Steering control apparatus and steering control method

Abstract

The invention relates to a steering control apparatus and a steering control method. A steering control device (1) is configured to control a steering device (2). The steering device (2) includes a steering shaft (22) and a steering motor (31). The steering shaft (22) is configured to steer a steered wheel (6) of the vehicle. The power transmission between the steering shaft (22) and the steering wheel (5) is separate. A steering control device (1) includes a processing device (1B). The processing device (1B) is configured to control driving of the steering motor (31) in accordance with a steering state of the steering wheel (5). The processing device (1B) is configured to execute a lock process on the basis of an instruction from the outside in a state in which the vehicle is equipped with the steering device (2). The lock process is a process of driving the steering motor (31) so that the position of the steering shaft (22) is maintained at a specific position.

Description

Technical Field

[0001] The present invention relates to a steering control device and a steering control method. Background Art

[0002] In the production process of the vehicle, there is a step of adjusting the wheel alignment. For example, Japanese Unexamined Patent Application Publication No. 2016-109464 describes the use of a wheel alignment adjustment device to adjust the wheel alignment of a vehicle. The wheel alignment adjustment device measures the posture, wheel alignment, and steering angle of the vehicle, and calculates the correction amount of the wheel alignment based on the measurement results. The wheel alignment is adjusted in consideration of the correction amount. Summary of the invention

[0003] In the case where the vehicle is equipped with an electric power steering device, the steering wheel is kept in a steering neutral position in the step of adjusting the wheel alignment. In the electric power steering device, the steering wheel and the steering shaft are coupled to enable power transmission, and therefore, the steering shaft is kept in a neutral position.

[0004] However, in the case where a vehicle is equipped with a steer-by-wire type steering device, the power transmission between the steering wheel and the steering shaft is separated. Therefore, even when the steering wheel is maintained in the steering neutral position, the steering shaft is not always maintained in the neutral position. Therefore, there is a concern that the wheel alignment cannot be properly adjusted.

[0005] Depending on the work content related to vehicle maintenance, the steering shaft may be required to be maintained at a specific steering position different from the neutral position. In this case, similar to the case of maintaining the steering shaft at the neutral position, there is a concern that the steering shaft is not maintained at the specific steering position and maintenance or adjustment of the vehicle cannot be properly performed.

[0006] The steering control device according to the first aspect of the present invention is configured to control a steering device, which includes: a steering shaft, which is configured to steer a steering wheel of a vehicle, and the power transmission between the steering shaft and the steering wheel is separated; and a steering motor, which is configured to generate a torque applied to the steering shaft. The steering control device includes a processing device. The processing device is configured to control the drive of the steering motor according to the steering state of the steering wheel. The processing device is configured to: in a state where the vehicle is equipped with the steering device, perform a locking process based on a command from the outside. The locking process is a process of driving the steering motor so that the position of the steering shaft is maintained at a specific position.

[0007] For example, when performing maintenance on a vehicle, it is sometimes necessary to keep the position of the steering shaft at a specific position. In the above configuration, a locking process is performed based on a command from the outside, and thereby the position of the steering shaft is kept at a specific position. Therefore, maintenance of the vehicle can be appropriately performed.

[0008] In the above-mentioned steering control apparatus, the locking process may be a process of driving the steering motor so that the position of the steering shaft is maintained at a specific position regardless of the steering state of the steering wheel.

[0009] In the above configuration, the position of the steering shaft is maintained at a specific position regardless of the steering operation state of the steering wheel according to an external command. Therefore, even if the steering wheel is accidentally operated during vehicle maintenance, the influence of the steering wheel operation on vehicle maintenance can be reduced.

[0010] In the above-mentioned steering control device, the specific position may be a neutral position of the steering shaft, and the neutral position corresponds to the straight-line movement state of the vehicle. In the above-mentioned configuration, the position of the steering shaft can be maintained at the neutral position. Therefore, it is possible to appropriately perform operations related to maintenance of the vehicle and requiring the straight-line mobility of the vehicle to be ensured.

