Steering system
A steering system includes: a steering member; a steering operation mechanism; a reaction force motor; a steering motor; a steering torque sensor; a command value setting circuit; a reaction force command value calculation circuit configured to calculate a reaction force command value; a steering operation command value calculation circuit configured to calculate a steering operation command value based on a steering operation steering angle command value and a manual steering angle command value; a reaction force control circuit configured to cause a rotation angle of the reaction force motor to follow the reaction force command value; and a steered angle control circuit configured to cause a rotation angle of the steering motor to follow the steering operation command value.
1. A steering system comprising:
a steering member;
a steering operation mechanism mechanically separated from the steering member;
a reaction force motor configured to apply reaction torque to the steering member;
a steering motor configured to drive the steering operation mechanism;
a steering torque sensor configured to detect steering torque applied to the steering member; and
an electronic control unit configured to:
set a manual steering angle command value based on the steering torque;
calculate a reaction force command value based on a reaction force steering angle command value and the manual steering angle command value,
calculate a steering operation command value based on a steering operation steering angle command value and the manual steering angle command value,
cause a rotation angle of the reaction force motor to follow the reaction force command value, and
cause a rotation angle of the steering motor to follow the steering operation command value.
2. The steering system according to claim 1 , wherein the electronic control unit is configured to:
determine whether the steering member is being steered; and
set the reaction force steering angle command value to zero when the electronic control unit determines that the steering member is not being steered.
3. The steering system according to claim 1 , wherein the reaction force steering angle command value and the steering operation steering angle command value are a common autonomous steering angle command value.
4. The steering system according to claim 1 , wherein:
the steering operation mechanism includes a first steering operation mechanism configured to steer a first steered wheel and a second steering operation mechanism configured to steer a second steered wheel;
the steering motor includes a first steering motor that drives the first steering operation mechanism and a second steering motor that drives the second steering operation mechanism; and
the electronic control unit is configured to:
calculate a first steering operation command value based on the manual steering angle command value and a first steering operation steering angle command value for steering the first steered wheel,
calculate a second steering operation command value based on the manual steering angle command value and a second steering operation steering angle command value for steering the second steered wheel,
cause a rotation angle of the first steering motor to follow the first steering operation command value, and
cause a rotation angle of the second steering motor to follow the second steering operation command value.
5. The steering system according to claim 1 , wherein the electronic control unit is configured to:
determine whether a driver is holding the steering member; and
set the reaction force steering angle command value to zero when the electronic control unit determines that the driver is not holding the steering member.