JP2021195030A - Steering device - Google Patents

Steering device Download PDF

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JP2021195030A
JP2021195030A JP2020103390A JP2020103390A JP2021195030A JP 2021195030 A JP2021195030 A JP 2021195030A JP 2020103390 A JP2020103390 A JP 2020103390A JP 2020103390 A JP2020103390 A JP 2020103390A JP 2021195030 A JP2021195030 A JP 2021195030A
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Japan
Prior art keywords
gripping position
operating member
reaction force
transmission ratio
steering
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JP2020103390A
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Inventor
勝利 西▲崎▼
Katsutoshi Nishizaki
真康 東
Masayasu Azuma
悠太 酒井
Yuta Sakai
真啓 深谷
Masahiro Fukaya
邦裕 野倉
Kunihiro Nokura
教一 川端
Kyoichi Kawabata
紀夫 梅村
Norio Umemura
慎一 竹田
Shinichi Takeda
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JTEKT Corp
Toyoda Gosei Co Ltd
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JTEKT Corp
Toyoda Gosei Co Ltd
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Priority to JP2020103390A priority Critical patent/JP2021195030A/en
Publication of JP2021195030A publication Critical patent/JP2021195030A/en
Pending legal-status Critical Current

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  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

To control operational feeling provided to a driver.SOLUTION: A steering device 100 rotatably holds an operation member 210 which is not mechanically connected to a steering wheel 220 and includes: holding position detection means 120 which detects a driver's holding position in the operation member 210; and a transmission ratio change part 133 which changes a transmission ratio, being a ratio of a steering amount of the steering wheel 220 to an operation amount of the operation member 210, on the basis of the holding position detected by the holding position detection means 120.SELECTED DRAWING: Figure 2

Description

本発明は、転舵輪と機械的に接続されず、信号（情報）により転舵輪を転舵させる操作部材に連結される操舵装置に関する。 The present invention relates to a steering device that is not mechanically connected to a steering wheel but is connected to an operating member that steers the steering wheel by a signal (information).

従来、特許文献１に記載されるように、ステアリングホイールなどの操作部材を把持する運転者の把持位置に応じて、操作部材に加える反力を補正する技術が知られている。 Conventionally, as described in Patent Document 1, there is known a technique of correcting a reaction force applied to an operating member according to a gripping position of a driver who grips an operating member such as a steering wheel.

特開２００７−２５３６４０号公報Japanese Unexamined Patent Publication No. 2007-253640

ところが、操作部材と転舵輪とが機械的に分離されているリンクレス・ステア・バイ・ワイヤ・システムでは、操作部材の操作量に対する転舵輪の転舵角は機械的に制限されないため、運転者が操作部材を操作することにより操作部材、車両などから得られる操作感を任意に設定できる。また、操作部材の形状は円環状に拘ることなく自由に選定できるため、操作部材の形状により運転者に与える操作感が異なる場合もある。 However, in a linkless steer-by-wire system in which the operating member and the steering wheel are mechanically separated, the steering angle of the steering wheel with respect to the operating amount of the operating member is not mechanically limited, so that the driver By operating the operation member, the operation feeling obtained from the operation member, the vehicle, etc. can be arbitrarily set. Further, since the shape of the operating member can be freely selected regardless of the annular shape, the feeling of operation given to the driver may differ depending on the shape of the operating member.

本発明は、上記の状況に鑑みなされたものであり、操作部材の形状に影響されずに運転者の操作感覚を向上させる操舵装置の提供を目的とする。 The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a steering device that improves a driver's operational feeling without being affected by the shape of an operating member.

上記目的を達成するために、本発明の１つである操舵装置は、転舵輪と機械的に接続されていない操作部材を回転可能に保持する操舵装置であって、前記操作部材における運転者の把持位置を検出する把持位置検出手段と、前記把持位置検出手段が検出した把持位置に基づき、前記操作部材の操作量に対する前記転舵輪の転舵量である伝達比を変更する伝達比変更部と、を備える。 In order to achieve the above object, the steering device, which is one of the present inventions, is a steering device that rotatably holds an operating member which is not mechanically connected to the steering wheel, and is a steering device of the driver in the operating member. A gripping position detecting means for detecting a gripping position, and a transmission ratio changing unit for changing a transmission ratio which is a steering amount of the steering wheel with respect to an operating amount of the operating member based on the gripping position detected by the gripping position detecting means. , Equipped with.

本発明によれば、運転者の操作部材への把持位置にかかわらず良好な操作感を運転者に付与することができる。 According to the present invention, it is possible to give the driver a good feeling of operation regardless of the gripping position of the driver on the operating member.

図１は、操舵装置を備えた操舵システムを示す図である。FIG. 1 is a diagram showing a steering system including a steering device. 図２は、操作感制御装置の機能構成を示すブロック図である。FIG. 2 is a block diagram showing a functional configuration of the operation feeling control device. 図３は、中立姿勢の操作部材を示す正面図である。FIG. 3 is a front view showing an operating member in a neutral posture.

