Steer-by-wire type steering device
A steering device according to the present invention includes: a steering input device including a reaction force actuator that applies a steering reaction force to a steering operation input member; and a control device including a steering gear ratio change unit that changes a steering gear ratio in accordance with a vehicle speed, a reaction force actuator control unit that controls an output amount of the reaction force actuator in accordance with an operation angular velocity of the steering operation input member, and a reaction force actuator output amount change unit that changes, based on the steering gear ratio, the output amount of the reaction force actuator. This makes it possible to set an appropriate steering reaction force applied to the steering operation input member, thereby stably reducing the operational burden on a driver.
1. A steer-by-wire type steering device mounted in a vehicle, the steer-by-wire type steering device comprising:
a steering input device including:
a steering operation input member; and
a reaction force actuator that applies a steering reaction force to the steering operation input member; and
a control device including:
a steering gear ratio change unit that changes a steering gear ratio in accordance with a vehicle speed of the vehicle, the steering gear ratio being a ratio of a steering angle of a wheel of the vehicle to an operation angle of the steering operation input member;
a reaction force actuator control unit that controls an output amount of the reaction force actuator in accordance with an operation angular velocity of the steering operation input member; and
a reaction force actuator output amount change unit that changes, based on the steering gear ratio, the output amount of the reaction force actuator corresponding to the operation angular velocity:
wherein the reaction force actuator output amount change unit:
increases the output amount of the reaction force actuator corresponding to the operation angular velocity as the operation angular velocity increases when the steering gear ratio is less than a predetermined value, and
decreases the output amount of the reaction force actuator corresponding to the operation angular velocity as the operation angular velocity increases when the steering gear ratio is greater than the predetermined value.
2. The steer-by-wire type steering device according to claim 1 , wherein the control device further includes a change limiter unit that limits a change in the output amount of the reaction force actuator corresponding to the operation angular velocity.
3. The steer-by-wire type steering device according to claim 1 , wherein;
the control device further includes an operation direction determination unit that determines whether an operation direction of the steering operation input member is additional steering or turning-back steering, and
the reaction force actuator output amount change unit increases the output amount of the reaction force actuator corresponding to the operation angular velocity as the steering gear ratio decreases and makes the output amount of the reaction force actuator corresponding to the operation angular velocity greater in the turning-back steering of the steering operation input member than in the additional steering.
4. The steer-by-wire type steering device according to claim 1 , wherein the reaction force actuator control unit controls the output amount of the reaction force actuator based on a sum of a command value of the output amount of the reaction force actuator corresponding to the vehicle speed of the vehicle and the operation angle of the steering operation input member and a command value of the output amount of the reaction force actuator corresponding to the operation angular velocity.
5. A steer-by-wire type steering device mounted in a vehicle, the steer-by-wire type steering device comprising:
a steering input device including:
a steering operation input member; and
a reaction force actuator that applies a steering reaction force to the steering operation input member; and
a control device including:
a steering gear ratio change unit that changes a steering gear ratio in accordance with a vehicle speed of the vehicle, the steering gear ratio being a ratio of a steering angle of a wheel of the vehicle to an operation angle of the steering operation input member;
a reaction force actuator control unit that controls an output amount of the reaction force actuator in accordance with an operation angular velocity of the steering operation input member; and
a reaction force actuator output amount change unit that changes, based on the steering gear ratio, the output amount of the reaction force actuator corresponding to the operation angular velocity,
wherein the reaction force actuator output amount change unit changes the output amount of the reaction force actuator corresponding to the operation angular velocity using a gain, the gain being set to be greater as the steering gear ratio decreases.
6. The steer-by-wire type steering device according to claim 5 , wherein:
the reaction force actuator control unit sets the output amount of the reaction force actuator corresponding to the operation angular velocity to zero when the operation angular velocity is zero and increases the output amount of the reaction force actuator corresponding to the operation angular velocity as the operation angular velocity increases.
7. The steer-by-wire type steering device according to claim 5 , wherein:
the steering gear ratio change unit decreases the steering gear ratio as the vehicle speed of the vehicle decreases,
the reaction force actuator control unit decreases the output amount of the reaction force actuator corresponding to the operation angular velocity as the operation angular velocity decreases and increases the output amount of the reaction force actuator corresponding to the operation angular velocity as the operation angular velocity increases.