Steering device

1. A steering device, comprising:

a mechanism configured to turn turning wheels of a vehicle;

a motor configured to generate drive force that is applied to the mechanism;

a first sensor that detects an electric current that is supplied to the motor;

a second sensor that detects a vehicle speed; and

a controller configured to control the motor in accordance with a steering state, wherein:

the controller includes a determination circuit configured to determine whether or not one of the turning wheels is in contact with an obstacle based on at least a value of the electric current that is supplied to the motor being greater than a first predetermined value and a value of the vehicle speed being less than a second predetermined value;

the controller is configured to, when one of the turning wheels is in contact with the obstacle, notify a driver that one of the turning wheels is in contact with the obstacle;

the mechanism includes a steering shaft configured to rotate in conjunction with operation of a steering wheel, and a turning shaft configured such that motive power transmission between the turning shaft and the steering wheel is separated;

the motor includes

a reaction force motor configured to generate steering reaction force based on a first command value calculated in accordance with the steering state, and

a turning motor as the motor that generates turning force based on a second command value calculated in accordance with the steering state, the steering reaction force being torque that is applied to the steering shaft and that is in a direction opposite to a steering direction, the turning force being torque that is applied to the turning shaft for turning the turning wheels; and

the controller includes a restriction axial force calculation circuit configured to calculate restriction axial force as control for notifying the driver that one of the turning wheels is in contact with the obstacle, when the determination circuit determines that one of the turning wheels is in contact with the obstacle, the restriction axial force being axial force of the turning shafts to be reflected on the first command value for the reaction force motor so that an operation of the steering wheel is restricted by the reaction force motor that applies the steering reaction force to the steering shaft.

2. The steering device according to claim 1 , wherein the determination circuit uses a fact that the vehicle speed is in a low-speed area where the vehicle speed is less than the second predetermined value as one condition for determining that one of the turning wheels is in contact with the obstacle.

3. The steering device according to claim 1 , wherein:

the controller includes

an ideal axial force calculation circuit configured to calculate ideal axial force that is ideal axial force of the turning shaft based on a target rotation angle of a rotor that rotates in conjunction with turning operation of the turning wheels,

an estimated axial force calculation circuit configured to calculate, as estimated axial force, axial force of the turning shaft based on an electric current value of the turning motor that is reflective of a vehicle behavior, a road surface state, or the steering state, and

a distribution calculation circuit configured to calculate mixed axial force as the axial force of the turning shaft to be reflected on the first command value for the reaction force motor by mixing the estimated axial force and the ideal axial force in accordance with the vehicle behavior, the road surface state, or the steering state; and

the distribution calculation circuit is configured to, when the determination circuit determines that one of the turning wheels is in contact with the obstacle, switch the axial force of the turning shaft to be reflected on the first command value for the reaction force motor from the mixed shaft force to the estimated axial force as control for notifying the driver that one of the turning wheels is in contact with the obstacle.