Steering control device and steering control method

Abstract

To provide a steering control device and a steering control method that enable vehicle maintenance to be appropriately performed.SOLUTION: A steering control device 1 is intended 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 turn wheels 6 of a vehicle. A power transmission between the steering shaft 22 and a steering wheel 5 is separated. The steering control device 1 includes a steering control device 1B configured to control driving of the steering motor 31 in accordance with a steering state of the steering wheel 5. The steering control device 1B executes lock processing based on a command from the outside in a state where the steering device 2 is mounted in the vehicle. The lock processing is processing of driving the steering motor 31 so that the position of the steering shaft 22 is held in a specific position.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, a process for adjusting wheel alignment is included in the production process of a vehicle. For example, Patent Document 1 describes adjusting the wheel alignment of a vehicle using a wheel alignment adjustment device. The wheel alignment adjustment device measures the vehicle posture, wheel alignment, and steering angle, and calculates a correction amount for the wheel alignment based on these measurement results. The wheel alignment is adjusted taking into account the correction amount. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-109464 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of a vehicle equipped with an electric power steering device, the steering wheel is held in a neutral steering position during the process of adjusting the wheel alignment. In the electric power steering device, the steering wheel and the steered shaft are connected so as to be capable of transmitting power, so that the steered shaft is held in the neutral position.

[0005] However, in the case of a vehicle equipped with a steer-by-wire steering device, the power transmission between the steering wheel and the steering shaft is separated. Therefore, even if the steering wheel is held in the neutral steering position, the steering shaft is not necessarily held in the neutral position. Therefore, there is a risk that the wheel alignment cannot be adjusted appropriately.

[0006] Depending on the content of the work for vehicle maintenance, it may be expected that the steering shaft is required to be held at a specific steering position different from the neutral position. Even in this case, as in the case where the steering shaft is held at the neutral position, there is a concern that the steering shaft will not be held at the specific steering position and vehicle maintenance or adjustment will not be able to be performed appropriately. [Means for solving the problem]

[0007] A steering control device that can solve the above problem controls a steering device that includes a steering shaft configured to steer the steered wheels of a vehicle, the steering shaft being separated from the steering wheel in power transmission, and a steering motor configured to generate torque to be applied to the steering shaft. The steering control device has a processing device configured to control the driving of the steering motor in accordance with the steering state of the steering wheel. The processing device is configured to execute a locking process based on an external command when the steering device is mounted on the vehicle. The locking process is a process of driving the steering motor so as to hold the position of the steering shaft at a specific position.

[0008] For example, when performing maintenance on a vehicle, it may be required to hold the steering shaft in a specific position. According to the above configuration, the steering shaft is held in the specific position by executing the locking process based on an external command. This allows the vehicle to be properly maintained.

[0009] In the above steering control device, the locking process may be a process of driving the steering motor so as to hold the position of the steered shaft at a specific position regardless of the steering state of the steering wheel.

[0010] According to the above configuration, the position of the steered shaft is held at a specific position based on an external command regardless of the steering state of the steering wheel. Therefore, even if the steering wheel is unintentionally moved during vehicle maintenance, the effect of the steering wheel movement on the vehicle maintenance can be reduced.

[0011] In the above steering control device, the specific position may be a neutral position of the steered shaft corresponding to a straight traveling state of the vehicle. According to the above-mentioned configuration, the steering shaft can be held in the neutral position, which makes it possible to appropriately carry out work related to vehicle maintenance that requires ensuring the straightness of the vehicle.

[0012] In the above steering control device, the specific position may be an end position which is a limit position of a physical movable range of the steered shaft. Depending on the type of maintenance work, it may be necessary to hold the steering shaft in its end position. With the above-described configuration, it is possible to meet the requirements according to the type of maintenance work.

[0013] In the above steering control device, the processing device may be configured to execute the locking process when the vehicle is stopped. The locking process is performed while the vehicle is stationary, so that the steering shaft can be held in a specific position while ensuring safety.

