Steering device

Abstract

To satisfactorily determine the gripping of an irregular-shape handle.SOLUTION: A steering device 50 includes: a steering wheel having a hub portion, a grip portion having a pair of right and left vertical portions extending substantially in upward and downward directions on the right and left sides of the hub portion and a horizontal portion extending substantially in rightward and leftward directions below the hub portion and connecting the pair of right and left vertical portions, and a spoke portion connecting the pair of right and left vertical portions to the hub portion; a steering angle sensor 13 that detects a steering angle of the steering wheel; a grip sensor 14 that detects contact or proximity of a human body with respect to the grip portion; a setting unit 111 that sets a grip detection range along the grip portion; and a determination unit 112 that determines whether a grip is detected in the grip detection range set by the setting unit 111, based on a detection value of the grip sensor 14. The setting unit 111 sets the grip detection range, based on the steering angle detected by the steering angle sensor 13.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a steering device having a function of detecting the gripping of a steering wheel by an occupant.

Background Art

[0002] In recent years, a steering device that contributes to improving traffic safety and the development of a sustainable transportation system has been desired. In this regard, conventionally, a touch sensor has been disposed on a deformed handle having a steering portion that is substantially square-ring-shaped in a front view and has a width dimension in the left-right direction larger than the width dimension in the up-down direction, and the gripping position is detected based on a signal from the touch sensor (see, for example, 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.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the steering device described in Patent Document 1 above, when the handle is rotated around the steering center axis, there is a possibility that the driver may grip and steer an area other than the gripping portion, such as the upper or lower part of the steering portion.

Means for Solving the Problems

[0005] A steering device according to one aspect of the present invention includes a hub portion, a gripping portion having a pair of left and right vertical portions extending substantially in the vertical 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 pair of left and right vertical portions, a spoke portion connecting the pair of left and right vertical portions and the hub portion, a steering handle having the spoke portion, a steering angle detection unit that detects the steering angle of the steering handle, a sensor unit that detects contact or proximity of a human body to the gripping portion, a setting unit that sets a gripping detection range along the gripping portion, and a determination unit that determines whether gripping is detected within the gripping detection range set by the setting unit based on the 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.

[0006] A steering device according to another aspect of the present invention includes a hub portion, a gripping portion having a pair of left and right vertical portions extending substantially in the vertical 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 pair of left and right vertical portions, a spoke portion connecting the gripping portion and the hub portion, a steering handle having the spoke portion, a steering angle detection unit that detects the steering angle of the steering handle, a sensor unit that detects contact or proximity of a human body to the gripping portion, and a determination unit that compares the detection value of the sensor unit with a first predetermined threshold value and determines whether the gripping portion is being gripped based on the comparison result. The end portion of the gripping portion is provided to protrude above the spoke portion. The determination unit compares the detection value of the sensor unit with a second predetermined threshold value different from the first predetermined threshold value and determines whether the gripping portion is being gripped based on the comparison result when the steering angle detected by the steering angle detection unit is equal to or greater than a predetermined value and the position where contact or proximity of the human body is detected by the sensor unit is included in the end portion.

Advantages of the Invention

[0007] According to the present invention, it is possible to perform good gripping determination for an irregular-shaped handle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4A

Figure 4B

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the invention will be described with reference to the drawings. FIG. 1 is a front view of a steering wheel to which a steering device according to an embodiment of the present invention is applied. The steering device according to an embodiment of the present invention can be applied to a manually driven vehicle equipped with a driving support system such as ADAS (Advanced driver-assistance systems). In addition, the vehicle to which the steering device according to the present embodiment is applied may be referred to as the host vehicle to distinguish it from other vehicles. The steering wheel 2 in FIG. 1 is operated by the driver in the driver's seat of the host vehicle. On the back side of the steering wheel 2 in a front view (as seen from the driver), a steering shaft 3 that pivotally supports the steering wheel 2 is connected.

