Control device, vehicle, control method, and program

Abstract

To enable reduction of a possibility of heat generation of a motor used in steering of a vehicle.SOLUTION: A control device includes: start condition determination means that determines whether a start condition is satisfied, the start condition including a fact that traveling of a vehicle is in the stopped state and a fact that a magnitude of a current flowing through a steering motor for directing a steering wheel to a direction according to a control amount is larger than a predetermined threshold; and control amount adjustment means that, when it is determined that the start condition is satisfied, adjusts a control amount with respect to the steering motor so as to reduce the magnitude of the current flowing through the steering motor.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Control of the steering mechanism of an automobile may be performed. For example, Patent Document 1 describes that when the driver stops steering and then resumes steering after the vehicle is driven automatically, the steering angle of the vehicle's tires relative to the steering torque input by the driver is adjusted in accordance with changes in the vehicle speed during automatic driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-144726 Summary of the Invention [Problem to be solved by the invention]

[0004] It would be desirable to be able to reduce the potential for heat buildup in the motor used to steer the vehicle.

[0005] An example of an object of the present disclosure is to provide a control device, a vehicle, a control method, and a program that can solve the above-mentioned problems. [Means for solving the problem]

[0006] According to a first aspect of the present disclosure, the control device includes a start condition determination means for determining whether a start condition is met, including that the vehicle is stopped and that the magnitude of the current flowing through a steering motor that turns the steering wheels in a direction corresponding to a control amount is greater than a predetermined threshold, and a control amount adjustment means for adjusting the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor when it is determined that the start condition is met.

[0007] According to a second aspect of the present disclosure, a vehicle includes a steering wheel, a steering motor that orients the steering wheel in accordance with a control amount, and a control means that, when it is determined that a start condition is met, including that the vehicle is stopped and that the magnitude of the current flowing through the steering motor is greater than a predetermined threshold, adjusts the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor.

[0008] According to a third aspect of the present disclosure, a control method includes a computer determining whether start conditions are met, including that the vehicle is stopped and that the magnitude of the current flowing through a steering motor that turns the steering wheels in a direction corresponding to a control amount is greater than a predetermined threshold, and if it is determined that the start conditions are met, adjusting the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor.

[0009] According to a fourth aspect of the present disclosure, the program causes a computer to determine whether start conditions are met, including that the vehicle is stopped and that the magnitude of the current flowing through a steering motor that turns the steering wheels in a direction corresponding to a control amount is greater than a predetermined threshold, and if it is determined that the start conditions are met, adjust the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor. [Effects of the Invention]

[0010] According to one aspect of the present disclosure, it is possible to reduce the possibility of heat generation in a motor used for steering a vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a vehicle system according to at least one embodiment. [Figure 2]10A and 10B are diagrams illustrating an example of a procedure of a process performed by a remote control unit according to at least one embodiment to reduce a current of a steering motor. [Figure 3] FIG. 10 illustrates an example of a change in steering motor current according to at least one embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a relationship between steering angle and steering motor current according to at least one embodiment. [Figure 5] FIG. 2 illustrates an example of a configuration of a control device according to at least one embodiment. [Figure 6] FIG. 10 is a diagram illustrating an example of the configuration of a vehicle system when a torque value of a control motor is used. [Figure 7] 10A and 10B are diagrams illustrating an example of a procedure of a process performed by a remote control unit according to at least one embodiment to reduce the current of a steering motor when using a torque value of a control motor. [Figure 8] FIG. 4 is a diagram illustrating an example of a relationship between steering angle and torque value of a control motor, according to at least one embodiment. [Figure 9] FIG. 10 illustrates another example of a configuration of a control device according to at least one embodiment. [Figure 10] FIG. 1 illustrates another example vehicle configuration according to at least one embodiment. [Figure 11] FIG. 2 is a diagram illustrating an example of a processing procedure in a control method according to at least one embodiment. [Figure 12] FIG. 1 illustrates an example configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following describes embodiments of the present invention, but the following embodiments do not limit the scope of the invention as claimed. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0013] First Embodiment 1 is a diagram showing an example of the configuration of a vehicle system according to at least one embodiment. In the configuration shown in FIG. 1, the vehicle system 1 includes a vehicle 100 and a remote controller 200. The vehicle 100 includes a steering tire 111, a steering motor 112, a power transmission mechanism 113, a steering shaft 114, a steering wheel 115, a control motor 116, a steering angle sensor 121, a temperature sensor 122, a current sensor 123, an operation amount sensor 124, and a remote control unit 130. The remote controller 200 includes a remote control unit 210 .

[0014] The vehicle 100 may be, for example, but is not limited to, an industrial vehicle such as a forklift. The steered tires 111 direct the traveling direction of the vehicle 100 in a direction that corresponds to the orientation of the steered tires 111. The steered tires 111 are an example of steered wheels. The steering wheel 115 is a handle that is operated by the driver of the vehicle 100. The steered tires 111 face in a direction that corresponds to the angle at which the driver turns the steering wheel 115. When the driver turns the steering wheel 115, the steering motor 112 assists the driver's operation to change the direction of the steering tires 111.

[0015] The steering shaft 114 is directly connected to the steering wheel 115 and the steering motor 112 and transmits the power generated when the driver rotates the steering wheel 115 to the steering motor 112 . The rotation angle of the steering shaft 114 corresponds to an example of a control amount for the steering motor 112. The steering motor 112 directs the direction of the steered tires 111 in accordance with the rotation angle of the steering shaft 114. A current of a magnitude corresponding to the rotation angle of the steering shaft 114 flows through the steering motor 112 .

[0016] The remote control unit 210 instructs the steering direction in response to remote control by a remote operator. The control motor 116 rotates the steering shaft 114 in response to remote control from the remote control unit 210 .

[0017] The power transmission mechanism 113 transmits the force from the control motor 116 to the steering shaft 114. The power transmission mechanism 113 includes a mechanism that connects the control motor 116 and the steering shaft 114 by, for example, a belt, a timing belt, and gears. In addition, the power transmission mechanism 113 switches between transmitting and cutting off the power from the control motor to the steering shaft 114 using an electromagnetic clutch or the like, in order to switch between operation by the driver on board the vehicle 100 and operation by the control motor via remote control.

