Steering device
A steering device includes a steering shaft, a motor, a stopper mechanism, and a controller. The controller is configured to execute a first process and a second process when a determined condition is established. The first process includes causing the steering wheel to operate to a first operation end through control of the motor and thereafter operate in reverse to a second operation end. The second process includes computing a neutral position of the steering wheel based on a rotational angle of the motor at a time when reverse operation of the steering wheel is started and at a time when the reverse operation of the steering wheel is ended.
1. A steering device comprising:
a steering shaft configured to rotate in conjunction with an operation of a steering wheel, the steering shaft being separated from steered wheels of a vehicle in terms of power transfer;
a steering motor configured to generate steering force of the steered wheels of the vehicle;
a reaction force motor configured to generate a steering reaction force that is torque in an opposite direction of a direction of steering applied to the steering shaft;
a stopper mechanism configured to restrict rotation of the steering wheel; and
a controller configured to control power supply to the reaction force motor, wherein
the controller is configured to execute a first process and a second process when a determined condition is established,
the first process includes causing the steering wheel to operate to a first operation end through control of the reaction force motor and thereafter operate in reverse to a second operation end,
the second process includes computing a neutral position of the steering wheel based on a rotational angle of the reaction force motor at a time when reverse operation of the steering wheel is started and at a time when the reverse operation of the steering wheel is ended,
the determined condition includes at least one of: i) switching a power source switch of the vehicle from off to on, and ii) before operation of the vehicle is started,
the controller is configured to set a target steering angle to an angle that is equal to or more than a limit value of an operation range of the steering wheel determined by the stopper mechanism at a predetermined timing when the first process is executed, the target steering angle being a target value for a steering angle of the steering wheel, and
the controller is configured to control the reaction force motor such that a steering angle computed based on the rotational angle of the reaction force motor follows the target steering angle, the predetermined timing being when the steering wheel is caused to operate to the first operation end and when the steering wheel is caused to operate in reverse from the first operation end to the second operation end.
2. The steering device according to claim 1 , wherein the determined condition includes a transition being made from a state in which a vehicle power source is lost to a state in which the vehicle power source is provided, and the power source switch of the vehicle being switched from off to on for a first time after the vehicle power source is provided.
3. The steering device according to claim 1 , wherein the controller is configured to indicate through an in-vehicle informing device that execution of the first process is started, before the execution of the first process is started, when the determined condition is established.
4. A steering device comprising:
a steering shaft configured to rotate in conjunction with an operation of a steering wheel, the steering shaft being separated from steered wheels of a vehicle in terms of power transfer;
a steering motor configured to generate steering force of the steered wheels of the vehicle;
a reaction force motor configured to generate a steering reaction force that is torque in an opposite direction of a direction of steering applied to the steering shaft;
a stopper mechanism configured to restrict rotation of the steering wheel; and
a controller configured to control power supply to the reaction force motor, wherein
the controller is configured to determine a reference point for an operation of the reaction force motor by executing a first process in which the steering wheel is operated to a first operating end through a control of the reaction force motor and thereafter is operated in reverse to a second operating end when a determined condition is established, and
during execution of the first process, the controller is configured to determine that the first operating end or the second operating end is reached when a motor current, the torque and a steering angular velocity of the reaction force motor meet predetermined conditions.
5. The steering device according to claim 4 , wherein the predetermined conditions include:
an absolute value of the motor current supplied to the reaction force motor is equal to or greater than a current threshold value that is set to detect an increase in the motor current of the reaction force motor that accompanies an increase in a load on the reaction force motor,
the torque is less than or equal to a torque threshold that is set to detect a state in which the steering wheel is not operated by a driver, and
the steering angular velocity is less than or equal to an angular velocity threshold value that is set to detect a state in which the steering wheel is not operated by the driver.
6. The steering device according to claim 4 , wherein the controller is configured to determine that the first operating end or the second operating end has been reached when the predetermined conditions are met continuously for a predetermined period of time.