[0014] A steering control method that can solve the above problem is a method for controlling a steering device that includes a steering shaft configured to steer the steered wheels of a vehicle, the steering shaft being separated from the steering wheel in power transmission, and a steering motor configured to generate torque to be applied to the steering shaft. With the steering device mounted on the vehicle, a locking process is executed based on an external command. The locking process is a process of driving the steering motor to hold the position of the steering shaft at a specific position regardless of the steering state of the steering wheel.

[0015] For example, when performing vehicle maintenance, it may be required to hold the steering shaft in a specific position. According to the above method, the steering shaft is held in a specific position by executing a locking process based on an external command. This allows the vehicle maintenance to be performed appropriately. Effect of the Invention

[0016] According to the steering control device and the steering control method of the present invention, vehicle maintenance can be performed appropriately. [Brief description of the drawings]

[0017] [Figure 1] 1 is a configuration diagram of a steering device in which an embodiment of a steering control device is mounted; [Diagram 2] 1 is a block diagram of a reaction force control device and a steering control device according to an embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of a steering control device and a steering control method will be described. <Overall composition> As shown in FIG. 1, the control object of steering control device 1 is steer-by-wire steering device 2. Steering device 2 has steering mechanism 3 and steering mechanism 4. Steering mechanism 3 is a mechanical part that is steered by a driver via steering wheel 5. Steering mechanism 4 is a mechanical part that steers steered wheels 6 of the vehicle in response to steering of steering wheel 5. Steering control device 1 includes reaction force control device 1A and steering control device 1B. The control object of reaction force control device 1A is steering mechanism 3. Reaction force control device 1A executes reaction force control. The control object of steering control device 1B is steering mechanism 4. Steering control device 1B executes steering control.

[0019] The steering mechanism 3 has a steering shaft 11, a reaction motor 12, and a reduction gear 13. The steering wheel 5 is connected to the steering shaft 11 so as to be rotatable together with the steering shaft 11. The reaction 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. The reaction motor 12 is, for example, a three-phase brushless motor. The reduction gear 13 reduces the speed of rotation of the reaction motor 12 and transmits the reduced speed rotation to the steering shaft 11.

[0020] The steering mechanism 4 has a pinion shaft 21, a steered shaft 22, and a housing 23. The housing 23 rotatably supports the pinion shaft 21. The housing 23 also accommodates the steered shaft 22 so that it can reciprocate. Power transmission between the steered shaft 22 and the steering wheel 5 is separated. The pinion shaft 21 is provided so as to intersect with the steered shaft 22. Pinion teeth 21a of the pinion shaft 21 mesh with rack teeth 22a of the steered shaft 22. Tie rods 25 are connected to both ends of the steered shaft 22 via rack ends 24 made of ball joints. The ends of the tie rods 25 are connected to a knuckle (not shown) to which the steered wheels 6 are assembled.

[0021] 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 for steering the steered wheels 6. The steering motor 31 is, for example, a three-phase brushless motor. The transmission mechanism 32 is, for example, a belt transmission mechanism. The transmission mechanism 32 transmits the rotation of the steering motor 31 to the conversion mechanism 33. The conversion mechanism 33 is, for example, a ball screw mechanism. The conversion mechanism 33 converts the rotation transmitted via the transmission mechanism 32 into axial motion of the steering shaft 22.

[0022] The steered shaft 22 moves in the axial direction, so that the steered angle θ of the steered wheels 6 is w Since the pinion teeth 21a of the pinion shaft 21 mesh with the rack teeth 22a of the steered shaft 22, the pinion shaft 21 rotates in conjunction with the movement of the steered shaft 22. The pinion shaft 21 is a shaft or a rotating body that rotates in conjunction with the steering operation of the steered wheels 6.

[0023] The reaction force control device 1A controls the operation of the reaction force motor 12. The reaction force control device 1A has a processing circuit including any one of the following three components A1, A2, and A3. A1. One or more processors that operate according to a computer program that is software. The processor includes a CPU (central processing unit) and memory.