[0018] The remote control unit 130 calculates a control amount for the control motor 116 based on an operation signal remotely received from the remote operation unit 210 and sensor information from various sensors, and outputs the control amount to the control motor 116. The remote control unit 130 is an example of a control means.

[0019] The steering angle sensor 121 measures the steering angle (the direction of the steering tire 111). The temperature sensor 122 measures the temperature of the steering motor 112 . The current sensor 123 measures the current flowing through the steering motor. The operation amount sensor 124 measures the amount of operation of the steering shaft 114 by the control motor 116 .

[0020] 2 is a diagram showing an example of a procedure of processing performed by the remote control unit 130 to reduce the current of the steering motor 112 (the current flowing through the steering motor 112). For example, when remote control of the vehicle 100 is started from the remote control unit 210, the remote control unit 130 starts the processing of FIG.

[0021] When the remote controller 200 is started, the remote control unit 130 sets the position of the control motor 116 to the origin position, orients the steering tire to face forward (so that the steering angle sensor 121 is at the origin position), and connects an electromagnetic clutch or the like to prepare so that the power of the control motor 116 can be transmitted to the steering tire 111 via the steering shaft 114.

[0022] In the process of Fig. 2, the remote control unit 130 determines whether the vehicle 100 is steering or traveling straight (step S111). For example, the remote control unit 130 compares the magnitude of the current of the steering motor 112 measured by the current sensor 123 with a predetermined threshold. If the magnitude of the current of the steering motor 112 is greater than the threshold, the remote control unit 130 determines that the vehicle is steering. On the other hand, if the magnitude of the current of the steering motor 112 is equal to or less than the threshold, the remote control unit 130 determines that the vehicle is traveling straight.

[0023] Here, when the vehicle 100 is traveling straight, the command value to the steering motor is small, and the steering motor current flows only to maintain the position. Therefore, when the vehicle 100 is traveling straight, the heat generation amount of the steering motor is small and can be ignored. Therefore, the remote control unit 130 performs the determination in step S111 to exclude the case of traveling straight from the case where the current to the steering motor 112 is reduced.

[0024] If it is determined in step S111 that the vehicle is being steered (step S111: YES), the remote control unit 130 determines whether the vehicle 100 is moving or stopped (step S121). For example, the remote control unit 130 refers to a speed sensor of the vehicle 100, and determines that the vehicle is stopped if the traveling speed is 0, and otherwise determines that the vehicle is moving.

[0025] When the vehicle 100 is traveling, it is conceivable that the steering wheel will not be turned significantly for a long period of time, such as when the vehicle is turning left or right. Therefore, the remote control unit 130 performs the determination in step S121 to exclude the case where the vehicle is traveling from the case where the current to the steering motor 112 is to be reduced.

[0026] On the other hand, if the remote operator stops the vehicle 100 while the steering wheel is turned and performs other work, it is conceivable that current will continue to flow to the steering motor 112, causing heat generation and other strain on the steering motor 112. Turning the steering wheel here means providing a steering angle, that is, operating the vehicle 100 so that it faces a direction other than the straight-ahead direction.

[0027] For example, if the vehicle 100 is a forklift, one possible other task would be to operate a lever to move the lift up and down. Even if the remote operator stops the vehicle 100 with the steering wheel turned and leaves it as it is, current may continue to flow to the steering motor 112, causing a load on the steering motor 112, such as heat generation.

[0028] If it is determined in step S121 that the robot is stopped (step S121: NO), the remote control unit 130 determines whether a predetermined intervention condition is met (step S131). The intervention condition may be, for example, that the magnitude of the current of the steering motor 112 indicated by the current sensor 123 remains equal to or greater than a predetermined first current threshold for a predetermined specified time or longer. Alternatively, the intervention condition may be that the temperature of the steering motor 112 indicated by the temperature sensor 122 remains equal to or greater than a predetermined temperature threshold for a predetermined specified time or longer.

[0029] If it is determined that the intervention condition is met (step S131: YES), the remote control unit 130 controls the control motor 116 to return the control motor 116 (step S141). Specifically, the remote control unit 130 refers to the direction in which the steering is being turned by the control motor 116 and the value of the operation amount sensor 124, and controls the control motor 116 to reduce the magnitude of the rotation angle of the steering shaft 114.

[0030] As the rotation angle of the steering shaft 114 decreases, the amount of steering by the steering motor 112 decreases, and the amount of current flowing through the steering motor 112 decreases. The conditions under which the remote control unit 130 starts control to reduce the magnitude of the current flowing through the steering motor 112, such as the combination of conditions shown in steps S111, S121, and S131, are also referred to as start conditions.

[0031] Next, the remote control unit 130 determines whether the magnitude of the current of the steering motor 112 indicated by the current sensor 123 is equal to or less than a predetermined second current threshold value (step S142). The current of the steering motor 112 is also referred to as a steering current.

[0032] Here, the target for reducing the current of the steering motor 112 is set to be equal to or less than the second current threshold value. The remote control unit 130 performs a determination in step S142 to determine whether the target has been achieved. The second current threshold value may be set to the same value as the first current threshold value, or may be set to a different value.

[0033] If it is determined that the current of the steering motor 112 is equal to or less than the second threshold value (step S142: YES), the remote control unit 130 ends the processing of FIG.

[0034] Also, if the remote control unit 130 determines in step S111 that the vehicle is traveling straight ahead (step S111: NO), the remote control unit 130 ends the processing of FIG. Also, if the remote control unit 130 determines in step S121 that the vehicle is traveling (step S121: YES), the remote control unit 130 ends the processing of FIG. Moreover, if the remote control unit 130 determines in step S131 that the intervention condition is not met (step S131: NO), the remote control unit 130 ends the processing of FIG.

[0035] Also, if it is determined in step S142 that the current of the steering motor 112 is greater than the second threshold value (step S142: NO), the remote control unit 130 determines whether the steering angle (direction of the steered tires) indicated by the steering angle sensor 121 has changed by more than a predetermined change amount threshold value (step S151).

