to reliably prevent hunting and to smoothly switch the steering input means.

According to the above configuration (2), a plurality of joysticks are provided, and when one of the joysticks is pivoted, the other joysticks are pivoted by the same amount in the same direction. With each other with the same pivoting
Since a steering wheel by the operation and is configured to be able to steer to the same, the driver or switch or joystick which corresponds with both hands as necessary, the joystick to operate dimensional worlds the left and right hand The driver can always use his dominant arm, regardless of whether he is right-handed or left-handed, which improves the operability of the steering system and reduces fatigue caused by the driver's steering. I do.

Further, according to the above configuration ( 3 ), the driver can select a joystick or a steering wheel as an effective steering input means by operating the changeover switch, so that the driver is not used to operating the joystick. It is possible to prevent the driver from feeling poor operability and inconvenience. Further, the steering input means which is not selected by the changeover switch is substantially positioned at the neutral position, and the actual switching of the steering input means is substantially performed by the operation amount of the steering input means which is still valid after the changeover switch is operated. Since it is executed when it becomes 0, it is possible to reliably prevent hunting when the steering input means is switched, to smoothly switch the steering input means, and to switch the steering input means selected by the changeover switch. Since there is no need to compare the operation amount with the value corresponding to the actual steering angle of the steered wheels, that is, the operation amount of the steering input means that is still valid at present, the switching control of the steering input means is simplified.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 1 is a schematic diagram showing a first embodiment of a steering device according to the present invention, and FIG. 2 is a perspective view showing the joystick shown in FIG.

In FIG. 1, reference numeral 10 denotes a rack and pinion type steering device, and reference numerals 12L and 12R denote left and right front wheels as steered wheels, respectively. The steering device 10 has a general structure that is well known in the related art. The steering device 10 has a rack bar housing 14 that reciprocates and supports a rack bar (not shown) extending in the lateral direction of the vehicle, and meshes with the rack bar. And a pinion housing 16 rotatably supporting a pinion (not shown).

At both ends of the rack bar, inner ends of tie rods 18L and 18R are pivotally connected by ball joints (not shown), and outer ends of the tie rods 18L and 18R are ball joints (not shown). Joints are pivotally attached to knuckle arms of the left front wheel 12L and the right front wheel 12R, respectively. The shaft 22 of the steering motor 20 is integrally connected to the pinion.
The motor 20 is driven by a joystick 24 or a switch by the driver .
A motor such as a stepping motor is controlled by the electronic control device 26 in accordance with the operation amount of the steering wheel 42 , so that the rotation angle is accurately controlled in response to a command signal from the electronic control device. Is preferred.

Although not shown in detail in FIG. 2, when the joystick 24 is pivoted left and right, the steering shaft 28 rotates integrally therewith, but when the joystick is pivoted forward and backward. Also, the steering shaft is pivotally attached to the steering shaft so as not to move in the front-rear direction. The steering shaft 28 is provided with a steering angle sensor 30 and a reaction force applying device 32. The steering angle sensor 30 detects the operation amount θjs of the joystick 24 by detecting the rotation angle of the steering shaft 28, and the reaction force applying device 32 uses the electromagnetic force or the spring force and the electromagnetic force to move in the opposite direction to the rotation direction of the joystick 24. Is applied to the steering shaft 28.

In particular, in the illustrated embodiment, the joystick 24 has an integral stopper arm 34, and although not shown, a cable connected to a throttle valve driving link is provided at the end of the stopper arm 34. Are connected. Mechanical stoppers 36L and 36R are provided on both left and right sides of the stopper arm, and the left and right pivot angles of the joystick are limited to a predetermined range (θml to θmr) by the mechanical stopper. As will be described later, when the joystick 24 is pivoted in the left-right direction, the left front wheel 12L and the right front wheel 12R are steered in the left-turning direction and right-turning direction, respectively. Acceleration takes place.

