Steering system

Abstract

A steering system configured to steer a vehicle is provided, the steering system including: a rotation shaft (112) coupled with an operation member (110); a moving unit (170) configured to move the operation member (110) between a normal position, which is a position at which a driver operates the operation member (110), and a storage area located forward of the normal position; an external force detection unit (180) configured to detect an external force applied to the operation member (110) from the outside while the operation member (110) is moving; a determination unit (181) configured to determine whether a direction of the external force detected by the external force detection unit (180) is the same as a moving direction of the operation member (110); and a control unit (190) configured to control an operation of the steering system based on a determination result from the determination unit (181).

Description

Technical Field

[0001] The present invention relates to a steering system capable of increasing the space in front of the driver by moving operating components such as a steering wheel. Background Technology

[0002] At autonomous driving levels 3 or higher, where the system is responsible for the autonomous driving of the vehicle, the driver is not responsible for operating the vehicle and therefore does not need to hold the steering wheel. Therefore, moving the steering wheel during autonomous driving to create more space in front of the driver improves driver comfort. For example, Japanese Unexamined Patent Application Publication No. 2019-77354 (JP 2019-77354A) discloses a vehicle operating system capable of moving a driving control unit that serves as a steering wheel. This vehicle operating system includes: a driving control unit that accepts operations performed by the occupant; and a control unit that controls a holding mechanism of the driving control unit such that the driving control unit is stored by changing the state of the holding mechanism based on the state of autonomous driving performed in the vehicle. Summary of the Invention

[0003] Steering systems that move a steering wheel (operating element), similar to vehicle operating systems in the prior art, include mechanisms for stopping the operating element, for example, when an external force is applied to the operating mechanism while it is moving. In the case of an external force detected while the operating element is moving, the prior art system determines that the operating element has come into contact with the driver and stops the operating element to improve driver safety.

[0004] Besides situations where the driver unintentionally touches a moving control component, situations where the driver intentionally touches a moving control component also include situations where the driver intends to operate the control component as quickly as possible. In cases where the driver intentionally touches a moving control component, stopping the control component may require unnecessary control of the steering system. For example, stopping the control component may require re-executing the actions related to the movement of the control component.

[0005] The present invention provides a steering system that can increase the space in front of the driver and can effectively control the operation of the steering system.

[0006] One aspect of the present invention relates to a steering system configured to steer a vehicle. The steering system includes: a rotation axis coupled to an operating member; a movement unit configured to move the operating member between a normal position and a storage area located in front of the normal position, the normal position being a position in which a driver operates the operating member; an external force detection unit configured to detect an external force applied to the operating member while it is moving; a determination unit configured to determine whether the direction of the external force detected by the external force detection unit is the same as the direction of movement of the operating member; and a control unit configured to control the operation of the steering system based on the determination result from the determination unit.

[0007] According to the above aspects of the present invention, a steering system that can increase the space in front of the driver and effectively control his / her operation can be provided. Attached Figure Description

[0008] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and in the drawings:

[0009] Figure 1 A schematic configuration of the steering system according to an embodiment is shown;

[0010] Figure 2 It is a perspective view showing the appearance of the steering mechanism unit included in the steering system according to the embodiment;

[0011] Figure 3 This is a block diagram illustrating the functional configuration of the steering system according to an embodiment;

[0012] Figure 4 This is a flowchart illustrating the basic operating procedure of the steering system according to an embodiment;

[0013] Figure 5 This is a flowchart illustrating a first example of the specific operation of a steering system according to an embodiment;

[0014] Figure 6 schematically shown with Figure 5 The status of the steering system related to the operation shown;

[0015] Figure 7 This is a flowchart illustrating a second example of the specific operation of the steering system according to an embodiment;

[0016] Figure 8 This is a block diagram illustrating an example of a more detailed functional configuration of a steering system according to an embodiment;

[0017] Figure 9This is a flowchart illustrating a third example of the specific operation of the steering system according to an embodiment;

[0018] Figure 10 This is a flowchart illustrating a fourth example of the specific operation of the steering system according to an embodiment;

[0019] Figure 11 This is a flowchart illustrating a fifth example of the specific operation of the steering system according to an embodiment;

[0020] Figure 12 This is a flowchart illustrating a sixth example of the specific operation of the steering system according to an embodiment; and

[0021] Figure 13 This is a flowchart illustrating a seventh example of the specific operation of a steering system according to an embodiment. Detailed Implementation

[0022] Embodiments of the steering system according to the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below show general or specific examples. The values, shapes, materials, components, positions and connections of components, steps, sequences of steps, etc., shown in the following embodiments are merely examples and are not intended to limit the invention.

[0023] The accompanying drawings are schematic diagrams in which components have been appropriately emphasized, omitted, or scaled for illustrative purposes, and the shapes, positional relationships, and proportions in the drawings may differ from the actual shapes, positional relationships, and proportions. In the following embodiments, expressions indicating relative directions or orientations, such as parallel and perpendicular, are sometimes used. These expressions include cases where the relative direction or orientation is not exactly the same as the indicated direction or orientation. For example, two parallel directions mean not only that the two directions are perfectly parallel, but also that the two directions are substantially parallel, i.e., the two directions are almost parallel within, for example, a difference of about a few percent.

[0024] Implementation

[0025] 1. Mechanical configuration of the steering system

[0026] Figure 1 A schematic configuration of the steering system 100 according to an embodiment is shown. Figure 2 This is a perspective view showing the appearance of the steering mechanism unit 101 included in the steering system 100 according to the embodiment.

[0027] The steering system 100 according to the embodiment is a system installed on a vehicle capable of switching between manual driving mode and autonomous driving mode, such as a passenger vehicle, bus, truck, engineering equipment, or agricultural machinery.

[0028] like Figure 1As shown, the steering system 100 includes: a steering mechanism unit 101, which includes an operating member 110 operated by the driver; and a steering operating mechanism unit 102, which steers the steering wheel 210. The steering system 100 is a so-called steer-by-wire (SBW) system, in which the rotation angle, etc., of the operating member 110 is read by sensors, etc., and, for example in manual driving mode, the steering system steers along the lateral direction of the vehicle based on signals from sensors, etc. Figure 1 The shaft 230, which moves back and forth in the left and right directions, causes the steering wheel 210 to turn.

[0029] In the upstream steering mechanism unit 101, located in the operation and handling related to the steering of the vehicle, a rotating shaft 112 is coupled to an operating member 110, and the rotating shaft 112 is configured to receive a rotational driving force from a first actuator 151. When the driver operates the operating member 110, the operating member 110 experiences a reaction force generated by the rotational driving force of the first actuator 151. The rotational driving force of the first actuator 151 also serves to synchronize the rotational position of the operating member 110 with the steering angle of the steering wheel 210. (See below for further details.) Figure 11 An example of operation control using the first actuator 151 is described.

