Steering system for vehicle
Provided is a steer-by-wire steering system ( 1 ) for a vehicle ( 2 ) that can appropriately bring the steered angle of the wheels to a prescribed relationship to the steering angle of a steering member ( 10 ) even when the steering angle of the steering member was changed while the vehicle was parked. When the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon startup (ST 2 : Yes), the control unit ( 15 ) drives at least one of the steering actuator ( 12 ) and the reaction force actuator ( 13 ) to bring the steered angle (α) of the wheels closer to the prescribed relationship with the steering angle (β) of the steering member (ST 12 ) using a change in the transmission shift position from the park position (P) or the neutral position (N) to the travel position (D or R) as a trigger (ST 8 : Yes).
1. A steering system for a vehicle provided with a transmission device configured to be operated by a driver and having transmission shift positions including at least a park position or a neutral position and a travel position, comprising:
a steering member configured to accept steering operation;
a steering mechanism mechanically separated from the steering member and configured to steer wheels of the vehicle;
a steering angle sensor that detects a steering angle of the steering member;
a steered angle sensor that detects a steered angle of the wheels;
a steering actuator configured to provide a drive force to the steering mechanism;
a reaction force actuator configured to apply a reaction force to the steering member in response to the steering operation; and
a control unit configured to control the steering actuator so as to cause the steered angle of the wheels to be in a prescribed relationship with the steering angle of the steering member, and control the reaction force actuator so as to cause the reaction force to correspond to a steered state of the wheels,
wherein when a direction of the steering angle of the steering member and a direction of the steered angle of the wheels disagree from each other and the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon startup, the control unit is configured to drive at least one of the steering actuator and the reaction force actuator to bring the steered angle of the wheels closer to the prescribed relationship with the steering angle of the steering member in response to a change in the transmission shift position from the park position or the neutral position to the travel position, and
wherein when a direction of the steering angle of the steering member and a direction of the steered angle of the wheels coincide with each other and the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon the startup, the control unit is configured to drive at least one of the steering actuator and the reaction force actuator to bring the steered angle of the wheels closer to the prescribed relationship with the steering angle of the steering member in response to an operation applied to the steering member.
2. The steering system for a vehicle according to claim 1 , wherein when the direction of the steering angle of the steering member and the direction of the steered angle of the wheels are opposite to each other at startup, following an event where at least one of the steering actuator and the reaction force actuator is driven in response to a change in the transmission shift position, the control unit is configured to stop either the steering actuator or the reaction force actuator in response to an agreement in the direction of the steering angle of the steering member and the direction of the steered angle of the wheels.
3. The steering system for a vehicle according to claim 1 , wherein when the direction of the steering angle of the steering member and the direction of the steered angle of the wheels coincide with each other and the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon the startup, following an event where the steering actuator is started to be driven in response to the operation applied to the steering member, the control unit is configured to cease driving the steering actuator in response to the operation being ceased to be applied to the steering member.
4. The steering system for a vehicle according to claim 1 , wherein the control unit is configured to drive the steering actuator so as to bring the steered angle of the wheels closer to the prescribed relationship with the steering angle of the steering member when the steering member is operated under a condition where the direction of the steering angle of the steering member and the direction of the steered angle of the wheels are opposite to each other, and the transmission shift position is in the park position or the neutral position.
5. A steering system for a vehicle provided with a transmission device configured to be operated by a driver and having transmission shift positions including at least a park position or a neutral position and a travel position, comprising:
a steering member configured to accept steering operation;
a steering mechanism mechanically separated from the steering member and configured to steer wheels of the vehicle;
a steering angle sensor that detects a steering angle of the steering member;
a steered angle sensor that detects a steered angle of the wheels;
a steering actuator configured to provide a drive force to the steering mechanism;
a reaction force actuator configured to apply a reaction force to the steering member in response to the steering operation; and
a control unit configured to control the steering actuator so as to cause the steered angle of the wheels to be in a prescribed relationship with the steering angle of the steering member, and control the reaction force actuator so as to cause the reaction force to correspond to a steered state of the wheels,
wherein when the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon startup, the control unit is configured to drive at least one of the steering actuator and the reaction force actuator to bring the steered angle of the wheels closer to the prescribed relationship with the steering angle of the steering member in response to a change in the transmission shift position from the park position or the neutral position to the travel position, and
wherein when the vehicle has started traveling with the steered angle of the wheels deviated from the prescribed relationship to the steering angle of the steering member at startup, the control unit is configured to set an upper limit to the vehicle speed until the steered angle of the wheels has come into the prescribed relationship with the steering angle of the steering member.
6. The steering system for a vehicle according to claim 5 , wherein when the vehicle has started traveling with the steered angle of the wheels deviated from the prescribed relationship with the steering angle of the steering member at startup, the control unit is configured to drive the steering actuator so as to bring the steered angle of the wheels closer to the prescribed relationship with the steering angle of the steering member without regard if the steering member is operated or not, and to release the upper limit of the vehicle speed once the steered angle of the wheels is brought to the prescribed relationship with the steering angle of the steering member.
7. The steering system for a vehicle according to claim 6 , wherein the control unit is configured to drive the steering actuator so that a change speed of the steered angle of the wheels decreases with an increase in the vehicle speed when the steering member is not operated.
8. The steering system for a vehicle according to claim 6 , wherein the control unit is configured to drive the steering actuator so that the steered angle of the wheels changes faster when the steering member is operated than when the steering member is not operated.