以下に、本発明に係る操舵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、構成要素の位置関係、および接続状態、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、以下では複数の発明を一つの実施の形態として説明する場合があるが、請求項に記載されていない構成要素については、その請求項に係る発明に関しては任意の構成要素であるとして説明している。また、図面は、本発明を説明する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。 Hereinafter, embodiments of the steering device according to the present invention will be described with reference to the drawings. The numerical values, shapes, materials, components, positional relationships of the components, connection states, steps, the order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. Further, in the following, a plurality of inventions may be described as one embodiment, but the components not described in the claims will be described as arbitrary components with respect to the claimed invention. ing. Further, the drawings are schematic views in which emphasis, omission, and ratio adjustment are appropriately performed in order to explain the present invention, and may differ from the actual shape, positional relationship, and ratio.

図１は、操舵装置を備えた操舵システムを示す図である。操舵システム２００は、運転者が操作部材２１０を操作した操作量を信号（情報）に変換し、信号を受信したＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ Ｃｏｎｔｒｏｌ Ｕｎｉｔ）の１つである転舵制御装置２４０が転舵機構２３０を制御することにより転舵輪２２０を転舵するリンクレス・ステア・バイ・ワイヤ・システムである。操舵システム２００は、操作部材２１０と、転舵機構２３０と、転舵制御装置２４０と、操舵装置１００とを備えている。 FIG. 1 is a diagram showing a steering system including a steering device. In the steering system 200, the steering control device 240, which is one of the ECUs (Electronic Control Units) that converts the operation amount of the operator operating the operation member 210 into a signal (information) and receives the signal, is the steering mechanism 230. It is a linkless steer-by-wire system that steers the steering wheel 220 by controlling the steering wheel 220. The steering system 200 includes an operation member 210, a steering mechanism 230, a steering control device 240, and a steering device 100.

操作部材２１０は、運転者から転舵のための操作を受ける装置であり、操舵装置１００に連結されている。操作部材２１０の形状は特に限定されるものではないが、本実施の形態では操作部材２１０は、角がまるめられた台形の環形状のリム２１１とスポーク２１２とを備えている。 The operation member 210 is a device that receives an operation for steering from the driver, and is connected to the steering device 100. The shape of the operating member 210 is not particularly limited, but in the present embodiment, the operating member 210 includes a trapezoidal ring-shaped rim 211 with rounded corners and spokes 212.

転舵機構２３０は、転舵制御装置２４０によって制御される転舵モータ２３２を駆動源として、転舵輪２２０を転舵させる機構であり、本実施の形態の場合、ラックシャフト２３１と、転舵モータ２３２と、転舵モータ２３２の回転駆動力を増幅してラックシャフト２３１に伝達するピニオンシャフトを備えた転舵減速機２３３と、直動するラックシャフト２３１と転舵輪２２０とを連結するタイロッド２３４と、を備えている。 The steering mechanism 230 is a mechanism for steering the steering wheel 220 by using the steering motor 232 controlled by the steering control device 240 as a drive source. In the case of the present embodiment, the rack shaft 231 and the steering motor 232, a steering speed reducer 233 equipped with a pinion shaft that amplifies the rotational driving force of the steering motor 232 and transmits it to the rack shaft 231, and a tie rod 234 that connects the rack shaft 231 that moves directly and the steering wheel 220. , Is equipped.

操舵装置１００は、転舵輪２２０と機械的に接続されていない操作部材２１０を操作可能に保持する装置であって、操作部材２１０の操作量に応じた転舵輪２２０の転舵角を示す転舵比を生成し、出力することにより転舵輪２２０を転舵し、操作感を創出する。操舵装置１００は、把持位置検出手段１２０と、操作感制御装置１３０と、を備えている。本実施の形態の場合、操舵装置１００は、軸部材１５０と、トルク検出手段１４０と、操作方向検出手段１６０と、反力手段１１０と、を備えている。 The steering device 100 is a device that operably holds an operating member 210 that is not mechanically connected to the steering wheel 220, and indicates a steering angle of the steering wheel 220 according to the amount of operation of the operating member 210. By generating and outputting the ratio, the steering wheel 220 is steered to create a feeling of operation. The steering device 100 includes a gripping position detecting means 120 and an operation feeling control device 130. In the case of the present embodiment, the steering device 100 includes a shaft member 150, a torque detecting means 140, an operating direction detecting means 160, and a reaction force means 110.

軸部材１５０は、操作部材２１０に機械的に連結され、操作部材２１０の操作に応じて回転する棒状の部材である。本実施の形態の場合、軸部材１５０は、反力手段１１０に接続され、操作部材２１０を操作する運転者に対し運転状態に応じた操舵感覚などを付与する反力が加えられる。 The shaft member 150 is a rod-shaped member that is mechanically connected to the operating member 210 and rotates in response to the operation of the operating member 210. In the case of the present embodiment, the shaft member 150 is connected to the reaction force means 110, and a reaction force that imparts a steering sensation or the like according to the driving state to the driver who operates the operation member 210 is applied.