[0030] In the steering operation mechanism unit 102 located downstream of the steering mechanism unit 101, when the shaft 230 is along the lateral direction (width direction) of the vehicle ( Figure 1 When the vehicle moves in the left or right direction, the steering wheel 210, connected to the shaft 230 via the linkage 211, is turned. Specifically, in manual driving mode, the second actuator 250 operates based on signals sent from the steering mechanism unit 101 instructing the rotation angle of the operating member 110. As a result, the shaft 230 moves in the lateral direction of the vehicle, and the steering wheel 210 is turned accordingly. That is, the steering wheel 210 turns according to the operation of the operating member 110. In autonomous driving mode, the second actuator 250 operates based on signals sent from a computer (not shown) mounted on the vehicle for autonomous driving. Thus, the steering wheel 210 is turned without relying on the operation of the operating member 110.

[0031] More specifically, such as Figure 2 As shown, in the steering system 100 configured as described above, the steering mechanism unit 101 includes a support member 115 that supports the operating member 110 and the rotation mechanism unit 130. For example, in this embodiment, the operating member 110 is a member corresponding to the rim of the steering wheel, and the support member 115 is a member corresponding to the spokes of the steering wheel.

[0032] When the driver operates the control member 110, the control member 110 rotates about the steering axis Aa (an imaginary axis extending along the longitudinal direction of the vehicle, which in this embodiment extends parallel to the X-axis), and the rotation axis 112 coupled to the control member 110 also rotates accordingly about the steering axis Aa. In manual driving mode, based on the amount of rotation, one or more steering wheels 210 of the vehicle are steered as described above.

[0033] The operating member 110 is supported by a support member 115 extending from the rotating mechanism unit 130. For example, when the steering wheel 210 is in neutral, i.e., in a straight-forward state facing the straight-forward direction, the support member 115 is located on both sides of the rotating mechanism unit 130 along the lateral direction of the vehicle (Y-axis direction in this embodiment). When the operating member 110 rotates about the steering axis Aa, the rotating mechanism unit 130 also rotates accordingly about the steering axis Aa. The rotation shaft 112, one end of which is fixed to the rotating mechanism unit 130, also rotates with the rotation of the operating member 110. That is, in this embodiment, the rotation shaft 112 is coupled to the operating member 110 via the rotating mechanism unit 130.

[0034] The rotating mechanism unit 130 is a device for rotating the support member 115 about a rotation axis Ab, which extends in the lateral direction of the vehicle. The rotating mechanism unit 130 includes a rotary motor 131 configured to rotate the support member 115, etc. When the support member 115 rotates about the rotation axis Ab by the driving force of the rotating mechanism unit 130, the operating member 110 supported by the support member 115 also rotates accordingly about the rotation axis Ab.

[0035] The operating member 110 rotates along with the advance or retraction of the operating member 110. For example, when the operating mode is switched from manual driving mode to autonomous driving mode, the operating member 110 is stored in a storage area (not shown) in the dashboard (an example of a vehicle component) located in front of the driver's seat. At this time, the operating member 110 is folded to be parallel to the steering axis Aa. When the operating mode is switched from autonomous driving mode to manual driving mode, the operating member 110 returns to its normal position. At this time, the operating member 110 is rotated about the rotation axis Ab to a position perpendicular to the steering axis Aa.

[0036] like Figure 2As shown, the steering system 100 according to the embodiment also includes a switch holding unit 140 and a reaction force generating device 150, which are disposed on the front side (negative side of the X-axis) of the rotation mechanism unit 130. The switch holding unit 140 is a member that holds a switch configured to operate a turn signal or the like, and the switch holding unit 140 is connected to a turn signal lever or the like operated by the driver.

[0037] The reaction force generating device 150 is a device that applies a torque to the operating member 110 to resist the force from the driver when the driver operates the operating member 110 to steer. The reaction force generating device 150 includes a first actuator 151, etc. The reaction force generating device 150 is a device that reproduces the force applied to the operating member, for example, during driving of a conventional vehicle in which the tires (wheels) are mechanically connected to the operating member, as a reaction force. That is, in this embodiment, one end of the rotating shaft 112 is fixed to the rotating mechanism unit 130, and the other end of the rotating shaft 112, inserted through the switch holding unit 140, is connected to the reaction force generating device 150. The reaction force generating device 150 applies a reaction force to the operating member 110 via the rotating shaft 112. The reaction force generating device 150 can also control the rotational position of the operating member 110 about the steering axis Aa. Specifically, in cases where, for example, the operating member 110 is stored (retracted) in the storage area when the vehicle stops, the operating member 110 is operated in manual driving mode to the neutral rotation position (initial rotation position) where the steering wheel 210 is in a straight-forward state. When the operating member 110 is subsequently advanced from the storage area to the normal position, synchronization control is performed. In the synchronization control, the rotation position of the operating member 110 is controlled to correspond to the rotation position of the steering wheel 210 at that time. The first actuator 151 is used in the synchronization control to rotate and drive the operating member 110. (See below for further details.) Figure 11 An example describing the operation of the steering system 100 in synchronous control.

[0038] The steering system 100 also includes a mechanism for changing the position and orientation of an integrated mechanism unit, which includes an operating member 110, a support member 115, a rotating mechanism unit 130, a switch holding unit 140, and a reaction force generating device 150. Therefore, the distance between the operating member 110 and the driver can be changed.

[0039] Specifically, such as Figure 2As shown, the steering system 100 includes a moving unit 170 that moves the steering mechanism unit 101 in the longitudinal direction (forward-backward direction), that is, the moving unit 170 changes the position of the steering mechanism unit 101 in the forward-backward direction. In this embodiment, the moving unit 170 is a device for moving the operating member 110 via a sliding mechanism. Specifically, the integrated mechanism unit including the operating member 110 is supported by a base guide 161 via a movable body 162, and the movable body 162 is slidably held by the base guide 161. The base guide 161 is fixed to the vehicle via, for example, a bracket (not shown). Figure 2 As shown, the sliding drive shaft 173 is fixed to the base guide 161, and the body of the moving unit 170, including the sliding motor 172, moves along the sliding drive shaft 173 by the driving force of the sliding motor 172. Thus, the movable body 162 connected to the body of the moving unit 170 moves longitudinally along the base guide 161. As a result, the operating member 110, the rotating mechanism unit 130, etc., move longitudinally. The steering system 100 may include a tilting mechanism unit that changes the tilt angle of the integral mechanism unit including the operating member 110.

[0040] 2-1 Basic Functional Configuration and Operation of the Steering System

[0041] Reference Figure 3 and Figure 4 The functional configuration of the steering system 100 configured as described above is described. Figure 3 This is a block diagram illustrating the basic functional configuration of the steering system 100 according to an embodiment. Figure 4 This is a flowchart illustrating the basic operation flow of the steering system 100 according to an embodiment.