[0036] 2, the current to the steering motor 112 is reduced within a range in which the steering angle does not change significantly due to play in the steering mechanism, etc., to prevent the steering angle from changing unintentionally by the operator. For this purpose, the remote control unit 130 performs the determination in step S151. A condition under which the remote control unit 130 ends the control for reducing the magnitude of the current flowing through the steering motor 112, such as the combination of conditions shown in steps S142 and S151, is also referred to as an end condition.

[0037] If the remote control unit 130 determines that the steering angle has not changed by the change amount threshold or more (step S151: NO), the process returns to step S141. In this case, the current of the steering motor 112 has not decreased to the second threshold value and the change in the steering angle is within the allowable range, so the remote control unit 130 continues to return the control motor to reduce the current of the steering motor 112 in step S141.

[0038] On the other hand, if the remote control unit 130 determines in step S151 that the steering angle has changed by the amount equal to or greater than the change amount threshold (step S151: YES), the remote control unit 130 ends the processing of FIG. The remote control unit 130 may be configured to repeatedly perform the processing of Fig. 2. For example, when the remote control unit 130 determines that the steering angle has changed by more than the threshold value (step S151: YES) and ends the processing of Fig. 2, the remote control unit 130 may be configured to perform the processing of Fig. 2 again after the vehicle 100 starts traveling and the return of the control motor 116 is reset.

[0039] 3 is a diagram showing an example of changes in the current of the steering motor 112. The horizontal axis of the graph in Fig. 3 represents time, and the vertical axis represents the magnitude of the current of the steering motor 112. The line L111 shows an example in which the remote control unit 130 performs processing to reduce the current of the steering motor 112. Line L112 shows an example in which the remote control unit 130 does not perform processing to reduce the current of the steering motor 112.

[0040] As in the example of FIG. 3, when the vehicle 100 is traveling straight, the minimum current required to maintain the steering flows to the steering motor 112, and the current to the steering motor 112 is small.

[0041] On the other hand, during turning (steering), the magnitude of the current to the steering motor 112 increases in order to turn the steering wheel. However, it is rare for the vehicle to make a steady circular turn while the steering wheel is turned. When the driver operates the steering wheel 115, it is conceivable that the driver will take his / her hands off the steering wheel 115 or release the force from the steering wheel after turning the steering wheel. In this case, only a holding force is required as the output of the steering motor 112, and the current of the steering motor 112 is kept at a constant value.

[0042] On the other hand, in the case of remote control, it is conceivable to instruct the steering motor 112 to maintain the angle so as to maintain the steering turned state. If the remote control unit 130 does not perform processing to reduce the current to the steering motor 112, as shown in the example of line L112, the current for turning the steering will continue to flow to the steering motor 112. This will cause the temperatures of the steering motor 112 and the control motor 116 to rise.

[0043] On the other hand, when the remote control unit 130 performs processing to reduce the current to the steering motor 112, the remote control unit 130 controls the control motor 116 to return to a lower value within a range in which the steering angle does not change by more than the threshold value. This makes it possible to keep the current to the steering motor 112 and the control motor 116 at a constant value, thereby preventing the temperature of these motors from rising.

[0044] 4 is a diagram showing an example of the relationship between the steering angle and the steering motor current. The horizontal axis of the graph in Fig. 4 represents time, and the vertical axis represents the steering angle, the magnitude of the current of the control motor 116, and the magnitude of the current of the steering motor 112.

[0045] A line L211 indicates the steering angle over time. A line L221 shows an example of the angle of the control motor 116 over time when the remote control unit 130 performs processing to reduce the current of the steering motor 112. Line L222 shows an example of the angle of the control motor 116 over time if the remote control unit 130 does not perform any processing to reduce the current of the steering motor 112.

[0046] A line L231 shows an example of the current of the steering motor 112 over time when the remote control unit 130 performs processing to reduce the current of the steering motor 112. Line L232 shows an example of the current of the steering motor 112 over time if the remote control unit 130 does not take any action to reduce the current of the steering motor 112.

[0047] When the vehicle 100 is stopped by remote control from the remote control unit 210 with the steering wheel still turned, a command to maintain the steering angle remains issued, as shown in the example of line L211. If the remote control unit 130 does not take action to reduce the current to the steering motor 112, the control motor will maintain the angle of the steering motor through the steering shaft to maintain the steering angle, which will cause current to continue to flow through the control motor 116 and the steering motor 112, causing them to heat up. On the other hand, when the remote control unit 130 performs processing to reduce the current of the steering motor 112, after a specified time (the time specified in the intervention condition of step S131 in FIG. 2) has elapsed, the remote control unit 130 returns the control motor 116 to the direction in which the steering has been turned, within a range that does not change the steering angle. In other words, the remote control unit 130 controls the control motor 116 so that the force transmitted from the control motor 116 to the steering motor 112 is weakened. This reduces the load on the control motor 116 and the steering motor 112, and reduces the current value of the control motor 116 and the steering motor 112, thereby preventing a rise in temperature.

[0048] As described above, the steering motor 112 directs the steering tire 111 in a direction according to the control amount. When the remote control unit 130 determines that the start conditions are met, including that the vehicle 100 is stopped and that the magnitude of the current flowing through the steering motor 112 is greater than a predetermined threshold, the remote control unit 130 adjusts the control amount for the steering motor 112 so as to reduce the magnitude of the current flowing through the steering motor 112.

[0049] According to the vehicle 100, the possibility of heat generation in the steering motor 112 used for steering the vehicle 100 can be reduced. As described above, it is considered that there is a higher possibility that a relatively large current will continue to flow through the steering motor 112 when the vehicle 100 is stopped than when the vehicle 100 is moving. According to the vehicle 100, when the vehicle 100 is stopped, control is performed to reduce the magnitude of the current flowing through the steering motor 112, thereby efficiently reducing the possibility of heat generation in the steering motor 112.

[0050] In addition, if the remote control unit 130 determines that a termination condition is met, including the magnitude of the change in the orientation of the steered tire 111 becoming greater than or equal to a predetermined threshold, it terminates adjusting the control amount for the steering motor 112. According to the vehicle 100, it is possible to avoid a situation in which the orientation of the steered tires 111 changes significantly without the operator of the vehicle 100 performing any operation, causing the operator to feel uncomfortable.

