Steering device
A steering device with a constitution in which an operation unit and steerable wheels are not mechanically connected, has a target turning angle setting device which sets a target turning angle of the steerable wheels according to an operation amount of the operation unit, a turning angle measuring device which measures an actual turning angle of the steerable wheels, and a turning actuator which turns the steerable wheels according to a deviation between the target turning angle and the actual turning angle, wherein, when an operating direction of the operation unit is reversed, the target turning angle setting device sets the target turning angle according to the actual turning angle which is measured by the turning angle measuring device at a time of reversing.
1. A steering device comprising:
an operation unit operable by a driver and mechanically disconnected from steerable wheels which are to be steered;
a target turning angle setting device which sets a target turning angle of the steerable wheels according to an operation amount of the operation unit;
a turning angle measuring device which measures an actual turning angle of the steerable wheels; and
a turning actuator which turns the steerable wheels according to a deviation between the target turning angle and the actual turning angle,
wherein, when an operating direction of the operation unit is reversed, the target turning angle setting device sets the target turning angle according to the actual turning angle which is measured by the turning angle measuring device at a time of reversing.
2. A steering device according to claim 1 , wherein, during a period from the time of reversing to a time when the operation unit reaches a neutral position, the target turning angle setting device sets the target turning angles according to the actual turning angle which is measured by the turning angle measuring device at the time of reversing.
3. A steering device according to claim 2 , wherein a target modification ratio is determined according to the actual turning angle and a standard target turning angle which is determined based on the operation amount of the operation unit and a vehicle speed at the time of reversing, and the target turning angle setting device sets the target turning angles according to the target modification ratio and the standard target turning angles at times during the period.
4. A steering device according to claim 2 , wherein a standard steering ratio is determined according to the actual turning angle and the operation amount of the operation unit at the time of reversing, and the target turning angle setting device sets the target turning angles according to the standard steering ratio and the operation amounts of the operation unit at times during the period.