JP2019182041A - Steering device - Google Patents

Steering device Download PDF

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JP2019182041A
JP2019182041A JP2018071916A JP2018071916A JP2019182041A JP 2019182041 A JP2019182041 A JP 2019182041A JP 2018071916 A JP2018071916 A JP 2018071916A JP 2018071916 A JP2018071916 A JP 2018071916A JP 2019182041 A JP2019182041 A JP 2019182041A
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operation member
retracting
vehicle
steering
folding
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JP7077729B2 (en
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教博 越智
Norihiro Ochi
教博 越智
要介 西村
Yosuke Nishimura
要介 西村
健 渡邉
Takeshi Watanabe
健 渡邉
北原圭
Kei Kitahara
圭 北原
康行 野沢
Yasuyuki Nozawa
康行 野沢
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JTEKT Corp
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JTEKT Corp
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Abstract

To achieve compact storage of an operation member.SOLUTION: A steering wheel 100 is equipped with an operation member 110 used to steer a vehicle. The operation member 110 includes at least a straight grasp part 111 and a lower connection part 112 which connects the straight grasp part 111 and curves in a downward projection shape and further includes a projecting-retreating mechanism 120 which projects and retreats the operation member 110 between a vehicle front side and a driver side, and a folding mechanism 130 which rotates the operation member 100 in such a direction that the lower connection part 112 directs forward around a folding shaft body 131.SELECTED DRAWING: Figure 1

Description

本発明は、ステアリングホイール等の操作部材の位置と姿勢とを変化させて運転者の前方空間を広げることのできるステアリング装置に関する。   The present invention relates to a steering device that can widen a driver's front space by changing the position and posture of an operation member such as a steering wheel.

車両の自動運転においてシステムが全責任をもつ自動運転レベル３以上の状態では、運転者が車両の操作に責任を持つ必要が無く、操舵のために操作部材を持つ必要がなくなる。従って自動運転時に操作部材が移動し運転者の前方の空間が広く確保されれば運転者の快適性を高めることが出来る。そのため、自動運転時には操作部材を車両前側の退避場所に移動させる技術が提案されている（例えば特許文献１参照）。   In an automatic driving level 3 or higher state in which the system is fully responsible for automatic driving of the vehicle, the driver does not need to be responsible for operating the vehicle and does not need to have an operating member for steering. Therefore, if the operation member moves during automatic driving and a space in front of the driver is secured, the comfort of the driver can be improved. For this reason, a technique has been proposed in which the operating member is moved to a retreat location on the front side of the vehicle during automatic driving (see, for example, Patent Document 1).

特開２００３−１１８５９１号公報JP 2003-118591 A

しかし、従来提案されている技術においては、自動運転時に操作部材を退避させる退避場所によっては、計器類に対する運転者の視認性を阻害する場合があり、また運転者前方の空間の確保が不十分であるという課題がある。   However, in the conventionally proposed technology, depending on the retreat location where the operation member is retracted during automatic driving, the driver's visibility with respect to the instruments may be hindered, and the space ahead of the driver is insufficient. There is a problem of being.

本発明は、上記課題に鑑みなされたものであり、操作部材を退避させて運転者前方の空間を十分に確保することができるステアリング装置の提供を目的とする。   The present invention has been made in view of the above problems, and an object of the present invention is to provide a steering device that can sufficiently secure a space in front of the driver by retracting the operation member.

上記目的を達成するために、本発明の１つであるステアリング装置は、車両の操舵に用いられる操作部材を有するステアリング装置であって、前記操作部材は、手動運転時における車両の直進時の姿勢において、両側方にそれぞれ配置される直進把持部と、二つの前記直進把持部を連結し下方突出状に湾曲する下連結部を少なくとも備え、前記操作部材を車両の前側と運転者側との間で出退させる出退機構と、前記操作部材の出退方向と交差する軸である折りたたみ軸周りにおいて、前記下連結部が車両の前側に向く方向に前記操作部材を前記出退機構に対して回転させる折りたたみ機構とを備える。   In order to achieve the above object, a steering apparatus according to one aspect of the present invention is a steering apparatus having an operation member used for steering a vehicle, and the operation member is a posture of the vehicle when traveling straight during manual operation. At least a straight gripping portion disposed on both sides, and a lower connecting portion that connects the two straight gripping portions and curves in a downward projecting manner, and the operation member is disposed between the front side of the vehicle and the driver side. And with respect to the retracting mechanism in the direction in which the lower connecting portion faces the front side of the vehicle around a folding shaft that is an axis that intersects with the retracting direction of the operating member. And a folding mechanism for rotating.

本発明によれば、手動運転時には、直進把持部ばかりで無く下連結部も操舵に利用することができるため、操舵時の利便性を向上させることができる。また、自動運転時には出退方向に対してコンパクトになるようにステアリングホイール等の操作部材を出退機構に対して折りたたむことができ、操作部材をコンパクトに退避させることが可能となる。   According to the present invention, during manual operation, not only the straight advance grip part but also the lower connection part can be used for steering, so the convenience during steering can be improved. In addition, the operation member such as the steering wheel can be folded with respect to the exit / retreat mechanism so as to be compact in the exit / retreat direction during automatic operation, and the operation member can be retracted compactly.

