Steering device
The steering device is configured to automatically perform a steering operation of a steering wheel. The steering device is configured to determine that the steering operation of the steering wheel has been performed by the driver based on the steering angle of the steering wheel and the target steering angle, at least during a driving mode in which the steering operation of the steering wheel is automatically performed, and when it is determined that the steering operation of the steering wheel has been performed by the driver, change the operation characteristics of the steering wheel so that the steering force required when the driver steers the steering wheel is reduced compared to before the determination.
1 . A steering device configured to automatically perform a steering operation on a steering wheel of a vehicle, the steering device comprising
a steering support mechanism mounted on a steering shaft connected to the steering wheel, wherein the steering support mechanism includes an electric motor and a speed reducer that transmits output of the electric motor to the steering shaft, and
an electronic control unit including a processor configured to:
calculate a steering deviation between a steering angle of the steering wheel and a target steering angle during a driving mode in which the steering operation on the steering wheel is automatically performed, the target steering angle being obtained based on information about surrounding environment of the vehicle;
determine whether the steering deviation is equal to or greater than a predetermined first positive threshold or whether the steering deviation is equal to or less than a predetermined first negative threshold;
determine that a driver of the vehicle has performed the steering operation on the steering wheel in a case where the calculated steering deviation is equal to or greater than the predetermined first positive threshold or in a case where the steering deviation is equal to or less than the predetermined first negative threshold;
determine that the driver has not performed the steering operation on the steering wheel in a case where the calculated steering deviation is less than the predetermined first positive threshold or in a case where the steering deviation is greater than the predetermined first negative threshold;
calculate a target steering torque based on the steering angle and the target steering angle, wherein the processor
sets the target steering angle to a first angle in response to determining that the driver has not performed the steering operation, and
sets the target steering angle to a second angle in response to determining that the driver has performed the steering operation, an absolute value of the second angle being less than an absolute value of the first angle;
calculate a target motor torque based on the calculated target steering torque; and
control the electric motor to output the calculated target motor torque.
2 . The steering device according to claim 1 , wherein the processor is further configured to;
calculate a change rate of the steering angle and a change rate of the steering deviation;
determine that the driver has performed the steering operation on the steering wheel based on the calculated change rate of the steering angle and the calculated change rate of the steering deviation.
3 . The steering device according to claim 2 , wherein the processor is further configured to determine that the driver has performed the steering operation on the steering wheel in a case where the change rate of the steering deviation is equal to or larger than a predetermined second positive threshold and the change rate of the steering angle is equal to or larger than a predetermined third positive threshold or when the change rate of the steering deviation is equal to or smaller than a predetermined second negative threshold and the change rate of the steering angle is equal to or smaller than a predetermined third negative threshold.
4 . The steering device according to claim 1 , further comprising:
a steering angle sensor configured to detect the steering angle of the steering wheel; and
a steering torque sensor configured to detect a steering torque that is applied to the steering shaft.
5 . The steering device according to claim 4 , wherein the processor is further configured to:
calculate an assist torque by multiplying a steering reaction force torque corresponding to the steering torque by a first coefficient in response to determining that the driver has not performed the steering operation, or calculate the assist torque by multiplying the steering reaction force torque corresponding to the steering torque by a second coefficient in response to determining that the driver has performed the steering operation, the second coefficient being greater than the first coefficient, and the assist torque being a force that assists the driver in executing the steering operation;
calculate the target motor torque by adding the assist torque to the target steering torque; and
control the electric motor to output the calculated target motor torque.
6 . The steering device according to claim 1 , further comprising
a camera disposed on the vehicle and configured to acquire the information about the surrounding environment of the vehicle.
7 . The steering device according to claim 1 , wherein the processor is further configured to calculate the target steering angle based on a radius of curvature of a road lane on which the vehicle is traveling and an amount of lateral deviation of a center position of the vehicle from a center line of the road lane.
8 . The steering device according to claim 1 , further comprising
a camera disposed on the vehicle and configured to acquire an image of the surrounding environment of the vehicle as the information about the surrounding environment of the vehicle, wherein
the processor is further configured to
acquire the image from the camera, and
calculate the target steering angle based on a radius of curvature of a road lane on which the vehicle is traveling and an amount of lateral deviation of a center position of the vehicle from a center line of the road lane based on the acquired image.
9 . The steering device according to claim 5 , wherein the processor is further configured to
calculate the assist torque based on the steering reaction force torque and a steering reaction force coefficient, wherein the processor
sets the steering reaction force coefficient to the first coefficient in response to determining that the driver has not performed the steering operation, and
sets the steering reaction force coefficient to the second coefficient in response to determining that the driver has performed the steering operation.