[0010] The steering wheel 2 is a deformed steering wheel as shown in Fig. 1, and includes a hub portion 21, a rim portion (grip portion) 22, and a spoke portion 23 that connects the hub portion 21 and the rim portion 22. The rim portion 22 includes a pair of left and right rim portions (vertical portions) 22L and 22R that extend substantially in the vertical direction on the left and right sides of the hub portion 21, and a horizontal portion 22H that extends substantially in the left-right direction below the hub portion 21 and connects the rim portions (vertical portions) 22L and 22R. The spoke portion 23 includes horizontal portions 23L and 23R that connect the hub portion 21 and the rim portions (vertical portions) 22L and 22R, and a vertical portion 23V that connects the hub portion 21 and the horizontal portion 22H. The end portion 25L of the rim portion (vertical portion) 22L is provided so as to protrude above the connection portion 26L between the spoke portion (horizontal portion) 23L and the rim portion (vertical portion) 22L. Similarly, the end portion 25R of the rim portion (vertical portion) 22R is provided so as to protrude above the connection portion 26R between the spoke portion (horizontal portion) 23R and the rim portion (vertical portion) 22R. Hereinafter, the end portions 25L and 25R are also referred to as protruding portions.

[0011] The spoke portion (horizontal portion) 23L incorporates electrodes 24L1 and 24L2 that are conductive and plate-shaped. The electrodes 24L1 and 24L2 are provided in the vicinity of the recommended gripping area for the left hand (area AR1L in Fig. 4A described later) defined with respect to the rim portion 22 in the steering wheel 2. More specifically, the electrode 24L1 is provided along the upper and radially outer side wall surfaces of the spoke (horizontal portion) 23L. The electrode 24L2 is provided along the lower surface of the spoke portion (horizontal portion) 23L and the surface facing the rim portion 22 in the lower left portion of the hub portion 21.

[0012] Similarly, the spoke part (horizontal part) 23R incorporates electrodes 24R1 and 24R2 which are conductive and plate-shaped. The electrodes 24R1 and 24R2 are provided in the vicinity of the recommended gripping area for the right hand (area AR1R in Fig. 4B described later) defined for the rim part 22 in the steering handle 2. More specifically, the electrode 24R1 is provided along the upper and radially outer side wall surfaces of the spoke part (horizontal part) 23R. Further, the electrode 24R2 is provided along the lower part of the spoke part (horizontal part) 23R and the surface facing the rim part 22 in the lower right part of the hub part 21.

[0013] The electrodes 24 (24L1, 24L2, 24R1, 24R2) are respectively connected to the sensor units 14L1, 14L2, 14R1, 14R2 of the sensor unit (hereinafter also referred to as the gripping sensor) 14 in Fig. 3 described later via signal lines (not shown).

[0014] Incidentally, driving assistance systems such as ADAS include a lane keeping function (LKAS: Lane Keep Assistant System) that controls a driving actuator (more specifically, a steering actuator that drives a steering device) to assist steering so that the host vehicle travels near the center of the own lane. When the lane keeping function is effective, the driver may be obliged to grip the steering handle 2 so that the steering handle 2 can be accurately operated immediately in case of an emergency. In this case, the driving assistance system monitors whether the driver is fulfilling the gripping obligation, and continues driving assistance (steering assistance) while the driver is fulfilling the gripping obligation. On the other hand, when it is determined that the driver is not fulfilling the gripping obligation, the driving assistance system warns the driver via a display, a speaker, etc. installed in the vehicle. Or, driving assistance (steering assistance) is temporarily restricted.

[0015] Figures 2A and 2B are diagrams showing how the steering wheel 2 is operated by the driver. As shown in Figure 2A, when the driver grips the steering wheel 2 with both hands (left hand HL and right hand HR), the driver can immediately and accurately operate the steering wheel 2. Therefore, the driving support system determines that the gripping obligation is fulfilled and continues the driving support. On the other hand, in the case of an irregular-shaped steering wheel having end portions 25L and 25R like the steering wheel 2, as shown in Figure 2B, since it is possible to perform a steering operation by hooking a thumb or the like of one hand (right hand HR in Figure 2B) on the end portion 25R or the end portion 25L, there is a possibility that it may be operated by one hand by the driver. However, when the lane keeping function is effective, in the gripping state as shown in Figure 2B, it is difficult for the driver to immediately and accurately operate the steering wheel 2, so there is a possibility that the safety during driving support may be impaired. Therefore, in order to address such a problem, in the present embodiment, the steering device is configured as follows.

[0016] Figure 3 is a block diagram showing the main configuration of the steering device according to the present embodiment. As shown in Figure 3, this steering device 50 includes a controller 10, a steering angle sensor 13, a gripping 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) by CAN communication or the like via the communication unit 15. Note that the steering device 50 may be able to communicate with an in-vehicle device or an out-vehicle device (not shown) via a wireless communication network.