[0051] The start condition also includes a condition in which the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped. According to the vehicle 100, a case where the operator temporarily stops the vehicle 100 can be excluded from the target of the control to reduce the magnitude of the current flowing through the steering motor 112. In this respect, according to the vehicle 100, it is possible to efficiently perform the control to reduce the magnitude of the current flowing through the steering motor 112. Furthermore, according to the vehicle 100, it is possible to reduce the possibility that the operator will feel uncomfortable due to the frequent occurrence of the control to reduce the magnitude of the current flowing through the steering motor 112.

[0052] Also, the steering shaft 114 inputs a control amount to the steering motor 112 according to the rotation angle of the steering shaft 114 itself. The control motor 116 controls the rotation angle of the steering shaft 114 . The remote control unit 130 controls the control motor 116 to decrease the magnitude of the rotation angle of the steering shaft 114 . According to the vehicle 100, the magnitude of the current of the steering motor 112 can be reduced by using a mechanism for driving the vehicle 100 using the steering shaft 114 and the steering wheel 115, and a mechanism for remotely controlling the vehicle 100 using the control motor 116. According to the vehicle 100, there is no need to provide a separate mechanism for transmitting power in order to reduce the magnitude of the current of the steering motor 112, and therefore control for reducing the magnitude of the current of the steering motor 112 can be implemented at relatively low cost.

[0053] The remote control unit 130 may be configured as a control device. 5 is a diagram illustrating an example of the configuration of a control device according to at least one embodiment. In the configuration illustrated in FIG. 5, the control device 300 includes a start condition determination unit 310, an end condition determination unit 320, and a control amount adjustment unit 330.

[0054] The control device 300 executes the functions of the remote control unit 130. The vehicle 100 is an example of the control device 300 in that it is a device equipped with the remote control unit 130. The control amount adjustment unit 330 performs the control described above for the remote control unit 130 to reduce the magnitude of the current flowing through the steering motor 112. The control amount adjustment unit 330 corresponds to an example of the control amount adjustment means.

[0055] The start condition determination unit 310 determines whether or not the start condition is satisfied. As described above for the remote control unit 130, the start condition here refers to a condition under which the control amount adjustment unit 330 starts control to reduce the magnitude of the current flowing through the steering motor 112. The start condition determination unit 310 is an example of a start condition determination means. The termination condition determination unit 320 determines whether or not a termination condition is satisfied. As described above with respect to the remote control unit 130, the termination condition here refers to a condition under which the control amount adjustment unit 330 terminates control for reducing the magnitude of the current flowing through the steering motor 112. The termination condition determination unit 320 is an example of termination condition determination means.

[0056] As described above, the start condition determination unit 310 determines whether or not the start conditions are met, including that the vehicle 100 is stopped and that the magnitude of the current flowing through the steering motor 112 is greater than a predetermined threshold value. If it is determined that the start condition is met, the control amount adjuster 330 adjusts the control amount for the steering motor 112 so as to reduce the magnitude of the current flowing through the steering motor 112 .

[0057] The control device 300 can reduce the possibility of heat generation in the steering motor 112 used to steer the vehicle 100. As described above, it is considered that there is a higher possibility that a relatively large current will continue to flow through the steering motor 112 when the vehicle 100 is stopped than when the vehicle 100 is moving. According to the control device 300, when the vehicle 100 is stopped, control is performed to reduce the magnitude of the current flowing through the steering motor 112, thereby efficiently reducing the possibility of heat generation in the steering motor 112.

[0058] The termination condition determination unit 320 also determines whether or not a termination condition is established, including whether the magnitude of the change in the orientation of the steered tires 111 has become equal to or greater than a predetermined threshold value. If it is determined that the termination condition is met, the control amount adjustment unit 330 terminates the adjustment of the control amount for the steering motor 112. The control device 300 can prevent the operator of the vehicle 100 from feeling uncomfortable when the direction of the steered tires 111 changes significantly without any operation by the operator.

[0059] The start condition also includes a condition that the magnitude of the current flowing through the steering motor 112 exceeds a threshold value for a predetermined period of time while the vehicle 100 is stopped. According to the control device 300, it is possible to exclude cases where the operator has temporarily stopped the vehicle 100 from being subject to control to reduce the magnitude of the current flowing through the steering motor 112. In this respect, according to the control device 300, it is possible to efficiently perform control to reduce the magnitude of the current flowing through the steering motor 112. Furthermore, according to the control device 300, it is possible to reduce the possibility that the operator will feel uncomfortable due to frequent occurrence of control to reduce the magnitude of the current flowing through the steering motor 112.

[0060] Furthermore, the control amount adjustment unit 330 controls the control motor 116 so as to reduce the magnitude of the rotation angle of the steering shaft 114 . The control device 300 can reduce the magnitude of the current in the steering motor 112 by using a mechanism for driving the vehicle 100 using the steering shaft 114 and the steering wheel 115, and a mechanism for remotely controlling the vehicle 100 using the control motor 116. The control device 300 can implement control for reducing the magnitude of the current in the steering motor 112 at relatively low cost, since it is not necessary to provide a separate mechanism for transmitting power in order to reduce the magnitude of the current in the steering motor 112.

[0061] Instead of the current value of the steering motor 112, the current value or torque value of the control motor 116 can also be used. FIG. 6 is a diagram showing an example of the configuration of the vehicle system 1 when the torque value of the control motor 116 is used.

[0062] In the configuration shown in FIG. 6, the vehicle system 1 includes a vehicle 100 and a remote controller 200. The vehicle 100 includes a steering tire 111, a steering motor 112, a power transmission mechanism 113, a steering shaft 114, a steering wheel 115, a control motor 116, a steering angle sensor 121, a temperature sensor 122, an operation amount sensor 124, a remote control unit 130, a torque sensor 151, and a speed sensor 152. The remote controller 200 includes a remote control unit 210 .

[0063] Comparing the configuration of the vehicle system 1 shown in Figure 6 with that of Figure 1, instead of the current sensor 123 of the steering motor 112 in Figure 1, a torque sensor 151 of the control motor 116 and a speed sensor 152 of the steering tire 111 are provided in Figure 6. In other respects, the vehicle system 1 in the example of FIG. 6 is similar to the vehicle system 1 in the example of FIG.