[0011] In the above-mentioned steering control device, the specific position may be an end position as a limit position within the physically movable range of the steering shaft. Depending on the maintenance work content, the position of the steering shaft is required to be maintained at the end position. According to the above-mentioned configuration, it is possible to meet the requirements according to the maintenance work content.

[0012] In the above-mentioned steering control device, the processing device may be configured to perform a locking process when the vehicle stops. In the above-mentioned configuration, the locking process is performed in a state where the vehicle stops. Therefore, the position of the steering shaft can be maintained at a specific position while ensuring safety.

[0013] A steering control method according to a second aspect of the present invention is a method for controlling a steering device, the steering device comprising: a steering shaft configured to steer a steering wheel of a vehicle, the power transmission between the steering shaft and the steering wheel being separated; and a steering motor configured to generate a torque applied to the steering shaft. The steering control method comprises: in a state where the vehicle is equipped with the steering device, a locking process is performed by a processing device based on a command from the outside. The locking process is a process of driving the steering motor to keep the position of the steering shaft at a specific position regardless of the steering state of the steering wheel.

[0014] For example, when performing maintenance on a vehicle, it is sometimes necessary to keep the position of the steering shaft at a specific position. In the above method, a locking process is performed based on a command from the outside, and thereby the position of the steering shaft is kept at a specific position. Therefore, the maintenance of the vehicle can be properly performed.

[0015] With the steering control apparatus according to the first aspect of the invention and the steering control method according to the second aspect of the invention, maintenance of the vehicle can be appropriately performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0017] Figure 1 is a configuration diagram of a steering device equipped with an embodiment of a steering control device; and

[0018] Figure 2 is a block diagram showing a reaction force control apparatus and a steering control apparatus according to an embodiment. DETAILED DESCRIPTION

[0019] Embodiments of the steering control apparatus and the steering control method will be described below.

[0020] Overall configuration

[0021] like Figure 1 As shown, the control object of the steering control device 1 is a steer-by-wire type steering device 2. The steering device 2 includes a steering mechanism 3 and a steering mechanism 4. The steering mechanism 3 is an operating component that the driver performs steering operation through a steering wheel 5. The steering mechanism 4 is an operating component that steers the steering wheels 6 of the vehicle in response to the steering operation of the steering wheel 5. The steering control device 1 includes a reaction force control device 1A and a steering control device 1B. The control object of the reaction force control device 1A is the steering mechanism 3. The reaction force control device 1A performs reaction force control. The control object of the steering control device 1B is the steering mechanism 4. The steering control device 1B performs steering control.

[0022] The steering mechanism 3 includes a steering shaft 11, a reaction force motor 12, and a speed reducer 13. The steering wheel 5 is coupled to the steering shaft 11 in an integrally rotatable manner. The reaction force motor 12 is a source of a steering reaction force applied to the steering shaft 11. The steering reaction force is a force in a direction opposite to the steering direction of the steering wheel 5. For example, the reaction force motor 12 is a three-phase brushless motor. The speed reducer 13 decelerates the rotation of the reaction force motor 12 and transmits the decelerated rotation to the steering shaft 11.

[0023] The steering mechanism 4 includes a pinion shaft 21, a steering shaft 22 and a housing 23. The housing 23 supports the pinion shaft 21 in a rotatable manner. In addition, the housing 23 accommodates the steering shaft 22 in a reciprocating manner. The power transmission between the steering shaft 22 and the steering wheel 5 is separated. The pinion shaft 21 is arranged to cross the steering shaft 22. The pinion teeth 21a of the pinion shaft 21 are meshed with the rack teeth 22a of the steering shaft 22. The tie rod 25 is coupled to both ends of the steering shaft 22 through rack ends 24, 26 consisting of ball joints. The distal end of the tie rod 25 is coupled to a steering knuckle not shown attached to the steering wheel 6.