[0017] The steering angle sensor 13 detects the steering angle corresponding to the driver's steering operation. The steering angle is represented by an angle in the clockwise direction centered on the steering shaft 3 and with reference to the center position in the left-right direction of the upper end of the hub portion 21 as viewed from the driver. Also, the neutral position (0 [deg]) of the steering wheel 2 is a position where the steering wheel 2 is not operated in either the clockwise or counterclockwise rotation direction and the steering wheels (front wheels, rear wheels, or front and rear wheels) of the host vehicle are not steered to either the left or the right.

[0018] The grip sensor 14 has sensor units 14L1, 14L2, 14R1, and 14R2 respectively connected to the electrodes 24L1, 24L2, 24R1, and 24R2 in FIG. 1 via signal lines (not shown). The sensor units 14L1, 14L2, 14R1, and 14R2 each 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.

[0019] The controller 10 includes an arithmetic unit 11 such as a CPU (microprocessor) and a storage unit 12. The arithmetic unit 11 functionally includes a setting unit 111, a determination unit 112, and an output unit 113. In the storage unit 12, programs for various controls, information such as thresholds used in the programs, etc. are stored.

[0020] The setting unit 111 sets a grip detection range along the rim portion 22. FIG. 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 grip of the steering wheel 2 by the driver, 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 predetermined on the rim portion 22. Specifically, the area combining the recommended grip area AR1L and the recommended grip area AR1R is set as the grip detection range.

[0021] In addition, the setting unit 111 changes the gripping 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 becomes equal to or greater than a predetermined value Th [deg], the setting unit 111 resets the gripping detection range so that the end portions 25L and 25R are excluded from the gripping detection range. FIG. 4B is a diagram showing another example of the gripping detection range set by the setting unit 111. The regions AR2L and AR2R shown in FIG. 4B are regions obtained by excluding the regions corresponding to the end portions 25L and 25R from the recommended gripping regions AR1L and AR1R in FIG. 4A. Thus, when the steering angle detected by the steering angle sensor 13 becomes equal to or greater than the predetermined value Th, the setting unit 111 changes the gripping detection range from the recommended gripping regions AR1L and AR1R to the regions AR2L and AR2R in FIG. 4B.

[0022] The determination unit 112 determines whether or not the driver is gripping the steering wheel 2 based on the detection result of the gripping sensor 14. Specifically, the determination unit 112 detects contact or proximity of the human body to the electrode 24 (proximity operation within a predetermined distance) based on the detection value (capacitance) of the gripping sensor 14. More specifically, when the detection value (capacitance) of the gripping sensor 14 is equal to or greater than the proximity determination threshold value, it is determined as proximity, and when it is equal to or greater than the contact determination threshold value, which is larger than the proximity determination threshold value, it is determined as contact. When the determination unit 112 further determines that the driver is gripping the steering wheel 2, the determination unit 112 detects the gripping position based on the detection result of the gripping sensor 14 and determines whether or not the gripping position is included in the gripping detection range.

[0023] The output unit 113 determines the gripping state based on the determination result of the determination unit 112 and outputs information indicating the gripping state (hereinafter referred to as gripping state information) to an output device mounted on the host 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 via a display image, a speaker that provides information to the driver by voice, and the like.

[0024] When the determination unit 112 determines that the steering wheel 2 is being gripped and that the grip position is included within the grip detection range, the output unit 113 outputs grip state information indicating "normal" as the grip state. On the other hand, even when the determination unit 112 determines that the steering wheel 2 is being gripped, if the grip position is not included within the grip detection range, the output unit 113 outputs grip state information indicating "not gripped" as the grip state. Further, when the determination unit 112 determines that the steering wheel 2 is not being gripped, the output unit 113 outputs grip state information indicating "not gripped" as the grip state. Note that when the output unit 113 outputs grip state information indicating "not gripped", it may include warning information prompting the driver to grip the steering wheel 2 in the grip state information. The warning information may include, in addition to display information and voice information output to a display, a speaker, etc., a signal for lighting or flashing a warning lamp provided on the steering wheel 2 or provided around the steering wheel 2 (such as an instrument panel). Further, the output unit 113 may output the grip state information to an in-vehicle device or an out-vehicle device via the communication unit 15.

[0025] FIG. 5 is a diagram showing an example of the configuration of a driving support system 1 including a steering device 50 according to the present embodiment. As shown in FIG. 5, the driving support system 1 includes a steering device 50 and a driving support device 70 which is one of the in-vehicle devices. The steering device 50 is communicably connected to the driving support device 70 via a CAN bus 60.

