Steering device

Abstract

A steering device (50) is provided with: a steering handle having a hub section, a grip section having a pair of left and right vertical sections extending in a substantially vertical direction on the left and right sides of the hub section, and a horizontal section extending in a substantially horizontal direction below the hub section and connecting the pair of left and right vertical sections, and a spoke section extending in a substantially vertical direction on the left and right sides of the hub section; the spoke part is connected with the pair of left and right vertical parts and the hub part; a steering angle detection unit (13) for detecting the steering angle of the steering handle; a sensor unit (14) for detecting contact or approaching of a human body with respect to the gripping part; a setting unit (111) that sets a gripping detection range along the gripping unit; and a determination unit (112) that determines, on the basis of the detection value of the sensor unit (14), whether or not gripping is detected within the gripping detection range set by the setting unit (111). The setting unit (111) sets the gripping detection range on the basis of the steering angle detected by the steering angle detection unit (13).

Description

Technical Field

[0001] The present invention relates to a steering device having a function of detecting an occupant's grip on a steering handle. Background Art

[0002] In recent years, it has been desired that a steering device contributes to improving traffic safety and promoting the sustainable development of a transportation system. In this regard, a device that detects a gripping position based on a signal from a touch sensor has been conventionally known, in which the touch sensor is disposed on a special-shaped handle having a substantially quadrangular ring-shaped steering portion in a front view, the width dimension in the left-right direction of which is larger than the width dimension in the up-down direction (see Patent Document 1). In the device described in Patent Document 1, gripping portions are provided on both the left and right sides of the handle.

[0003] However, in the steering device described in Patent Document 1, when the operating handle rotates around the steering center axis, it is possible that the driver steers while gripping an area other than the gripping portion, such as the upper and lower portions of the steering portion.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-028505 (JP2022-028505A). Summary of the Invention

[0007] A steering device according to one aspect of the present invention includes: a steering handle having a hub portion, a gripping portion, and a spoke portion, the gripping portion having a left and a right pair of vertical portions extending substantially in the up-down direction on the left and right sides of the hub portion and a horizontal portion extending substantially in the left-right direction below the hub portion and connecting the left and right pair of vertical portions, the spoke portion connecting the left and right pair of vertical portions and the hub portion; a steering angle detection unit that detects a steering angle of the steering handle; a sensor unit that detects contact or approach of a human body with respect to the gripping portion; a setting unit that sets a gripping detection range along the gripping portion; and a determination unit that determines whether a grip is detected in the gripping detection range set by the setting unit based on a detection value of the sensor unit. The setting unit sets the gripping detection range based on the steering angle detected by the steering angle detection unit.

[0008] Another technical solution of the steering device of the present invention includes: a steering handle having a hub portion, a grip portion, and a spoke portion. The grip portion has a left and a right pair of vertical portions extending in a substantially vertical direction on the left and right sides of the hub portion, and a horizontal portion extending in a substantially horizontal direction below the hub portion and connecting the left and right pair of vertical portions. The spoke portion connects the grip portion and the hub portion; a steering angle detection unit that detects the steering angle of the steering handle; a sensor unit that detects the contact or approach of a human body relative to the grip portion; and a determination unit that compares the detection value of the sensor unit with a first specified threshold value and determines whether the grip portion is being held based on the comparison result. The end of the grip portion is provided to protrude upward from the spoke portion. When the steering angle detected by the steering angle detection unit is equal to or greater than a specified value and the position where the human body is detected to be in contact with or approaching by the sensor unit is included in the end portion, the determination unit compares the detection value of the sensor unit with a second specified threshold value different from the first specified threshold value and determines whether the grip portion is being held based on the comparison result. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The object, features, and advantages of the present invention will be further clarified by the following description of the embodiments in relation to the drawings.

