Steering system for vehicle
A steering system is provided with a control unit ( 15 ) configured to determine a target steered angle (αt) according to a steering angle (β) of a steering shaft ( 18 ) which is fitted with a steering wheel ( 19 ) and drive a steering actuator so as to cause the steered angle (α) to coincide with the target steered angle, and to determine a target reaction force (Tt) according to a steered state of the wheels and drive a reaction force actuator ( 13 ) so as to cause the reaction force to coincide with the target reaction force. The control unit is configured to correct an output of the steering angle sensor in such a manner that a geometric steering center of the steering wheel coincides with a mechanical steering center of the steering shaft upon receiving a prescribed input (S) from a manual input switch ( 37 ).
1 . A steering system for a vehicle, comprising:
a steering wheel configured to be operated by a driver;
a steering shaft connected to the steering wheel in a rotational movement transmitting manner;
a steering mechanism mechanically separated from the steering shaft, and configured to steer wheels of the vehicle;
a steering angle sensor that detects a steering angle about a control steering center given as an angular position of the steering shaft corresponding to a straight traveling state of the vehicle;
a steering actuator that provides a driving force to the steering mechanism;
a steered angle sensor that detects a steered angle of the wheels;
a reaction force actuator that applies a reaction force to the steering wheel in response to a steering operation; and
a control unit configured to determine a target steered angle according to the steering angle and drive the steering actuator so as to cause the steered angle to coincide with the target steered angle, and to determine a target reaction force according to a steered state of the wheels and drive the reaction force actuator so as to cause the reaction force to coincide with the target reaction force,
wherein the control unit is configured to correct an output of the steering angle sensor in such a manner that the current steering angle corresponds to the control steering center when a prescribed input is received, and
wherein the control unit is configured to correct the output of the steering angle sensor when a predetermined time period has elapsed from a time point when the prescribed input is received, and temporarily stop driving the reaction force actuator until the predetermined time period has elapsed from the time point when the prescribed input is received.
2 . A steering system for a vehicle, comprising:
a steering wheel configured to be operated by a driver;
a steering shaft connected to the steering wheel in a rotational movement transmitting manner;
a steering mechanism mechanically separated from the steering shaft, and configured to steer wheels of the vehicle;
a steering angle sensor that detects a steering angle about a control steering center given as an angular position of the steering shaft corresponding to a straight traveling state of the vehicle;
a steering actuator that provides a driving force to the steering mechanism;
a steered angle sensor that detects a steered angle of the wheels;
a reaction force actuator that applies a reaction force to the steering wheel in response to a steering operation; and
a control unit configured to determine a target steered angle according to the steering angle and drive the steering actuator so as to cause the steered angle to coincide with the target steered angle, and to determine a target reaction force according to a steered state of the wheels and drive the reaction force actuator so as to cause the reaction force to coincide with the target reaction force,
wherein the control unit is configured to correct an output of the steering angle sensor in such a manner that the current steering angle corresponds to the control steering center when a prescribed input is received, and
wherein the control unit is configured to correct the output of the steering angle sensor when a predetermined time period has elapsed from a time point when the prescribed input is received, and temporarily reduce the target reaction force until the predetermined time period has elapsed from the time point when the prescribed input is received.
3 . The steering system for a vehicle according to claim 1 , wherein the control unit is configured to determine the target reaction force according to a deviation between the target steered angle and the steered angle, correct the output of the steering angle sensor when a predetermined time period has elapsed from a time point when the prescribed input is received, and provide a dead zone in the deviation between the target steered angle and the steered angle until the predetermined time period has elapsed from the time point when the prescribed input is received.
4 . The steering system for a vehicle according to claim 1 , further comprising a physical stopper that defines a physical maximum steering angle of the steering shaft in each rotational direction,
wherein the control unit is configured to define a control maximum steering angle of the steering wheel in each rotational direction from the control steering center, the control maximum steering angle being smaller than the physical maximum steering angle, and drive the reaction force actuator so as to generate a steering limit reaction force when the steering angle reaches the control maximum steering angle, thereby allowing the driver to recognize that the control maximum steering angle has been reached due to the reaction force received from the steering wheel.