[0024] The steering mechanism 4 includes a steering motor 31, a transmission mechanism 32, and a conversion mechanism 33. The steering motor 31 is a source of the steering force applied to the steering shaft 22. The steering force is a force that turns the steering wheel 6. For example, the steering motor 31 is a three-phase brushless motor. For example, the transmission mechanism 32 is a belt drive mechanism. The transmission mechanism 32 transmits the rotation of the steering motor 31 to the conversion mechanism 33. For example, the conversion mechanism 33 is a ball screw mechanism. The conversion mechanism 33 converts the rotation transmitted by the transmission mechanism 32 into the movement of the steering shaft 22 along the axial direction of the steering shaft 22.

[0025] By moving the steering shaft 22 in the axial direction, the steering angle θ of the steering wheel 6 is w The pinion teeth 21a of the pinion shaft 21 mesh with the rack teeth 22a of the steering shaft 22, and thus rotate in conjunction with the movement of the steering shaft 22. The pinion shaft 21 is a shaft or a rotating body that rotates in conjunction with the steering operation of the steering wheel 6.

[0026] The reaction force control apparatus 1A controls the operation of the reaction force motor 12. The reaction force control apparatus 1A includes a processing circuit including one of the following three configurations A1, A2, A3.

[0027] A1. One or more processors operating according to a computer program as software. Each processor includes a central processing unit (CPU) and memory.

[0028] A2. One or more dedicated hardware circuits, such as application specific integrated circuits (ASICs), that perform at least some of the various processes. Each ASIC includes a CPU and a memory.

[0029] A3. A hardware circuit that combines configuration A1 and configuration A2.

[0030] The memory is a computer readable medium and stores a program in which a process or instruction for a computer is written. In an embodiment, the computer is a CPU. The memory includes a random access memory (RAM) and a read-only memory (ROM). The CPU performs various controls by executing a program stored in the memory in a predetermined calculation cycle.

[0031] The reaction force control device 1A acquires detection results of sensors provided in the vehicle, including a vehicle speed sensor 41 , a torque sensor 42 , and a rotation angle sensor 43 .

[0032] The vehicle speed sensor 41 detects the vehicle speed V. The vehicle speed V is a state variable reflecting the driving state of the vehicle. The torque sensor 42 is provided at the steering shaft 11. The torque sensor 42 is located on the steering wheel 5 side relative to the coupling portion of the speed reducer 13 on the steering shaft 11. The torque sensor 42 detects the steering torque Th applied to the steering shaft 11. The steering torque Th is calculated based on the twisting amount of the torsion bar 42a provided at the steering shaft 11. The rotation angle sensor 43 is provided at the reaction force motor 12. The rotation angle sensor 43 detects the rotation angle θ of the reaction force motor 12 a .

[0033] The reaction force control device 1A controls the operation of the reaction force motor 12 using the detection results of the vehicle speed sensor 41, the torque sensor 42, and the rotation angle sensor 43. The reaction force control device 1A controls the power supply to the reaction force motor 12 so that the reaction force motor 12 generates a steering reaction force according to the steering torque Th. The reaction force control device 1A is a processing device that controls the driving of the reaction force motor 12 according to the steering state of the steering wheel 5.

[0034] The steering control device 1B controls the operation of the steering motor 31. Similar to the reaction force control device 1A, the steering control device 1B includes a processing circuit having one of the above three configurations A1, A2, A3. The steering control device 1B obtains the detection result of the sensor equipped in the vehicle. The sensor includes a rotation angle sensor 44. The rotation angle sensor 44 is provided at the steering motor 31. The rotation angle sensor 44 detects the rotation angle θ of the steering motor 31. b .

[0035] The steering control device 1B controls the operation of the steering motor 31 using the detection result of the rotation angle sensor 44. The steering control device 1B controls the power supply to the steering motor 31 so that the steering wheel 6 is steered according to the steering manipulation state of the steering wheel 5. The steering control device 1B is a processing device that controls the driving of the steering motor 31 according to the steering manipulation state of the steering wheel 5.