[0026] The driving support device 70 is composed of an electronic control unit (ECU). The driving support device 70 includes an arithmetic unit 71 such as a CPU (microprocessor) and a storage unit 72. The arithmetic unit 71 has a driving control unit 711 as a functional configuration. In the storage unit 72, programs for various controls, information such as thresholds used in the programs, etc. are stored. The driving control unit 711 controls a driving actuator (not shown) based on information (such as a camera image) obtained from in-vehicle sensors. The driving actuator includes a throttle actuator for adjusting the opening degree of the throttle valve of the engine (throttle opening), a brake actuator for operating the braking device of the host vehicle, a steering actuator for driving the steering device, and the like.

[0027] The driving support device 70 has various driving support functions such as LKAS and ACC (Adaptive Cruise Control). When LKAS is effective, the driving control unit 711 recognizes the lane lines that define the host lane based on the information obtained from the in-vehicle sensors, and controls the steering actuator so that the host vehicle travels near the center of the host lane. At this time, the driving control unit 711 acquires the gripping state information output from the output unit 113 of the steering device 50 via the CAN bus 60, and recognizes the gripping state of the steering wheel 2 based on the gripping state information. When recognizing that the driver is not gripping the steering wheel 2, the driving control unit 711 temporarily stops the driving support (steering support) by LKAS. When the state of the driver not gripping continues for a predetermined time, the driving control unit 711 cancels the steering support. When the driver's gripping of the steering wheel 2 is recognized before the state of the driver not gripping continues for a predetermined time, the temporarily stopped steering support is restarted. In this way, the gripping state information output from the steering device 50 is used for controls such as temporary stop, restart, and cancellation of the driving support function in the driving support device 70.

[0028] FIG. 6 is a flowchart showing an example of processing executed by the CPU of the controller 10 in FIG. 3 according to a predetermined program. The processing shown in this flowchart is executed, for example, at a predetermined cycle when the host vehicle is running. When the host vehicle starts running, the recommended gripping regions AR1L and AR1R in FIG. 4A are set as the gripping detection range.

[0029] First, in step S11, the controller 10 determines whether or not the sensor value (steering angle) of the steering angle sensor 13 is equal to or greater than a predetermined value. If it is affirmed in step S11, then in step S12, the controller 10 changes the gripping detection range to the regions in FIG. 4B, that is, the regions AR2L and AR2R from which the regions corresponding to the end portions 25L and 25R are excluded from the recommended gripping regions AR1L and AR1R. If it is negated in step S11, the controller 10 proceeds to step S13 without changing the gripping detection range (that is, by setting the gripping detection range to the recommended gripping regions AR1L and AR1R). In step S13, the controller 10 determines whether or not gripping of the rim portion 22 by the driver is detected based on the detection result of the gripping sensor 14. If it is negated in step S13, the controller 10 determines that the steering wheel 2 is not being gripped, and in step S15, generates gripping state information indicating "non-gripping". If it is affirmed in step S13, then in step S14, the controller 10 further detects the gripping position based on the detection result of the gripping sensor 14, and determines whether or not the detected gripping position is included in the gripping detection range. If it is affirmed in step S14, the controller 10 determines that the driver is correctly gripping the steering wheel 2, and in step S16, generates gripping state information indicating "normal". On the other hand, if it is negated in step S14, the controller 10 determines that the driver is not correctly gripping the steering wheel 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 processing.

[0030] By the above processing, when the steering angle of the host vehicle becomes equal to or greater than a predetermined value during running, the areas AR2L and AR2R in FIG. 4B are set as the gripping detection range until the steering angle becomes less than the predetermined value. When the steering angle becomes less than the predetermined value, the recommended gripping areas AR1L and AR1R in FIG. 4A are set as the gripping detection range. In this way, the controller 10 changes the gripping detection range according to the steering angle of the steering wheel 2 according to the flow in FIG. 6.