[0017]

[0018]

[0019]

[0020]

[0021]

[0022]

[0023]

[0024] Te is at this first embodiment, and changeover switch 44 is provided for selecting the joystick 24 or the steering wheel 42 as an effective steering input means is operated by OPERATION person, this switch When in the off state, the steering wheel is selected as an effective steering input means. Figure 4
As shown in FIG. 2, the steering wheel 42 is provided at a position in front of the driver's seat as in a normal vehicle, and the joystick 24 is provided at the position of the center console 45 so that the operation of the steering wheel is not hindered. However, the joystick may be provided on the right or left side at a position separated from the steering wheel.

As shown in FIG. 3 , a steering shaft 46 integrally connected to the steering wheel 42 is provided with a steering angle sensor 48 and a reaction force adding motor 50. The steering angle sensor 48 detects the operation amount θsw of the steering wheel 42 by detecting the rotation angle of the steering shaft 46, and the reaction force adding motor 50 generates a steering reaction force torque Tsw in the direction opposite to the rotation direction of the steering wheel 42. The steering shaft 46 is provided.

As shown in FIG. 4 , a vehicle speed meter 54 and a tachometer 56 are provided on the instrument panel 52.
In addition, the steering wheel lamp 58 and the joystick lamp 60 indicating that the currently effective steering input means are the steering wheel 40 and the joystick 24, respectively, and the changeover switch 44 are operated, but the actual switching of the steering input means is completed. A red lamp 62 indicating that the steering input means has not been switched, a green lamp 64 indicating that the steering input means has been completed but an unselected steering input means is in the process of returning to its neutral position, and a switching process of the steering input means. A deviation display lamp 66 is provided which indicates the difference between the operation amount of the steering input means selected in the above and the operation amount of the other still effective steering input means in an analog manner. The electronic control unit 26 turns right from the steering angle sensor 30.
And the operation amount θjs of the joystick 24
And the vehicle speed sensor 38 indicates the vehicle speed V.
A signal is input and the axial force sensor provided on the tie rod 18R is
A signal indicating the axial force F acting on the rack bar from the sensor 40
The steering wheel is input from the steering angle sensor 48
The signal indicating the manipulated variable θsw of 42 is input
I have. Although not shown in detail in FIG.
Reference numeral 26 denotes a CPU, a RAM, a ROM, and an input / output port device.
Having a microcomputer and a drive circuit,
OM is based on the flowcharts shown in FIGS. 5 and 6 and FIGS.
A map corresponding to the graph shown in FIG. 10 is stored.
You.

[0027] Next 5 and with reference to the graph shown in the flow chart and Figs. 7 to 10 shown in FIG. 6 for the operation of the first embodiment shown will be described. Note that the control according to this flowchart is started when an ignition switch (not shown) is closed, and is ended when the ignition switch is opened. In the flowcharts shown in FIGS . 5 and 6 , SW and JS mean a steering wheel and a joystick, respectively.

First, in step 100, the steering wheel lamp 58 is turned on, and in step 110, signals indicating the vehicle speed V, the operation amount θsw of the steering wheel 42, and the operation amount θjs of the joystick 24 are read. At 120, it is determined whether or not the changeover switch 44 is on. If the determination is affirmative, that is, if the driver indicates that the joystick is to be selected as the effective steering input means, the process proceeds to step 20.
0, and when a negative determination is made, step 130
Proceed to.

[0029] The At a step 130 the red lamp 62 is turned off, the rotation angle δsw of the steering motor 20 from a map corresponding to the graph shown in FIG. 9 is operation At a step 140, at step 150 The control signal corresponding to the rotation angle δsw is output to the steering motor 20 to drive the steering motor, whereby the left and right front wheels are controlled to the turning angles corresponding to the operation amount θsw of the steering wheel 42. . With the At a step 160 a signal indicating the axial force F acting on the detected rack bar by the force sensor 40 is read, the reaction torque Tsw from a map corresponding to the graph shown in FIG. 1 0 operation Then, a control signal corresponding to the reaction force torque Tsw is output to the reaction force application motor 50, so that the reaction force torque T
The reaction torque corresponding to sw is given.

In step 170, it is determined whether or not the absolute value of the operation amount θjs of the joystick 24 is smaller than a small positive constant α, that is, whether or not the joystick is substantially at the neutral position. When a negative determination is made, a control signal is output to the joystick reaction force applying device 32 in step 180 to drive the joystick toward its neutral position by a small angle, and when a positive determination is made, Step 1
At 90, the green lamp 64 is turned off.