[0036] The reaction force control device 1A and the steering control device 1B are connected to the vehicle network 45. Figure 1, the connection state between the reaction force control device 1A and the in-vehicle network 45 is not shown. For example, the in-vehicle network 45 is a controller area network (CAN). An external tool 46 can be connected to the in-vehicle network 45. The external tool 46, the reaction force control device 1A, and the steering control device 1B exchange information with each other through the in-vehicle network 45.

[0037] The external tool 46 is an external device and is, for example, a portable terminal carried by a worker who performs assembly of a vehicle or maintenance of the vehicle. The maintenance of the vehicle includes the maintenance of the steering device 2. In addition, the maintenance of the vehicle includes various evaluations, etc. The external tool 46 may be a notebook-sized personal computer. The personal computer includes a processing circuit having one of the above-mentioned three configurations A1, A2, and A3. In addition, the external tool 46 includes an input device, an output device, a storage device, and a communication device.

[0038] The input device includes a keyboard and a mouse, and is used to input a request or instruction from a worker. The output device includes a display device and a speaker, and outputs various information. The storage device is an auxiliary storage device such as a hard disk, and stores various programs and data required for maintenance of the vehicle. The communication device communicates via the in-vehicle network 45. In response to the request or instruction input through the input device, the CPU transfers various programs and data to the memory, executes various programs, and thereby performs processing required for maintenance of the vehicle.

[0039] For example, the external tool 46 sends an instruction to the steering control device 1B to execute or terminate the locking process. The locking process is a process for keeping the steering shaft 22 at a specific position. For example, the specific position is the neutral position of the steering shaft 22. The neutral position is the position of the steering shaft 22 corresponding to the straight-line movement state of the vehicle. For example, the external tool 46 sets the value of the steering hold flag FG through the operation of the operator. The value of the steering hold flag FG is a command to the steering control device 1B. When the locking process is started, the external tool 46 sets the value of the steering hold flag FG to "ON". When the locking process is terminated, the external tool 46 sets the value of the steering hold flag FG to "OFF".

[0040] Configuration of reaction force control device 1A

[0041] Next, the configuration of the reaction force control apparatus 1A will be described.

[0042] like Figure 2 As shown, the reaction force control apparatus 1A includes a steering angle calculation unit 51 , a reaction force torque command value calculation unit 52 , and an energization control unit 53 .

[0043] The steering angle calculation unit 51 calculates the steering angle based on the rotation angle θ of the reaction force motor 12 detected by the rotation angle sensor 43. a To calculate the steering angle θ of the steering wheel 5 s .

[0044] The reaction torque command value calculation unit 52 calculates the reaction torque command value T based on the steering torque Th and the vehicle speed V. * . Reaction force torque command value T * The steering reaction force is a torque that is opposite to the steering direction of the steering wheel 5. The greater the absolute value of the steering torque Th and the lower the vehicle speed V, the greater the reaction torque command value T. * The larger the absolute value of .

[0045] The energization control unit 53 generates a torque command value T according to the reaction torque command value T * The power supply control unit 53 supplies power to the reaction force motor 12. Specifically, the power supply control unit 53 supplies power to the reaction force motor 12 based on the reaction force torque command value T * The current command value of the reaction force motor 12 is calculated. The power supply control unit 53 detects the current I generated on the power supply path to the reaction force motor 12 through the current sensor 54 provided on the power supply path. a The current I a The value of is the value of the current supplied to the reaction force motor 12. The energization control unit 53 estimates the current command value and the current I a The power supply to the reaction force motor 12 is controlled so that the deviation is eliminated. Thus, the reaction force motor 12 is driven according to the reaction force torque command value T * Generates torque.

[0046] Configuration of Steering Control Device 1B

[0047] Next, the configuration of the steering control apparatus 1B will be described.

[0048] like Figure 2 As shown, the steering control apparatus 1B includes a pinion angle calculation unit 61 , a target pinion angle calculation unit 62 , a final target pinion angle calculation unit 63 , a pinion angle feedback control unit 64 , and an energization control unit 65 .