[0031] According to the embodiment described above, the following operational effects can be obtained. (1) The steering device 50 includes a hub portion 21, a rim portion (gripping portion) 22 having a pair of left and right vertical portions 22L and 22R that extend substantially in the vertical direction on the left and right sides of the hub portion 21 and a horizontal portion 22H that extends substantially in the left-right direction below the hub portion 21 and connects the pair of left and right vertical portions 22L and 22R, spokes 23L and 23R that connect the pair of left and right vertical portions 22L and 22R and the hub portion 21, a steering angle sensor 13 that detects the steering angle of the steering wheel 2, a sensor unit 14 that detects contact or proximity of a human body to the rim portion 22, a setting unit 111 that sets a gripping detection range along the rim portion 22, and a determination unit 112 that determines whether or not gripping is detected in the gripping detection range set by the setting unit 111 based on the detection value of the sensor unit 14. The setting unit 111 sets the gripping detection range based on 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 above the spokes 23L and 23R. The setting unit 111 preliminarily sets the recommended gripping areas AR1L and AR1R including the end portions 25L and 25R as the gripping detection range, and when the steering angle detected by the steering angle sensor 13 becomes equal to or greater than a predetermined value, changes the gripping detection range from the recommended gripping areas AR1L and AR1R to areas AR2L and AR2R excluding the end portions 25L and 25R. The predetermined value is, for example, the steering angle detected by the steering angle sensor 13 when the steering wheel 2 is steered 30 degrees ([deg]) clockwise and counterclockwise from the neutral position. Thereby, gripping at an inappropriate gripping position as shown in FIG. 2B is determined to be a non-gripping state, and the accuracy of gripping determination for an irregular-shaped steering wheel can be further improved. (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 (such as a display or a speaker) or a driving assistance device 70). Thereby, the driver can recognize the result of the gripping determination. In addition, the result of the gripping determination can be used for a driving assistance function such as LKAS. As a result, the safety during the operation of the deformed steering wheel can be improved.

[0032] The above embodiment can be modified into various forms. Hereinafter, modification examples will be described. In the above embodiment, the sensor unit 14 is configured to detect the contact or proximity of the human body to the rim portion 22. However, the sensor unit may further detect the gripping force on the rim portion 22. In this case, a pressure sensor is built into the rim portion 22, and the sensor unit detects the gripping force on the steering wheel 2 based on the sensor value obtained from the pressure sensor via a signal line (not shown). Note that sensors other than the pressure sensor may be used to detect the gripping force on the steering wheel 2. The setting unit 111 sets the gripping detection range to the recommended gripping regions AR1L and AR1R even when the steering angle detected by the steering angle sensor 13 is equal to or greater than a predetermined value when the detection value of the sensor unit is equal to or greater than a predetermined threshold value. Thereby, it is possible to prevent the driver from being unnecessarily determined as non-gripping when firmly gripping the end portions 25L and 25R and performing a steering operation.

[0033] Also, in the above embodiment, the determination unit 112 determines whether or not gripping is detected in 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 or not gripping by the left hand is detected in the gripping detection range corresponding to the left hand (the recommended gripping region AR1L or the region AR2L), and also determine whether or not gripping by the right hand is detected in 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 that the steering wheel 2 is gripped with both hands based on the first determination result and the second determination result, 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 wheel 2 is gripped by either one of the hands, the output unit may output the gripping state information indicating "non-gripping" as the gripping state. At this time, warning information prompting the driver to grip with both hands may be included in the gripping state information.

[0034] Also, in the above embodiment, when the steering angle detected by the steering angle sensor 13 as the steering angle detection unit becomes equal to or greater than a predetermined value, the setting unit 111 changes the gripping detection range from the recommended gripping regions AR1L and AR1R, which are the first regions, to the regions AR2L and AR2R, which are the second regions, and excludes the end portions 25L and 25R from the gripping detection range. However, the method of excluding the end portions 25L and 25R from the gripping detection range when the steering angle is equal to or greater than the predetermined value is not limited to this. For example, when the steering angle is equal to or greater than the predetermined value, the threshold for gripping determination may be made different between the portions of the rim portion 22 other than the end portions 25L and 25R and the end portions 25L and 25R. Specifically, the determination unit 112 compares the detection value of the sensor unit 14L with a first predetermined threshold, and based on the comparison result, determines whether or not the rim portion 22 is being gripped. On the other hand, when the steering angle is equal to or greater than the predetermined value and the position where human body contact or proximity is 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 predetermined threshold different from the first predetermined threshold, and based on the comparison result, it is determined whether or not the rim portion 22 is being gripped. More specifically, the determination unit 112 determines that the rim portion 22 is being gripped when the detection value of the sensor unit 14 is equal to or greater than the first predetermined threshold. On the other hand, when the steering angle is equal to or greater than the predetermined value and the position where human body contact or proximity is detected by the sensor unit 14 is included in the end portions 25L and 25R, the determination unit 112 determines that the rim portion 22 is being gripped when the detection value of the sensor unit 14 is equal to or greater than the second predetermined threshold, which is greater than the first predetermined threshold.