[0010] Figure 1 is a front view of the steering handle of the steering device according to the embodiment of the present invention;

[0011] Figure 2A is a diagram showing the situation where the steering handle 2 is operated by the driver;

[0012] Figure 2B is a diagram showing the situation where the steering handle 2 is operated by the driver;

[0013] Figure 3 is a block diagram showing the main part configuration of the steering device according to the embodiment of the present invention;

[0014] Figure 4A is a diagram showing an example of the grip detection range set by the setting unit;

[0015] Figure 4B is a diagram showing another example of the grip detection range set by the setting unit;

[0016] Figure 5 is a diagram showing an example of the structure of a driving assistance system including the steering device according to the embodiment of the present invention;

[0017] Figure 6 is a diagram showing the Figure 3 flowchart of an example of the process executed by the CPU of the controller. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 This is a front view of a steering handle of a steering device to which an embodiment of the present invention is applied. The steering device to which an embodiment of the present invention is applied can be applied to a manually driven vehicle equipped with a driving assistance system such as an ADAS (Advanced driver-assistance system). It should be noted that a vehicle to which a steering device of this embodiment is applied is sometimes referred to as the present vehicle, in distinction from other vehicles. Figure 1 The steering handle 2 is operated by the driver on the driver's seat of the vehicle. When viewed from the front (from the driver), a steering shaft 3 that supports the steering handle 2 is connected to the back side of the steering handle 2.

[0019] Steering handle 2 Figure 1 The handle is a special-shaped handle, which includes a hub 21, a rim (grip) 22, and a spoke 23 connecting the hub 21 and the rim 22. The rim 22 includes a pair of left and right rims (vertical portions) 22L and 22R extending substantially in the vertical direction to the left and right of the hub 21, and a horizontal portion 22H extending substantially in the horizontal direction below the hub 21 and connecting the rims (vertical portions) 22L and 22R. The spoke 23 includes horizontal portions 23L and 23R connecting the hub 21 and the rims (vertical portions) 22L and 22R, and a vertical portion 23V connecting the hub 21 and the horizontal portion 22H. The rim (vertical portion) 22L is provided so that its end 25L protrudes upward from the connection portion 26L between the spoke (horizontal portion) 23L and the rim (vertical portion) 22L. Similarly, the rim (vertical portion) 22R is provided so that its end 25R protrudes upward from the connection 26R between the spoke (horizontal portion) 23R and the rim (vertical portion) 22R. Hereinafter, the end 25L, 25R are also referred to as protruding portions.

[0020] Electrodes 24L1 and 24L2 having conductivity and being formed in a plate shape are built in the spoke portion (horizontal portion) 23L. The electrodes 24L1 and 24L2 are provided in a recommended gripping area for the left hand (described later) determined with respect to the rim portion 22 in the steering handle 2. Figure 4A More specifically, the electrode 24L1 is provided along the upper and radially outer side wall surface of the spoke (horizontal portion) 23L. In addition, the electrode 24L2 is provided below the spoke (horizontal portion) 23L and at the lower left portion of the hub portion 21, along the surface facing the rim portion 22.

[0021] Similarly, the spoke portion (horizontal portion) 23R has conductive plate-shaped electrodes 24R1 and 24R2 built therein. The electrodes 24R1 and 24R2 are provided in the steering handle 2 in a recommended gripping area for the right hand (described later) relative to the rim portion 22.Figure 4A near the area AR1R). More specifically, the electrode 24R1 is disposed along the upper and radially outer side wall surfaces of the spoke portion (horizontal portion) 23R. In addition, the electrode 24R2 is disposed along the surface facing the rim portion 22 at the lower part of the spoke portion (horizontal portion) 23R and the lower right side portion of the hub portion 21.

[0022] The electrodes 24 (24L1, 24L2, 24R1, 24R2) are respectively connected to the sensor units 14L1, 14L2, 14R1, and 14R2 of the sensor unit (hereinafter also referred to as the grip sensor) 14 described later via signal lines not shown. Figure 3

[0023] In addition, a driving assistance system such as ADAS further includes: a lane keeping function (LKAS: Lane Keep Assistant System) that controls an actuator for driving (more specifically, a steering actuator for driving a steering device) and performs steering assistance to make the vehicle travel near the center of the lane. When the lane keeping function is activated, the driver is sometimes obliged to grip the steering wheel 2 so that the steering wheel 2 can be immediately and accurately operated in an emergency. In this case, the driving assistance system monitors whether the driver fulfills the gripping obligation and continues to provide driving assistance (steering assistance) during the period when the driver fulfills the gripping obligation. On the other hand, when it is determined that the driver does not fulfill the gripping obligation, the driving assistance system issues a warning to the driver through a display, a speaker, etc. provided in the vehicle. Or temporarily restrict driving assistance (steering assistance).