[0064] The torque sensor 151 measures the torque value of the control motor 116 . The speed sensor 152 measures the traveling speed of the vehicle 100 .

[0065] 7 is a diagram showing an example of a procedure of processing performed by the remote control unit 130 to reduce the current of the steering motor 112 when using the torque value of the control motor 116. For example, when remote control of the vehicle 100 is started from the remote operation unit 210, the remote control unit 130 starts the processing of FIG.

[0066] When the remote controller 200 is started, the remote control unit 130 sets the position of the control motor 116 to the origin position, orients the steering tire to face forward (so that the steering angle sensor 121 is at the origin position), and connects an electromagnetic clutch or the like to prepare so that the power of the control motor 116 can be transmitted to the steering tire 111 via the steering shaft 114.

[0067] In the process of Figure 7, the remote control unit 130 determines whether the vehicle 100 is being steered or is traveling straight (step S211). For example, the remote control unit 130 compares the magnitude of the steering angle measured by the steering angle sensor 121 with a predetermined threshold. If the magnitude of the steering angle is greater than the threshold, the remote control unit 130 determines that the vehicle is being steered. On the other hand, if the magnitude of the steering angle is equal to or less than the threshold, the remote control unit 130 determines that the vehicle is traveling straight.

[0068] As described above with reference to Figure 2, when the vehicle 100 is traveling straight, the command value to the steering motor is small, and the steering motor current flows only to maintain the position. Therefore, when the vehicle 100 is traveling straight, the amount of heat generated by the steering motor is small and can be ignored. Therefore, the remote control unit 130 performs the determination in step S211 to exclude the case of traveling straight from the case where the current to the steering motor 112 is reduced.

[0069] If it is determined in step S211 that steering is being performed (step S211: YES), the remote control unit 130 determines whether the vehicle 100 is moving or stopped (step S221). For example, the remote control unit 130 refers to the speed sensor 152 (speed sensor of the vehicle 100) and determines that the vehicle is stopped if the traveling speed is 0, and otherwise determines that the vehicle is moving.

[0070] 2, when the vehicle 100 is traveling, it is conceivable that the steering wheel will not be turned significantly for a long period of time, such as when the vehicle is turning left or right. Therefore, the remote control unit 130 performs the determination in step S221 to exclude the case where the vehicle is traveling from the case where the current to the steering motor 112 is to be reduced.

[0071] On the other hand, if the remote operator stops the vehicle 100 while the steering wheel is turned and performs other work, it is conceivable that current will continue to flow to the steering motor 112, causing heat generation and other strain on the steering motor 112. Turning the steering wheel here means providing a steering angle, that is, operating the vehicle 100 so that it faces a direction other than the straight-ahead direction.

[0072] For example, if the vehicle 100 is a forklift, one possible other task would be to operate a lever to move the lift up and down. Even if the remote operator stops the vehicle 100 with the steering wheel turned and leaves it as it is, current may continue to flow to the steering motor 112, causing a load on the steering motor 112, such as heat generation.

[0073] If it is determined in step S221 that the robot is stopped (step S221: NO), the remote control unit 130 determines whether a predetermined intervention condition is met (step S231). The intervention condition may be, for example, that the torque value of the control motor 116 indicated by the torque sensor 151 remains equal to or greater than a predetermined first torque threshold for a predetermined specified time or longer. Alternatively, the intervention condition may be that the temperature of the steering motor 112 indicated by the temperature sensor 122 remains equal to or greater than a predetermined temperature threshold for a predetermined specified time or longer.

[0074] If it is determined that the intervention condition is met (step S231: YES), the remote control unit 130 controls the control motor 116 to return the control motor 116 (step S241). Specifically, the remote control unit 130 refers to the direction in which the steering is being turned by the control motor 116 and the value of the operation amount sensor 124, and controls the control motor 116 to reduce the magnitude of the rotation angle of the steering shaft 114.

[0075] As the rotation angle of the steering shaft 114 decreases, the amount of steering by the steering motor 112 decreases, and the amount of current flowing through the steering motor 112 decreases. The conditions under which the remote control unit 130 starts control to reduce the magnitude of the current flowing through the steering motor 112, such as the combination of conditions shown in steps S211, S221, and S231, are also referred to as start conditions.

[0076] Next, the remote control unit 130 determines whether the torque value of the control motor 116 indicated by the torque sensor 151 is equal to or less than a predetermined second torque threshold value (step S242).

[0077] Here, the target for reducing the current of the steering motor 112 is set to be the torque value of the control motor 116 becoming equal to or less than the second torque threshold value. The remote control unit 130 performs a determination in step S242 to determine whether the target has been achieved. The second torque threshold value may be set to the same value as the first torque threshold value, or may be set to a different value.

[0078] If it is determined that the torque value of the control motor 116 is equal to or less than the second torque threshold value (step S242: YES), the remote control unit 130 ends the processing of FIG.

[0079] 7. If the remote control unit 130 determines in step S211 that the vehicle is traveling straight ahead (step S211: NO), the remote control unit 130 ends the processing of FIG. Moreover, if the remote control unit 130 determines in step S221 that the vehicle is traveling (step S221: YES), the remote control unit 130 ends the processing of FIG. Moreover, if the remote control unit 130 determines in step S231 that the intervention condition is not met (step S231: NO), the remote control unit 130 ends the processing of FIG.

[0080] Also, if it is determined in step S242 that the torque value of the control motor 116 is greater than the second torque threshold value (step S242: NO), the remote control unit 130 determines whether the steering angle (direction of the steered tires) indicated by the steering angle sensor 121 has changed by more than a predetermined change amount threshold value (step S251).

[0081] 2, in the process of Fig. 7, the current to the steering motor 112 is reduced within a range in which the steering angle does not change significantly due to play in the steering mechanism, etc., so that the steering angle does not change unintentionally by the operator. For this purpose, the remote control unit 130 performs the determination in step S251. A condition under which the remote control unit 130 ends the control for reducing the magnitude of the current flowing through the steering motor 112, such as the combination of conditions shown in steps S242 and S251, is also referred to as an end condition.