反力手段１１０は、軸部材１５０を介して操作部材２１０に反力を付与する装置である。反力手段１１０の構成は、特に限定されるものではないが、本実施の形態の場合、反力手段１１０は、転舵輪２２０と機械的に接続されている操舵装置が転舵輪２２０などから受けるトルクと類似した反力を発生させるための電動モータ１１１と、電動モータ１１１の出力トルクを増幅して軸部材１５０に伝達するための減速機１１２とを備えている。電動モータ１１１としては、三相ブラシレスモータを例示することができる。減速機１１２は、電動モータ１１１によって回転駆動されるウォームギヤと、軸部材１５０に一体回転可能に連結され、ウォームギヤによって回転駆動されるウォームホイールと、を備えるウォーム減速機を例示することができる。電動モータ１１１のロータの回転角であるロータ回転角は、レゾルバ等の回転角センサ（不図示）によって検出され、操作部材２１０の回転角を導出する情報として用いられる場合がある。 The reaction force means 110 is a device that applies a reaction force to the operation member 210 via the shaft member 150. The configuration of the reaction force means 110 is not particularly limited, but in the case of the present embodiment, the reaction force means 110 is received from the steering wheel 220 or the like by the steering device mechanically connected to the steering wheel 220. It includes an electric motor 111 for generating a reaction force similar to torque, and a speed reducer 112 for amplifying the output torque of the electric motor 111 and transmitting it to the shaft member 150. As the electric motor 111, a three-phase brushless motor can be exemplified. The speed reducer 112 may exemplify a worm speed reducer including a worm gear that is rotationally driven by an electric motor 111, and a worm wheel that is integrally rotatably connected to a shaft member 150 and is rotationally driven by the worm gear. The rotor rotation angle, which is the rotation angle of the rotor of the electric motor 111, is detected by a rotation angle sensor (not shown) such as a resolver, and may be used as information for deriving the rotation angle of the operating member 210.

トルク検出手段１４０は、操作部材２１０を介して軸部材１５０に加えられるトルクを検出する装置である。トルク検出手段１４０の構成は、特に限定されるものではないが、本実施の形態の場合、トルク検出手段１４０は、軸部材１５０に介在配置されているトーションバー１４２と、トーションバー１４２の操作部材２１０側の端部と減速機１１２側の端部との相対的なねじれ角（回転変位量）を検出するねじれ角検出装置１４１とを備えている。 The torque detecting means 140 is a device that detects the torque applied to the shaft member 150 via the operating member 210. The configuration of the torque detecting means 140 is not particularly limited, but in the case of the present embodiment, the torque detecting means 140 includes a torsion bar 142 interposed in the shaft member 150 and an operating member of the torsion bar 142. It is provided with a helix angle detecting device 141 for detecting the relative helix angle (rotational displacement amount) between the end portion on the 210 side and the end portion on the speed reducer 112 side.

把持位置検出手段１２０は、操作部材２１０における運転者の把持位置を検出する装置である。本実施の形態の場合、把持位置検出手段１２０は、操作部材２１０のリム２１１に、所定の間隔で配置された複数のタッチセンサを備え、運転者がリム２１１を把持することにより反応したタッチセンサの位置に基づき把持位置を検出している。タッチセンサの種類は、特に限定されるものではなく、既存の静電容量を利用したもの、膜抵抗を利用したもの、赤外線など光を利用したもの、圧力を検出するもの、マイクロスイッチなどを例示することができる。タッチセンサは、スポーク２１２などに取り付けられても構わない。 The gripping position detecting means 120 is a device that detects the gripping position of the driver on the operating member 210. In the case of the present embodiment, the gripping position detecting means 120 includes a plurality of touch sensors arranged at predetermined intervals on the rim 211 of the operating member 210, and the touch sensor reacts by the driver gripping the rim 211. The gripping position is detected based on the position of. The type of touch sensor is not particularly limited, and examples include those using existing capacitance, those using film resistance, those using light such as infrared rays, those that detect pressure, and microswitches. can do. The touch sensor may be attached to the spoke 212 or the like.

把持位置検出手段１２０の把持位置検出精度は、特に限定されるものではないが、少なくとも、操作部材２１０の中立姿勢における左右、および回転中心２１４から最も遠い位置、最も近い位置の４箇所が区別できる精度を備えることが好ましい。把持位置検出手段１２０は、操作部材２１０の中立姿勢における上死点、下死点などを把持していることを検出できる精度を備えてもよい。また、把持位置検出手段１２０は、中立姿勢における回転中心２１４の左右の真横を把持していることを検出できる精度を備えてもよい。また、把持位置検出手段１２０は、回転中心２１４を中心として所定の角度毎に把持位置を検出する精度を備えても構わない。 The gripping position detection accuracy of the gripping position detecting means 120 is not particularly limited, but at least four positions can be distinguished: left and right in the neutral posture of the operating member 210, the position farthest from the rotation center 214, and the closest position. It is preferable to have accuracy. The gripping position detecting means 120 may have an accuracy that can detect that the operating member 210 is gripping the top dead center, the bottom dead center, or the like in the neutral posture. Further, the gripping position detecting means 120 may have an accuracy that can detect that the gripping position detecting means 120 is gripping right and left of the rotation center 214 in the neutral posture. Further, the gripping position detecting means 120 may have an accuracy of detecting the gripping position at a predetermined angle about the rotation center 214.