実施の形態に係るステアリング装置を示す斜視図である。It is a perspective view which shows the steering device which concerns on embodiment. 突出状態の操作部材をダッシュボード内に収容する際のステアリング装置の動作の流れを示すフローチャートである。It is a flowchart which shows the flow of operation | movement of a steering device at the time of accommodating the operation member of a protrusion state in a dashboard. 実施の形態に係る操作部材が折りたたまれたステアリング装置を車両前方の下方から示す斜視図である。It is a perspective view which shows the steering device by which the operation member which concerns on embodiment was folded from the downward direction ahead of a vehicle. 実施の形態に係るステアリング装置の縮んだ状態を車両側方の下方から示す斜視図である。It is a perspective view which shows the state which the steering device which concerns on embodiment contracted from the vehicle lower side. 操作部材を運転者に向かって突出させた状態のステアリング装置をダッシュボート共に示す斜視図である。It is a perspective view which shows a steering device of the state which made the operation member protrude toward a driver | operator with a dashboard. 操作部材のダッシュボードへの収容開始時の状態を示す斜視図である。It is a perspective view which shows the state at the time of the accommodation start to the dashboard of an operation member. 操作部材がダッシュボードに収容される終盤の状態を示す斜視図である。It is a perspective view which shows the state of the final stage in which an operation member is accommodated in a dashboard.

次に、本発明に係るステアリング装置の実施の形態について、図面を参照しつつ説明する。なお、以下で説明する実施の形態は、いずれも包括的または具体的な例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置及び接続形態、ステップ、ステップの順序などは、一例であり、本発明を限定する主旨ではない。また、以下の実施の形態における構成要素のうち、最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。   Next, an embodiment of a steering device according to the present invention will be described with reference to the drawings. It should be noted that each of the embodiments described below shows a comprehensive or specific example. The numerical values, shapes, materials, constituent elements, arrangement positions and connecting forms of the constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

また、図面は、本発明を示すために適宜強調や省略、比率の調整を行った模式的な図となっており、実際の形状や位置関係、比率とは異なる場合がある。   In addition, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are appropriately performed to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

図１は、ステアリング装置を示す斜視図である。図３は、実施の形態に係る操作部材が折りたたまれたステアリング装置を車両前方の下方から示す斜視図である。図４は、実施の形態に係るステアリング装置の縮んだ状態を車両側方の下方から示す斜視図である。これらの図に示すように、ステアリング装置１００は、手動運転と自動運転とを切り替えることができる自動車、バス、トラック、建機、農機などの車両に取り付けられる装置であり、手動運転時において運転者が車両の操舵に用いる操作部材１１０と、出退機構１２０と、折りたたみ機構１３０とを備えている。また、ステアリング装置１００は、いわゆるステアバイワイヤと言われるシステムに組み込まれる装置であり、操作部材１１０とタイヤとは機械的に接続されておらず、操作部材１１０の回転角を示す情報を出力することによりモータによりタイヤを旋回させて転舵する。   FIG. 1 is a perspective view showing a steering device. FIG. 3 is a perspective view illustrating the steering device in which the operation member according to the embodiment is folded from the lower front side of the vehicle. FIG. 4 is a perspective view showing a contracted state of the steering device according to the embodiment from the lower side of the vehicle. As shown in these drawings, the steering device 100 is a device attached to a vehicle such as an automobile, a bus, a truck, a construction machine, or an agricultural machine that can switch between manual driving and automatic driving. Includes an operation member 110 used for steering the vehicle, a retracting mechanism 120, and a folding mechanism 130. The steering device 100 is a device incorporated in a so-called steer-by-wire system, and the operation member 110 and the tire are not mechanically connected, and outputs information indicating the rotation angle of the operation member 110. The wheel is turned by the motor and steered.

操作部材１１０は、手動運転時において運転者に操作され車輪の角度（転舵角）を指示するための部材であり、二つの直進把持部１１１と、下連結部１１２を備えている。本実施の形態の場合、操作部材１１０は、円環状のいわゆるステアリングホイールであり、さらに上連結部１１３と接続部１１４とを備えている。   The operation member 110 is a member that is operated by the driver during manual operation to instruct a wheel angle (steering angle), and includes two rectilinear gripping portions 111 and a lower connecting portion 112. In the case of the present embodiment, the operation member 110 is an annular so-called steering wheel, and further includes an upper connecting portion 113 and a connecting portion 114.

直進把持部１１１は、車両を直進させる際の操作部材１１０の姿勢において、運転者が両手でそれぞれ把持し易いように配置された部分であり、操作部材１１０の回転中心を含む水平面から上方に操舵軸を中心とする３０度程度の角度範囲がそれぞれ直進把持部１１１に該当する。   The rectilinear grip portion 111 is a portion that is arranged so that the driver can easily grip with both hands in the posture of the operation member 110 when the vehicle travels straight, and is steered upward from a horizontal plane including the rotation center of the operation member 110. An angle range of about 30 degrees with the axis as the center corresponds to the rectilinear grip portion 111.