5 . A steering system for a vehicle, comprising:
a steering wheel configured to be operated by a driver;
a steering shaft connected to the steering wheel in a rotational movement transmitting manner;
a steering mechanism mechanically separated from the steering shaft, and configured to steer wheels of the vehicle;
a steering angle sensor that detects a steering angle about a control steering center given as an angular position of the steering shaft corresponding to a straight traveling state of the vehicle;
a steering actuator that provides a driving force to the steering mechanism;
a steered angle sensor that detects a steered angle of the wheels;
a reaction force actuator that applies a reaction force to the steering wheel in response to a steering operation;
a physical stopper that defines a physical maximum steering angle of the steering shaft in each rotational direction; and
a control unit configured to determine a target steered angle according to the steering angle and drive the steering actuator so as to cause the steered angle to coincide with the target steered angle, and to determine a target reaction force according to a steered state of the wheels and drive the reaction force actuator so as to cause the reaction force to coincide with the target reaction force,
wherein the control unit is configured to correct an output of the steering angle sensor in such a manner that the current steering angle corresponds to the control steering center when a prescribed input is received,
wherein the control unit is configured to define a control maximum steering angle of the steering wheel in each rotational direction from the control steering center, the control maximum steering angle being smaller than the physical maximum steering angle, and drive the reaction force actuator so as to generate a steering limit reaction force when the steering angle reaches the control maximum steering angle, thereby allowing the driver to recognize that the control maximum steering angle has been reached due to the reaction force received from the steering wheel, and
wherein the control unit prohibits correction of the output of the steering angle sensor when the prescribed input is received with the steering wheel set to a geometrical steering center thereof, and it is determined that the control maximum steering angle will exceed the physical maximum steering angle.
6 . The steering system for a vehicle according to claim 4 , wherein the control unit corrects the output of the steering angle sensor so that the current steering angle is brought closer to the control steering center as much as possible without causing the control maximum steering angle to exceed the physical maximum steering angle when the prescribed input is received with the steering wheel set to a geometrical steering center thereof, and it is determined that the control maximum steering angle will exceed the physical maximum steering angle.
7 . The steering system for a vehicle according to claim 4 , wherein the control unit corrects the output of the steering angle sensor so that a geometrical steering center of the steering wheel coincides with the control steering center of the steering shaft, and changes a ratio (K=β/α) of the steering angle (β) to the steered angle (α) to a smaller value so that the control maximum steering angle does not exceed the physical maximum steering angle when the prescribed input is received with the steering wheel set to a geometrical steering center thereof, and it is determined that the control maximum steering angle will exceed the physical maximum steering angle.
8 . The steering system for a vehicle according to claim 1 , further comprising a control steering center setting switch provided in the vehicle for generating the prescribed input.
9 . The steering system for a vehicle according to claim 2 , wherein the prescribed input is an input from a vehicle diagnosis device detachably connected to the vehicle.
10 . The steering system for a vehicle according to claim 1 , wherein the control unit is configured to correct the output of the steering angle sensor when a predetermined time period has elapsed from a time point when the prescribed input is received, and temporarily reduce the target reaction force until the predetermined time period has elapsed from the time point when the prescribed input is received.
11 . The steering system for a vehicle according to claim 5 , wherein the control unit corrects the output of the steering angle sensor so that the current steering angle is brought closer to the control steering center as much as possible without causing the control maximum steering angle to exceed the physical maximum steering angle when the prescribed input is received with the steering wheel set to a geometrical steering center thereof, and it is determined that the control maximum steering angle will exceed the physical maximum steering angle.
12 . The steering system for a vehicle according to claim 5 , wherein the control unit corrects the output of the steering angle sensor so that a geometrical steering center of the steering wheel coincides with the control steering center of the steering shaft, and change a ratio (K=β/α) of the steering angle (β) to the steered angle (α) to a smaller value so that the control maximum steering angle does not exceed the physical maximum steering angle when the prescribed input is received with the steering wheel set to a geometrical steering center thereof, and it is determined that the control maximum steering angle will exceed the physical maximum steering angle.
13 . The steering system for a vehicle according to claim 2 , further comprising a control steering center setting switch provided in the vehicle for generating the prescribed input.
14 . The steering system for a vehicle according to claim 5 , further comprising a control steering center setting switch provided in the vehicle for generating the prescribed input.
15 . The steering system for a vehicle according to claim 2 , wherein the prescribed input is an input from a vehicle diagnosis device detachably connected to the vehicle.
16 . The steering system for a vehicle according to claim 5 , wherein the prescribed input is an input from a vehicle diagnosis device detachably connected to the vehicle.