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 method for determining a steering angle that is a rotational angle of a steering wheel in a steer-by-wire steering device of a vehicle, the method for determining the steering angle comprising:
rotating the steering wheel in a first direction;
detecting a first load on a reaction force motor of the steer-by-wire steering device while rotating the steering wheel in the first direction;
temporarily storing, when an increase in the first load on the reaction force motor is detected, a first end angle that is a first steering angle when the increase in the first load is detected when the steering wheel is rotated in the first direction;
rotating the steering wheel in a second direction;
detecting a second load on the reaction force motor of the steer-by-wire steering device while rotating the steering wheel in the second direction;
temporarily storing, when an increase in the second load on the reaction force motor is detected, a second end angle that is a second steering angle when the increase in the second load is detected when the steering wheel is rotated in the second direction;
determining the steering angle based on the first end angle and the second end angle.
2 . The method according to claim 1 , the method comprising causing, after determining the steering angle, a rotational angle of the steering wheel to match a steering position of a steered wheel of the vehicle, the steering position being a position corresponding to a steered shaft of the steer-by-wire steering device.
3 . The method according to claim 2 , wherein a rotational position of the steering wheel corresponding to the steering position of the steered wheel is caused to match the steering position in such a manner that the rotational position forms an angle in accordance with a predetermined steering angle ratio.
4 . The method according to claim 1 , wherein determining the steering angle includes calculating the steering angle based on an angle range that is obtained from the first end angle and the second end angle on an assumption that the first end angle and the second end angle are limited to an operation range of the steering wheel.
5 . The method according to claim 1 , wherein the steering wheel is rotated in the first direction and the second direction through control on the reaction force motor.
6 . The method according to claim 1 , wherein the detecting of the first load and the second load on the reaction force motor is performed through detection of a current supplied to the reaction force motor while the steering wheel is rotated in the first direction and the second direction through control on the reaction force motor.
7 . The method according to claim 1 , wherein the method comprising starting to rotate the steering wheel in the first direction after rotating the steering wheel is indicated through an informing device.
8 . The method according to claim 1 , wherein a rotational range of the steering wheel is within a range restricted by a stopper mechanism for providing a limit to the steering angle.
9 . The method according to claim 1 , wherein the first end angle and the second end angle are detected by a reaction force control unit for controlling the reaction force motor through a sensor that detects a state variable having a correlation with the rotational angle of the steering wheel.
10 . The method according to claim 1 , the method comprising determining the steering angle before operation of the vehicle is started.
11 . The method according to claim 10 , the method comprising
determining that the operation of the vehicle has not been started yet when a determined condition is established, wherein
the condition includes a power source switch of the vehicle being switched from off to on.
12 . The method according to claim 1 , the method comprising detecting a steering torque applied to a steering shaft through an operation to rotate the steering wheel while the steering wheel is rotated in the first direction and the second direction, wherein
the temporarily storing of the first end angle and the second end angle includes setting, as a condition, detecting the increase in the first load and the second load on the reaction force motor and detecting a state in which the steering wheel is not operated by an operator based on the steering torque.
13 . The method according to claim 12 , wherein
the increase in the first load and the second load on the reaction force motor is detected when a current supplied to the reaction force motor is equal to or more than a current threshold value, and
the state in which the steering wheel is not operated by the operator is detected when the steering torque is equal to or less than a torque threshold value.
14 . The method according to claim 1 , the method comprising
detecting a steering torque applied to a steering shaft through an operation to rotate the steering wheel while the steering wheel is rotated in the first direction and the second direction, wherein
the temporarily storing of the first end angle and the second end angle includes setting, as a condition, detecting the increase in the first load and the second load on the reaction force motor, detecting a state in which the steering wheel is not operated by an operator based on the steering torque, and detecting a state in which the steering wheel is not operated by the operator based on a steering angular speed that indicates a change in the steering angle.
15 . The method according to claim 14 , wherein
the increase in the first load and the second load on the reaction force motor is detected when a current supplied to the reaction force motor is equal to or more than a current threshold value, and
the state in which the steering wheel is not operated by the operator is detected when the steering torque is equal to or less than a torque threshold value and the steering angular speed is equal to or less than an angular speed threshold value.
16 . A method for determining a steering angle that is a rotational angle of a steering wheel in a steer-by-wire steering device of a vehicle, the method for determining the steering angle comprising:
rotating the steering wheel in a first direction while detecting a load on a reaction force motor of the steer-by-wire steering device until a first increase in the load on the reaction force motor is detected;
temporarily storing, when the first increase in the load on the reaction force motor is detected while the steering wheel is rotated in the first direction, a first end angle that is the steering angle when the first increase in the load is detected;
rotating the steering wheel in a second direction opposite to the first direction while detecting the load on the reaction force motor until a second increase in the load on the reaction force motor is detected; and
temporarily storing, when the second increase in the load on the reaction force motor is detected while the steering wheel is rotated in the second direction, a second end angle that is the steering angle when the second increase in the load is detected.
17 . A controller for controlling a steer-by-wire steering device of a vehicle, wherein
the steer-by-wire steering device has a configuration in which a power transfer path between a reaction force unit to which a steering wheel is coupled and a steering unit configured to steer a steered wheel is separated,
the reaction force unit includes a reaction force motor that generates torque for rotating the steering wheel,
the controller is configured to execute a steering angle determining process of determining a steering angle that is a rotational angle of the steering wheel,
the steering angle determining process includes:
a process of rotating the steering wheel in a first direction;
a process of detecting a first load on the reaction force motor while rotating the steering wheel in the first direction;
a process of temporarily storing, when an increase in the first load on the reaction force motor is detected, a first end angle that is a first steering angle when the increase in the first load is detected when the steering wheel is rotated in the first direction;
a process of rotating the steering wheel in a second direction;
a process of detecting a second load on the reaction force motor while rotating the steering wheel in the second direction;
a process of temporarily storing, when an increase in the second load on the reaction force motor is detected, a second end angle that is a second steering angle when the increase in the second load is detected when the steering wheel is rotated in the second direction; and
a process of determining the steering angle based on the first end angle and the second end angle.