[0082] If the remote control unit 130 determines that the steering angle has not changed by the change amount threshold or more (step S251: NO), the process returns to step S241. In this case, since the current of the steering motor 112 has not decreased to the second threshold value and the change in the steering angle is within the allowable range, the remote control unit 130 continues to return the control motor to reduce the current of the steering motor 112 in step S241.

[0083] On the other hand, if the remote control unit 130 determines in step S251 that the steering angle has changed by the amount equal to or greater than the change amount threshold (step S251: YES), the remote control unit 130 ends the processing of FIG. The remote control unit 130 may be configured to repeatedly perform the processing of Fig. 7. For example, when the remote control unit 130 determines that the steering angle has changed by more than the threshold value (step S251: YES) and ends the processing of Fig. 7, the remote control unit 130 may be configured to perform the processing of Fig. 7 again after the vehicle 100 starts traveling and the return of the control motor 116 is reset.

[0084] In the example of FIG. 6, the change in the current of the steering motor 112 is similar to that described with reference to FIG. As shown by the example of line L111 in FIG. 3, when the vehicle 100 is traveling straight, the minimum current required to maintain the steering flows through the steering motor 112, and the current through the steering motor 112 is small.

[0085] On the other hand, during turning (steering), the magnitude of the current to the steering motor 112 increases in order to turn the steering wheel. However, it is rare for the vehicle to make a steady circular turn while the steering wheel is turned. When the driver operates the steering wheel 115, it is conceivable that the driver will take his / her hands off the steering wheel 115 or release the force from the steering wheel after turning the steering wheel. In this case, only a holding force is required as the output of the steering motor 112, and the current of the steering motor 112 is kept at a constant value.

[0086] On the other hand, in the case of remote control, it is conceivable to instruct the steering motor 112 to maintain the angle so as to maintain the steering turned state. If the remote control unit 130 does not perform processing to reduce the current to the steering motor 112, as shown in the example of line L112, the current for turning the steering will continue to flow to the steering motor 112. This will cause the temperatures of the steering motor 112 and the control motor 116 to rise.

[0087] On the other hand, when the remote control unit 130 performs processing to reduce the current to the steering motor 112, the remote control unit 130 controls the control motor 116 to return to a lower value within a range in which the steering angle does not change by more than the threshold value. This makes it possible to keep the current to the steering motor 112 and the control motor 116 at a constant value, thereby preventing the temperature of these motors from rising.

[0088] Fig. 8 is a diagram showing an example of the relationship between the steering angle and the torque value of the control motor 116. The horizontal axis of the graph in Fig. 8 represents time, and the vertical axis represents the steering angle, the control motor angle (the operation amount of the control motor 116 indicated by the operation amount sensor 124), and the torque value of the control motor 116.

[0089] A line L311 indicates the steering angle over time. A line L321 shows an example of the control motor angle over time when the remote control unit 130 performs processing to reduce the current of the steering motor 112. A line L322 shows an example of the control motor angle over time when the remote control unit 130 does not perform processing to reduce the current of the steering motor 112.

[0090] A line L331 shows an example of the torque value of the control motor 116 over time when the remote control unit 130 performs processing to reduce the current of the steering motor 112. A line L332 shows an example of the torque value of the control motor 116 over time when the remote control unit 130 does not perform processing to reduce the current of the steering motor 112.

[0091] When the vehicle 100 is stopped by remote control from the remote control unit 210 with the steering wheel still turned, a command to maintain the steering angle remains issued, as in the example of line L311. If the remote control unit 130 does not take action to reduce the current to the steering motor 112, the control motor will maintain the angle of the steering motor through the steering shaft to maintain the steering angle, which will cause current to continue to flow through the control motor 116 and the steering motor 112, causing them to heat up. On the other hand, when the remote control unit 130 performs processing to reduce the current of the steering motor 112, after a specified time (the time specified in the intervention condition of step S231 in FIG. 7) has elapsed, the remote control unit 130 returns the control motor 116 to the direction in which the steering was turned, within a range that does not change the steering angle. In other words, the remote control unit 130 controls the control motor 116 so that the torque value of the control motor 116 decreases. This reduces the load on the control motor 116 and the steering motor 112, and reduces the current value of the control motor 116 and the steering motor 112, thereby preventing a rise in temperature.

[0092] Second Embodiment 9 is a diagram illustrating another example of the configuration of a control device according to at least one embodiment. In the configuration illustrated in FIG. 9, a control device 610 includes a start condition determination unit 611 and a control amount adjustment unit 612.

[0093] In this configuration, the start condition determination unit 611 determines whether or not the start conditions are met, including that the vehicle is stopped and that the magnitude of the current flowing through the steering motor, which turns the steering wheels in a direction corresponding to the control amount, is greater than a predetermined threshold value. If it is determined that the start condition is met, the control amount adjuster 612 adjusts the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor. The start condition determining unit 611 is an example of a start condition determining means, and the control amount adjusting unit 612 is an example of a control amount adjusting means.

[0094] The control device 610 can reduce the possibility of heat generation in the steering motor used to steer the vehicle. Here, it is considered that there is a higher possibility that a relatively large current will continue to flow through the steering motor when the vehicle is stopped than when the vehicle is moving. By performing control to reduce the magnitude of the current flowing through the steering motor when the vehicle is stopped, the control device 610 can efficiently reduce the possibility of the steering motor generating heat.

[0095] Third Embodiment 10 is a diagram illustrating another example of a vehicle configuration according to at least one embodiment. In the configuration shown in FIG. 10, a vehicle 620 includes a steering wheel 621, a steering motor 622, and a control unit 623.

[0096] With this configuration, the steering motor 622 directs the steering wheel 621 in a direction according to the control amount. When the control unit 623 determines that the start conditions are met, including that the vehicle is stopped and that the magnitude of the current flowing through the steering motor is greater than a predetermined threshold, it adjusts the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor. The control unit 623 corresponds to an example of a control means.

[0097] According to the vehicle 620, the possibility of heat generation in the steering motor 622 used for steering the vehicle 620 can be reduced. Here, it is considered that there is a higher possibility that a relatively large current will continue to flow through steering motor 622 when vehicle 620 is stopped than when vehicle 620 is moving. According to vehicle 620, when vehicle 620 is stopped, control is performed to reduce the magnitude of the current flowing through steering motor 622, thereby making it possible to efficiently reduce the possibility of heat generation in steering motor 622.