[0024] A2. One or more dedicated hardware circuits, such as an application specific integrated circuit (ASIC), that perform at least some of the processes. The ASIC includes a CPU and memory.

[0025] A3. A hardware circuit that combines configurations A1 and A2. The memory is a computer-readable medium that stores a program that describes processes or instructions for the computer. In this embodiment, the computer is a CPU. The memory includes a RAM (random access memory) and a ROM (read only memory). The CPU executes various types of control by executing the program stored in the memory at a set calculation cycle.

[0026] The reaction force control device 1A receives detection results from sensors mounted on the vehicle. The sensors include a vehicle speed sensor 41, a torque sensor 42, and a rotation angle sensor 43. The vehicle speed sensor 41 detects the vehicle speed V. The vehicle speed V is a state variable that reflects the traveling state of the vehicle. The torque sensor 42 is provided on the steering shaft 11. The torque sensor 42 is located on the steering wheel 5 side of the connecting portion of the steering shaft 11 to which the reduction gear 13 is connected. The torque sensor 42 detects the steering torque Th applied to the steering shaft 11. The steering torque Th is calculated based on the amount of twist of a torsion bar 42a provided on the steering shaft 11. The rotation angle sensor 43 is provided on the reaction motor 12. The rotation angle sensor 43 detects a rotation angle θ of the reaction motor 12. a Detect.

[0027] 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 corresponding to the steering torque Th. The reaction force control device 1A is a processing device that controls the drive of the reaction force motor 12 according to the steering state of the steering wheel 5.

[0028] The steering control device 1B controls the operation of the steering motor 31. Like the reaction force control device 1A, the steering control device 1B has a processing circuit including any one of the above three components A1, A2, A3. The steering control device 1B takes in the detection results of sensors mounted on the vehicle. The sensors include a rotation angle sensor 44. The rotation angle sensor 44 is provided in the steering motor 31. The rotation angle sensor 44 detects a rotation angle θ of the steering motor 31. b Detect.

[0029] 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 steered wheels 6 are turned in accordance with the steering state of the steering wheel 5. The steering control device 1B is a processing device that controls the drive of the steering motor 31 in accordance with the steering state of the steering wheel 5.

[0030] The reaction force control device 1A and the turning control device 1B are connected to an in-vehicle network 45. However, for ease of explanation, FIG. 1 does not show the connection state between the reaction force control device 1A and the in-vehicle network 45. The in-vehicle network 45 is, for example, a CAN (Controller Area Network). 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 turning control device 1B exchange information with each other via the in-vehicle network 45.

[0031] The external tool 46 is an external device, for example, a mobile terminal carried by a worker who assembles or maintains a vehicle. Vehicle maintenance includes maintenance of the steering device 2. Maintenance also includes various evaluations. The external tool 46 may be a notebook personal computer. The personal computer has a processing circuit including any one of the three configurations A1, A2, and A3 described above. The external tool 46 also has an input device, an output device, a storage device, and a communication device.

[0032] The input device includes a keyboard and a mouse, and is used to input requests or instructions from the 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 vehicle maintenance. The communication device communicates via the in-vehicle network 45. In response to requests or instructions input via the input device, the CPU transfers various programs and data to the memory, and executes the processes required for vehicle maintenance through the execution of the various programs.

[0033] The external tool 46 instructs, for example, the steering control device 1B to execute or end a locking process. The locking process is a process for holding the steering shaft 22 at a specific position. The specific position is, for example, the neutral position of the steering shaft 22. The neutral position is a position of the steering shaft 22 that corresponds to the straight-ahead state of the vehicle. The external tool 46 sets, for example, the value of a steering hold flag FG through the operation of an operator. The value of the steering hold flag FG is a command for the steering control device 1B. When the external tool 46 starts executing the locking process, it sets the value of the steering hold flag FG to "on". When the external tool 46 ends executing the locking process, it sets the value of the steering hold flag FG to "off".