操作方向検出手段１６０は、操作部材２１０の操作方向を検出する装置である。操作方向検出手段１６０の検出方法は特に限定されるものではないが、本実施の形態の場合、操作方向検出手段１６０は、軸部材１５０の回転を操作部材２１０の回転として検出する角度検出手段としても機能している。具体的には、操作方向検出手段１６０は、軸部材１５０と共に回転する主歯車と、主歯車に噛み合う径の異なる二つの従動歯車とを備え、従動歯車にそれぞれ備えられた永久磁石の回転をホール素子などで検出することにより操作部材２１０の回転角度を検出し、かつ操作部材２１０の回転方向を検出するものとなっている。 The operation direction detecting means 160 is a device for detecting the operation direction of the operation member 210. The detection method of the operating direction detecting means 160 is not particularly limited, but in the case of the present embodiment, the operating direction detecting means 160 serves as an angle detecting means for detecting the rotation of the shaft member 150 as the rotation of the operating member 210. Is also working. Specifically, the operation direction detecting means 160 includes a main gear that rotates together with the shaft member 150 and two driven gears having different diameters that mesh with the main gear, and halls the rotation of the permanent magnets provided in the driven gears. The rotation angle of the operating member 210 is detected by detecting with an element or the like, and the rotation direction of the operating member 210 is detected.

図２は、操作感制御装置の機能構成を示すブロック図である。操作感制御装置１３０は、操作部材２１０への把持位置、および操作量に応じた転舵情報を生成し、転舵制御装置２４０に出力するＥＣＵの一つであって、操作感制御装置１３０がプログラムを実行することより実現する処理部として、把持位置取得部１３１と、操作方向取得部１３２と、伝達比変更部１３３と、反力制御部１３６と、トルク取得部１３７と、を備えている。操作感制御装置１３０が制御する操作感とは、操作部材２１０の操作に応じた車両の挙動を運転者が感じる感覚であり、例えば、操舵時に運転者が感じるＧなどである。また、操作感には、反力手段１１０により運転者が操作部材２１０から受ける感覚も含まれる。 FIG. 2 is a block diagram showing a functional configuration of the operation feeling control device. The operation feeling control device 130 is one of the ECUs that generate steering information according to the gripping position on the operation member 210 and the operation amount and output it to the steering control device 240, and the operation feeling control device 130 is one of the ECUs. As a processing unit realized by executing a program, a gripping position acquisition unit 131, an operation direction acquisition unit 132, a transmission ratio changing unit 133, a reaction force control unit 136, and a torque acquisition unit 137 are provided. .. Operation feeling The operation feeling controlled by the control device 130 is a feeling that the driver feels the behavior of the vehicle according to the operation of the operation member 210, for example, G that the driver feels at the time of steering. Further, the operation feeling includes the feeling that the driver receives from the operation member 210 by the reaction force means 110.

操作方向取得部１３２は、操作方向検出手段１６０が出力する信号に基づき運転者が操作部材２１０を操作した方向を取得する。本実施の形態の場合、操作部材２１０は、回転中心周りを回転するように保持されており、操作方向取得部１３２は、操作部材２１０の回転方向を操作方向として取得する。具体的には、操作方向取得部１３２は、操作方向検出手段１６０から取得した２つの従動歯車の回転の位相差から回転方向を取得する。また、操作方向取得部１３２は、軸部材１５０の回転角も取得している。 The operation direction acquisition unit 132 acquires the direction in which the driver operates the operation member 210 based on the signal output by the operation direction detection means 160. In the case of the present embodiment, the operation member 210 is held so as to rotate around the center of rotation, and the operation direction acquisition unit 132 acquires the rotation direction of the operation member 210 as the operation direction. Specifically, the operation direction acquisition unit 132 acquires the rotation direction from the phase difference between the rotations of the two driven gears acquired from the operation direction detection means 160. Further, the operation direction acquisition unit 132 also acquires the rotation angle of the shaft member 150.

トルク取得部１３７は、トルク検出手段１４０が出力する信号に基づき運転者が操作部材２１０を回転させる際に発生するトルクを導出する処理部である。本実施の形態の場合、トーションバー１４２の両端部の相対的なねじれ角（回転変位量）、およびトーションバー１４２のねじり弾性率に基づきトルクを導出する。 The torque acquisition unit 137 is a processing unit that derives the torque generated when the driver rotates the operating member 210 based on the signal output by the torque detecting means 140. In the case of the present embodiment, the torque is derived based on the relative torsional angle (rotational displacement amount) of both ends of the torsion bar 142 and the torsional elastic modulus of the torsion bar 142.

回転角取得部１３５は、回転角検出手段１４３が出力する信号に基づき運転者が操作部材２１０を回転させた回転量を角度δｈとして導出する処理部である。本実施の形態の場合、運転者から操作部材２１０を見た場合において、操作部材２１０が反時計回りに回る方向を正とし、回転角をδｈと記載している 。 The rotation angle acquisition unit 135 is a processing unit that derives the rotation amount of the operation member 210 rotated by the driver as an angle δh based on the signal output by the rotation angle detecting means 143. In the case of the present embodiment, when the operating member 210 is viewed from the driver, the direction in which the operating member 210 rotates counterclockwise is defined as positive, and the rotation angle is described as δh.