[0042] like Figure 3As shown, the steering system 100 includes a movement unit 170, a control unit 190, an external force detection unit 180, and a determination unit 181 as a basic configuration. As described above, the movement unit 170 moves the operating member 110 between a normal position and a storage area located in front of the normal position, the normal position being the position where the driver operates the operating member 110. The external force detection unit 180 detects external forces applied to the operating member 110 while it is moving. The determination unit 181 determines whether the direction of the external force detected by the external force detection unit 180 is the same as the direction of movement of the operating member 110. Specifically, the determination unit 181 determines, for example, whether the direction of the axial component of the external force detected by the external force detection unit 180 is the same as the direction of movement of the operating member 110. The direction of the axial component of the external force is along the direction of movement of the operating member 110. The "direction of the external force applied to the operating member 110" compared to the direction of movement of the operating member 110 refers to the direction of the axial component of the external force. That is, when the external force detection unit 180 detects an external force applied to the operating member 110, the external force detection unit 180 may output only the direction of the axial component of the external force to the determination unit 181.

[0043] The control unit 190 controls the operation of the steering system 100 based on the determination result of the determination unit 181. That is, the control unit 190 is a device that sends control signals to various devices in the steering system 100, including the movement unit 170. The control unit 190 also receives signals from various devices indicating operation results or detection results, and generates control signals based on the received signals.

[0044] In the steering system 100 configured as described above, such as Figure 4 As shown, the movement unit 170 operates according to, for example, a predetermined operation performed by the driver or an instruction from the main control unit 300 (hereinafter referred to as "predetermined operation, etc."). Thus, the movement unit 170 begins to move the operating member 110 (S10). When an external force, including an axial component, is applied to the operating member 110, the external force detection unit 180 detects the direction of the external force, and the determination unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). The control unit 190 acquires the determination result from the determination unit 181 and controls the operation of the steering system 100 based on the acquired determination result (S30).

[0045] As described above, in the steering system 100 according to the embodiment, when an external force is applied to the operating member 110 while it is moving, the operation of the steering system 100 is controlled based on whether the direction of the external force is the same as the direction of movement of the operating member 110. That is, when the operating member 110 is moving, the driver can convey his or her intention to the steering system by applying an external force to the operating member 110, for example, by pulling or pushing it. This intention could be an intention (i.e., a desire) to operate the operating member 110 as soon as possible or an intention to return the operating member 110 to its initial position. The steering system 100 can then be operated according to the driver's intention. Therefore, the operation of the steering system 100 can be effectively controlled.

[0046] The control unit 190 is implemented by a computer, which includes, for example, a central processing unit (CPU), a storage device such as a memory, and an interface for inputting and outputting information. For example, the control unit 190 can control the operation of the steering system 100 based on control signals sent from the main control unit 300, the detection results of sensors, etc., by executing a predetermined program stored in the storage device by the CPU.

[0047] The external force detection function of the external force detection unit 180 is implemented by a device, such as a sensor, provided in the movement unit 170. The determination function of the determination unit 181 is implemented by executing a determination program, for example, by a computer that implements the control unit 190. That is, the information processing functions of the functional blocks of the steering system 100, such as the control unit 190 and the determination unit 181, can be implemented by a single computer or different computers. This also applies to functional blocks used to perform the various information processing described below.

[0048] 2-2. Specific operational examples of the steering system

[0049] Reference Figures 5 to 7 A more specific operational example of the steering system 100 with the above basic configuration is described. Figure 5 This is a flowchart illustrating a first example of the specific operation of the steering system 100 according to an embodiment. Figure 6 It schematically shows the relationship with Figure 5 The state of the steering system 100 related to the operation shown.

[0050] like Figure 5As shown, in the steering system 100, the control unit 190 operates the moving unit 170 according to a predetermined operation. Thus, the moving unit 170 begins to move the operating member 110 (S10). When the external force detection unit 180 detects an external force applied to the moving operating member 110, the determining unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). When the determining unit 181 determines that the direction of the external force is the same as the direction of movement of the operating member 110 (yes in S20), the control unit 190 controls the moving unit 170 to increase the moving speed of the operating member 110 (S31). When the determining unit 181 determines that the direction of the external force is different from the direction of movement of the operating member 110 (no in S20), the control unit 190 controls the moving unit 170 to decrease the moving speed of the operating member 110 (S32).

[0051] That is, the control unit 190 controls the operation of the steering system 100 by controlling the movement of the operating member 110 based on the determination result of the determination unit 181. Therefore, when the driver applies an external force to the operating member 110 by, for example, pulling or pushing it, the steering system 100 can control the movement of the operating member 110 according to the direction of the external force, i.e., according to the driver's intention.

[0052] Assuming, for example Figure 6 As shown in (a), for example, when the operating mode is switched from manual driving mode to autonomous driving mode, an external force in the opposite direction (rearward direction) is applied to the operating member 110, which has begun to move forward in order to be stored in the storage area. In this case, assume that the driver, for example, pulls the retracting operating member 110 in the opposite direction because he or she wants to manually drive the vehicle. The control unit 190 therefore controls the movement unit 170 to reduce the forward movement speed of the operating member 110. For example, the control unit 190 changes the movement speed of the operating member 110 to a negative value. As a result, the movement speed of the operating member 110, which is moving forward (towards the storage area), is reduced to zero, and then the operating member 110 begins to move backward and moves to the normal position. When the operating member 110 returns to the normal position, the control unit 190 requests, for example, the main control unit 300 to cancel the autonomous driving mode and switch to manual driving mode. After the request is accepted, the control unit 190 enables steering via the operating member 110 (i.e., controls the steering mechanism unit 102 according to the operation of the operating member 110 (see...)). Figure 1 )).

[0053] Assuming, for example Figure 6As shown in (b), for example, when resuming manual driving mode or starting to drive the vehicle, an external force in the opposite direction (forward direction) is applied to the operating member 110, which has already begun to move backward to advance to its normal position. In this case, assume that the driver, for example, pushes the advancing operating member 110 in the opposite direction because he or she now wants to cancel the start of driving the vehicle. The control unit 190 therefore controls the moving unit 170 to reduce the backward movement speed of the operating member 110. For example, the control unit 190 changes the movement speed of the operating member 110 to a negative value. As a result, the movement speed of the operating member 110, which is moving backward (towards the driver's seat), is reduced to zero, and then the operating member 110 moves forward and stops in the storage area. At this time, the control unit 190, for example, notifies the main control unit 300 to cancel the start of manual driving mode. For example, if the vehicle is driving in autonomous driving mode when the operating mode is switched from autonomous driving mode to manual driving mode and the control unit 190 notifies the main control unit 300 to cancel the start of manual driving mode, the main control unit 300 maintains autonomous driving mode. In this situation, for example, the main control unit 300 can perform control such as moving the vehicle to a safe position and stopping it at that safe position during a period when the vehicle can operate in autonomous driving mode. That is, if the driver determines that he or she cannot manually drive the vehicle for some reason when the operating mode is switched from autonomous driving mode to manual driving mode, the vehicle can be moved to a safe position and stopped at the safe position by the driver pushing the operating member 110 that is returning to the normal position.