下連結部１１２は、二つの直進把持部１１１を連結し下方突出状に湾曲する部分である。本実施の形態の場合、下連結部１１２は、半円弧状に湾曲している。   The lower connecting part 112 is a part that connects the two rectilinear gripping parts 111 and curves downwardly. In the case of the present embodiment, the lower connecting portion 112 is curved in a semicircular arc shape.

上連結部１１３は、二つの直進把持部１１１を連結し上方突出状に湾曲する部分である。本実施の形態の場合、上連結部１１３は、部分円弧状に湾曲している。   The upper connecting part 113 is a part that connects the two rectilinear gripping parts 111 and curves upwardly projecting. In the case of the present embodiment, the upper connecting portion 113 is curved in a partial arc shape.

下連結部１１２、および上連結部１１３は、手動運転時の操舵の際に運転者が把持することができる部分である。従って、操舵の際の手のポジションを任意に選択することができ、操舵の容易性を向上させ、操舵ミスを抑制して安全性を向上させることが可能となる。また、操作部材１１０が環状であれば、全体として構造的強度が向上し、鋭利に突出する部分がないため二次衝突時に運転者に対する安全性を高めることができる。   The lower connecting portion 112 and the upper connecting portion 113 are portions that can be gripped by the driver during steering during manual driving. Therefore, it is possible to arbitrarily select the position of the hand during steering, and it becomes possible to improve the ease of steering, to suppress a steering error and to improve safety. Further, if the operating member 110 is annular, the overall structural strength is improved, and since there is no sharp protruding portion, the safety for the driver at the time of the secondary collision can be improved.

なお、操作部材１１０を、２つの直進把持部１１１、下連結部１１２、および上連結部１１３の各部に分けて説明しているが、操作部材１１０は、環状の部材であり、直進把持部１１１、下連結部１１２、および上連結部１１３を明確に区別することは困難である。   Note that the operation member 110 is described as being divided into two parts, namely, the straight holding part 111, the lower connecting part 112, and the upper connecting part 113, but the operating member 110 is an annular member, and the straight holding part 111. It is difficult to clearly distinguish the lower connecting portion 112 and the upper connecting portion 113.

また、操作部材１１０は、円環状に限定されるわけではなく、楕円、長円、多角形等でもよく、これらを組み合わせた形状などでもかまわない。また、下連結部１１２、および上連結部１１３を湾曲していると説明したが、本明細書、および特許請求の範囲において湾曲とは、多角形の一部など、直線や角部を含んでもよい概念として使用している。   The operation member 110 is not limited to an annular shape, and may be an ellipse, an ellipse, a polygon, or the like, or a combination of these. Further, although the lower connecting portion 112 and the upper connecting portion 113 have been described as being curved, the term “curved” in the present specification and claims includes a straight line and a corner, such as a part of a polygon. It is used as a good concept.

接続部１１４は、操作部材１１０と折りたたみ機構１３０とを接続し、操作部材１１０の外周の中心が操舵軸上に位置する様に保持する部材である。本実施の形態の場合、接続部１１４は、２つの直進把持部１１１の下端部分から、操作部材１１０の操舵軸に向かって突出する部材であり、車両を直進させる際の操作部材１１０の姿勢において、水平に延在する操作部材１１０の直径に沿っている。   The connection part 114 is a member that connects the operation member 110 and the folding mechanism 130 and holds the operation member 110 so that the center of the outer periphery is positioned on the steering shaft. In the case of the present embodiment, the connection portion 114 is a member that protrudes toward the steering shaft of the operation member 110 from the lower end portions of the two rectilinear gripping portions 111, and in the posture of the operation member 110 when the vehicle travels straight. , Along the diameter of the operating member 110 extending horizontally.

なお、接続部１１４は、図面等に記載された形状、配置、姿勢などに限定されるものでは無く、任意に設定することが可能である。   In addition, the connection part 114 is not limited to the shape, arrangement | positioning, attitude | position, etc. which were described in drawing etc., It is possible to set arbitrarily.

出退機構１２０は、操作部材１１０を車両の前側と運転者側との間で出退させる機構である。具体的な出退機構１２０の構造は、直線的に操作部材１１０を出退させる構造であれば特に限定されるものでは無いが、本実施の形態の場合、出退機構１２０は、基礎ガイド１２１と、中間ガイド１２２と、可動体１２３と、出退駆動源１２４とを備えている。   The exit / retreat mechanism 120 is a mechanism for retracting the operation member 110 between the front side of the vehicle and the driver side. The specific structure of the retracting mechanism 120 is not particularly limited as long as the operating member 110 is retracted and retracted linearly, but in the case of the present embodiment, the retracting mechanism 120 includes the basic guide 121. An intermediate guide 122, a movable body 123, and a retracting drive source 124.