[0049] The pinion angle calculation unit 61 calculates the rotation angle θ of the steering motor 31 based on the rotation angle θ detected by the rotation angle sensor 44. b To calculate the pinion angle θ p . Pinion angle θ pis the rotation angle of the pinion shaft 21, and corresponds to the real angle which is the actual angle of the pinion shaft 21. The steering motor 31 and the pinion shaft 21 are interlocked through the transmission mechanism 32, the conversion mechanism 33, and the steering shaft 22. Therefore, at the rotation angle θ of the steering motor 31 b Angle θ with pinion p By using this correlation, the rotation angle θ of the steering motor 31 can be b To estimate the pinion angle θ p The pinion shaft 21 meshes with the steering shaft 22. Therefore, at the pinion angle θ p There is also a correlation between the amount of movement of the steering shaft 22. That is, the pinion angle θ p is the steering angle θ of the steering wheel 6 w The value of .

[0050] The target pinion angle calculation unit 62 calculates the steering angle θ calculated by the steering angle calculation unit 51 based on the steering angle θ. s To calculate the target pinion angle θ p1 * Target pinion angle θ p1 * is the pinion angle θ p The target pinion angle calculation unit 62 calculates the target pinion angle θ p1 * , so that the rudder angle ratio can be set according to product specifications, etc. The rudder angle ratio is the steering angle θ w and steering angle θ s Ratio.

[0051] For example, the target pinion angle calculation unit 62 sets the steering angle ratio according to the running state of the vehicle, such as the vehicle speed V, and calculates the target pinion angle θ according to the set steering angle ratio. p1 * The target pinion angle calculation unit 62 calculates the target pinion angle θ p1 * , so that the lower the speed, the steering angle θ w Relative to the steering angle θ s The target pinion angle calculation unit 62 calculates the target pinion angle θ p1 * , so that the higher the speed, the steering angle θ w Relative to the steering angle θ s In order to set the steering angle ratio according to the driving state of the vehicle, the target pinion angle calculation unit 62 calculates the steering control angle θ s The calculated correction angle is compared with the steering angle θ s Add together to calculate the target pinion angle θ according to the rudder angle ratio p1* .

[0052] According to product specifications, etc., the target pinion angle calculation unit 62 can calculate the target pinion angle θ p1 * , so that a "1:1" steering angle ratio is obtained regardless of the driving state of the vehicle.

[0053] The final target pinion angle calculation unit 63 obtains the target pinion angle θ calculated by the target pinion angle calculation unit 62. p1 * and the value of the steering hold flag FG set by the external tool 46. When the value of the steering hold flag FG is "OFF", the final target pinion angle calculation unit 63 calculates the final target pinion angle θ p2 * The target pinion angle θ calculated by the target pinion angle calculation unit 62 is set p1 * When the value of the steering hold flag FG is “ON”, the final target pinion angle calculation unit 63 calculates the final target pinion angle θ p2 * The value set to correspond to the specific position of the steering shaft 22 is the same as the target pinion angle θ calculated by the target pinion angle calculation unit 62. p1 * In the case where the specific position is the neutral position of the steering shaft 22, the final target pinion angle θ p2 * The value of is "0". The value corresponding to the specific position of the steering shaft 22 is stored in the memory.

[0054] When the value of the steering holding flag FG is not acquired from the external tool 46, the final target pinion angle calculation unit 63 calculates the final target pinion angle θ p2 * The target pinion angle θ calculated by the target pinion angle calculation unit 62 is set to p1 * The case where the value of the steering hold flag FG is not acquired from the external tool 46 is, for example, a case where the external tool 46 is not connected to the in-vehicle network 45 .

[0055] The pinion angle feedback control unit 64 obtains the final target pinion angle θ calculated by the final target pinion angle calculation unit 63. p2 * and the pinion angle θ calculated by the pinion angle calculation unit 61 p The pinion angle feedback control unit 64 uses the pinion angle θ p The steering torque command value T is calculated by feedback control p * , so that the pinion angle θp Follow the final target pinion angle θ p2 * . Steering torque command value T p * is a command value of the torque generated by the steering motor 31, and is a target value of the steering force.