[0034] <Configuration of reaction force control device 1A> Next, the configuration of the reaction force control device 1A will be described. As shown in FIG. 2, the reaction force control device 1A has a steering angle calculation unit 51, a reaction force torque command value calculation unit 52, and an electricity supply control unit 53.

[0035] The steering angle calculation unit 51 calculates the rotation angle θ of the reaction force motor 12 detected through the rotation angle sensor 43. a Based on this, the steering angle θ of the steering wheel 5 s Calculate the following. 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. * Calculate the reaction torque command value T *is a target value of the steering reaction force to be generated by the reaction force motor 12. The steering reaction force is a torque in the opposite direction to the steering direction of the steering wheel 5. The reaction force torque command value T * The absolute value of the steering torque Th increases as the absolute value of the steering torque Th increases and as the vehicle speed V decreases.

[0036] The power supply control unit 53 determines the reaction torque command value T * To be more specific, the power supply control unit 53 supplies power according to the reaction torque command value T * The current control unit 53 calculates a current command value for the reaction motor 12 based on the current I a Detect the value of the current I a The value of is a value of a current supplied to the reaction motor 12. The current control unit 53 calculates the current command value and the current I a The deviation from the value of the reaction torque command value T is calculated, and the power supply to the reaction motor 12 is controlled so as to eliminate the deviation. * A torque according to the

[0037] <Configuration of steering control device 1B> Next, the configuration of the steering control device 1B will be described. As shown in FIG. 2, the steering control device 1B has a pinion angle calculation section 61, a target pinion angle calculation section 62, a final target pinion angle calculation section 63, a pinion angle feedback control section 64, and an energization control section 65.

[0038] The pinion angle calculation unit 61 calculates the rotation angle θ of the steering motor 31 detected through the rotation angle sensor 43. b Based on this, the pinion angle θ p Calculate the pinion angle θ p is the rotation angle of the pinion shaft 21, and corresponds to the actual angle, which is the actual angle of the pinion shaft 21. The steering motor 31 and the pinion shaft 21 are linked via the transmission mechanism 32, the conversion mechanism 33, and the steering shaft 22. Therefore, the rotation angle θ of the steering motor 31 b and pinion angle θp By utilizing this correlation, the rotation angle θ of the steering motor 31 is b From pinion angle θ p The pinion shaft 21 is engaged with the steering shaft 22. Therefore, the pinion angle θ p There is also a correlation between the pinion angle θ and the amount of movement of the steering shaft 22. p is the steering angle θ of the steered wheel 6 w This is a value that reflects the

[0039] The target pinion angle calculation unit 62 calculates the steering angle θ s Based on the target pinion angle θ p1 * Calculate the target pinion angle θ p1 * is the pinion angle θ p The target pinion angle calculation unit 62 calculates the target pinion angle θ so as to realize a steering angle ratio that is set according to product specifications, etc. p1 * The steering angle ratio is calculated by the steering angle θ s The steering angle θ w is the ratio of.

[0040] The target pinion angle calculation unit 62 sets a steering angle ratio according to the vehicle running state 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 steering angle θ s The steering angle θ w The target pinion angle θ p1 * The target pinion angle calculation unit 62 calculates the steering angle θ s The steering angle θ w The target pinion angle θ p1 * In order to realize a steering angle ratio that is set according to the running state of the vehicle, the target pinion angle calculation unit 62 calculates the steering angle θ sThe correction angle for the steering angle θ s By adding to the above, the target pinion angle θ according to the steering angle ratio is obtained. p1 * Calculate the following.

[0041] Depending on the product specifications, the target pinion angle calculation unit 62 may calculate the target pinion angle θ so that the steering angle ratio becomes "1:1" regardless of the running state of the vehicle. p1 * The following may be calculated.

[0042] The final target pinion angle calculation unit 63 calculates the target pinion angle θ 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 target pinion angle θ p1 * The final target pinion angle θ p2 * When the value of the steering hold flag FG is "ON", the final target pinion angle calculation unit 63 sets the target pinion angle θ p1 * Regardless of the final target pinion angle θ p2 * is set to a value corresponding to a specific position of the steered shaft 22. When the specific position is the neutral position of the steered shaft 22, the final target pinion angle θ p2 * The value of is 0. Values ​​corresponding to particular positions of the steered shaft 22 are stored in memory.