基礎ガイド１２１は、車両に固定され、中間ガイド１２２のスライドを案内する部材である。基礎ガイド１２１の中間ガイド１２２を案内する構造は特に限定されるものでは無く、基礎ガイド１２１に対し中間ガイド１２２を駆動する方法によっても異なる。例えば、駆動方法がボールネジの場合、ネジ軸が駆動力を発生させ、かつ基礎ガイド１２１として機能する部材となる。また、駆動方法がベルトドライブなどの場合、基礎ガイド１２１はレールなどでもかまわない。   The foundation guide 121 is a member that is fixed to the vehicle and guides the slide of the intermediate guide 122. The structure for guiding the intermediate guide 122 of the foundation guide 121 is not particularly limited, and also differs depending on the method of driving the intermediate guide 122 relative to the foundation guide 121. For example, when the driving method is a ball screw, the screw shaft generates a driving force and functions as the basic guide 121. Further, when the driving method is a belt drive or the like, the basic guide 121 may be a rail or the like.

なお、本実施の形態の場合、基礎ガイド１２１は、ヒンジ１２５を介して車両に取り付けられており、出退方向１２９においては車両に固定されているが、ヒンジ１２５周りに傾動するチルト機構が採用されている。   In the case of the present embodiment, the basic guide 121 is attached to the vehicle via the hinge 125 and is fixed to the vehicle in the retracting direction 129, but a tilt mechanism that tilts around the hinge 125 is employed. Has been.

中間ガイド１２２は、基礎ガイド１２１に対して出退すると共に、可動体１２３の出退を案内する部材である。中間ガイド１２２は、基礎ガイド１２１の運転者側の端部に達した場合、基礎ガイド１２１よりも運転者側に突出するものとなっている。これにより、可動体１２３を基礎ガイド１２１の長さ以上に出退させることができる。なお、中間ガイド１２２に対して可動体１２３を出退させる駆動方法も特に限定されるものではない。   The intermediate guide 122 is a member that guides the movable body 123 to withdraw and withdraw with respect to the basic guide 121. When the intermediate guide 122 reaches the end of the foundation guide 121 on the driver side, the intermediate guide 122 protrudes closer to the driver side than the foundation guide 121. Thereby, the movable body 123 can be moved back and forth beyond the length of the basic guide 121. Note that the driving method for moving the movable body 123 to and from the intermediate guide 122 is not particularly limited.

可動体１２３は、基礎ガイド１２１、および中間ガイド１２２に案内されて出退方向１２９に出退する部材である。本実施の形態の場合、可動体１２３は、折りたたみ機構１３０が固定されており、折りたたみ機構１３０を介して操作部材１１０を保持し、操作部材１１０を車両の前側に向かって後退させ、運転者に向かって進出させることができる。   The movable body 123 is a member that is guided by the basic guide 121 and the intermediate guide 122 and moves in and out in the retracting direction 129. In the case of the present embodiment, the movable body 123 has the folding mechanism 130 fixed thereto, holds the operation member 110 via the folding mechanism 130, and retracts the operation member 110 toward the front side of the vehicle. You can move forward.

出退駆動源１２４は、可動体１２３を出退方向１２９に駆動させる動力源である。出退駆動源１２４は、特に限定されるものではないが、本実施の形態の場合は、電動モータが用いられており、可動体１２３と共に中間ガイド１２２も出退方向１２９に駆動させる力を発生させている。   The exit / exit drive source 124 is a power source that drives the movable body 123 in the exit / exit direction 129. The exit / retreat drive source 124 is not particularly limited, but in the case of the present embodiment, an electric motor is used, and a force that drives the intermediate guide 122 in the exit / retreat direction 129 together with the movable body 123 is generated. I am letting.

以上のように、出退機構１２０が中間ガイド１２２を備えることにより、基礎ガイド１２１の出退方向１２９の長さを短くしても操作部材１１０のストロークを十分確保することが可能となる。さらに、出退機構１２０の一部である基礎ガイド１２１は、車両に備えられるダッシュボード内に収容することができる。また、出退機構１２０は、折りたたまれた操作部材１１０をダッシュボードの内方に収容することができるストロークを確保することが可能となる。   As described above, the retracting mechanism 120 includes the intermediate guide 122, so that the stroke of the operation member 110 can be sufficiently secured even if the length of the retracting direction 129 of the basic guide 121 is shortened. Furthermore, the foundation guide 121 which is a part of the exit / retreat mechanism 120 can be accommodated in a dashboard provided in the vehicle. In addition, the retracting mechanism 120 can ensure a stroke that can accommodate the folded operation member 110 inside the dashboard.

折りたたみ機構１３０は、操作部材１１０の出退方向１２９と交差する軸である折りたたみ軸（図中Ｙ軸方向）周りにおいて、下連結部１１２が車両の前側に向くように、操作部材１１０の全体を出退機構１２０に対して回転させる機構である。折りたたみ機構１３０の構造は、特に限定されるものではないが、本実施の形態の場合、折りたたみ軸体１３１と、折りたたみ駆動源１３２とを備えている。   The folding mechanism 130 moves the entire operation member 110 around the folding axis (Y-axis direction in the figure) that is an axis that intersects the retracting direction 129 of the operation member 110 so that the lower connecting portion 112 faces the front side of the vehicle. This is a mechanism for rotating the retracting mechanism 120. Although the structure of the folding mechanism 130 is not particularly limited, the folding mechanism 130 includes a folding shaft 131 and a folding drive source 132 in the present embodiment.

