Operation amount acquisition device
An operation amount acquisition device in a rear wheel steering system including a steering rod, an actuator, and a control device configured to control a steering angle of a left rear wheel and/or a right rear wheel based on an operation amount of the actuator, the operation amount acquisition device including: an operation amount detecting device configured to detect the operation amount; an inclination-related value detecting portion configured to detect an inclination-related value related to an inclination of a front-rear direction axis of the vehicle with respect to a traveling direction thereof; and an operation amount correcting portion configured to correct, based on a detected inclination-related value, the operation amount detected in a state in which the steering angle of the left rear wheel and/or the right rear wheel is controlled by the control device based on the operation amount such that the vehicle is in a straight traveling state.
1 . An operation amount acquisition device configured to acquire an operation amount of an actuator in a rear wheel steering system, the rear wheel steering system including a steering rod extending in a width direction of a vehicle and the actuator capable of moving the steering rod in the width direction, the rear wheel steering system being configured to steer at least one of a left rear wheel and a right rear wheel of the vehicle connected to the steering rod by causing the actuator to move the steering rod in the width direction,
wherein the rear wheel steering system includes a control device configured to control a steering angle of the at least one of the left rear wheel and the right rear wheel based on the operation amount of the actuator, and
wherein the operation amount acquisition device includes:
an operation amount detecting device configured to detect the operation amount of the actuator;
an inclination-related value detecting portion configured to detect an inclination-related value that is related to an inclination of a front-rear direction axis of the vehicle with respect to a traveling direction of the vehicle; and
an operation amount correcting portion configured to correct, based on a detected inclination-related value that is the inclination-related value detected by the inclination-related value detecting portion, the operation amount of the actuator detected by the operation amount detecting device in a state in which the steering angle of the at least one of the left rear wheel and the right rear wheel is controlled by the control device based on the operation amount of the actuator detected by the operation amount detecting device such that the vehicle is in a straight traveling state.
2 . The operation amount acquisition device according to claim 1 , wherein the operation amount correcting portion corrects the operation amount of the actuator based on the detected inclination-related value when an absolute value of a difference between the detected inclination-related value and a reference inclination-related value is larger than a first threshold value, the reference inclination-related value being the inclination-related value in the straight traveling state of the vehicle acquired and stored in advance.
3 . The operation amount acquisition device according to claim 1 ,
wherein the rear wheel steering system includes a rod position detecting portion configured to detect a position of the steering rod that is a displacement of the steering rod from a neutral position of the steering rod, and
wherein the operation amount correcting portion corrects the operation amount of the actuator based on an ON-time rod position when an absolute value of a difference between an OFF-time rod position and the ON-time rod position is larger than a second threshold value, the OFF-time rod position being the position of the steering rod acquired based on the operation amount of the actuator detected by the operation amount detecting device when a main switch of the vehicle is switched from ON to OFF, the ON-time rod position being the position of the steering rod detected by the rod position detecting portion when the main switch is switched from OFF to ON.
4 . The operation amount acquisition device according to claim 3 , wherein the operation amount correcting portion corrects, based on the detected inclination-related value, a corrected operation amount that is the operation amount of the actuator corrected based on the ON-time rod position when (A) an absolute value of a difference between the detected inclination-related value and a reference inclination-related value is larger than a first threshold value and (B) a value acquired by converting the absolute value of the difference between the detected inclination-related value and the reference inclination-related value into a movement amount of the steering rod is smaller than a third threshold value, the detected inclination-related value being detected by the inclination-related value detecting portion in a state in which the steering angle of the at least one of the left rear wheel and the right rear wheel is controlled by the control device based on the corrected operation amount such that the vehicle is in the straight traveling state, the reference inclination-related value being the inclination-related value in the straight traveling state of the vehicle acquired and stored in advance.
5 . The operation amount acquisition device according to claim 1 ,
wherein the rear wheel steering system includes a rod position detecting portion configured to detect a position of the steering rod that is a displacement of the steering rod from a neutral position of the steering rod, and
wherein the operation amount acquisition device includes a movement determining portion that determines that the steering rod has been moved by an external force in a time period during which a main switch of the vehicle is OFF when an absolute value of a difference between an OFF-time rod position and an ON-time rod position is larger than a second threshold value, the OFF-time rod position being the position of the steering rod acquired based on the operation amount of the actuator detected by the operation amount detecting device when the main switch is switched from ON to OFF, the ON-time rod position being the position of the steering rod detected by the rod position detecting portion when the main switch is switched from OFF to ON.
6 . The operation amount acquisition device according to claim 1 , wherein the inclination-related value detecting portion detects, as the inclination-related value, at least one of (a) an operation amount of a steering operation member provided in the vehicle from a neutral position of the steering operation member; and (b) an inclination of an axis of a camera with respect to the traveling direction of the vehicle, the camera being mounted on the vehicle so as to be capable of capturing images ahead of the vehicle.
7 . A steering system, comprising:
a steering rod extending in a width direction of a vehicle and connected to a wheel;
an actuator capable of moving the steering rod in the width direction;
an operation amount detecting device configured to detect an operation amount of the actuator;
a rod position detecting portion configured to detect a position of the steering rod that is a displacement of the steering rod from a neutral position of the steering rod; and
an operation amount correcting portion that corrects the operation amount based on an ON-time rod position when an absolute value of a difference between an OFF-time rod position and the ON-time rod position is larger than a second threshold value, the OFF-time rod position being the position of the steering rod acquired based on the operation amount when a main switch of the vehicle is switched from ON to OFF, the ON-time rod position being the position of the steering rod detected by the rod position detecting portion when the main switch is switched from OFF to ON.
8 . A steering system, comprising:
a steering rod extending in a width direction of a vehicle and connected to a wheel;
an actuator capable of moving the steering rod in the width direction;
an operation amount detecting device configured to detect an operation amount of the actuator;
a rod position detecting portion configured to detect a position of the steering rod that is a displacement of the steering rod from a neutral position of the steering rod; and
a movement determining portion that determines that the steering rod has been moved in the width direction by an external force in a time period during which a main switch of the vehicle is OFF when an absolute value of a difference between an OFF-time rod position and an ON-time rod position is larger than a second threshold value, the OFF-time rod position being the position of the steering rod acquired based on the operation amount when the main switch is switched from ON to OFF, the ON-time rod position being the position of the steering rod detected by the rod position detecting portion when the main switch is switched from OFF to ON.