[0031] The At a step 200 the red lamp 62 is turned on, the At a step 210 from the reaction torque Tjs is map corresponding to the graph shown in FIG. 8 is calculated, the joystick 24 by the reaction force adding device 32 Is given a reaction torque corresponding to the reaction torque Tjs. Step 22
0, the rotation angles δsw and δ of the steering motor 20 are obtained from the maps corresponding to the graphs shown in FIGS. 9 and 7 , respectively.
js is calculated, and in step 230, a control signal corresponding to the rotation angle δsw is output to the steering motor 20 to drive the steering motor, whereby the left and right front wheels are turned to the steering wheel operation amount θsw. It is controlled to the corresponding turning angle.

[0032] The At a step 240 reactive torque Tsw from a map corresponding to the graph shown in FIG. 1 0 is calculated, the steering wheel 4 by the reaction force adding motor 50
2 is given a reaction torque corresponding to the reaction torque Tsw,
In step 250, the difference δjs−δsw of the motor rotation angle calculated in step 220 is calculated, and the magnitude of the difference is displayed on the deviation display lamp 66, whereby the operation amount θjs of the joystick 24 is calculated. The driver is shown in which direction and how much the joystick should be operated in order to match the operation amount θsw of the steering wheel 42.

In step 260, it is determined whether or not the absolute value of the motor rotation angle difference δjs-δsw is less than a small positive constant ε, that is, the operation amount θjs of the joystick 24 is determined by the operation amount of the steering wheel 42. It is determined whether or not θsw is substantially equal to θsw. If a negative determination is made, the process returns to step 110. If an affirmative determination is made, the red lamp 62 is turned off and the green light is turned off in step 270. The lamp 64 is turned on, the steering wheel lamp 58 is turned off and the joystick lamp 60 is turned on in step 280, thereby indicating to the driver that the valid steering input means is switched to the joystick 24. Proceed to step 290.

In step 290, signals indicating the vehicle speed V, the operation amount θsw of the steering wheel 42, and the operation amount θjs of the joystick 24 are read.
At 0, it is determined whether or not the changeover switch 44 is off. If the determination is affirmative, that is, if the driver indicates that the steering wheel is to be selected as an effective steering input means, then step 380 is executed. The process proceeds to step 310 when a negative determination is made.

[0035] The At a step 310 the red lamp 62 is turned off, the rotation angle δjs of the steering motor 20 from a map corresponding to the graph shown in FIG. 7 is operation At a step 320, at step 330 Then, a control signal corresponding to the rotation angle δjs is output to the steering motor 20 to drive the steering motor, whereby the left and right front wheels are controlled to the turning angles corresponding to the operation amount θjs of the joystick 24. Together with a signal indicating the axial force F that acts on the rack bar detected by the axial force sensor 40 are read in At a step 340, the reaction torque Tjs is calculated from a map corresponding to the graph shown in FIG. 8 By outputting a control signal corresponding to the reaction force torque Tjs to the reaction force applying device 32, a reaction torque corresponding to the reaction force torque Tjs is given to the joystick 24.

In step 350, it is determined whether or not the absolute value of the operation amount θsw of the steering wheel 42 is smaller than a small positive constant β, that is, whether or not the steering wheel is substantially at the neutral position. When a negative determination is made, a control signal is output to the reaction force adding motor 50 of the steering wheel in step 360, whereby the steering wheel is driven at a small angle toward the neutral position, and an affirmative determination is made. If so, in step 370 the green lamp 64 is turned off.

[0037] is turned red lamp 62 is At a step 380, the At a step 390 reactive torque Tsw from a map corresponding to the graph shown in FIG. 1 0 is calculated, steering by the reaction force adding motor 50 A reaction torque corresponding to the reaction torque Tsw is applied to the wheel 42. In step 400, the rotation angle δ of the steering motor 20 is obtained from the maps corresponding to the graphs shown in FIGS . 9 and 7 , respectively.
sw and δjs are calculated, and in step 410, a control signal corresponding to the rotation angle δjs is output to the steering motor 20 to drive the steering motor, whereby the left and right front wheels operate the joystick operation amount θjs. Is controlled to the cutting angle corresponding to.