把持位置取得部１３１は、把持位置検出手段１２０が出力する信号に基づき運転者が操作部材２１０を把持している位置を導出する処理部である。本実施の形態の場合、把持位置取得部１３１は、中立姿勢の操作部材２１０を運転者側から見た右側をＲ、左側をＬとして区別し、把持位置を極座標として導出している。具体的には、図３に示すように、把持位置取得部１３１は、右腕把持位置ＲＡの極座標（ｒＲ，θＲ）を導出し、左腕把持位置ＬＡの極座標（ｒＬ，θＬ）を導出している。なおθは、回転中心２１４を中心（原点）とし、中立姿勢の操作部材２１０のリム２１１の回転中心２１４の直上部分へ延びる基準線からの角度を示している。この極座標（基準線）は操作部材２１０に固定され、操舵部材２１０とともに回転する。なお、ｒＲ、およびｒＬは、把持位置に関連付けられた状態で記憶手段１３９に記憶されている。 The gripping position acquisition unit 131 is a processing unit that derives the position where the driver is gripping the operating member 210 based on the signal output by the gripping position detecting means 120. In the case of the present embodiment, the gripping position acquisition unit 131 distinguishes the operating member 210 in the neutral posture as R on the right side and L on the left side when viewed from the driver side, and derives the gripping position as polar coordinates. Specifically, as shown in FIG. 3, the gripping position acquisition unit 131 derives the polar coordinates (rR, θR) of the right arm gripping position RA and derives the polar coordinates (rL, θL) of the left arm gripping position LA. .. Note that θ indicates the angle from the reference line extending to the portion directly above the rotation center 214 of the rim 211 of the operating member 210 in the neutral posture with the rotation center 214 as the center (origin). The polar coordinates (reference line) are fixed to the operating member 210 and rotate together with the steering member 210. The rR and rL are stored in the storage means 139 in a state associated with the gripping position.

伝達比変更部１３３は、把持位置検出手段１２０が検出した把持位置に基づき、操作部材２１０の操作量に対する転舵輪２２０の転舵量である伝達比を変更し、変更した伝達比に基づき操作方向取得部１３２から取得した操作部材２１０の回転角度に応じた指示転舵角を転舵制御装置２４０に出力する処理部である。本実施形態では、伝達比Ｔは、操作部材２１０の回転角δｈ、転舵輪２２０の転舵角δｔとして、Ｔ＝δｔ／δｈと定義する。 The transmission ratio changing unit 133 changes the transmission ratio, which is the steering amount of the steering wheel 220, with respect to the operating amount of the operating member 210, based on the gripping position detected by the gripping position detecting means 120, and the operating direction is based on the changed transmission ratio. This is a processing unit that outputs the indicated steering angle according to the rotation angle of the operating member 210 acquired from the acquisition unit 132 to the steering control device 240. In the present embodiment, the transmission ratio T is defined as T = δt / δh as the rotation angle δh of the operating member 210 and the steering angle δt of the steering wheel 220.

本実施の形態の場合、伝達比変更部１３３は、操作方向検出手段１６０が検出した操作方向側の把持位置と操作部材２１０の支点である回転中心との距離が比較的短い場合、把持位置と操作部材２１０の支点である回転中心との距離が比較的長い場合より伝達比を小さくする。つまり、操作部材２１０の中立姿勢における右側の第一把持位置（ｒＲ１，θＲ１）を運転者が把持して右方向に操作部材２１０を回転させた場合の第一伝達比をＴ１、第二把持位置（ｒＲ２，θＲ２）を把持して右方向に操作部材２１０を回転させた場合の第二伝達比をＴ２とし、ｒＲ１＜ｒＲ２であった場合、伝達比変更部１３３は、Ｔ１＜Ｔ２となるように伝達比を変更する。例えば、上記関係を満たすように伝達比ＴをｒＲの関数として表してもよい。また、記憶手段１３９に伝達比ＴとｒＲとが関連付けられたテーブルを備え、テーブルに基づき伝達比を変更しても構わない。 In the case of the present embodiment, the transmission ratio changing unit 133 determines the gripping position when the distance between the gripping position on the operating direction side detected by the operating direction detecting means 160 and the rotation center which is the fulcrum of the operating member 210 is relatively short. The transmission ratio is made smaller than when the distance from the center of rotation, which is the fulcrum of the operating member 210, is relatively long. That is, when the driver grips the first gripping position (rR1, θR1) on the right side in the neutral posture of the operating member 210 and rotates the operating member 210 to the right, the first transmission ratio is T1 and the second gripping position. The second transmission ratio when (rR2, θR2) is grasped and the operating member 210 is rotated to the right is T2, and when rR1 <rR2, the transmission ratio changing unit 133 is set to T1 <T2. Change the transmission ratio to. For example, the transmission ratio T may be expressed as a function of rR so as to satisfy the above relationship. Further, the storage means 139 may be provided with a table in which the transmission ratio T and rR are associated with each other, and the transmission ratio may be changed based on the table.