[0043] In addition, when the value of the steering hold flag FG is not received from the external tool 46, the final target pinion angle calculation unit 63 calculates the target pinion angle θ p1 * The final target pinion angle θ p2 *The case where the value of the steering hold flag FG is not acquired from the external tool 46 is, for example, when the external tool 46 is not connected to the in-vehicle network 45.

[0044] The pinion angle feedback control unit 64 controls the final target pinion angle θ p2 * , and the pinion angle θ calculated by the pinion angle calculation unit 61. p The pinion angle feedback control unit 64 receives the pinion angle θ p is the final target pinion angle θ p2 * The pinion angle θ p Through feedback control, the steering torque command value T p * Calculate the steering torque command value T p * is a command value for the torque generated by the steering motor 31, and is a target value of the steering force.

[0045] The power supply control unit 65 controls the steering torque command value T p * To the steering motor 31, the power supply control unit 65 supplies electric power according to the steering torque command value T p * The current control unit 65 calculates a current command value for the steering motor 31 based on the current I b Detect the value of the current I b The value of is the value of the current supplied to the steering motor 31. The current control unit 65 calculates the current command value and the current I b The deviation from the value of the steering torque command value T p * A torque according to the

[0046] <Locking of the steered shaft 22> Next, the locking process of the steered shaft 22 will be described. The locking process of the steering shaft 22 is performed, for example, when adjusting the wheel alignment at a vehicle production plant or a vehicle dealer. Adjusting the wheel alignment is one of the tasks involved in vehicle maintenance, and includes, for example, adjusting the toe angle, camber angle, and caster angle by an operator operating the steering mechanism 3 or the steering mechanism 4. The wheel alignment is adjusted with the steering device 2 mounted on the vehicle and the vehicle power source turned on. In other words, the wheel alignment is adjusted in a state in which reaction force control by the reaction force control device 1A or steering control by the steering control device 1B can be executed. Note that the vehicle is stopped from propelling.

[0047] When adjusting the wheel alignment, the external tool 46 is connected to the in-vehicle network 45. The external tool 46 requests the steering control device 1B to hold the steering shaft 22 at a specific position. That is, the external tool 46 sets the value of the steering hold flag FG to "ON". The specific position is the neutral position of the steering shaft 22.

[0048] When the value of the steering hold flag FG is "ON", the steering control device 1B starts the execution of the lock process. p2 * to a value corresponding to a specific position of the steered shaft 22. Here, since the specific position is the neutral position of the steered shaft 22, the steering control device 1B sets the final target pinion angle θ p2 * is set to "0". The steering control device 1B sets the final target pinion angle θ p2 * and steering angle θ s The target pinion angle θ is calculated based on p1 * The difference between these is calculated, and the steering motor 31 is driven so that the calculated difference becomes "0."

[0049] That is, when the position of the steered shaft 22 differs from the neutral position, the steering control device 1B controls the steering motor 31 so as to return the position of the steered shaft 22 to the neutral position. Therefore, the position of the steered shaft 22 is maintained in the neutral position. Therefore, the wheel alignment can be appropriately adjusted.

[0050] When it is no longer necessary to hold the position of the steering shaft 22, for example after the wheel alignment adjustment has been 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 hold flag FG to "off". When the value of the steering hold flag FG is "off", the steering control device 1B ends the execution of the locking process.

[0051] <Effects of the embodiment> This embodiment provides the following advantages. (1) For example, when performing vehicle maintenance, it may be required to hold the position of steering shaft 22 in a specific position. According to this embodiment, steering control device 1B executes locking processing based on an external command. This causes the position of steering shaft 22 to be held in a specific position. This makes it possible to perform vehicle maintenance appropriately. The external command is, for example, the value of steering hold flag FG.