[0024] Figure 2A Figure 2B and Figure 2A is a diagram showing a case where the driver operates the steering wheel 2. As Figure 2B shown, when the driver grips the steering wheel 2 with both hands (left hand HL and right hand HR), the driver is in a state where the steering wheel 2 can be immediately and accurately operated. Therefore, the driving assistance system determines that the gripping obligation is fulfilled and continues to provide driving assistance. On the other hand, in a special-shaped steering wheel such as the steering wheel 2 having ends 25L and 25R, as Figure 2B shown, it is possible to hook a thumb or the like of one hand ( Figure 2B is the right hand HR in the figure) on the end 25R or the end 25L for steering operation, so there is a case where the driver operates the steering wheel with one hand. However, when the lane keeping function is activated, in the shown gripping state, it is difficult for the driver to immediately and accurately operate the steering wheel 2, so the safety during driving assistance may be impaired. Therefore, to solve such a problem, in the present embodiment, the steering device is configured as follows.

[0025] Figure 3 ​is a block diagram showing the main component configuration of the steering device according to the present embodiment. As Figure 3 shown, the steering device 50 includes a controller 10, a steering angle sensor 13, a grip sensor 14, and a communication unit 15. The communication unit 15 connects the steering device 50 to a communication network (network) such as a CAN (Controller Area Network). The steering device 50 can communicate with an in-vehicle device (not shown) via the communication unit 15 through CAN communication or the like. It should be noted that the steering device 50 can also communicate with an in-vehicle device and an out-vehicle device (not shown) via a wireless communication network.

[0026] The steering angle sensor 13 detects the steering angle corresponding to the driver's steering operation. The steering angle is centered on the steering shaft 3 and is represented by a clockwise angle with respect to the center position in the left-right direction of the upper end portion of the wheel hub portion 21 as viewed from the driver. In addition, the neutral position (0 [deg]) of the steering handle 2 is a position where the steering handle 2 is not operated in either the clockwise or counterclockwise rotation direction and the steering wheel (front wheel, rear wheel, or front and rear wheels) of the vehicle is not steered in either the left or right direction.

[0027] The grip sensor 14 includes sensor units 14L1, 14L2, 14R1, and 14R2, and the sensor units 14L1, 14L2, 14R1, and 14R2 are respectively connected to Figure 1 the electrodes 24L1, 24L2, 24R1, and 24R2 via signal lines (not shown). The sensor units 14L1, 14L2, 14R1, and 14R2 respectively detect the electrical characteristics (for example, the capacitance between the electrode and the ground (for example, the vehicle body)) of the electrodes 24L1, 24L2, 24R1, and 24R2.

[0028] The controller 10 includes an arithmetic unit 11 such as a CPU (microprocessor) and a storage unit 12. The arithmetic unit 11 has a setting unit 111, a determination unit 112, and an output unit 113 as functional structures. The storage unit 12 stores various control programs, information such as thresholds used in the programs, and the like.

[0029] The setting unit 111 sets a grip detection range along the rim portion 22. Figure 4A is a diagram showing an example of the grip detection range set by the setting unit 111. The grip detection range is a range for detecting the driver's grip on the steering handle 2, and is set to correspond to a recommended grip area AR1L for the driver's left hand and a recommended grip area AR1R for the driver's right hand that are predefined on the rim portion 22. Specifically, the area obtained by combining the recommended grip area AR1L and the recommended grip area AR1R is set as the grip detection range.

[0030] In addition, the setting unit 111 changes the grip detection range based on the steering angle detected by the steering angle sensor 13. Specifically, when the steering angle detected by the steering angle sensor 13 reaches a specified value Th [deg] or more, the setting unit 111 re-sets the grip detection range to exclude the end portions 25L and 25R from the grip detection range. Figure 4B FIG. is a diagram showing another example of the grip detection range set by the setting unit 111. Figure 4B The shown regions AR2L and AR2R are regions obtained by excluding the regions corresponding to the end portions 25L and 25R from Figure 4A the recommended grip regions AR1L and AR1R. Thus, when the steering angle detected by the steering angle sensor 13 reaches the specified value Th or more, the setting unit 111 changes the grip detection range from the recommended grip regions AR1L and AR1R to Figure 4B the regions AR2L and AR2R.