[0054] Assuming, for example Figure 6 As shown in (c), for example, when the operating mode is switched from manual driving mode to autonomous driving mode, an external force in the same direction (forward direction) is applied to the operating member 110, which has already begun to move forward in order to be stored in the storage area. In this case, it is assumed that the driver pushes the retracting operating member 110 in the retraction direction, for example, because he or she wants to move the operating member 110 away from him or her as quickly as possible. The control unit 190 therefore controls the movement unit 170 to increase the forward movement speed of the operating member 110. Therefore, the operating member 110 can be retracted into the storage area in a shorter time compared to when the operating member 110 is retracted into the storage area normally.

[0055] Assuming, for example Figure 6As shown in (d), for example, when resuming manual driving mode or starting to drive the vehicle, an external force in the same direction (rearward direction) is applied to the operating member 110, which has already begun to move backward to advance to the normal position. In this case, it is assumed that the driver pulls the advancing operating member 110 in the same direction, for example, because he or she wants to operate the operating member 110 with his or her hand as soon as possible. The control unit 190 therefore controls the movement unit 170 to increase the rearward movement speed of the operating member 110. Therefore, the operating member 110 can advance to the normal position in a shorter time than it would normally advance to the normal position. At this time, the control unit 190 enables steering using the operating member 110 after, for example, the main control unit 300 allows the resumption or initiation of manual driving mode.

[0056] When the direction of movement of the operating member 110 is the same as the direction of the external force applied to the operating member 110 and the speed of movement of the operating member 110 increases, this increase in the speed of movement of the operating member 110 is based on the driver's intention. Therefore, it can be said that increasing the speed of movement of the operating member 110 is unlikely to cause unnecessary interference between the operating member 110 and the driver.

[0057] As described above, when the determination result from the determining unit 181 indicates that the direction of the external force is different from the direction of movement of the operating member 110 ( Figure 6 In (a) and (b) of the embodiment, the control unit 190 controls the operation of the steering system 100 by controlling the moving unit 170 to reduce the moving speed of the operating member 110. When the determination result from the determining unit 181 indicates that the direction of the external force is the same as the moving direction of the operating member 110 ( Figure 6 In (c) and (d) of the embodiment, the control unit 190 controls the operation of the steering system 100 by controlling the moving unit 170 to increase the moving speed of the operating member 110. In each case, the operating member 110 can be moved to, for example, a storage area or a normal position according to the driver's intention.

[0058] Figure 6 The operations shown in (a) through (d) can be performed in combination. For example, suppose in the case of... Figure 6 As shown in (a), after the operating member 110 has begun to move backward due to an external force applied to it in the opposite direction (rearward direction), an external force in the forward direction is detected. In this case, as... Figure 6As shown in (b), the control unit 190 can control the moving unit 170 to reduce the moving speed of the operating member 110 and move the operating member 110 in the opposite direction so that the operating member 110 retracts into the storage area. That is, suppose that after the driver intends to engage manual driving mode and pulls the retracting operating member 110 tightly, he or she changes his mind and intends to engage autonomous driving mode and pushes the operating member 110. In this case, the control unit 190 can move the operating member 110, which has stopped retracting and has begun to advance, forward again before the advance movement of the operating member 110 is completed, so as to store the operating member 110 in the storage area. The same applies if the driver simply pulls the operating member 110 that is moving toward the storage area by mistake or unintentionally. That is, if the driver mistakenly pulls the retracting operating member 110 and the operating member 110 has begun to move back to the normal position, he or she can push the advancing operating member 110 forward to store the operating member 110 in the storage area.

[0059] When the external force detection unit 180 detects an external force applied to the moving operating member 110, the control unit 190 can first stop the operating member 110, and when the external force detection unit 180 detects an external force again, the control unit 190 can increase or decrease the moving speed of the operating member 110 according to the direction of the external force. For example, assuming... Figure 6 As shown in (a), an external force in the opposite direction is applied to the forward-moving operating member 110. In this case, the control unit 190 can control the moving unit 170 to stop the operating member 110 (immediately stop), and thereafter, when an external force in the opposite direction is applied again, the control unit 190 can move the operating member 110 backward. That is, when the driver repeats the same operation (in this case, pulling the operating member 110 backward) twice, the movement of the operating member 110 can be controlled according to the direction of the external force applied by the operation in response to the driver's repeated operation. Therefore, the driver's intention can be more accurately reflected in the control of the movement of the operating member 110.

[0060] As described above, when an external force is applied to the moving operating member 110, in addition to the direction of the external force, the steering system 100 can also use the attribute value of the external force to control the movement of the operating member 110. (Refer to...) Figure 7 An example describing this operation.

[0061] Figure 7This is a flowchart illustrating a second example of the specific operation of the steering system 100 according to this embodiment. In the steering system 100 according to this embodiment, the external force detection unit 180 can acquire not only the direction of the external force, but also the magnitude and duration of the external force. That is, the external force detection unit 180 can acquire, for example, three external force attribute values ​​including the direction, magnitude, and duration of the external force. Therefore, the operation of the steering system 100 can be controlled to more accurately reflect the driver's intention. That is, the operation of the steering system 100 can be controlled more effectively.

[0062] Specifically, such as Figure 7 As shown, the control unit 190 operates the moving unit 170 according to a predetermined operation. The moving unit 170 then begins to move the operating member 110 (S10). When the external force detection unit 180 detects an external force applied to the moving operating member 110, the determination unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). The control unit 190 obtains the determination result from the determination unit 181 and obtains an external force attribute value indicating the magnitude or duration of the external force from the external force detection unit 180. The control unit 190 uses the obtained determination result and external force attribute value to control the operation of the steering system 100 (S33). The driver's intention can thus be conveyed to the steering system 100 more accurately. Specifically, for example, the control unit 190 controls the moving unit 170 to change the movement speed of the operating member 110 to a movement speed based on the obtained external force attribute value (S33).

[0063] More specifically, for example, when the magnitude of the external force acquired as an external force attribute value is F1, the control unit 190 increases the moving speed of the operating member 110 from its normal moving speed by V1. When the magnitude of the external force is F2 (F2 > F1), the control unit 190 increases the moving speed of the operating member 110 from its normal moving speed by V2 (V2 > V1). In this case, the driver can change the subsequent moving speed of the operating member 110 to a speed according to his or her intention by adjusting the thrust or pull he or she applies to the operating member 110.

[0064] For example, when the duration of the external force, acquired as an external force attribute value, is T1, the control unit 190 increases the moving speed of the operating member 110 from the normal moving speed by V1. When the duration of the external force is T2 (T2 > T1), the control unit 190 increases the moving speed of the operating member 110 from the normal moving speed by V2 (V2 > V1). In this case, the driver can change the subsequent moving speed of the operating member 110 according to his or her intention by adjusting the time he or she pushes or pulls the operating member 110.