[0056] The power supply control unit 65 is configured to control the steering torque command value T p * The power supply control unit 65 supplies power to the steering motor 31. Specifically, the power supply control unit 65 supplies power to the steering motor 31 based on the steering torque command value T p * The current command value of the steering motor 31 is calculated. The power supply control unit 65 detects the current I generated on the power supply path to the steering motor 31 through the current sensor 66 provided on the power supply path. b The current I b The value of is the value of the current supplied to the steering motor 31. The energization control unit 65 estimates the current command value and the current I b The power supply to the steering motor 31 is controlled so that the deviation is eliminated. p * Generates torque.

[0057] Locking process of the steering shaft 22

[0058] Next, the locking process of the steering shaft 22 will be described.

[0059] For example, when adjusting the wheel alignment at a vehicle manufacturer or a vehicle dealer, the locking process of the steering shaft 22 is performed. The adjustment of the wheel alignment is an operation related to the maintenance of the vehicle, and for example includes the operation of the operator adjusting the toe angle, the camber angle and the caster angle by operating the steering control mechanism 3 or the steering mechanism 4. The adjustment of the wheel alignment is performed in a state where the vehicle is equipped with the steering control device 2 and the power of the vehicle is turned on. That is, the adjustment of the wheel alignment is performed in a state where the reaction force control device 1A can perform reaction force control or the steering control device 1B can perform steering control. As for the propulsion force of the vehicle, the vehicle is in a stopped state.

[0060] When adjusting the wheel alignment, the external tool 46 is connected to the vehicle network 45. The external tool 46 requests the steering control device 1B to keep the steering shaft 22 at a specific position. That is, the external tool 46 sets the value of the steering holding flag FG to "on". The specific position is the neutral position of the steering shaft 22.

[0061] When the value of the steering hold flag FG is "ON", the steering control device 1B starts to execute the locking process. The steering control device 1B sets the final target pinion angle θ p2 * is set to a value corresponding to the specific position of the steering shaft 22. Since the specific position is the neutral position of the steering shaft 22, the steering control device 1B sets the final target pinion angle θ to p2 * is set to "0". The steering control device 1B calculates the final target pinion angle θ p2 * Based on the steering angle θ s Calculated target pinion angle θ p1 * and drives the steering motor 31 so that the calculated difference becomes "0".

[0062] That is, when the position of the steering shaft 22 is different from the neutral position, the steering control device 1B controls the steering motor 31 to return the position of the steering shaft 22 to the neutral position. Therefore, the position of the steering shaft 22 is maintained at the neutral position. Thus, the wheel alignment can be appropriately adjusted.

[0063] When it is not necessary to maintain the position of the steering shaft 22, for example, when the adjustment of the wheel alignment is completed, the external tool 46 requests the steering control device 1B to end the execution of the locking process. That is, the external tool 46 sets the value of the steering holding flag FG to "off". When the value of the steering holding flag FG is "off", the steering control device 1B ends the execution of the locking process.

[0064] Effects of implementation methods

[0065] This embodiment has the following effects.

[0066] (1) For example, when performing maintenance on a vehicle, it is sometimes necessary to keep the position of the steering shaft 22 at a specific position. In the embodiment, the steering control device 1B performs a locking process based on a command from the outside. Thus, the position of the steering shaft 22 is kept at a specific position. Therefore, maintenance of the vehicle can be appropriately performed. For example, the command from the outside is the value of the steering hold flag FG.

[0067] (2) In the case where the steering control apparatus 1B performs the locking process, the position of the steering shaft 22 is maintained at a certain position according to a command from the outside, and the target pinion angle θ calculated by the target pinion angle calculation unit 62 is p1 *And the steering state of the steering wheel 5 is irrelevant. Therefore, even if the steering wheel 5 is accidentally operated during vehicle maintenance, the influence of the steering wheel operation on vehicle maintenance can be reduced. This is particularly effective when the vehicle maintenance is performed for adjusting the steering mechanism 4, such as adjusting the wheel alignment.