[0035] Also, in the above embodiment, the case where the controller 10 executes the process of FIG. 6 while the host vehicle is traveling is taken as an example. However, the controller 10 may start the process of FIG. 6 when it receives a notification from the driving support device 70 indicating that a driving support function such as LKAS has become effective. Also, the controller 10 may be configured not to execute the process of FIG. 6 when the traveling speed of the host vehicle is equal to or lower than a predetermined speed. Further, when a driving support function that does not require the driver to grip the steering wheel 2, such as an automatic parking function (parking assist system), is effective, the controller 10 may be configured not to execute the process of FIG. 6.

[0036] Furthermore, in the above 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 vehicle.

[0037] The above description is merely an example, and the present invention is not limited to the above-described embodiments and modifications as long as the features of the present invention are not impaired. It is also possible to arbitrarily combine one or more of the above embodiments and modifications, and it is also possible to combine the modifications with each other.

Explanation of Reference Numerals

[0038] 1 Driving assistance system, 2 Steering wheel, 10 Controller, 11 Arithmetic unit, 12 Storage unit, 13 Steering angle sensor, 14 Grip sensor, 15 Communication unit, 21 Hub unit, 22 Rim unit, 23 Spoke unit, 24 Electrode, 25L, 25R End portions, 26L, 26R Connection portions, 70 Driving assistance device, 111 Setting unit, 112 Determination unit, 113 Output unit

Claims

1. A steering handle having a hub portion, a pair of left and right vertical portions extending substantially in the vertical direction to the left and right of the hub portion, and a horizontal portion extending substantially in the left and right direction below the hub portion and connecting the pair of left and right vertical portions, a spoke portion connecting the pair of left and right vertical portions and the hub portion, a steering angle detection unit for detecting the steering angle of the steering handle, a sensor unit for detecting contact or proximity of a human body to the grip portion, a setting unit for setting a grip detection range along the grip portion, a determination unit for determining whether or not a grip is detected in the grip detection range set by the setting unit based on the detection value of the sensor unit, and the setting unit sets the grip detection range based on the steering angle detected by the steering angle detection unit. A steering device characterized by that.

2. In the steering device according to claim 1, The end portion of the grip portion is provided so as to protrude above the spoke portion, The setting unit presets a first region including the end portion as the grip detection range, and when the steering angle detected by the steering angle detection unit becomes a predetermined value or more, the grip detection range is changed from the first region to a second region excluding the end portion. A steering device characterized by that.

3. In the steering device according to claim 2, The predetermined value is a steering angle detected by the steering angle detection unit when the steering handle is steered 30 degrees clockwise and counterclockwise from the neutral position. A steering device characterized by that.

4. In the steering device according to claim 1, The steering device further includes an output unit that outputs information including the determination result of the determination unit to an external device.

5. A steering handle having a hub portion, a pair of left and right vertical portions extending substantially in the vertical direction to the left and right of the hub portion, and a horizontal portion extending substantially in the left and right direction below the hub portion and connecting the pair of left and right vertical portions, a spoke portion connecting the grip portion and the hub portion, a steering angle detection unit for detecting the steering angle of the steering handle, a sensor unit for detecting contact or proximity of a human body to the grip portion, A determination unit that compares a detection value of the sensor unit with a first predetermined threshold value and determines whether or not the gripping unit is being gripped based on the comparison result; An end portion of the gripping unit is provided to protrude upward from the spoke portion; The determination unit compares the detection value of the sensor unit with a second predetermined threshold value different from the first predetermined threshold value when the steering angle detected by the steering angle detection unit is equal to or greater than a predetermined value and the position where contact or proximity of the human body is detected by the sensor unit includes the end portion, and determines whether or not the gripping unit is being gripped based on the comparison result. A steering device characterized by that.

6. In the steering device according to claim 5, The determination unit determines that the gripping unit is being gripped when the detection value of the sensor unit is equal to or greater than the first predetermined threshold value. On the other hand, when the steering angle detected by the steering angle detection unit is equal to or greater than the predetermined value and the position where contact or proximity of the human body is detected by the sensor unit includes the end portion, the detection value of the sensor unit is greater than the first predetermined threshold value. A steering device characterized by determining that the gripping unit is being gripped when it is equal to or greater than the second predetermined threshold value.

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