[0065] As described above, in this embodiment, in addition to the direction of the external force, the external force detection unit 180 also detects an external force attribute value, which includes at least one of the magnitude and duration of the external force. When changing the movement speed of the operating member 110 to control the operation of the steering system 100, the control unit 190 acquires the external force attribute value detected by the external force detection unit 180 and controls the movement unit 170. The control unit 190 can therefore change the movement speed of the operating member 110 to a speed based on the external force attribute value.

[0066] Therefore, the steering system 100 can consider not only the direction of the external force, but also at least one of the magnitude and duration of the external force applied to the moving operating member 110 to adjust the moving speed of the operating member 110. Thus, the operation of the steering system 100 can be controlled to more accurately reflect the driver's intentions. In other words, the operation of the steering system 100 can be controlled more effectively.

[0067] 3-1. More detailed functional configuration examples of the steering system

[0068] Figure 8 This is a block diagram illustrating an example of a more detailed functional configuration of the steering system 100 according to an embodiment. (See diagram for example.) Figure 8 As shown, the steering system 100 includes, in addition to Figures 1 to 3 In addition to the control unit 190, external force detection unit 180, determination unit 181, first actuator 151, and second actuator 250 shown, the system also includes a position detection unit 182 and an input unit 187. The position detection unit 182 is a device for detecting the position of the operating member. The position detection unit 182 can detect the position of the operating member 110 relative to a predetermined reference position, for example, by using the encoder value of the sliding motor 172 of the movement unit 170 or by analyzing a captured image of the operating member 110. The input unit 187 is a device that can accept driver input and operate according to that input. Examples of the input unit 187 include turn signals, horns, and various touch panels and switches. Specific examples of the operation of the steering system 100 configured as described above will be described.

[0069] 3-2. Specific examples of steering system operation

[0070] In the case where the steering system 100 according to this embodiment increases the moving speed of the operating member 110 in response to detecting an external force applied to the operating member 110 as it retracts into the storage area, the steering system 100 can also decrease the moving speed of the operating member 110 based on the position of the operating member 110. (Refer to...) Figure 9 An example describing this operation. Figure 9 This is a flowchart illustrating a third example of the specific operation of the steering system 100 according to this embodiment.

[0071] like Figure 9 As shown, the control unit 190 operates the moving unit 170 according to a predetermined operation. Therefore, the moving unit 170 begins to move (retract) the operating member 110 (S11). When the external force detection unit 180 detects an external force applied to the retracting operating member 110, the determination unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). When the determination unit 181 determines that the direction of the external force is the same as the direction of movement of the operating member 110 (yes in S20), the control unit 190 controls the moving unit 170 to increase the moving speed of the operating member 110 (S31). When the determination unit 181 determines that the direction of the external force is different from the direction of movement of the operating member 110 (no in S20), the control unit 190 controls the moving unit 170 to decrease the moving speed of the operating member 110 (S32). When the moving speed of the operating member 110 increases (S31), when the position of the operating member 110 obtained from the position detection unit 182 reaches the predetermined position (Yes in S34), the control unit 190 reduces the moving speed of the operating member 110 (S35).

[0072] Specifically, as described above, the operating component 110 is stored in a storage area within the dashboard, which is an example of a vehicle component. Therefore, as the operating component 110 is stored in the storage area, the distance between the dashboard and the operating component 110 decreases. Consequently, the driver might have their fingers or other objects caught between the dashboard and the operating component 110. Therefore, in this embodiment, when the operating component 110 reaches, for example, a predetermined position close to the dashboard (approximately a few centimeters to ten centimeters away from the dashboard), the moving speed of the operating component 110 decreases. That is, when the operating component 110 approaches the dashboard, the moving speed of the operating component 110, which has already increased based on the detection of external forces, decreases. Therefore, it is less likely that problems such as the driver's fingers being caught between the operating component 110 and the dashboard will occur.

[0073] As described above, the steering system 100 according to this embodiment includes a position detection unit 182 that detects the position of the operating member 110. When the control unit 190 has increased the moving speed of the operating member 110 based on a determination result while the operating member 110 is moving towards the storage area, the control unit 190 can decrease the moving speed of the operating member 110 when the control unit 190 receives a detection result from the position detection unit 182 indicating that the operating member 110 has reached a position at a predetermined distance from the dashboard defining the storage area. Therefore, the operating member 110 is effectively moved according to the driver's intention, and driver safety is also ensured.

[0074] Even when the operating member 110 is advanced to the normal position, the operation of the steering system 100 according to the embodiment can be effectively controlled by using the detection results of the position of the operating member 110 obtained from the position detection unit 182. (Refer to...) Figure 10 An example describing this operation. Figure 10 This is a flowchart illustrating a fourth example of the specific operation of the steering system 100 according to this embodiment.

[0075] like Figure 10 As shown, the control unit 190 operates the moving unit 170 according to a predetermined operation. Therefore, the moving unit 170 begins to move (push forward) the operating member 110 (S12). When the external force detection unit 180 detects an external force applied to the pushing operating member 110, the determining unit 181 determines whether the direction of the external force is the same as the moving direction of the operating member 110 (S20). When the determining unit 181 determines that the direction of the external force is the same as the moving direction of the operating member 110 (yes in S20), the control unit 190 controls the moving unit 170 to increase the moving speed of the operating member 110 (S31). When the determining unit 181 determines that the direction of the external force is different from the moving direction of the operating member 110 (no in S20), the control unit 190 determines whether the position of the operating member 110 obtained from the position detection unit 182 is within a predetermined range from the normal position (S36). When the control unit 190 determines that the position of the operating member 110 is within a predetermined range from the normal position (yes in S36), the control unit 190 controls the moving unit 170 to maintain the moving speed of the operating member 110 and move the operating member 110 to the normal position (S37). When the control unit 190 determines that the position of the operating member 110 is not within the predetermined range from the normal position (no in S36), the control unit 190 reduces the moving speed of the operating member 110 (S38). In this case, the control unit 190 reduces the backward moving speed of the operating member 110 to, for example, a negative value. As a result, the operating member 110 moves forward and retracts into the storage area (see, for example, see...). Figure 6 (b)

[0076] For example, suppose that when manual driving mode is started or resumed, an external force in the opposite direction (forward direction) is detected after the operating member 110 has begun to move towards the normal position. In this case, suppose, as described above, the driver refuses to start manual driving. However, suppose that when the operating member 110 has moved to a position close to the normal position (within approximately a few centimeters to ten centimeters of the normal position), an external force in the opposite direction (forward direction) is detected, suppose that this external force is generated, for example, because the driver preparing to drive manually grips the operating member 110. In this case, the steering system 100 according to this embodiment maintains the movement speed of the operating member 110 and moves the operating member 110 to the normal position, rather than reducing the movement speed of the operating member 110. The driver can therefore quickly start manual driving.