伝達比変更部１３３を設計するにあたり、伝達比の上限値を把持位置に応じて設定することが望ましい。具体的には、把持位置が一定の場合に操作部材２１０が中立姿勢から操作部材を操作できる最大操作量と最大転舵角から算出される伝達比を、前記把持位置における伝達比の下限値として例示できる。 When designing the transmission ratio changing unit 133, it is desirable to set the upper limit value of the transmission ratio according to the gripping position. Specifically, the transmission ratio calculated from the maximum operating amount and the maximum steering angle at which the operating member 210 can operate the operating member from the neutral posture when the gripping position is constant is set as the lower limit value of the transmission ratio at the gripping position. It can be exemplified.

伝達比変更部１３３は、操作部材２１０の把持位置により伝達比を変更し、中立姿勢からの操作部材２１０の操作量に対し変更後の伝達比に基づき指示転舵角を転舵制御装置２４０に送信する。また、運転者が操作部材２１０を切り戻す方向に操作する場合には、運転者が操作部材２１０の把持位置を変更しても操作部材２１０が中立姿勢に戻るまで変更した伝達比を維持して指示転舵角を出力する。これにより、車両の挙動によって運転者が感じる違和感を低減することができる。 The transmission ratio changing unit 133 changes the transmission ratio according to the gripping position of the operating member 210, and sets the indicated steering angle to the steering control device 240 based on the changed transmission ratio with respect to the operation amount of the operating member 210 from the neutral posture. Send. Further, when the driver operates the operation member 210 in the direction of turning back, even if the driver changes the gripping position of the operation member 210, the changed transmission ratio is maintained until the operation member 210 returns to the neutral posture. The indicated steering angle is output. This makes it possible to reduce the discomfort felt by the driver due to the behavior of the vehicle.

伝達比変更部１３３は、把持位置が、操作部材２１０の回転中心よりも上方の場合、下方の場合よりも大きくなるように伝達比を変更してもよい。これによれば、操作部材２１０の把持位置にかかわらず運転者はスムーズな操作感を得ることができる。 The transmission ratio changing unit 133 may change the transmission ratio so that the gripping position is larger when the gripping position is above the rotation center of the operating member 210 than when it is below. According to this, the driver can obtain a smooth operation feeling regardless of the gripping position of the operation member 210.

反力制御部１３６は、反力手段１１０に発生させる反力を制御する。本実施の形態の場合、反力制御部１３６は、トルク取得部１３７により取得されたトルク、操作方向取得部１３２から取得された操作方向、回転角など、および反力情報に基づき、反力手段１１０の電動モータ１１１を制御する。例えば反力制御部１３６は、転舵輪２２０と操作部材とが機械的に連結されているステアリングにおいて、転舵輪２２０から操作部材に伝わるトルクをリンクレス・ステア・バイ・ワイヤ・システムに用いられる操舵装置１００において再現し、運転者に適度な操作感を付与するように反力トルク値を反力情報に基づき算出する。 The reaction force control unit 136 controls the reaction force generated in the reaction force means 110. In the case of the present embodiment, the reaction force control unit 136 is a reaction force means based on the torque acquired by the torque acquisition unit 137, the operation direction acquired from the operation direction acquisition unit 132, the rotation angle, and the reaction force information. It controls the electric motor 111 of 110. For example, the reaction force control unit 136 uses steering torque transmitted from the steering wheel 220 to the operating member in a linkless steer-by-wire system in steering in which the steering wheel 220 and the operating member are mechanically connected. It is reproduced in the device 100, and the reaction force torque value is calculated based on the reaction force information so as to give the driver an appropriate feeling of operation.

反力変更部１３４は、把持位置検出手段１２０が検出した把持位置に基づき、反力制御部１３６の制御に用いられる反力トルク情報を変更する。本実施の形態の場合、反力変更部１３４は、操作方向検出手段１６０が検出した操作方向側の把持位置と操作部材２１０の支点である回転中心との距離が比較的短い場合、把持位置と操作部材２１０の支点である回転中心との距離が比較的長い場合より反力トルクが小さくなるように反力トルク情報を変更する。 The reaction force changing unit 134 changes the reaction force torque information used for controlling the reaction force control unit 136 based on the gripping position detected by the gripping position detecting means 120. In the case of the present embodiment, the reaction force changing unit 134 is set to the gripping position when the distance between the gripping position on the operating direction side detected by the operating direction detecting means 160 and the rotation center which is the fulcrum of the operating member 210 is relatively short. The reaction force torque information is changed so that the reaction force torque becomes smaller than when the distance from the rotation center which is the fulcrum of the operating member 210 is relatively long.

操作部材２１０は回転中心の周りに回転可能であり、把持位置が、操作部材２１０の回転中心よりも上方の場合、把持位置が回転中心より下方の場合よりも反力トルクが重くなるように反力変更部１３４は、反力トルク情報を変更してもよい。これによれば、操作部材２１０の把持位置にかかわらず運転者はスムーズな操作感を得ることができる。 The operating member 210 is rotatable around the center of rotation, and when the gripping position is above the center of rotation of the operating member 210, the reaction force torque is heavier than when the gripping position is below the center of rotation. The force changing unit 134 may change the reaction force torque information. According to this, the driver can obtain a smooth operation feeling regardless of the gripping position of the operation member 210.