[0031] The determination unit 112 determines whether the driver is gripping the steering handle 2 based on the detection result of the grip sensor 14. Specifically, the determination unit 112 detects the contact or approach (approach movement within a specified distance) of the human body with respect to the electrode 24 based on the detection value (capacitance) of the grip sensor 14. More specifically, when the detection value (capacitance) of the grip sensor 14 is equal to or more than the approach determination threshold value, it is determined as an approach, and when the detection value of the grip sensor 14 is equal to or more than the contact determination threshold value that is larger than the approach determination threshold value, it is determined as a contact. Further, when it is determined that the driver is gripping the steering handle 2, the determination unit 112 detects the grip position based on the detection result of the grip sensor 14 and determines whether the grip position is included in the grip detection range.

[0032] The output unit 113 determines the grip state based on the determination result of the determination unit 112 and outputs information indicating the grip state (hereinafter referred to as grip state information) to an output device mounted on the vehicle. The output device is a general term for devices that output information to the driver. The output device includes a display that provides information to the driver by displaying an image, a speaker that provides information to the driver by voice, and the like.

[0033] When the determination unit 112 determines that the steering handle 2 is being held and the holding position is included in the holding detection range, the output unit 113 outputs the holding state information indicating "normal" as the holding state. On the other hand, when the determination unit 112 determines that the steering handle 2 is being held but the holding position is not included in the holding detection range, the output unit 113 outputs the holding state information indicating "not held" as the holding state. In addition, when the determination unit 112 determines that the steering handle 2 is not being held, the output unit 113 outputs the holding state information indicating "not held" as the holding state. It should be noted that when the output unit 113 outputs the holding state information indicating "not held", a warning information urging the driver to hold the steering handle 2 may also be included in the holding state information. In addition to the display information and sound information output to a display, a speaker, etc., the warning information also includes a signal for lighting or flashing a warning lamp provided on the steering handle 2 or around the steering handle 2 (instrument panel, etc.). In addition, the output unit 113 may output the holding state information to an in-vehicle device or an out-vehicle device via the communication unit 15.

[0034] Figure 5 FIG. is an example showing the structure of the driving assistance system 1 including the steering device 50 of the present embodiment. As Figure 5 shown, the driving assistance system 1 includes a steering device 50 and a driving assistance device 70 as one of the in-vehicle devices. The steering device 50 is communicably connected to the driving assistance device 70 via the CAN bus 60.

[0035] The driving assistance device 70 is composed of an electronic control unit (ECU). The driving assistance device 70 includes an arithmetic unit 71 such as a CPU (microprocessor) and a storage unit 72. The arithmetic unit 71 has a travel control unit 711 as a functional structure. The storage unit 72 stores various control programs and information such as thresholds used in the programs. The travel control unit 711 controls a travel actuator (not shown) based on information (camera image, etc.) obtained from in-vehicle sensors. The travel actuator includes a throttle actuator for adjusting the throttle opening (throttle valve opening) of the engine, a brake actuator for operating the braking device of the vehicle, a steering actuator for driving the steering device, etc.

[0036] The driving assistance device 70 has various driving assistance functions such as LKAS and ACC (Adaptive Cruise Control). When LKAS is activated, the driving control unit 711 identifies the road markings defining the lane based on the information obtained from in-vehicle sensors, and controls the steering actuator to make the vehicle travel near the center of the lane. At this time, the driving control unit 711 acquires the grip state information output from the output unit 113 of the steering device 50 via the CAN bus 60, and identifies the grip state of the steering wheel 2 based on the grip state information. When it is recognized that the driver is not gripping the steering wheel 2, the driving control unit 711 pauses the driving assistance (steering assistance) of LKAS. When the non-grip state of the driver continues for a specified time, the driving control unit 711 cancels the steering assistance. When it is recognized that the driver grips the steering wheel 2 before the non-grip state of the driver continues for the specified time, the paused steering assistance is resumed. In this way, the grip state information output from the steering device 50 is used for control such as pausing, restarting, and canceling the driving assistance function in the driving assistance device 70.

