Steering device
A steering device includes: an electric motor configured to apply a driving force to cause a wheel of a vehicle to roll; a transmission unit configured to transmit the driving force of the electric motor to the wheel; an input determination unit 221 configured to determine whether an excessive external force equal to or greater than a predetermined force is input, or likely to be input, to the transmission unit via the wheel while the electric motor is applying the driving force; and a final target current setting unit 23 configured to, in response to the input determination unit 221 determining that the excessive force is input, or likely to be input, to the transmission unit, reduce the driving force of the electric motor so that a load on the transmission unit does not exceed an upper limit that is preset according to strength of the transmission unit.
1. A steering device comprising:
an electric motor configured to apply a rotary force to rotate a wheel of a vehicle;
a transmission configured to transmit the rotary force of the electric motor to the wheel; and
a CPU, wherein
the CPU is configured to determine whether an excessive external force equal to or greater than a predetermined force is input, or likely to be input, to the transmission via the wheel while the electric motor is applying the rotary force,
the CPU is configured to, in response to the CPU determining that the excessive external force is input, or likely to be input, to the transmission, reduce the driving force of the electric motor so that a load on the transmission does not exceed an upper limit that is preset according to strength of the transmission,
the CPU is configured to, in response to the CPU determining that the excessive external force is input, or likely to be input, to the transmission, determine whether a direction of a force acting on the transmission due to the excessive external force and a direction of a force acting on the transmission due to the rotary force of the electric motor are the same as or different from each other, and
the CPU is configured to reduce the rotary force when the directions are determined by the CPU to be different from each other.
2. A steering device comprising:
an electric motor configured to apply a rotary force to cause a wheel of a vehicle to roll;
a transmission configured to transmit the rotary force of the electric motor to the wheel; and
a CPU, wherein
the CPU is configured to determine whether an excessive external force equal to or greater than a predetermined force is input, or likely to be input, to the transmission via the wheel while the electric motor is applying the rotary force,
the CPU is configured to, in response to the CPU determining that the excessive external force is input, or likely to be input, to the transmission, reduce the rotary force of the electric motor so that a load on the transmission does not exceed an upper limit that is preset according to strength of the transmission,
the CPU is configured to, in response to the CPU determining that the excessive external force is input, or likely to be input, to the transmission, determine whether a direction of a force acting on the transmission due to the excessive external force and a direction of a force acting on the transmission due to the rotary force of the electric motor are the same as or different from each other, and
the CPU is configured not to reduce the rotary force when the directions are determined by the CPU to be the same as each other.
3. The steering device according to claim 1 , wherein the CPU is configured to make determination on a basis of a state of a suspension provided between the wheel and a vehicle body.
4. The steering device according to claim 1 , wherein the CPU is configured to make determination on a basis of a force generated on a rack shaft configured to make the wheel roll under the rotary force of the electric motor.
5. The steering device according to claim 1 , wherein the CPU is configured to make determination on a basis of a lateral acceleration of the vehicle.
6. The steering device according to claim 1 , wherein the CPU is configured to make determination on a basis of pressure on the wheel.
7. The steering device according to claim 2 , wherein the CPU is configured to make determination on a basis of a state of a suspension provided between the wheel and a vehicle body.
8. The steering device according to claim 2 , wherein the CPU is configured to make determination on a basis of a force generated on a rack shaft configured to make the wheel roll under the rotary force of the electric motor.
9. The steering device according to claim 2 , wherein the CPU is configured to make determination on a basis of a lateral acceleration of the vehicle.
10. The steering device according to claim 2 , wherein the CPU is configured to make determination on a basis of pressure on the wheel.
11. The steering device according to claim 2 , wherein the transmission is composed of a worm wheel and a worm.
12. The steering device according to claim 1 , wherein
the electric motor is configured to apply the rotary force to rotate the wheel in one direction, and
the excessive external force causes the electric motor to rotate in other direction.