The reaction torque Tjs from a map corresponding to the graph shown in FIG. 8 is operation At a step 420,
A reaction torque corresponding to the reaction torque Tjs is given to the joystick 24 by the reaction force applying device 32, and
In step 30, the difference .delta.sw-.delta.js of the motor rotation angle calculated in step 400 is calculated, and the magnitude of the difference is displayed on a deviation display lamp 66, whereby the operation amount .theta.js of the steering wheel 42 is calculated. Joystick 24
The driver is shown in which direction and how much the steering wheel should be operated in order to match the operation amount θsw.

In step 440, it is determined whether or not the absolute value of the motor rotation angle difference δsw-δjs is less than a small positive constant ε, that is, the operation amount θsw of the steering wheel 42.
Is determined to be substantially the same as the operation amount θjs of the joystick 24. If a negative determination is made, the process returns to step 290. If an affirmative determination is made, the red lamp 62 is turned on at step 450. Is turned off and the green lamp 64 is turned on. In step 460, the joystick lamp 60 is turned off and the steering wheel lamp 58 is turned on, so that the effective steering input means is switched to the steering wheel 42. And then return to step 110.

Thus, according to the first embodiment, the driver operates the changeover switch 44 as necessary to select either the steering wheel 42 or the joystick 24 as an effective steering input means. Therefore, a driver who is not used to operating the joystick can drive the vehicle without feeling inconvenience and inconvenience of operating the steering device. The steering input means can be freely used depending on the degree of fatigue and the running condition of the vehicle.

Further, even if the driver operates the changeover switch 44 and makes an affirmative determination in step 120 or 300, steps 220 to 260 or steps 400 to 44 are performed.
Since 0 is executed, the actual switching of the steering input means is not performed until the operation quantity of the selected steering input means is substantially equal to the operation quantity of the other steering input means which is still valid. Hunting of steering caused by switching of the steering input means can be reliably prevented, whereby the vehicle can be reliably prevented from exhibiting unnatural behavior at the time of switching of the steering input means.

[0042] According to this embodiment, since the steering input means was effective until it after switching the completion of the steering input means is gradually returned to the neutral position, the disabled steering input means to rapidly neutral position It is possible to reliably prevent the driver from being hindered by returning the steering wheel, and even if the ineffective steering input means is inadvertently operated, the operation is reflected in the actual steering of the steered wheels. Therefore, the safety in running the vehicle can be improved as compared with a steering device in which both the joystick and the steering wheel are effective. Also this
According to the embodiment, the steering in steps 220 and 400
The rotation angle δjs of the motor 20 for plotting corresponds to the graph shown in FIG.
It is calculated from the corresponding map,
The ratio of the actual steering angles of the left and right front wheels to the operation amount
Since the rotation angle δjs is controlled to be small,
Garage and width adjustment while maintaining good steering sensitivity in
Good maneuverability at the time, and at high vehicle speeds
Reduces steering sensitivity to prevent oversteering of the steered wheels
Steering can be performed. Also, as shown in FIG.
The maximum pivot angle of the joystick 24 itself depends on the vehicle speed V.
Is constant (θml, θmr), but is not
The ratio of the rotation angle δjs of the motor
Therefore, as shown in FIG.
The actual steering angle φ decreases as the vehicle speed increases.
The needle stops 36L and 36R are moved according to the vehicle speed.
To prevent excessive steering when driving at high speeds
This also allows the vehicle to operate at high vehicle speeds.
Longitudinal stability can be improved.

Note that the determination in steps 260 and 440 of the first embodiment, that is, whether or not the operation amount θjs of the joystick 24 and the operation amount θsw of the steering wheel 42 have become substantially the same as each other. The reference value ε is a positive constant, but when the steering input means is switched, the operation amount θjs
Since the unnatural behavior of the vehicle due to the difference between θsw and θsw increases as the vehicle speed increases, the reference value ε is set to decrease as the vehicle speed V increases. Driving safety may be further improved.

[0044] Figure 1 2 and 1 3 is a schematic diagram illustrating a second and third embodiment of a steering apparatus according to the present invention, respectively. In these figures, portions corresponding to the portions shown in FIG. 1 are denoted by the same reference numerals as those given in FIG. 1 and having L and R symbols meaning left and right. Is attached.