[0037] Figure 6 is a flowchart showing an example of processing executed by the CPU of the controller 10 according to a predetermined program. The processing shown in this flowchart is executed at a specified cycle, for example, during the travel of the vehicle. It should be noted that when the vehicle starts to travel, Figure 3 the recommended grip areas AR1L and AR1R are set as the grip detection range. Figure 4A

[0038] Figure 4B First, in step S11, the controller 10 determines whether the sensor value (steering angle) of the steering angle sensor 13 is equal to or greater than a specified value. When step S11 is affirmative (S11: Yes), in step S12, the controller 10 changes the grip detection range to Figure 4BRegions, namely regions AR2L and AR2R obtained by excluding regions corresponding to ends 25L and 25R from recommended gripping regions AR1L and AR1R. When step S11 is negative (S11: No), the controller 10 does not change the gripping detection range (i.e., sets the gripping detection range to recommended gripping regions AR1L and AR1R), and proceeds to step S13. In step S13, the controller 10 determines whether the driver's gripping of the rim portion 22 is detected based on the detection result of the gripping sensor 14. When step S13 is negative (S13: No), the controller 10 determines that the steering handle 2 is not being gripped, and generates gripping state information indicating "not gripped" in step S15. When step S13 is positive (S13: Yes), in step S14, the controller 10 further detects the gripping position based on the detection result of the gripping sensor 14, and determines whether the detected gripping position is included in the gripping detection range. When step S14 is positive (S14: Yes), the controller 10 determines that the steering handle 2 is correctly gripped by the driver, and generates gripping state information indicating "normal" in step S16. On the other hand, when step S14 is negative (S14: No), the controller 10 determines that the driver is not correctly gripping the steering handle 2, and proceeds to step S15. In step S17, the controller 10 outputs the gripping state information generated in step S15 or step S16, and ends the process.

[0039] Through the above processing, when the steering angle reaches a specified value or more during the running of the vehicle, Figure 4B Regions AR2L and AR2R are set as the gripping detection range until the steering angle is less than the specified value. When the steering angle is less than the specified value, Figure 4A Recommended gripping regions AR1L and AR1R are set as the gripping detection range. In this way, the controller 10 changes the gripping detection range according to Figure 6 The flow as described above, according to the steering angle of the steering handle 2.

[0040] By adopting the embodiment described above, the following operational effects can be obtained.

[0041] (1) The steering device 50 includes: a steering handle 2 having a hub portion 21, a rim portion (grip portion) 22, and spoke portions 23L and 23R. The rim portion (grip portion) 22 has a left and right pair of vertical portions 22L and 22R extending substantially in the vertical direction to the left and right of the hub portion 21, and a horizontal portion 22H extending substantially in the left and right direction below the hub portion 21 and connecting the left and right pair of vertical portions 22L and 22R. The spoke portions 23L and 23R connect the left and right pair of vertical portions 22L to the hub portion 21; a steering angle sensor 13 for detecting the steering angle of the steering handle 2; a sensor unit 14 for detecting contact or approach of a human body relative to the rim portion 22; a setting unit 111 for setting a grip detection range along the rim portion 22; and a determination unit 112 for determining whether a grip is detected within the grip detection range set by the setting unit 111 based on the detection value of the sensor unit 14. The setting unit 111 sets the grip detection range according to the steering angle detected by the steering angle sensor 13. The end portions 25L and 25R of the rim portion 22 are provided to protrude upward from the spoke portions 23L and 23R. The setting unit 111 preliminarily sets recommended grip regions AR1L and AR1R including the end portions 25L and 25R as the grip detection range, and when the steering angle detected by the steering angle sensor 13 reaches a specified value or more, changes the grip detection range to regions AR2L and AR2R obtained by removing the end portions 25L and 25R from the recommended grip regions AR1L and AR1R. The specified value is, for example, the steering angle detected by the steering angle sensor 13 when the steering handle 2 is steered 30 degrees ([deg]) in the clockwise and counterclockwise directions from the neutral position. Thus, Figure 2B the grip determination at the inappropriate grip position shown is determined as a non-grip state, and the accuracy of the grip determination for the special-shaped handle can be further improved.

[0042] (2) The steering device 50 further includes an output unit 113 that outputs information including the determination result of the determination unit 112 to an external device (an output device (display, speaker, etc.), a driving assistance device 70). Thus, the driver can recognize the result of the grip determination. In addition, the result of the grip determination can be used for driving assistance functions such as LKAS. As a result, the safety during the operation of the special-shaped handle can be improved.