折りたたみ軸体１３１は、操作部材１１０の直径上、または直径と平行な軸上に配置される棒状の部材である。本実施の形態の場合は、水平に配置され、可動体１２３に回転可能に固定されている。折りたたみ軸体１３１の両端部にはそれぞれ操作部材１１０の接続部１１４の先端が固定的に取り付けられている。   The folding shaft 131 is a rod-like member disposed on the diameter of the operation member 110 or on an axis parallel to the diameter. In the case of the present embodiment, it is disposed horizontally and fixed to the movable body 123 so as to be rotatable. The distal ends of the connection portions 114 of the operation member 110 are fixedly attached to both ends of the folding shaft 131, respectively.

折りたたみ駆動源１３２は、折りたたみ軸体１３１を軸周りに回転させ、折りたたみ軸体１３１を介して、操作部材１１０を出退機構１２０に対して回転させて折りたたむ動力を発生させる。本実施の形態の場合、折りたたみ駆動源１３２は、電動モータが採用されている。   The folding drive source 132 rotates the folding shaft 131 around the axis, and rotates the operation member 110 with respect to the retracting mechanism 120 via the folding shaft 131 to generate power for folding. In the case of the present embodiment, the folding drive source 132 employs an electric motor.

本実施の形態の場合、ステアリング装置１００は、反力発生装置１４０を備えている。反力発生装置１４０は、操作部材１１０を運転者が回して操舵する際に、運転者の力に反するトルクを操作部材１１０に付与する装置である。この反力発生装置１４０は、タイヤと操作部材１１０とが機械的に接続されていた従来の車両において運転者が操舵に必要な力の感覚などを再現する装置である。本実施の形態の場合、反力発生装置１４０は、反力モータ１４１を備え、出退機構１２０の可動体１２３と折りたたみ機構１３０との間に介在配置されている。なお、反力発生装置１４０は、減速機を備える場合がある。   In the case of the present embodiment, the steering device 100 includes a reaction force generator 140. The reaction force generator 140 is a device that applies a torque against the driver's force to the operation member 110 when the driver rotates and steers the operation member 110. The reaction force generation device 140 is a device that reproduces a sense of force necessary for steering by a driver in a conventional vehicle in which a tire and an operation member 110 are mechanically connected. In the case of the present embodiment, the reaction force generator 140 includes a reaction force motor 141 and is disposed between the movable body 123 of the retracting mechanism 120 and the folding mechanism 130. In addition, the reaction force generator 140 may include a reduction gear.

次に、車両に取り付けられたステアリング装置１００の動作について説明する。図２は、突出状態の操作部材をダッシュボード内に収容する際のステアリング装置の動作の流れを示すフローチャートである。   Next, the operation of the steering device 100 attached to the vehicle will be described. FIG. 2 is a flowchart showing a flow of operation of the steering device when the protruding operation member is accommodated in the dashboard.

手動運転から自動運転に変更されたことを示す情報をステアリング装置１００が受信すると、図５に示すように、運転者に向かって突出状態の操作部材１１０の回転位置は、設定位置にまで戻される（Ｓ１０１）。設定位置は、限定されるものではないが、本実施の形態の場合は、車両を直進させる際の操作部材１１０の姿勢、いわゆるセンター位置である。また、操作部材１１０を設定位置に戻す回転移動は、反力発生装置１４０により行う。また、設定位置において操作部材１１０をロック機構等によりロックしてもよい。   When the steering device 100 receives information indicating that the manual operation has been changed to the automatic operation, the rotation position of the operation member 110 that protrudes toward the driver is returned to the set position as shown in FIG. (S101). The set position is not limited, but in the case of the present embodiment, it is the so-called center position of the operation member 110 when the vehicle is moved straight. Further, the rotational movement for returning the operation member 110 to the set position is performed by the reaction force generator 140. Further, the operation member 110 may be locked by a lock mechanism or the like at the set position.

次に、出退機構１２０を動作させて操作部材１１０の後退を開始する（Ｓ１０２）。   Next, the retracting mechanism 120 is operated to start the retracting operation member 110 (S102).

次に、折りたたみ機構１３０を動作させて操作部材１１０を出退方向１２９と交差する軸で回転させ、出退機構１２０に対し操作部材１１０の折りたたみを開始する（Ｓ１０３）。   Next, the folding mechanism 130 is operated to rotate the operating member 110 about an axis that intersects the retracting direction 129, and the folding of the operating member 110 with respect to the retracting mechanism 120 is started (S103).