[0045] Te is at the second embodiment shown in FIG. 1 2,
Rear ends of a pair of left and right armrests 74L and 74R are pivotally supported on the backrest 72 of the driver's seat 70, and a pair of left and right joysticks 24L and 24R are provided at the front ends of these armrests, respectively. The Te is at the third embodiment shown in FIG. 1 3, and joystick support member 78 forming a substantially T-shaped is fixed to the dashboard 76 of the lower instrument panel 52, the support member 78 A pair of left and right joysticks 24L and 24R is provided at the tip of an arm extending in the left-right direction.

In the second embodiment, as shown in FIGS. 14 and 15, the joysticks 24L and 24R are pivotally supported by a ball joint type, and a push-pull cable 80 for steering and acceleration / deceleration are provided. Push-pull cable 82 is wound around a plurality of pulleys 84 and 86, respectively, and these are connected to armrests 74L, 74R.
And in the backrest 72. The push-pull cables 80 and 82 extend in a double U-shape with a front opening, and extend at the front end of the push-pull cable 80 at the ends of the stopper arms 34L and 34R of the joysticks 24L and 24R. Connected to the distal ends of the stopper arms 34L and 34R at a portion extending in the front-rear direction inside the push-pull cable 82,
As a result, the joysticks 24L and 24L are interlocked with each other with respect to pivoting in the left-right direction and the
In the same direction .

The push-pull cable 80 has an operation amount detection sensor 86 such as a sliderac for detecting the left-right pivot operation amount θjs of the joysticks 24L and 24R by detecting the reciprocating movement distance. There is provided a reaction force applying device 88 for applying a reaction force in a direction opposite to the reciprocating direction by an electromagnetic force or a spring force and an electromagnetic force. Similarly, the push-pull cable 82 has an operation amount detection sensor 90 for detecting the reciprocating movement distance Ajs of the pair of joysticks by detecting the reciprocating distance, and the push-pull cable 82 has the reciprocating direction. Reaction force applying device 92 for giving a reaction force in the opposite direction
Are provided.

Although not shown in the figure, a signal indicating the left-right direction operation amount θjs of the joystick 24L or 24R detected by the operation amount detection sensor 86 is output to a steering electronic control device similar to the electronic control device 26. Thus, the left and right front wheels are steered according to the operation amount θjs. Further, a signal indicating the operation amount Ajs detected by the operation amount detection sensor 90 is output to the engine control device, whereby the output of the engine is increased or decreased according to the operation amount Ajs to accelerate or decelerate the vehicle. .

Although not shown in the drawings, in the third embodiment, the push-pull cables 80 and 82 are substantially rectangular in the arm extending in the left-right direction of the joystick support member 78. Except where it is located,
The left and right joysticks 24L and 24R are interlocked with each other .
Swelling.

According to the second and third embodiments, the driver's seat is provided with a pair of left and right joysticks 24L and 24R, and the two joysticks are connected to one of the joysticks.
When the joystick is pivoted, the other joystick
The driver can operate the corresponding joystick with both hands as necessary, or easily hold the left and right hands when driving with one hand, because they are linked by the same amount of pivoting in the same direction. It can be changed, and the one-handed driver can always use the prominent arm.

Although the interlocking of the joysticks 24L and 24R in the above-described embodiment is achieved by the push-pull cables 80 and 82, it may be achieved by a link mechanism, a gear train, or the like. Also, three or more joysticks may be provided.

FIGS. 16 and 17 are flow charts showing a part and a remaining part of the control flow of the fourth embodiment of the steering apparatus according to the present invention, which is configured as a modification of the first embodiment. It is. Naozu 1 6 and 1 7, respectively Figure 5 and in steps corresponding to the steps illustrated in FIG. 6 are denoted by the FIGS. 5 and step number and the same step numbers assigned At a 6 At a I have. Although not shown in the drawing, the configuration of the steering apparatus of this embodiment is the same as that of the first embodiment except that the deviation indicating lamp 66 shown in FIG. 4 is not required.