[0043] The above-described embodiments can be modified in various ways. Hereinafter, modification examples will be described. In the above-described embodiment, the sensor unit 14 is set to detect contact or approach of a human body with respect to the rim portion 22. However, the sensor unit may also detect the gripping force on the rim portion 22. In this case, a pressure-sensitive sensor is built in the rim portion 22, and the sensor unit detects the gripping force on the steering handle 2 based on the sensor value obtained from the pressure-sensitive sensor via a signal line (not shown). It should be noted that a sensor other than the pressure-sensitive sensor may be used to detect the gripping force on the steering handle 2. When the detection value of the sensor unit is equal to or greater than a specified threshold value, the setting unit 111 sets the gripping detection range to the recommended gripping regions AR1L and AR1R even if the steering angle detected by the steering angle sensor 13 is equal to or greater than a specified value. Thereby, it is possible to prevent the driver from being unnecessarily determined as non-gripping when tightly gripping the ends 25L and 25R to perform a steering operation.

[0044] In addition, in the above-described embodiment, the determination unit 112 determines whether gripping is detected within the gripping detection range based on the detection value of the sensor unit 14, and the output unit 113 outputs the gripping state information including the determination result of the determination unit 112 to an external device. However, the determination unit may determine whether gripping of the left hand is detected within the gripping detection range corresponding to the left hand (the recommended gripping region AR1L or the region AR2L), and the determination unit may determine whether gripping of the right hand is detected within the gripping detection range corresponding to the right hand (the recommended gripping region AR1R or the region AR2R). The output unit may output the gripping state information based on the determination result corresponding to the left hand (hereinafter referred to as the first determination result) and the determination result corresponding to the right hand (hereinafter referred to as the second determination result) to an external device. For example, when it is determined based on the first determination result and the second determination result that the steering handle 2 is gripped with both hands, the output unit may output the gripping state information indicating "normal" as the gripping state. On the other hand, when it is determined that the steering handle 2 is gripped with either hand, the output unit may output the gripping state information indicating "non-gripping" as the gripping state. At this time, a warning message urging the driver to grip with both hands may also be included in the gripping state information.

[0045] In addition, in the above-described embodiment, when the steering angle detected by the steering angle sensor 13 serving as the steering angle detection unit reaches a specified value or more, the setting unit 111 changes the grip detection range from the recommended grip regions AR1L and AR1R, which are the first regions, to the regions AR2L and AR2R, which are the second regions, thereby removing the end portions 25L and 25R from the grip detection range. However, the method of removing the end portions 25L and 25R from the grip detection range when the steering angle is a specified value or more is not limited to this. For example, when the steering angle is a specified value or more, the grip determination threshold values may be different between the portions other than the end portions 25L and 25R of the rim portion 22 and the end portions 25L and 25R. Specifically, the determination unit 112 compares the detection value of the sensor unit 14L with a first specified threshold value, and determines whether the rim portion 22 is gripped based on the comparison result. On the other hand, when the steering angle is a specified value or more and the position where the contact or approach of a human body detected by the sensor unit 14 is included in the end portions 25L and 25R, the detection value of the sensor unit 14 is compared with a second specified threshold value different from the first specified threshold value, and it is determined whether the rim portion 22 is gripped based on the comparison result. More specifically, when the detection value of the sensor unit 14 is equal to or more than the first specified threshold value, the determination unit 112 determines that the rim portion 22 is gripped. On the other hand, when the steering angle is a specified value or more and the position where the contact or approach of a human body detected by the sensor unit 14 is included in the end portions 25L and 25R, when the detection value of the sensor unit 14 is equal to or more than a second specified threshold value larger than the first specified threshold value, it is determined that the rim portion 22 is gripped.

[0046] In addition, in the above-described embodiment, the case where the controller 10 executes Figure 6 the process during the travel of the present vehicle is taken as an example. However, the controller 10 may also start Figure 6 the process when receiving a notification indicating activation of a driving assistance function such as LKAS from the driving assistance device 70. In addition, the controller 10 may not execute Figure 6 the process when the travel speed of the present vehicle is equal to or less than a specified speed. Further, when a driving assistance function such as an automatic parking function (parking assistance system) that does not require the driver to grip the steering handle 2 is activated, Figure 6 the process may not be executed either.

[0047] In addition, in the above-described embodiment, the steering device 50 is applied to a manually driven vehicle equipped with ADAS, but the steering device 50 can also be applied to an autonomous driving vehicle.

[0048] The above description is ultimately an example, and the present invention is not limited by the above-described embodiment and the modification examples as long as the features of the present invention are not impaired. One or more of the above-described embodiment and the modification examples can be arbitrarily combined, and the modification examples can also be combined with each other.

[0049] By adopting the present invention, it is possible to well determine the gripping of the special-shaped handle.