以上、本実施の形態にかかる操舵装置１００によれば、回転中心と把持位置との距離が異なる異形の操作部材２１０であっても、あたかも円形の操作部材２１０を使っているような操作感を運転者に与えることが可能となる。つまり、異形の操作部材２１０であっても、把持位置の違いにかかわらず操作がしやすくなるような転舵比、反力とすることができる。 As described above, according to the steering device 100 according to the present embodiment, even if the operating member 210 has a different shape and the distance between the center of rotation and the gripping position is different, it feels as if the operating member 210 is circular. It will be possible to give to the driver. That is, even if the operating member 210 has a deformed shape, the steering ratio and reaction force can be set so that the operation is easy regardless of the difference in the gripping position.

具体的には、車両の曲がり具合によるＧの感覚や、操作部材２１０から受ける反力等の操作感を、操作部材２１０を把持した把持位置に関わらず一定レベルに維持することができる。 Specifically, the feeling of G due to the bending condition of the vehicle and the feeling of operation such as the reaction force received from the operating member 210 can be maintained at a constant level regardless of the gripping position where the operating member 210 is gripped.

また、異形の操作部材２１０を採用しても良好な操作感を得ることができるため、操作部材２１０の形状設計の自由度が向上する。これにより、自動運転時にダッシュボード内に収納させやすい形状など自動運転に適した操作部材２１０の形状を採用することなどが可能となる。 Further, even if the irregularly shaped operation member 210 is adopted, a good operation feeling can be obtained, so that the degree of freedom in shape design of the operation member 210 is improved. This makes it possible to adopt a shape of the operating member 210 suitable for automatic driving, such as a shape that can be easily stored in the dashboard during automatic driving.

また、スポーク２１２などにも把持位置検出手段１２０を設けることにより、スポーク２１２を把持して運転した場合でも、良好な操作感を発揮することができる。 Further, by providing the gripping position detecting means 120 on the spokes 212 and the like, a good operation feeling can be exhibited even when the spokes 212 are gripped and operated.

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 the present specification and excluding some of the components may be an embodiment of the present invention. The present invention also includes modifications obtained by making various modifications that can be conceived by those skilled in the art within the scope of the gist of the present invention, that is, the meaning indicated by the wording described in the claims, with respect to the above-described embodiment. Will be.

例えば、把持位置検出手段１２０は、タッチセンサを備え、タッチセンサの反応に基づき把持位置を検出していたが、把持位置検出手段１２０は、操作部材２１０を撮像可能なカメラを備え、カメラから取得した画像に基づき把持位置を検出しても構わない。 For example, the gripping position detecting means 120 includes a touch sensor and detects the gripping position based on the reaction of the touch sensor, but the gripping position detecting means 120 includes a camera capable of capturing an image of the operating member 210 and acquires the gripping position from the camera. The gripping position may be detected based on the image.

また、伝達比変更部１３３は、把持位置に基づき伝達比を変更するが、把持位置に基づき伝達比に補正を加えることも伝達比の変更に含まれる。 Further, the transmission ratio changing unit 133 changes the transmission ratio based on the gripping position, and adding a correction to the transmission ratio based on the gripping position is also included in the change of the transmission ratio.

同様に、反力変更部１３４は、把持位置に基づき反力情報を変更するが、把持位置に基づき反力情報を補正することも反力情報の変更に含まれる。 Similarly, the reaction force changing unit 134 changes the reaction force information based on the gripping position, but correcting the reaction force information based on the gripping position is also included in the change of the reaction force information.

本発明は、リンクレス・ステア・バイ・ワイヤ・システムにおいて、操作部材を回転可能に保持する操舵装置に利用可能である。 INDUSTRIAL APPLICABILITY The present invention can be used for a steering device that rotatably holds an operating member in a linkless steering-by-wire system.

１００…操舵装置、１１０…反力手段、１１１…電動モータ、１１２…減速機、１２０…把持位置検出手段、１３０…操作感制御装置、１３１…把持位置取得部、１３２…操作方向取得部、１３３…伝達比変更部、１３４…反力変更部、１３５…回転角取得部、１３６…反力制御部、１３７…トルク取得部、１３９…記憶手段、１４０…トルク検出手段、１４１…角検出装置、１４２…トーションバー、１４３…回転角検出手段、１５０…軸部材、１６０…操作方向検出手段、２００…操舵システム、２１０…操作部材、２１１…リム、２１２…スポーク、２１４…回転中心、２２０…転舵輪、２３０…転舵機構、２３１…ラックシャフト、２３２…転舵モータ、２３３…転舵減速機、２３４…タイロッド、２４０…転舵制御装置 100 ... Steering device, 110 ... Reaction force means, 111 ... Electric motor, 112 ... Reducer, 120 ... Gripping position detecting means, 130 ... Operation feeling control device, 131 ... Gripping position acquisition unit, 132 ... Operation direction acquisition unit 133 ... Transmission ratio changing unit, 134 ... Reaction force changing unit, 135 ... Rotation angle acquisition unit, 136 ... Reaction force control unit, 137 ... Torque acquisition unit, 139 ... Storage means, 140 ... Torque detecting means, 141 ... Angle detecting device, 142 ... Torque bar, 143 ... Rotation angle detecting means, 150 ... Shaft member, 160 ... Operating direction detecting means, 200 ... Steering system, 210 ... Operating member, 211 ... Rim, 212 ... Spoke, 214 ... Rotation center, 220 ... Rolling Rudder wheel, 230 ... Rudder mechanism, 231 ... Rack shaft, 232 ... Rudder motor, 233 ... Rudder reducer, 234 ... Tie rod, 240 ... Rudder control device