[0053] Rotation angle δjs is At a step 220 of this embodiment is not computed, only the rotation angle δsw of the steering motor 20 from a map corresponding to the graph shown in FIG. 9 is calculated. In step 255, it is determined whether or not the absolute value of the operation amount θsw of the steering wheel 42 is smaller than a reference value θs1 (small positive constant), that is, whether or not the steering wheel is substantially at the neutral position. Is determined, and when an affirmative determination is made, in step 255, for example, the operation amount θsw of the steering wheel 42 is differentiated to obtain the steering speed θ of the steering wheel.
swd is calculated, and it is determined whether or not the absolute value of the steering speed θswd is smaller than a reference value θs2 (a small positive constant).
That is, it is determined whether or not the steering wheel 42 is substantially operated, and when an affirmative determination is made, the process proceeds to step 270. Step 255 or 26
When a negative determination is made in step 5, the process returns to step 110.

[0054] Rotation angle δsw is Te at similarly to Step 400 of this embodiment is not computed, only the rotation angle δjs of the steering motor 20 from a map corresponding to the graph shown in FIG. 7 is calculated. In step 435, it is determined whether or not the absolute value of the operation amount θjs of the joystick 24 is smaller than a reference value θj1 (a small positive constant), that is, whether or not the joystick is substantially at the neutral position. When the determination is made and the affirmative determination is made, the steering speed θjsd of the joystick is calculated by, for example, differentiating the operation amount θjs of the joystick 24 in step 445, and the absolute value of the steering speed θjsd is set to the reference value. θj2
(Small positive constant) is determined, that is, whether the joystick 24 is not substantially operated or not is determined.
Go to 50. When a negative determination is made in step 435 or 445, the process returns to step 290.

Thus, according to the fourth embodiment, similarly to the first embodiment, the driver can change the switch 44 if necessary.
By operating the joystick, either the steering wheel 42 or the joystick 24 can be selected as an effective steering input means, so that even a driver who is not used to operating the joystick has poor operability of the steering device. The vehicle can be driven without inconvenience, and a driver who is accustomed to operating the joystick can freely use the steering input means according to his / her fatigue level and the running condition of the vehicle.

According to the fourth embodiment, if the steering input means which is still valid after the driver operates the changeover switch 44 is substantially positioned at the neutral position and the vehicle is substantially in a straight running state, Since the switching of the steering input means is automatically performed, it is not necessary to adjust the operation amount of the selected steering input means to the operation amount of the currently valid steering input means as in the case of the first embodiment. it can be easily performed switching at the steering input means during traveling of the vehicle as compared with the case of one embodiment.

Steps 170 to 190 or steps 350 to 370 are performed for steering input means not selected.
Is executed, the steering input means which has not been selected is substantially controlled to the neutral position, and the driver operates the change-over switch 44 to execute step 120 or 30.
Even if an affirmative determination is made at 0, steps 220-26
5 or steps 400 to 445, the actual steering input means is not switched until the currently valid steering input means is substantially positioned at the neutral position. Steering hunting caused by the steering can be reliably prevented, whereby the vehicle can be surely prevented from exhibiting unnatural behavior when the steering input means is switched, and the steering wheel 42 and the joystick 24 can be prevented by switching the steering input means.
Can be prevented from being displaced in the neutral position.

For the steering wheel 42, in addition to the determination in step 255, the determination in step 265 is performed.
By performing the determination in step 445 in addition to the determination in step 5, the switching of the steering input means is performed not only when the steering wheel and the joystick are in the neutral position but also when their steering speeds are substantially zero. Therefore, when the steering wheel or the joystick is in the neutral position, the switching of the steering input means may cause a shift in the neutral position of the steering wheel and the joystick due to the switching of the steering input means. It can be further reduced.

Further, also in the fourth embodiment, after the switching of the steering input means is completed, the steering input means which has been effective up to that time is gradually returned to the neutral position. It is possible to reliably prevent the driver from being hindered by returning to the neutral position, and even if the ineffective steering input means is inadvertently operated, the operation is not performed by the actual steering wheel. Is not reflected in the steering of the vehicle, so that the traveling safety of the vehicle can be improved as compared with a steering device in which both the joystick and the steering wheel are effective.