[0098] <Fourth embodiment> 11 is a diagram illustrating an example of a processing procedure in a control method according to at least one embodiment. The control method illustrated in FIG. 11 includes determining whether a start condition is met (step S611) and adjusting a control amount (step S612).

[0099] In determining whether the start conditions are met (step S611), the computer determines whether the start conditions are met, including that the vehicle is stopped and that the magnitude of the current flowing through the steering motor, which turns the steering wheels in a direction corresponding to the control amount, is greater than a predetermined threshold. In adjusting the control amount (step S612), if the computer determines that the start condition is met, it adjusts the control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor.

[0100] According to the control method shown in FIG. 11, it is possible to reduce the possibility of heat generation in the steering motor used for steering the vehicle. Here, it is considered that there is a higher possibility that a relatively large current will continue to flow through the steering motor when the vehicle is stopped than when the vehicle is moving. According to the control method shown in Fig. 11, by performing control to reduce the magnitude of the current flowing through the steering motor when the vehicle is stopped, it is possible to efficiently reduce the possibility of the steering motor generating heat.

[0101] FIG. 12 illustrates an example configuration of a computer according to at least one embodiment. In the configuration shown in FIG. 12, a computer 700 includes a CPU 710, a main memory device 720, an auxiliary memory device 730, an interface 740, and a non-volatile recording medium 750.

[0102] One or more of the control devices 300 and 610, or a part thereof, may be implemented in a computer 700. In this case, the operation of each of the above-described processing units is stored in the auxiliary storage device 730 in the form of a program. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program. The CPU 710 also allocates storage areas in the main storage device 720 corresponding to each of the above-described storage units in accordance with the program. Communication between each device and other devices is performed by an interface 740 having a communication function and performing communication under the control of the CPU 710. The interface 740 also has a port for a nonvolatile recording medium 750, and reads information from the nonvolatile recording medium 750 and writes information to the nonvolatile recording medium 750.

[0103] When the control device 300 is implemented in a computer 700, the operations of the start condition determination unit 310, the end condition determination unit 320, and the control amount adjustment unit 330 are stored in the form of a program in an auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program.

[0104] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the control device 300 to perform processing in accordance with the program. Communication between the control device 300 and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the control device 300 and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0105] When the control device 610 is implemented in the computer 700, the operations of the start condition determination unit 611 and the control amount adjustment unit 612 are stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-mentioned processing in accordance with the program.

[0106] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the control device 610 to perform processing in accordance with the program. Communication between the control device 610 and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the control device 610 and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0107] One or more of the above-described programs may be recorded on nonvolatile recording medium 750. In this case, interface 740 may read the programs from nonvolatile recording medium 750. CPU 710 may then directly execute the programs read by interface 740, or may temporarily store the programs in main storage device 720 or auxiliary storage device 730 and then execute them.

[0108] Note that a program for executing all or part of the processing performed by control device 300 and control device 610 may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed to perform the processing of each part. Note that the term "computer system" here includes the OS (Operating System) and hardware such as peripheral devices. Furthermore, "computer-readable recording media" refers to portable media such as flexible disks, optical magnetic disks, ROMs (Read Only Memory), and CD-ROMs (Compact Disc Read Only Memory), as well as storage devices such as hard disks built into computer systems. The program may be one that realizes part of the aforementioned functions, or may be one that can realize the aforementioned functions in combination with a program already stored in the computer system.

[0109] Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to these embodiments and includes designs within the scope of the present invention. Furthermore, the above-described embodiments may be combined with other embodiments as appropriate.

[0110] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes.

[0111] (Appendix 1) a start condition determination means for determining whether or not a start condition is satisfied, the start condition including that the vehicle is stopped and that the magnitude of a current flowing through a steering motor that turns the steering wheels in a direction corresponding to the control amount is greater than a predetermined threshold; a control amount adjusting means for adjusting a control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor when it is determined that the start condition is satisfied; A control device comprising:

[0112] (Appendix 2) An end condition determining means for determining whether or not an end condition is satisfied, including whether the magnitude of the change in the direction of the steering wheel has become greater than or equal to a predetermined threshold value. Furthermore, the control amount adjusting means ends adjustment of the control amount for the steering motor when it is determined that the termination condition is met. 10. The control device of claim 1.

[0113] (Appendix 3) The start condition includes a condition that the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped. 10. The control device of claim 1 or 2.

[0114] (Appendix 4) the control amount adjusting means controls a control motor that controls a rotation angle of a steering shaft that inputs a control amount to the steering motor depending on the rotation angle, so as to reduce the magnitude of the rotation angle of the steering shaft; 4. The control device according to any one of claims 1 to 3.

[0115] (Appendix 5) the start condition determination means determines a condition related to the magnitude of the current flowing through the steering motor using a measured value of the torque of the control motor. 5. The control device according to any one of claims 1 to 4.

[0116] (Appendix 6) The steering wheel and a steering motor that turns the steering wheel in a direction according to a control amount; a control means for adjusting a control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor when it is determined that a start condition is satisfied, the start condition including that the vehicle is stopped and that the magnitude of the current flowing through the steering motor is greater than a predetermined threshold value; A vehicle equipped with:

[0117] (Appendix 7) the control means terminates the adjustment of the control amount for the steering motor when it is determined that a termination condition is satisfied, including that the magnitude of the amount of change in the direction of the steered wheels has become equal to or greater than a predetermined threshold. Vehicles as described in Appendix 6.

[0118] (Appendix 8) The start condition includes a condition that the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped. A vehicle as described in Appendix 6 or Appendix 7.

[0119] (Appendix 9) a steering shaft that inputs a control amount to the steering motor according to a rotation angle; a control motor for controlling the rotation angle of the steering shaft; Furthermore, the control means controls the control motor to reduce the magnitude of the rotation angle of the steering shaft. A vehicle as described in any one of appendices 6 to 8.

[0120] (Appendix 10) the control means determines a condition related to the magnitude of the current flowing through the steering motor using a measured value of the torque of the control motor. 10. The control device of any one of appendices 6 to 9.