ここで、操作部材１１０を設定位置に戻すタイミングと、操作部材１１０の後退開始タイミングと、操作部材１１０の折りたたみ開始タイミングは、上記に限定されず、順序が入れ替わっても、または少なくとも２つのタイミングが同時でもかまわない。また、後退と折りたたみは同じ期間内に実行してもよく、また操作部材１１０の折りたたみ完了後に後退を開始してもかまわない。なお、操作部材１１０の後退を先に開始すると、折りたたまれている途中の操作部材１１０の上連結部１１３が運転者と干渉する可能性を低減させることが可能となる。   Here, the timing at which the operation member 110 is returned to the set position, the retreat start timing of the operation member 110, and the folding start timing of the operation member 110 are not limited to the above, and even if the order is changed or at least two timings are present. It does not matter at the same time. Further, the backward movement and folding may be executed within the same period, and the backward movement may be started after the folding of the operation member 110 is completed. Note that when the operation member 110 starts to be retracted first, it is possible to reduce the possibility that the upper connecting portion 113 of the operation member 110 being folded will interfere with the driver.

次に、折りたたみ機構１３０は、操作部材１１０が、ダッシュボード２０１に挿入される前に操作部材１１０の折りたたみを完了させる（Ｓ１０４）。操作部材１１０の折りたたみ角度は特に限定されるものではないが、本実施の形態の場合、折りたたみ機構１３０は、折りたたみ駆動源１３２に基づき折りたたみ軸体１３１を回転させることにより、図６に示すように、直進把持部１１１と下連結部１１２とを含む面が出退機構１２０の出退方向１２９に平行、または略平行になるまで操作部材１１０を回転させて折りたたむ。このように、操作部材１１０を折りたたむことにより、出退方向１２９においてダッシュボード２０１に対する操作部材１１０の投影面積を小さくすることができ、操作部材１１０をダッシュボード２０１内に収容する際に操作部材１１０が通過する開口部２０２の面積を抑制することができ、ダッシュボード２０１の構造的強度の低下を抑制しつつダッシュボード２０１の美観を向上させることが可能となる。   Next, the folding mechanism 130 completes the folding of the operation member 110 before the operation member 110 is inserted into the dashboard 201 (S104). Although the folding angle of the operation member 110 is not particularly limited, in the case of the present embodiment, the folding mechanism 130 rotates the folding shaft 131 based on the folding drive source 132 as shown in FIG. The operation member 110 is rotated and folded until the surface including the rectilinear grip portion 111 and the lower connecting portion 112 is parallel or substantially parallel to the retracting direction 129 of the retracting mechanism 120. Thus, by folding the operation member 110, the projection area of the operation member 110 on the dashboard 201 can be reduced in the exit / retreat direction 129, and the operation member 110 is accommodated when the operation member 110 is accommodated in the dashboard 201. It is possible to suppress the area of the opening 202 through which the dashboard passes, and to improve the aesthetic appearance of the dashboard 201 while suppressing a decrease in the structural strength of the dashboard 201.

また、出退機構１２０の出退方向１２９に平行、または略平行になるまで操作部材１１０が折りたたまれた状態において、反力発生装置１４０は、直進把持部１１１と下連結部１１２とに囲まれた空間内に位置するように配置されている。これにより、出退方向１２９に対し操作部材１１０を平行、または略平行になるまで折りたたむことができる。また、操作部材１１０をダッシュボード２０１内に収容する際に、操作部材１１０が通過するダッシュボード２０１の開口部２０２の一部を利用して反力発生装置１４０も通過させることができる。その際、開口部２０２の大きさを大きく確保する必要がなく、開口部２０２の大きさを抑制できる。また、ステアリング装置１００をダッシュボード２０１内にコンパクトに収容することが可能となる。   Further, in a state in which the operation member 110 is folded until it is parallel to or substantially parallel to the retracting direction 129 of the retracting mechanism 120, the reaction force generating device 140 is surrounded by the rectilinear gripping portion 111 and the lower connecting portion 112. It is arranged to be located in the space. As a result, the operation member 110 can be folded until it is parallel or substantially parallel to the exit / retreat direction 129. Further, when accommodating the operation member 110 in the dashboard 201, the reaction force generator 140 can also be passed using a part of the opening 202 of the dashboard 201 through which the operation member 110 passes. At this time, it is not necessary to ensure a large size of the opening 202, and the size of the opening 202 can be suppressed. Further, the steering device 100 can be accommodated in the dashboard 201 in a compact manner.

次に、出退機構１２０をさらに縮ませ、図７に示すように、折りたたみが完了した操作部材１１０を反力発生装置１４０、および折りたたみ機構１３０と共にダッシュボード２０１の開口部２０２に通過させる（Ｓ１０５）。   Next, the retracting mechanism 120 is further contracted, and the operation member 110 that has been folded is passed through the opening 202 of the dashboard 201 together with the reaction force generating device 140 and the folding mechanism 130 as shown in FIG. 7 (S105). ).

最後に、操作部材１１０が上連結部１１３に至るまでダッシュボード２０１内に収容されれば、出退機構１２０の動作を停止し、操作部材１１０の収納を完了する（Ｓ１０６）。   Finally, if the operation member 110 is accommodated in the dashboard 201 up to the upper connecting portion 113, the operation of the retracting mechanism 120 is stopped and the accommodation of the operation member 110 is completed (S106).