In the fourth embodiment, step 2
The reference values θs1 and θs2 for the determination at 55 and 265, that is, for determining whether or not the steering wheel 42 is substantially at the straight running position of the vehicle, are minute positive constants, and are determined at steps 435 and 445. The reference values θj1 and θj2 for discrimination, that is, for discriminating whether the joystick 24 is substantially at the straight traveling position of the vehicle are positive constants, but the operation amounts θjs and θsw are different when the steering input means is switched. Since the unnatural behavior of the vehicle due to the vehicle speed increases as the vehicle speed increases, these reference values are set so as to decrease as the vehicle speed V increases, thereby ensuring the safety of the vehicle when the steering input means is switched. May be further improved.

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to these embodiments, and various other embodiments may be included within the scope of the present invention. It will be clear to those skilled in the art that is possible.

For example, in each of the above-described embodiments, the accelerator operation can be performed in addition to the steering by operating the joystick. For example, the operation of the joystick can be performed by providing a brake lever or a brake knob on the joystick. The joystick may be configured to be capable of pivoting only in the left-right direction of the vehicle, so that only the steering operation may be performed. In particular, in the first to fourth embodiments, if the joystick is configured to be able to perform braking by its operation, even if the driver becomes unable to drive for any reason, another occupant may be in the auxiliary seat side. Alternatively, the joystick can be operated from the rear seat side, and the emergency evacuation action can be reliably performed.

In the first and fourth embodiments, the steering wheel 42 is automatically selected as an effective steering input means when the vehicle starts running. The automatically selected steering input means may be the joystick 24, or may be configured such that the automatically selected steering input means can be selected by a switch operated by the driver when the vehicle starts running. Good.

[0064]

[0065]

[0066]

As is apparent from the above description , according to the first and third aspects, the driver selects either the joystick or the steering wheel as the effective steering input means by operating the changeover switch. Since the selection can be made uniformly, it is possible to surely prevent a driver who is not used to operating the joystick from feeling inconvenience or inconvenience.

In particular, according to the configuration of the first aspect , the actual switching of the steering input means is such that the operation amount of the steering input means selected by the changeover switch substantially corresponds to the actual steering angle of the steered wheel. Hunting when the steering input means is switched can be reliably prevented, and the switching of the steering input means can be performed smoothly, thereby deteriorating the maneuverability accompanying the switching of the steering input means. Can be reliably prevented.

[0068] Since the actual switching of the steering input means is executed when the operation amount of the selected steering input means becomes a value corresponding to the actual steering angle of substantially steered wheels, for example according to claim 3 The switching of the steering input means can be arbitrarily performed as required, as compared with the structure in which the actual switching is performed only when the vehicle is substantially in the straight running state as in the case of the configuration.

According to the second aspect of the present invention, a plurality of joysticks are provided, and when one of the joysticks is pivoted, the other joysticks are pivotally moved in the same direction by the same amount. And the same pivoting operation with any joystick
Since a steering wheel is configured to be able to steer to the same, or switch driver to manipulate the corresponding joystick with both hands as necessary, the joystick to operate dimensional worlds the left and right hand that the The right-handed or left-handed arm can always be used, improving the operability of the steering system, reducing the fatigue caused by the driver's steering, and holding the left and right hands. The accompanying deterioration in maneuverability can be reliably prevented.

Further, according to the configuration of the third aspect, the steering input means which is not selected by the changeover switch is substantially positioned at the neutral position, and the actual changeover of the steering input means is not yet performed after the changeover switch is operated. Since the control is executed when the effective operation amount of the steering input means becomes substantially zero, hunting when the steering input means is switched can be reliably prevented, and the switching of the steering input means can be performed smoothly. for example, a value corresponding to the actual steering angle of the operation amount and the steering wheel of the steering input means which is selected by the changeover switch as in the case of the configuration of claim 1, namely necessary to compare the amount of operation of the current still active steering input means Therefore, the switching control of the steering input means can be simplified.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of a steering device according to the present invention.

FIG. 2 is a perspective view showing the joystick shown in FIG. 1;

FIG. 3 is a perspective view showing the steering wheel shown in FIG . 1;
FIG .