[0077] As described above, the steering system 100 according to this embodiment includes a position detection unit 182 for detecting the position of the operating member 110. Even when the control unit 190 obtains a determination result indicating that the direction of the external force is different from the direction of movement of the operating member 110 while the operating member 110 is moving toward the normal position, the control unit 190 may not reduce the moving speed of the operating member 110 when it obtains a detection result from the position detection unit 182 indicating that the operating member 110 is within a predetermined range from the normal position. Therefore, the operating member 110 is effectively moved according to the driver's intention.

[0078] In the steering system 100 according to this embodiment, in addition to controlling the movement speed of the operating member 110 or, instead of controlling the movement speed of the operating member 110, other types of control can be performed to control the operation of the steering system 100 based on the determination result from the determination unit 181. (Refer to...) Figures 11 to 13 An example describing this operation. Figures 11 to 13 These are flowcharts illustrating the fifth to seventh examples of specific operation of the steering system 100 according to an embodiment.

[0079] like Figure 11 As shown, the control unit 190 operates the moving unit 170 according to a predetermined operation. Therefore, the moving unit 170 begins to move (push forward) the operating member 110 (S12). When the external force detection unit 180 detects an external force applied to the pushing operating member 110, the determining unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). When the determining unit 181 determines that the direction of the external force is the same as the direction of movement of the operating member 110 (yes in S20), the control unit 190 controls the first actuator 151 to begin synchronous control, which controls the rotation angle of the rotating shaft 112 to an angle corresponding to the steering angle of the steering wheel 210 (S40).

[0080] In the steering system 100 according to this embodiment, when the operating member 110 is stored in the storage area, the rotating mechanism unit 130 (see [link]) Figure 2 The control component 110 is also stored in the storage area. The control component 110 is folded to be parallel to, for example, the steering axis Aa. Therefore, when viewed from the direction of the steering axis Aa, the control component 110 and the structure stored in the storage area with the control component 110 have an asymmetrical shape (i.e., a non-circular shape) with respect to the steering axis Aa. Therefore, when the control component 110 is stored in the storage area, the rotational position of the control component 110 is restricted. Specifically, when the control component 110 is stored in the storage area, in manual driving mode, the control component 110 is operated to an initial rotational position where the steering wheel 210 is in a straight-forward state. For example, when the vehicle is traveling in autonomous driving mode and the operating mode is subsequently switched to manual driving mode, synchronization control needs to be performed to control the rotational position of the control component 110 to a rotational position corresponding to the steering angle of the steering wheel 210 when manual driving mode is started. Specifically, the control unit 190 controls the rotation angle of the rotation axis 112 that rotates the operating member 110, thereby controlling the rotation position of the operating member 110 to a rotation position corresponding to the current steering angle of the steering wheel 210.

[0081] For example, the synchronization control can be performed after the operating member 110 has completed its movement to the normal position. However, in this case, the driver needs to wait for the operating member 110 to complete its movement to the normal position and for the subsequent synchronization control to complete. In the steering system 100 according to this embodiment, when the direction of the external force is determined to be the same as the direction of movement of the operating member 110 while the operating member 110 is advancing to the normal position, synchronization control can be initiated in response to this determination result.

[0082] As described above, the steering system 100 according to this embodiment includes a first actuator 151 that applies a driving force to the rotation shaft 112 for rotating the rotation shaft 112, and a second actuator 250 that applies a driving force for steering to a steering wheel 210 which is not mechanically coupled to the rotation shaft 112, the steering wheel 210 being included in a vehicle (see [link to vehicle documentation]). Figure 8 When the operating member 110 is moving toward its normal position, if the control unit 190 obtains a determination that the direction of the external force is the same as the direction of movement of the operating member 110, the control unit 190 controls the operation of the steering system 100 by controlling the first actuator 151 to start synchronous control, which is used to control the rotation angle of the rotating shaft 112 to an angle corresponding to the steering angle of the steering wheel 210 driven by the second actuator 250.

[0083] Therefore, for example, if the driver wishes to start operating the operating member 110 as soon as possible and pulls the operating member 110 while it is moving toward the normal position, synchronization control begins in response to the pulling of the operating member 110. For example, synchronization control can thus be completed before the operating member 110 reaches the normal position. As a result, the driver can immediately begin manual driving using the operating member 110 without discomfort. In this case, the control unit 190 can also refer to the above... Figure 6 The control unit 190 increases the moving speed of the operating member 110 as described in (d). That is, when an external force pulling the operating member 110 toward the normal position is applied to the operating member 110 which is moving toward the normal position, the control unit 190 can increase the moving speed of the operating member 110 and simultaneously perform synchronous control of the rotational position of the operating member 110.

[0084] The first actuator 151 can apply a rotational driving force to fix the rotation angle of the rotating shaft 112 to a predetermined rotation angle. The first actuator 151 can therefore be used as a rotation fixing unit to fix the rotational position of the operating member 110. That is, the control unit 190 can fix and stop the rotation angle of the rotating shaft 112 by controlling the first actuator 151, which serves as the rotation fixing unit. (Refer to...) Figure 12 An example describing this operation.

[0085] like Figure 12As shown, the control unit 190 fixes the rotational position of the operating member 110 during the time period, for example, when the operating member 110 is stored in the storage area, to suppress interference between the operating member 110 and other members (S5). In this embodiment, for example, when the rotating shaft 112 attempts to rotate with the operating member 110 due to vibrations occurring during travel, the control unit 190 controls the first actuator 151 to apply a reaction force in the opposite direction to the rotating shaft 112. Therefore, rotation of the rotating shaft 112 is prevented, and as a result, the rotational position of the operating member 110 is fixed to a predetermined rotational position. In principle, even during the time period when the operating member 110 moves between the storage area and the normal position, the rotational position of the operating member 110 is fixed to the predetermined position. Subsequently, the control unit 190 starts to move (advance) the operating member 110 backward according to the predetermined operation or other operation movement unit 170 (S12). When the external force detection unit 180 detects an external force applied to the advancing operating member 110, the determination unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). When the determination unit 181 determines that the direction of the external force is the same as the direction of movement of the operating member 110 (yes in S20), the control unit 190 controls the first actuator 151 to stop and fix the rotational position of the operating member 110 (S41). The driver can then quickly operate the member 110 manually.

[0086] As described above, the steering system 100 according to this embodiment includes a first actuator 151 serving as a rotation fixing unit for fixing the rotational position of the operating member 110 to a predetermined rotational position. When the operating member 110 is moving toward the normal position, and the control unit 190 obtains a determination result indicating that the direction of the external force is the same as the direction of movement of the operating member 110, the control unit 190 controls the first actuator 151 to stop fixing the rotational position of the operating member 110.