一方、収容状態の操作部材１１０をダッシュボード２０１内から進出させる際のステアリング装置の動作の流れは、上記流れと逆に行われる。ここで、操作部材１１０を進出させている間、または進出完了時において、自動運転によって転舵されている転舵角をステアリング装置１００が取得し、転舵角に応じた操舵角を決定する。そして、操舵角に対応した操作部材１１０の回転角になるように、反力発生装置１４０が操作部材１１０を操舵軸周りに回転させてもかまわない。これによれば、運転者に違和感を与えることなく、自動運転から手動運転にスムーズに移行させることが可能となる。   On the other hand, the operation flow of the steering device when the operation member 110 in the accommodated state is advanced from the dashboard 201 is performed in the reverse of the above flow. Here, while the operation member 110 is advanced or when the advancement is completed, the steering device 100 acquires the turning angle steered by the automatic operation, and determines the steering angle according to the turning angle. Then, the reaction force generator 140 may rotate the operation member 110 around the steering shaft so that the rotation angle of the operation member 110 corresponds to the steering angle. According to this, it is possible to smoothly shift from automatic driving to manual driving without giving the driver a sense of incongruity.

上記実施の形態に係るステアリング装置１００によれば、手動運転時において、運転者が比較的容易に操舵することができる円環状で大型の操作部材１１０であっても、自動運転時においては、操作部材１１０を折りたたんでダッシュボード２０１内に収容できるため、運転者前方の空間を広く確保することができ、運転者に快適性を提供することができる。また、運転者が乗り降りする際に、操作部材１１０を退避させて、運転者を容易に乗り降りさせることも可能である。   According to the steering device 100 according to the above-described embodiment, even in the case of the automatic operation, even if the annular and large operation member 110 can be steered relatively easily by the driver during the manual operation, Since the member 110 can be folded and accommodated in the dashboard 201, a wide space in front of the driver can be secured, and comfort can be provided to the driver. In addition, when the driver gets on and off, the operation member 110 can be retracted to easily get on and off the driver.

また、自動運転時において、比較的大型の操作部材１１０を運転者から隔離することができるため、誤操作防止となり、安全が確保される。   In addition, the relatively large operation member 110 can be isolated from the driver during automatic operation, so that erroneous operation is prevented and safety is ensured.

また、操作部材１１０を大型化したり、下連結部１１２、上連結部１１３を設けるなどハンドル形状を自由に設計しても、ダッシュボード２０１に設ける開口部２０２の面積を抑制することができる。またこれにより、ダッシュボード２０１に取り付けられる計器類や表示装置などを大型化したり、形状の自由度を確保したりすることができる。   Further, even if the operation member 110 is enlarged or the handle shape is freely designed such as providing the lower connecting portion 112 and the upper connecting portion 113, the area of the opening 202 provided in the dashboard 201 can be suppressed. This also makes it possible to increase the size of instruments and display devices attached to the dashboard 201, and to ensure the degree of freedom of shape.

なお、本発明は、上記実施の形態に限定されるものではない。例えば、本明細書において記載した構成要素を任意に組み合わせて、また、構成要素のいくつかを除外して実現される別の実施の形態を本発明の実施の形態としてもよい。また、上記実施の形態に対して本発明の主旨、すなわち、請求の範囲に記載される文言が示す意味を逸脱しない範囲で当業者が思いつく各種変形を施して得られる変形例も本発明に含まれる。   The present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning of the words described in the claims. It is.

例えば、折りたたみ機構１３０は、折りたたみ駆動源１３２を備えず、運転者の操作により回転する機構であってもよい。また、出退機構１２０により操作部材１１０が後退する駆動力を利用して操作部材１１０を出退機構１２０に対して回転させる機構であってもよい。   For example, the folding mechanism 130 may be a mechanism that does not include the folding drive source 132 and rotates by a driver's operation. Further, a mechanism for rotating the operating member 110 relative to the retracting mechanism 120 using a driving force by which the operating member 110 moves backward by the retracting mechanism 120 may be used.

また、出退機構１２０は、中間ガイド１２２を備えた多段階の伸縮機構ばかりでなく、中間ガイド１２２を備えない単段階の伸縮機構を備えてもかまわない。また、出退機構１２０は、パンタグラフ機構などの平行リンク機構を採用してもかまわない。   Further, the retracting mechanism 120 may include not only a multi-stage expansion / contraction mechanism including the intermediate guide 122 but also a single-stage expansion / contraction mechanism that does not include the intermediate guide 122. The exit / retreat mechanism 120 may adopt a parallel link mechanism such as a pantograph mechanism.

また、折りたたまれた操作部材１１０の全体がダッシュボード２０１内に収容されるばかりでなく、操作部材１１０の一部、例えば下連結部１１２のみがダッシュボード２０１に収容されてもかまわない。   Further, not only the folded operation member 110 is accommodated in the dashboard 201, but also a part of the operation member 110, for example, only the lower connecting portion 112 may be accommodated in the dashboard 201.