[0050] The present invention has been described above in conjunction with the preferred embodiments, but those skilled in the art should understand that various modifications and changes can be made without departing from the scope of disclosure of the claims.

Claims

1. A steering device, characterized in that, Comprising: A steering handle (2) having a hub portion (21), a grip portion (22), and spoke portions (23L, 23R), wherein the grip portion (22) has a left and a right pair of vertical portions (22L, 22R) extending in a substantially vertical direction to the left and right of the hub portion (21), and a horizontal portion extending in a substantially left - right direction below the hub portion (21) and connecting the left and right pair of vertical portions (22L), and the spoke portions (23L, 23R) connect the left and right pair of vertical portions and the hub portion (21); A steering angle detection unit (13) for detecting the steering angle of the steering handle; A sensor unit (14) for detecting contact or approach of a human body with respect to the grip portion (22); A setting unit (111) for setting a grip detection range along the grip portion (22); A determination unit (112) for determining whether a grip is detected within the grip detection range set by the setting unit (111) based on the detection value of the sensor unit (14); The setting unit (112) sets the grip detection range according to the steering angle detected by the steering angle detection unit (13).

2. The steering device according to claim 1, characterized in that The end portion of the grip portion (22) is provided to protrude upward from the spoke portions (23L, 23R), The setting unit (111) preliminarily sets a first area including the end portion as the grip detection range, and when the steering angle detected by the steering angle detection unit (13) reaches a specified value or more, changes the grip detection range to a second area obtained by removing the end portion from the first area.

3. The steering device according to claim 2, characterized in that The specified value is the steering angle detected by the steering angle detection unit (13) when the steering handle (2) is steered 30 degrees in a clockwise or counter - clockwise direction from the neutral position.

4. The steering device according to claim 1, characterized in that It further comprises an output unit (113) for outputting information including the determination result of the determination unit (112) to an external device.

5. The steering device according to claim 4, characterized in that The determination unit (112) determines whether a left - hand grip is detected within the grip detection range corresponding to the left hand, and determines whether a right - hand grip is detected within the grip detection range corresponding to the right hand, The output unit (113) outputs grip state information indicating the grip state based on a first determination result corresponding to the left hand and a second determination result corresponding to the right hand to the external device.

6. The steering device according to claim 5, characterized in that When it is determined based on the first determination result and the second determination result that the steering handle (2) is held by both hands, the output unit (113) outputs the holding state information indicating that the steering handle is normally held. On the other hand, when it is determined based on the first determination result and the second determination result that the steering handle (2) is held by one hand, the output unit outputs the holding state information indicating that the steering handle (2) is not normally held.

7. A steering device, characterized in that, Comprising: A steering handle (2) having a hub portion (21), a grip portion (22), and spoke portions (23L, 23R), the grip portion (22) having a left and right pair of vertical portions (22L, 22R) extending in a substantially vertical direction to the left and right of the hub portion (21) and a horizontal portion extending in a substantially horizontal direction below the hub portion (21) and connecting the left and right pair of vertical portions (22L), and the spoke portions (23L, 23R) connecting the grip portion (22) and the hub portion (21); A steering angle detection unit (13) for detecting the steering angle of the steering handle (2); A sensor unit (14) that detects contact or approach of a human body relative to the grip portion (21); And A determination unit (112) that compares a detection value of the sensor unit (14) with a first specified threshold and determines whether the grip portion is held based on the comparison result. The end of the grip portion (22) is provided to protrude upward from the spoke portions (23L, 23R). When the steering angle detected by the steering angle detection unit (13) is equal to or greater than a specified value and the position where the sensor unit detects contact or approach of the human body is included in the end portion, the determination unit (112) compares the detection value of the sensor unit (14) with a second specified threshold different from the first specified threshold and determines whether the grip portion (22) is held based on the comparison result.

8. The steering device according to claim 7, wherein When the detection value of the sensor unit (14) is equal to or greater than the first specified threshold, the determination unit (112) determines that the grip portion (22) is held. On the other hand, when the steering angle detected by the steering angle detection unit (13) is equal to or greater than the specified value and the position where the sensor unit (14) detects contact or approach of the human body is included in the end portion, when the detection value of the sensor unit (14) is equal to or greater than the second specified threshold that is greater than the first specified threshold, the determination unit (112) determines that the grip portion (22) is held.

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