[0121] (Appendix 11) The computer determining whether or not start conditions are satisfied, including whether the vehicle is stopped and whether the magnitude of a current flowing through a steering motor that turns the steering wheels in a direction corresponding to the control amount is greater than a predetermined threshold value; If it is determined that the start condition is satisfied, the control amount for the steering motor is adjusted so as to reduce the magnitude of the current flowing through the steering motor. A control method comprising:

[0122] (Appendix 12) The computer determining whether or not a termination condition is satisfied, the termination condition including whether or not the magnitude of the change in the direction of the steered wheels has become equal to or greater than a predetermined threshold value; If it is determined that the termination condition is satisfied, the adjustment of the control amount for the steering motor is terminated. 12. The control method of claim 11, comprising:

[0123] (Appendix 13) The start condition includes a condition that the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped. 13. The control method according to claim 11 or 12.

[0124] (Appendix 14) The computer adjusts the control amount for the steering motor. a control motor for controlling the rotation angle of a steering shaft, which inputs a control amount to the steering motor depending on the rotation angle, is controlled so as to reduce the magnitude of the rotation angle of the steering shaft; 14. The control method according to any one of appendices 11 to 13, comprising:

[0125] (Appendix 15) The computer adjusts the control amount for the steering motor. The condition related to the magnitude of the current flowing through the steering motor is determined using a measured value of the torque of a control motor. 15. The control method according to any one of appendices 11 to 14, comprising:

[0126] (Appendix 16) On the computer, Determining whether or not start conditions are satisfied, including that the vehicle is stopped and that the magnitude of a current flowing through a steering motor that turns the steering wheels in a direction corresponding to the control amount is greater than a predetermined threshold value; If it is determined that the start condition is satisfied, adjusting a control amount for the steering motor so as to reduce a magnitude of a current flowing through the steering motor; A program that executes the following.

[0127] (Appendix 17) The computer determining whether or not a termination condition is satisfied, the termination condition including the magnitude of the change in the direction of the steered wheels being equal to or greater than a predetermined threshold value; When it is determined that the termination condition is satisfied, terminating the adjustment of the control amount for the steering motor; 17. The program according to claim 16,

[0128] (Appendix 18) The start condition includes a condition that the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped. 18. The program according to claim 16 or 17.

[0129] (Appendix 19) In adjusting the control amount for the steering motor, the computer a control motor for controlling the rotation angle of a steering shaft, which inputs a control amount to the steering motor depending on the rotation angle, is controlled so as to reduce the magnitude of the rotation angle of the steering shaft; 19. The program according to any one of appendices 16 to 18,

[0130] (Appendix 20) In adjusting the control amount for the steering motor, the computer determining a condition related to the magnitude of the current flowing through the steering motor using a measured value of the torque of a control motor; 20. The program of any one of appendices 16 to 19, [Explanation of symbols]

[0131] 1 Vehicle System 100, 620 vehicles 111 Steering Tire 112, 622 Steering motor 113 Power transmission mechanism 114 Steering shaft 115 steering wheel 116 Control motor 121 Steering angle sensor 122 Temperature Sensor 123 Current Sensor 124 Operational quantity sensor 130 Remote control unit 151 Torque sensor 152 Speed ​​sensor 200 Remote Control Device 210 Remote control unit 300, 610 Control device 310, 611 Start condition determination section 320 Termination condition determination section 330, 612 Control amount adjustment unit 621 Steering Wheel 623 Control Unit

Claims

1. a start condition determination means for determining whether or not a start condition is satisfied, the start condition including that the vehicle is stopped and that the magnitude of a current flowing through a steering motor that turns the steering wheels in a direction corresponding to the control amount is greater than a predetermined threshold; a control amount adjusting means for adjusting a control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor when it is determined that the start condition is satisfied; A control device comprising:

2. An end condition determining means for determining whether or not an end condition is satisfied, including whether the magnitude of the change in the direction of the steering wheel has become greater than or equal to a predetermined threshold value. Furthermore, the control amount adjusting means ends adjustment of the control amount for the steering motor when it is determined that the termination condition is met. The control device according to claim 1 .

3. The start condition includes a condition that the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped. The control device according to claim 1 .

4. the control amount adjusting means controls a control motor that controls a rotation angle of a steering shaft that inputs a control amount to the steering motor depending on the rotation angle, so as to reduce the magnitude of the rotation angle of the steering shaft; The control device according to claim 1 .

5. the start condition determination means determines a condition related to the magnitude of the current flowing through the steering motor using a measured value of the torque of the control motor. The control device according to claim 1 .

6. The steering wheel and a steering motor that turns the steering wheel in a direction according to a control amount; a control means for adjusting a control amount for the steering motor so as to reduce the magnitude of the current flowing through the steering motor when it is determined that a start condition is satisfied, the start condition including that the vehicle is stopped and that the magnitude of the current flowing through the steering motor is greater than a predetermined threshold value; A vehicle equipped with:

7. the control means terminates the adjustment of the control amount for the steering motor when it is determined that a termination condition is satisfied, including that the magnitude of the amount of change in the direction of the steered wheels has become equal to or greater than a predetermined threshold.

7. The vehicle of claim 6.

8. The start condition includes a condition that the magnitude of the current flowing through the steering motor exceeds a threshold value for a predetermined period of time while the vehicle is stopped.

7. The vehicle of claim 6.

9. The computer determining whether or not start conditions are satisfied, including whether the vehicle is stopped and whether the magnitude of a current flowing through a steering motor that turns the steering wheels in a direction corresponding to the control amount is greater than a predetermined threshold value; If it is determined that the start condition is satisfied, the control amount for the steering motor is adjusted so as to reduce the magnitude of the current flowing through the steering motor. A control method comprising:

10. On the computer, Determining whether or not start conditions are satisfied, including that the vehicle is stopped and that the magnitude of a current flowing through a steering motor that turns the steering wheels in a direction corresponding to the control amount is greater than a predetermined threshold value; If it is determined that the start condition is satisfied, adjusting a control amount for the steering motor so as to reduce a magnitude of a current flowing through the steering motor; A program that executes the following.

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