本発明は、手動運転が可能であり、かつ自動運転が可能な自動車、バス、トラック、農機、建機など車輪、または無限軌道などを備えた車両などに利用可能である。   INDUSTRIAL APPLICABILITY The present invention can be used for vehicles equipped with wheels such as automobiles, buses, trucks, agricultural machinery, construction machinery, or endless tracks that can be driven manually and automatically.

１００：ステアリング装置、１１０：操作部材、１１１：直進把持部、１１２：下連結部、１１３：上連結部、１１４：接続部、１２０：出退機構、１２１：基礎ガイド、１２２：中間ガイド、１２３：可動体、１２４：出退駆動源、１２５：ヒンジ、１２９：出退方向、１３０：折りたたみ機構、１３１：折りたたみ軸体、１３２：折りたたみ駆動源、１４０：反力発生装置、１４１：反力モータ、２０１：ダッシュボード、２０２：開口部 DESCRIPTION OF SYMBOLS 100: Steering device, 110: Operation member, 111: Straight advance holding part, 112: Lower connection part, 113: Upper connection part, 114: Connection part, 120: Retraction mechanism, 121: Basic guide, 122: Intermediate guide, 123 : Movable body, 124: exit / retreat drive source, 125: hinge, 129: exit / retreat direction, 130: folding mechanism, 131: folding shaft, 132: folding drive source, 140: reaction force generator, 141: reaction force motor 201: Dashboard, 202: Opening

Claims (4)

車両の操舵に用いられる操作部材を有するステアリング装置であって、
前記操作部材は、手動運転時における車両の直進時の姿勢において、両側方にそれぞれ配置される直進把持部と、二つの前記直進把持部を連結し下方突出状に湾曲する下連結部を少なくとも備え、
前記操作部材を車両の前側と運転者側との間で出退させる出退機構と、
前記操作部材の出退方向と交差する軸である折りたたみ軸周りにおいて、前記下連結部が車両の前側に向く方向に前記操作部材を前記出退機構に対して回転させる折りたたみ機構とを備える
ステアリング装置。 A steering device having an operation member used for steering a vehicle,
The operation member includes at least a rectilinear grip portion arranged on both sides in a straight traveling posture of the vehicle during manual operation, and a lower connecting portion that connects the two rectilinear grip portions and curves downward. ,
An exit / retreat mechanism for retracting the operation member between the front side and the driver side of the vehicle;
A steering device comprising: a folding mechanism that rotates the operating member relative to the retracting mechanism in a direction in which the lower connecting portion faces the front side of the vehicle around a folding shaft that is an axis that intersects the retracting direction of the operating member . 前記出退機構の少なくとも一部はダッシュボード内に収容され、
前記出退機構は、折りたたまれた前記操作部材を前記ダッシュボードの内方に収容することができるストロークを備える
請求項１に記載のステアリング装置。 At least a portion of the withdrawal mechanism is housed in a dashboard;
The steering apparatus according to claim 1, wherein the retracting mechanism has a stroke that can accommodate the folded operation member inside the dashboard. 前記折りたたみ機構は、前記直進把持部と前記下連結部とを含む面が前記出退機構の出退方向に平行、または略平行になるまで前記操作部材を回転させることができる
請求項１または２に記載のステアリング装置。 The said folding mechanism can rotate the said operation member until the surface containing the said rectilinear holding part and the said lower connection part becomes parallel or substantially parallel to the withdrawing / withdrawing direction of the said withdrawing / retracting mechanism. A steering device according to claim 1. さらに、手動運転時における前記操作部材の操作に対し反力を発生させる反力発生装置を備え、
前記反力発生装置は、前記出退機構に対して前記操作部材が折りたたまれた状態において、前記直進把持部と前記下連結部とに囲まれた空間内に位置する
請求項１から３のいずれか一項に記載のステアリング装置。 Furthermore, a reaction force generator for generating a reaction force with respect to the operation of the operation member during manual operation is provided,
4. The reaction force generation device according to claim 1, wherein the reaction force generation device is located in a space surrounded by the rectilinear grip portion and the lower connection portion in a state where the operation member is folded with respect to the retracting mechanism. A steering apparatus according to claim 1.
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JP2022007199A (en) * 2020-06-25 2022-01-13 株式会社ジェイテクト Steering apparatus, drive source control method, and drive source control program

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JPS6081067U (en) * 1983-11-07 1985-06-05 森　孝弘 automotive steering wheel storage device
JPH1178910A (en) * 1997-09-10 1999-03-23 Honda Motor Co Ltd Cockpit device of automobile
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KR102266551B1 (en) * 2020-05-25 2021-06-18 주식회사 코모스 Foldable steering wheel
JP2022007199A (en) * 2020-06-25 2022-01-13 株式会社ジェイテクト Steering apparatus, drive source control method, and drive source control program
JP7380446B2 (en) 2020-06-25 2023-11-15 株式会社ジェイテクト Steering device, drive source control method, and drive source control program

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