[0068] (3) The steering control apparatus 1B receives a command from the external tool 46. The position of the steering shaft 22 can be maintained at a specific position simply by sending a command from the external tool 46. Therefore, maintenance of the vehicle can be easily performed.

[0069] (4) The specific position is the neutral position of the steering shaft 22 corresponding to the linear movement state of the vehicle. By performing the locking process, the position of the steering shaft 22 can be maintained at the neutral position. Therefore, it is possible to properly perform operations related to vehicle maintenance and requiring the linear mobility of the vehicle to be ensured. For example, the operations include adjustment operations for wheel alignment. Thus, by performing the locking process, it is possible to properly perform adjustment operations for wheel alignment. In addition, components such as the steering wheel 6 can be installed in a state where the linear mobility of the vehicle is ensured.

[0070] (5) The steering control device 1B performs the locking process when the vehicle is stopped. The locking process is performed in a state where the vehicle is stopped. Therefore, the position of the steering shaft 22 can be maintained at a specific position while ensuring safety.

[0071] Other Implementations

[0072] This embodiment can be implemented after making the following modifications.

[0073] The position of the steering shaft 22 can be maintained at a position other than the neutral position. Depending on the content of the maintenance work, the position of the steering shaft 22 is required to be maintained at a position other than the neutral position. For example, the position other than the neutral position includes the end position of the steering shaft 22. The end position is a limited position within the physically movable range of the steering shaft 22. Thus, it is possible to meet the requirements according to the content of the maintenance work.

[0074] The external tool 46 may not set the value of the steering hold flag FG, but may give the steering control device 1B an indication of the final target pinion angle θ corresponding to the hold position of the steering shaft 22. p2 * For example, when the position of the steering shaft 22 is maintained at the neutral position, the external tool 46 gives an instruction to the steering control device 1B to change the final target pinion angle θ to p2 * The value of is set to "0".

Claims

1. A steering control device (1) configured to control a steering device (2), the steering device (2) comprising: A steering shaft (22) configured to steer a steering wheel (6) of the vehicle, wherein power transmission between the steering shaft (22) and the steering wheel (5) is separated; as well as a steering motor (31) configured to generate a torque applied to the steering shaft (22), The steering control device is characterized by comprising a processing device (1B), wherein the processing device (1B) is configured to: Controlling the driving of the steering motor (31) according to the steering operation state of the steering wheel (5); as well as In a state where the vehicle is equipped with the steering device (2), a locking process is performed based on a command from the outside, the locking process being a process of driving the steering motor (31) so that the position of the steering shaft (22) is maintained at a specific position.

2. The steering control device (1) according to claim 1, characterized in that: The locking process is a process of driving the steering motor (31) regardless of the steering operation state of the steering wheel (5) so that the position of the steering shaft (22) is maintained at the specific position.

3. The steering control device (1) according to claim 1 or 2, characterized in that: The specific position is a neutral position of the steering shaft (22), and the neutral position corresponds to a linear movement state of the vehicle.

4. The steering control device (1) according to claim 1 or 2, characterized in that: The specific position is an end position that is a limit position within a physically movable range of the steering shaft (22).

5. The steering control device (1) according to claim 1 or 2, characterized in that: The processing device (1B) is configured to execute the locking process when the vehicle is stopped.

6. A steering control method for controlling a steering device (2), the steering device (2) comprising: A steering shaft (22) configured to steer a steering wheel (6) of the vehicle, wherein power transmission between the steering shaft (22) and the steering wheel (5) is separated; as well as a steering motor (31) configured to generate a torque applied to the steering shaft (22), The steering control method is characterized in that it includes: when the vehicle is equipped with the steering control device (2), the processing device (1B) performs a locking process based on an instruction from the outside, and the locking process is a process of driving the steering motor (31) regardless of the steering control state of the steering wheel (5) so that the position of the steering shaft (22) is maintained at a specific position.

Images