[0087] Therefore, for example, if the driver wishes to begin operating the operating member 110 as soon as possible and pulls the operating member 110 while it is moving toward its normal position, the control unit 190 immediately stops fixing the rotational position of the operating member 110. For example, the driver can thus immediately begin manual driving using the operating member 110 as soon as he or she grasps it. In this case, the control unit 190 can also refer to the above... Figure 6The control unit 190 increases the moving speed of the operating member 110 as described in (d). That is, when an external force pulling the operating member 110 toward its normal position is applied to the operating member 110 which is moving toward its normal position, the control unit 190 can increase the moving speed of the operating member 110 and simultaneously stop and fix the rotational position of the operating member 110. In this case, the control unit 190 can also perform synchronization control. That is, when an external force pulling the operating member 110 toward its normal position is applied to the operating member 110 which is moving toward its normal position, the control unit 190 can perform synchronization control on the rotational position of the operating member 110 and simultaneously stop and fix the rotational position of the operating member 110. Alternatively, for example, the control unit 190 can increase the moving speed of the operating member 110, perform synchronization control on the operating member 110, and simultaneously stop and fix the rotational position of the operating member 110.

[0088] The first actuator 151 is not necessarily required to function as a rotation fixing unit. The steering system 100 may include, for example, a locking mechanism unit that, when controlled by the control unit 190, moves the member engaged with the rotation shaft 112 in the circumferential direction. In this case, the locking mechanism unit may function as a rotation fixing unit to fix and stop the rotation angle of the rotation shaft 112.

[0089] According to this embodiment, the steering system 100 can also control the input unit 187, which serves as a turning signal, horn, etc., based on a determination of whether the direction of the external force applied to the operating member 110 is the same as the direction of movement of the operating member 110. (Refer to...) Figure 13 An example describing this operation.

[0090] like Figure 13 As shown, to prevent malfunction or erroneous operation of the input unit 187, the control unit 190 disables the input unit 187, for example, a turn signal, when the vehicle is traveling in autonomous driving mode (S6). Therefore, even if the turn signal lever is operated while the vehicle is traveling in autonomous driving mode, the turn signal will not be activated according to the operation of the turn signal lever. When the operating mode is subsequently switched from autonomous driving mode to manual driving mode, the control unit 190 operates the movement unit 170 to begin moving (propelling) the operating member 110 backward (S12). When the external force detection unit 180 detects an external force applied to the propelling operating member 110, the determination unit 181 determines whether the direction of the external force is the same as the direction of movement of the operating member 110 (S20). When the determination unit 181 determines that the direction of the external force is the same as the direction of movement of the operating member 110 (yes in S20), the control unit 190 enables the disabled input unit 187 (S42). Therefore, the driver can quickly operate the input unit 187.

[0091] As described above, the steering system 100 according to the embodiment includes an input unit 187 that can accept and operate input from the driver. The control unit 190 can switch between a manual driving mode and an autonomous driving mode. In manual driving mode, the steering wheels 210 of the vehicle are steered based on the driver's operation of the operating member 110. In autonomous driving mode, the steering wheels 210 are steered based on commands generated independently of the driver's operation of the operating member 110. In autonomous driving mode, the control unit 190 disables the input unit 187 so that it cannot accept driver input. When the input unit 187 is disabled and the operating member 110 is moving toward its normal position, and the control unit 190 obtains a determination that the direction of the indicated external force is the same as the direction of movement of the operating member 110, the control unit 190 enables the disabled input unit 187.

[0092] Therefore, for example, if the driver wishes to begin operating the operating member 110 as soon as possible and pulls the operating member 110 while it is moving toward its normal position, the control unit 190 immediately activates the disabled input unit 187. For example, the driver can thus immediately begin operating the turn signal or sounding the horn when he or she grips the operating member 110. In this case, the control unit 190 can also refer to the above... Figure 6 As described in (d), the moving speed of the operating member 110 is increased. That is, when an external force is applied to the operating member 110, which is moving toward the normal position, the control unit 190 can increase the moving speed of the operating member 110 and activate the input unit 187.

[0093] If the operating member 110 is pulled during a period when it is being moved toward its normal position in autonomous driving mode, the steering system 100 can immediately activate the operating member 110. That is, the control unit 190 can switch between manual driving mode and autonomous driving mode. In manual driving mode, the steering wheels 210 of the vehicle are steered based on the driver's operation of the operating member 110. In autonomous driving mode, the steering wheels 210 are steered based on commands generated independently of the driver's operation of the operating member 110. In autonomous driving mode, the control unit 190 disables the operating member 110 so that it cannot accept driver operation. When the operating member 110 is disabled and is moving toward its normal position, and the control unit 190 obtains a determination that the direction of the indicated external force is the same as the direction of movement of the operating member 110, the control unit 190 activates the disabled operating member 110. That is, the vehicle is driven according to the driver's operation of the operating member 110, i.e., manual driving mode is initiated.

[0094] Therefore, for example, if the driver wishes to start operating the operating member 110 as soon as possible and pulls the operating member 110 while it is moving toward its normal position, the control unit 190 immediately activates the disabled operating member 110. For example, the driver can thus immediately begin using the operating member 110 to drive (manually drive) the vehicle while he or she is holding the operating member 110. In this case, the control unit 190 can also refer to the above... Figure 6 The control unit 190 can increase the moving speed of the operating member 110 as described in (d). That is, when an external force is applied to the operating member 110, which is moving toward the normal position, the control unit 190 can increase the moving speed of the operating member 110 and activate the operating member 110.

[0095] Other implementation methods

[0096] The steering system according to the present invention has been described above based on embodiments. However, the present invention is not limited to the above embodiments. Various modifications to the above embodiments that can be made by those skilled in the art without departing from the scope of the present invention, as well as any combination of two or more of the above components, are all within the scope of the present invention.

[0097] For example, the steering system 100 does not necessarily include a rotary mechanism unit 130. That is, the advance and retraction of the operating member 110 does not necessarily involve the rotation of the operating member 110 about a rotation axis Ab extending in the lateral direction of the vehicle. The operating member 110 can still be stored in a storage area, for example, in the dashboard located in front of the driver's seat. When the operating member 110 is stored in the storage area, a component supporting the operating member 110 and which is non-circular when viewed in the direction of the steering axis Aa can also be stored in the storage area. In this case, the rotational position of the operating member 110 is restricted when it is stored in the storage area. Therefore, the rotational position of the operating member 110 when it is advanced from the storage area may not correspond to the steering angle of the steering wheel 210 at that moment. Therefore, in the same case, synchronous control of the rotational position of the operating member 110 when it is advanced toward the normal position is useful for effectively controlling the operation of the steering system 100, as described above with reference to, for example Figure 11 As described.

[0098] The functions of the control unit 190 in controlling the steering mechanism unit 101, including the first actuator 151, and the steering operation mechanism unit 102, including the second actuator 250, can be implemented by different computers. That is, the control unit 190 according to this embodiment can be implemented by a first control unit controlling the steering mechanism unit 101, a second control unit controlling the steering operation mechanism unit 102, and a main control unit controlling the first and second control units. The first control unit may have the function of controlling the second control unit. In other words, the control unit 190 according to this embodiment can be implemented by both the first and second control units. The configuration and arrangement of the hardware and software used to control the steering system 100 are not particularly limited.