Claims (8)

転舵輪と機械的に接続されていない操作部材を回転可能に保持する操舵装置であって、
前記操作部材における運転者の把持位置を検出する把持位置検出手段と、
前記把持位置検出手段が検出した把持位置に基づき、前記操作部材の操作量に対する前記転舵輪の転舵量である伝達比を変更する伝達比変更部と、
を備える操舵装置。 A steering device that rotatably holds an operating member that is not mechanically connected to the steering wheel.
A gripping position detecting means for detecting the gripping position of the driver in the operating member,
A transmission ratio changing unit that changes the transmission ratio, which is the steering amount of the steering wheel, with respect to the operating amount of the operating member, based on the gripping position detected by the gripping position detecting means.
A steering device equipped with. 前記操作部材の操作方向を検出する操作方向検出手段を備え、
前記伝達比変更部は、
前記操作方向検出手段が検出した操作方向側の把持位置と前記操作部材の支点との距離が比較的短い場合、把持位置と前記操作部材の支点との距離が比較的長い場合より伝達比を小さくする
請求項１に記載の操舵装置。 An operation direction detecting means for detecting the operation direction of the operation member is provided.
The transmission ratio changing unit is
When the distance between the gripping position on the operating direction side detected by the operating direction detecting means and the fulcrum of the operating member is relatively short, the transmission ratio is smaller than when the distance between the gripping position and the fulcrum of the operating member is relatively long. The steering device according to claim 1. 前記伝達比変更部は、
車両の直進走行時における操作部材の姿勢である中立姿勢に前記操作部材を戻す切り戻し方向に操作される場合には、前記操作部材が中立姿勢に戻るまで変更した伝達比を維持する
請求項１または２に記載の操舵装置。 The transmission ratio changing unit is
1 Or the steering device according to 2. 前記伝達比変更部は、
把持位置が一定の場合に車両の直進走行時における操作部材の姿勢である中立姿勢から操作部材を操作できる最大操作量と最大転舵角から算出される伝達比を、前記把持位置における伝達比の上限値として設定する
請求項１から３のいずれか一項に記載の操舵装置。 The transmission ratio changing unit is
The transmission ratio calculated from the maximum operating amount and the maximum steering angle at which the operating member can be operated from the neutral posture, which is the posture of the operating member when the vehicle is traveling straight when the gripping position is constant, is the transmission ratio at the gripping position. The steering device according to any one of claims 1 to 3, which is set as an upper limit value. 前記前記操作部材が回転中心の周りに回転可能な場合において、
前記伝達比変更部は、
把持位置が、前記回転中心よりも上方の場合、把持位置が下方の場合よりも大きくなるように伝達比を変更する
請求項１から４のいずれか一項に記載の操舵装置。 When the operating member is rotatable around the center of rotation,
The transmission ratio changing unit is
The steering device according to any one of claims 1 to 4, wherein when the gripping position is above the center of rotation, the transmission ratio is changed so that the gripping position is larger than when the gripping position is below. 前記操作部材に反力を付与する反力手段と、
前記反力を制御する反力制御部と、
前記把持位置検出手段が検出した把持位置に基づき、前記反力制御部の反力情報を変更する反力変更部と、
を備える請求項１から５のいずれか一項に記載の操舵装置。 A reaction force means for applying a reaction force to the operating member, and
The reaction force control unit that controls the reaction force,
A reaction force changing unit that changes the reaction force information of the reaction force control unit based on the gripping position detected by the gripping position detecting means, and a reaction force changing unit.
The steering device according to any one of claims 1 to 5. 前記操作部材の操作方向を検出する操作方向検出手段を備え、
前記反力変更部は、
前記操作方向検出手段が検出した操作方向側の把持位置と前記操作部材の支点との距離が比較的短い場合、把持位置と前記操作部材の支点との距離が比較的長い場合より反力トルクが小さくなるように反力情報を変更する
請求項６に記載の操舵装置。 An operation direction detecting means for detecting the operation direction of the operation member is provided.
The reaction force changing part is
When the distance between the gripping position on the operating direction side detected by the operating direction detecting means and the fulcrum of the operating member is relatively short, the reaction force torque is higher than when the distance between the gripping position and the fulcrum of the operating member is relatively long. The steering device according to claim 6, wherein the reaction force information is changed so as to be smaller. 前記前記操作部材が回転中心の周りに回転可能な場合において、
前記反力変更部は、
把持位置が、前記回転中心よりも上方の場合、把持位置が前記回転中心よりも下方の場合より反力トルクを重くする
請求項６または７に記載の操舵装置。 When the operating member is rotatable around the center of rotation,
The reaction force changing part is
The steering device according to claim 6 or 7, wherein when the gripping position is above the center of rotation, the reaction force torque is heavier than when the gripping position is below the center of rotation.
JP2020103390A 2020-06-15 2020-06-15 Steering device Pending JP2021195030A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Publications (1)

Publication Number Publication Date
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Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
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