[0052] (2) When the steering control device 1B executes the locking process, the target pinion angle θ calculated by the target pinion angle calculation unit 62 p1 * Therefore, regardless of the steering state of the steering wheel 5, the position of the steered shaft 22 is held at a specific position based on an external command. Therefore, even if the steering wheel 5 moves unintentionally during vehicle maintenance, the effect of the steering wheel movement on the vehicle maintenance can be reduced. This is effective in vehicle maintenance that adjusts the steering mechanism 4, such as adjusting the wheel alignment.

[0053] (3) The steering control device 1B receives the command from the external tool 46. The position of the steering shaft 22 can be maintained at a specific position simply by transmitting a command from the external tool 46. This makes it possible to easily perform maintenance on the vehicle.

[0054] (4) The specific position is the neutral position of the steered shaft 22, which corresponds to the straight-ahead state of the vehicle. By executing the locking process, the position of the steered shaft 22 can be held in the neutral position. Therefore, among the work related to vehicle maintenance, work that requires ensuring the straight-ahead running of the vehicle can be performed appropriately. The work includes, for example, wheel alignment adjustment work. Therefore, by executing the locking process, the wheel alignment adjustment work can be performed appropriately. Also, it becomes possible to install parts such as the steered wheels 6 while ensuring the straight-ahead running of the vehicle.

[0055] (5) The steering control device 1B executes a locking process when the vehicle is stopped. The locking process is performed when the vehicle is stopped. This makes it possible to maintain the position of the steering shaft 22 at a specific position while ensuring safety.

[0056] <Other embodiments> This embodiment may be modified as follows. The position of the steered shaft 22 may be held in a position other than the neutral position. Depending on the content of the maintenance work, it may be required that the position of the steered shaft 22 be held in a position other than the neutral position. Positions other than the neutral position include, for example, the end position of the steered shaft 22. The end position is the limit position of the physical range of movement of the steered shaft 22. In this way, it is possible to meet the requirements according to the content of the maintenance work.

[0057] Instead of setting the value of the steering hold flag FG, the external tool 46 notifies the steering control device 1B of the final target pinion angle θ corresponding to the holding position of the steering shaft 22. p2 *For example, when the position of the steering shaft 22 is to be kept in the neutral position, the external tool 46 may instruct the value of the final target pinion angle θ p2 * The steering control device 1B is instructed to set the value of "0". [Explanation of symbols]

[0058] 1...Steering control device 1B…Steering control device (processing device) 2...Steering gear 5. Steering wheel 6…Steering wheel 22...Steering shaft 31...Steering motor 46…External Tools

Claims

1. A steering shaft configured to steer steered wheels of a vehicle, the steering shaft having power transmission separated from a steering wheel; A steering control device for controlling a steering device including a steering motor configured to generate a torque applied to the steering shaft, a processing device configured to control the driving of the steering motor in response to a steering state of the steering wheel, the processing device is configured to execute a locking process based on an external command in a state in which the steering device is mounted on the vehicle, The locking process is a process for driving the steering motor so as to hold the position of the steering shaft at a specific position.

2. 2. The steering control device according to claim 1, wherein the locking process is a process for driving the steering motor so as to hold the position of the steered shaft at a specific position regardless of the steering state of the steering wheel.

3. 3. The steering control device according to claim 1, wherein the specific position is a neutral position of the steered shaft corresponding to a straight traveling state of the vehicle.

4. 3. The steering control device according to claim 1, wherein the specific position is an end position that is a limit position of a physical movable range of the steered shaft.

5. The steering control device according to claim 1 or 2, wherein the processing device is configured to execute the locking process when the vehicle is stopped.

6. A steering shaft configured to steer steered wheels of a vehicle, the steering shaft having power transmission separated from a steering wheel; A steering control method for controlling a steering device including a steering motor configured to generate a torque applied to the steering shaft, With the steering device mounted on the vehicle, a locking process is executed based on an external command, The locking process is a process of driving the steering motor so as to hold the position of the steered shaft at a specific position regardless of the steering state of the steering wheel.

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