FIG. 4 is an illustration showing an arrangement state of a steering wheel and the like .
FIG .

FIG. 5 is a flowchart showing a part of a control flow according to the first embodiment;
It is a chart .

FIG. 6 shows the remaining part of the control flow of the first embodiment .
It is a flowchart .

FIG. 7 shows the joystick operation amount θjs and the corresponding amount.
Shows an example of the relationship between the rotation angle δjs of the steering motor
It is a graph .

FIG. 8 shows an axial force F and a steering reaction force to a joystick.
It is a graph which shows an example of the relationship between Luc and Tjs .

FIG. 9 shows the steering wheel operation amount θsw and its relation to the operation amount θsw.
An example of the relationship between the corresponding steering motor rotation angle δsw
It is a graph shown .

FIG. 10 shows axial force F and steering with respect to a steering wheel.
5 is a graph showing an example of a relationship between the reaction torque Tsw and the reaction torque Tsw .

FIG. 11 shows the absolute values of the vehicle speed V and the maximum actual steering angle φ of the left and right front wheels.
6 is a graph showing the relationship between

FIG. 12 shows a second embodiment of the steering device according to the present invention .
It is a schematic block diagram .

FIG. 13 shows a third embodiment of the steering device according to the present invention .
It is a schematic block diagram .

FIG. 14 shows left and right joys in the second and third embodiments.
FIG. 3 is a schematic configuration diagram showing an interlocking mechanism of a stick steering operation .

FIG. 15 shows left and right joys in the second and third embodiments.
FIG. 3 is a schematic configuration diagram illustrating an interlocking mechanism of a stick acceleration / deceleration operation .

FIG. 16 shows control of a fourth embodiment of the steering device according to the present invention .
It is a flowchart which shows a part of flow .

FIG. 17 shows the remaining part of the control flow of the fourth embodiment .
It is to flow chart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Rack-and-pinion type steering device 20 ... Steering motor 24, 24L, 24R ... Joystick 26 ... Electronic control device 30 ... Steering angle sensor 32 ... Reaction force adding device 38 ... Vehicle speed sensor 42 ... Steering wheel 44 ... Changeover switch 48 ... Steering angle sensor 50: reaction force adding motor 86, 90 ... operation amount detection sensor 88, 92 ... reaction force adding device

────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ identification code FI B62D 121: 00 B62D 121: 00 (58) Investigated field (Int.Cl. ⁷ , DB name) B62D 1/00-1/14 B62D 1/22 B62D 6/00-6/06

Claims (3)

(57) [Claims] Joystick and steering wheel [1 claim], the first <br/> operation amount detecting means for detecting an operation amount of the joystick, the operation amount of the steering wheel
Joystick or steering wheel as an effective steering input means in a vehicle steering device having second operation amount detection means for detecting a steering wheel and a steering mechanism for steering a steering wheel according to the operation amount of the joystick or steering wheel. And an actual switch of the steering input means when the operation amount of the steering input means selected by the change switch substantially reaches a value corresponding to the actual steering angle of the steered wheel. A vehicle steering system comprising: a switching control unit. A joystick capable of pivoting over a predetermined angle range; an operation amount detection means for detecting an operation amount of the joystick; and a steering mechanism for steering a steered wheel according to the operation amount of the joystick. In a vehicle steering system, a plurality of the joysticks are provided, and when each joystick is pivoted, the other joysticks are also pivoted in the same direction by the same amount , so that they are interlocked with each other, vehicle steering apparatus characterized by being configured to be able to steer the steering wheel to the same by the same pivoting operation by any of the joystick. 3. A joystick and the steering wheel, a first <br/> operation amount detecting means for detecting an operation amount of the joystick, the operation amount of the steering wheel
Joystick or steering wheel as an effective steering input means in a vehicle steering device having second operation amount detection means for detecting a steering wheel and a steering mechanism for steering a steering wheel according to the operation amount of the joystick or steering wheel. A changeover switch for selecting the steering input means, a means for positioning the steering input means not selected by the changeover switch at a substantially neutral position, and a control input of the steering input means which is still effective after the changeover switch is operated. Switching control means for executing actual switching of the steering input means when the steering input value becomes zero.