[0099] The mechanism for moving the operating member 110 in the longitudinal direction does not necessarily have to be a sliding mechanism. For example, the operating member 110 can be moved between a storage area and a normal position by folding and unfolding an arm with one or more joints, which integrally supports a mechanism unit including the operating member 110, etc.

[0100] Operating component 110 is not required to have such Figure 1 The ring shape shown. For example, the operating member 110 may have a missing ring shape. Figure 2 The upper end and / or part of its lower end are U-shaped or H-shaped. That is, the shape and size of the operating member 110 are not particularly limited, as long as the driver can hold the operating member 110 in manual driving mode in a manner that allows him or her to drive the vehicle.

[0101] This invention is useful as a steering system that increases the space in front of the driver and whose operation can be effectively controlled. Therefore, this invention can be applied to vehicles including wheels, continuous tracks, etc., such as buses, coaches, trucks, agricultural machinery, and construction equipment, which can be manually and autonomously driven.

Claims

1. A steering system configured to steer a vehicle, the steering system being characterized by comprising: A rotating shaft (112) is coupled to an operating member (110); A moving unit (170) is configured to move the operating member (110) between a normal position and a storage area located in front of the normal position, the normal position being the position where the driver operates the operating member (110); An external force detection unit (180) is configured to detect external forces applied to the operating member (110) from the outside as the operating member (110) is moving through the moving unit (170); The determining unit (181) is configured to determine whether the direction of the external force detected by the external force detection unit (180) is the same as the direction of movement of the operating member (110) that is moving through the moving unit (170); as well as A control unit (190) is configured to control the operation of the steering system based on a determination result from the determining unit (181) by increasing or decreasing the moving speed of the operating member (110) that moves via the moving unit (170). The external force detection unit (180) is configured to also detect an external force attribute value, which is the duration of the external force. The control unit (190) is configured to: when the control unit (190) changes the moving speed of the operating member (110) to control the operation of the steering system, it also acquires the external force attribute value detected by the external force detection unit (180) and controls the moving unit (170) to change the moving speed of the operating member (110) to a speed based on the external force attribute value. The control unit (190) is configured to include a range in which the longer the duration of the external force attribute value is, the greater the moving speed, and the moving speed is changed according to the external force attribute value within this range.

2. The steering system according to claim 1, characterized in that, The control unit (190) is configured to control the operation of the steering system by controlling the moving unit (170) to reduce the moving speed of the operating member (110) when the determination result from the determining unit (181) indicates that the direction of the external force is different from the moving direction of the operating member (110).

3. The steering system according to claim 1, characterized in that, The control unit (190) is configured to control the operation of the steering system by controlling the moving unit (170) to increase the moving speed of the operating member (110) when the determination result from the determining unit (181) indicates that the direction of the external force is the same as the moving direction of the operating member (110).

4. The steering system according to claim 1, characterized in that: The external force detection unit (180) is configured to also detect the external force attribute value as the magnitude of the external force.

5. The steering system according to claim 1, characterized in that... Also includes: A position detection unit (182) is configured to detect the position of the operating member (110), wherein the control unit (190) is configured to: when the control unit (190) has increased the moving speed of the operating member (110) based on the determination result while the operating member (110) is moving toward the storage area, and when the control unit (190) obtains from the position detection unit (182) a detection result indicating that the operating member (110) has reached a position at a predetermined distance from the vehicle component defining the storage area, reduce the moving speed of the operating member (110).

6. The steering system according to claim 1, characterized in that... Also includes: A position detection unit (182) is configured to detect the position of the operating member (110), wherein the control unit (190) is configured to: even if the control unit (190) obtains a determination result indicating that the direction of the external force is different from the direction of movement of the operating member (110) when the operating member (110) is moving toward the normal position, the control unit (190) does not reduce the moving speed of the operating member (110) when the control unit (190) obtains a detection result from the position detection unit (182) indicating that the operating member (110) is within a predetermined range from the normal position.

7. The steering system according to claim 1, characterized in that... Also includes: The first actuator (151) is configured to apply a driving force to the rotating shaft (112) for rotating the rotating shaft (112); as well as A second actuator (250) is configured to apply a steering driving force to a steering wheel (210) not mechanically coupled to the rotating shaft (112), the steering wheel (210) being included in the vehicle, wherein the control unit (190) is configured to: when the control unit (190) obtains a determination indicating that the direction of the external force is the same as the direction of movement of the operating member (110) as the operating member (110) is moving toward the normal position, control the operation of the steering system by controlling the first actuator (151) to initiate synchronous control, the synchronous control being a control that controls the rotation angle of the rotating shaft (112) to an angle corresponding to the steering angle of the steering wheel (210) driven by the second actuator (250).

8. The steering system according to claim 1, characterized in that... Also includes: A rotation fixing unit fixes the rotational position of the operating member (110) to a predetermined rotational position, wherein the control unit (190) is configured to stop fixing the rotational position of the operating member (110) by the rotation fixing unit when the control unit (190) obtains a determination result indicating that the direction of the external force is the same as the direction of movement of the operating member (110) while the operating member (110) is moving toward the normal position.

9. The steering system according to any one of claims 1 to 8, characterized in that... Also includes: Input unit (187), configured to accept input from the driver and operate according to the input, wherein: The control unit (190) is configured to switch between a manual driving mode and an autonomous driving mode. In the manual driving mode, the steering wheel (210) of the vehicle is driven based on the driver's operation of the operating member (110). In the autonomous driving mode, the steering wheel (210) is driven based on instructions generated independently of the driver's operation of the operating member (110). The control unit (190) is configured to disable the input unit (187) in the autonomous driving mode so that the input unit (187) cannot accept input from the driver; and The control unit (190) is configured to enable the previously disabled input unit (187) when the input unit (187) is disabled and the operating member (110) is moving toward the normal position, and the control unit (190) obtains a determination that the direction of the external force is the same as the direction of movement of the operating member (110).

10. The steering system according to any one of claims 1 to 8, characterized in that: The control unit (190) is configured to switch between a manual driving mode and an autonomous driving mode. In the manual driving mode, the steering wheel (210) of the vehicle is driven based on the driver's operation of the operating member (110). In the autonomous driving mode, the steering wheel (210) is driven based on instructions generated independently of the driver's operation of the operating member (110). The control unit (190) is configured to disable the operating component (110) in the autonomous driving mode so that the operating component (110) cannot accept the driver's operation; and The control unit (190) is configured to enable the disabled operating member (110) when the operating member (110) is in a disabled state and is moving toward the normal position, and the control unit (190) obtains a determination result indicating that the direction of the external force is the same as the direction of movement of the operating member (110).

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