Steering column adjustment device and steering column adjustment method

Abstract

To accurately adjust an attitude of a steering column by properly correcting deviation of attitude detection of the steering column.SOLUTION: A steering column adjustment device includes an actuator that drives an attitude adjustment mechanism of a steering column, and a detection unit that detects a current attitude position of the steering column by an operation value indicating an operation amount of the actuator with reference to one movable limit position of two movable limit positions of the attitude adjustment mechanism, and stores an operation value indicating an overload position where the actuator is overloaded. When an operation value indicating a current overload position detected when the actuator is operated in one movement direction matches an operation value indicating a previous overload position stored in a previous operation in the one movement direction, the detection unit corrects the operation value on the assumption that the current overload position is a movable limit position in the one movement direction.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into driver assistance technologies to further improve road safety and convenience.

[0003] Patent document 1 discloses a driving posture adjustment device that fine-tunes the driving position of a target part of the vehicle, such as the seat or steering wheel, when it is detected that the driver is dissatisfied with the driving position of that part. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-96206 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in driving assistance technology, it is a challenge to accurately adjust the position of the steering column, which is a part of the steering device, to the driver's preferred position.

[0006] In the above-mentioned conventional technology, if there is a deviation in the position detection of the target part when fine-tuning the driving position of the target part, it may not be possible to accurately adjust the driving position of the target part so as to alleviate the driver's dissatisfaction.

[0007] The present invention aims to solve the above-mentioned problems by appropriately correcting deviations in steering column attitude detection, thereby enabling accurate adjustment of the steering column attitude, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0008] One aspect of the present invention is a steering column adjustment device that adjusts the attitude of a steering column of a vehicle, comprising: an actuator that drives an attitude adjustment mechanism of the steering column to move the attitude position of the steering column within a movable range defined by two movable limit positions of the attitude adjustment mechanism; and a detection unit that detects the current attitude position of the steering column, wherein the detection unit detects the current attitude position of the steering column using an operating value that represents the operating amount of the actuator based on one of the movable limit positions, and stores the operating value that indicates an overload position, which is the attitude position at which the actuator is overloaded by more than a predetermined threshold, during operation of the actuator, and when the operating value that indicates the current overload position detected when the actuator is operated in one movement direction matches, within a predetermined error range, the operating value that indicates the previous overload position that was stored during a previous operation of the actuator in the one movement direction, the steering column adjustment device corrects the operating value, assuming that the current overload position is the movable limit position for the one movement direction. Another aspect of the present invention is a steering column adjustment method executed by a computer of a steering column adjustment device that adjusts the attitude of a steering column of a vehicle, the steering column adjustment method comprising: a setting step of driving an attitude adjustment mechanism of the steering column by an actuator to move the attitude position of the steering column within a movable range defined by two movable limit positions of the attitude adjustment mechanism; and a detection step of detecting a current attitude position of the steering column, wherein in the detection step, the current attitude position of the steering column is detected using an operation value that represents an operation amount of the actuator based on one of the movable limit positions, and the operation value that indicates an overload position, which is the attitude position at which the actuator is overloaded by more than a predetermined threshold, is stored, and when the operation value that indicates the current overload position detected when the actuator is operated in one movement direction matches, within a predetermined error range, the operation value that indicates the previous overload position that was stored in a previous operation of the actuator in the one movement direction, the steering column adjustment method considers the current overload position to be the movable limit position for the one movement direction, and corrects the operation value. [Effects of the Invention]

[0009] According to the present invention, deviations in the detection of the attitude of the steering column can be appropriately corrected, and the attitude of the steering column can be adjusted with high precision. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of an electric steering column to which a steering column adjustment device according to one embodiment of the present invention is applied. [Figure 2] FIG. 2 is a diagram showing the configuration of a cross section perpendicular to the rotation axis of a stepping motor, which is an example of an actuator that drives an attitude adjustment mechanism. [Figure 3] FIG. 3 is a diagram showing an example of a square wave signal output from a sensor in the configuration of the actuator of FIG. [Figure 4] FIG. 4 is a diagram showing an example of a change over time in the count value of a pulse signal output by a sensor provided in the actuator of the tilt steering mechanism. [Figure 5] FIG. 5 is an explanatory diagram for explaining the adjustment operation of the steering column when there is a deviation in the relationship between the count value and the attitude position of the steering column. [Figure 6] FIG. 6 is a diagram showing the configuration of a steering column adjustment device. [Figure 7] FIG. 7 is an explanatory diagram for explaining the corrective operation executed by the detection unit. [Figure 8] FIG. 8 is a flowchart showing the procedure of the initialization process executed by the steering column adjustment device. [Figure 9] FIG. 9 is a flowchart showing the procedure of the setting process executed by the steering column adjustment device. [Figure 10] FIG. 10 is a flowchart showing the procedure of the correction process in the setting process shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] [1. Overall structure] 1 is a diagram showing an example of the configuration of an electric steering column 3 of a vehicle 2 to which a steering column adjustment device 1 according to one embodiment of the present invention is applied. The vehicle 2 is, for example, an electric vehicle driven by a battery. The electric steering column 3 includes, as a posture adjustment mechanism for the steering column 31, a tilt steering mechanism 32a that adjusts a tilt angle θ (described later) which is the angle in the elevation angle direction EL of the steering column 31, and a longitudinal position P which is the position of the steering column 31 in the longitudinal direction FB. FB(described later) and a telescopic steering mechanism 32b that adjusts the tilt steering mechanism 32a and the telescopic steering mechanism 32b. Hereinafter, when there is no need to distinguish between the tilt steering mechanism 32a and the telescopic steering mechanism 32b, they will be collectively referred to as the attitude adjustment mechanism 32.

[0013] The tilt steering mechanism 32a and the telescopic steering mechanism 32b are driven by actuators 33a and 33b, respectively. Hereinafter, when there is no need to distinguish between the actuators 33a and 33b, they will be collectively referred to as actuator 33. The actuator 33 drives the attitude adjustment mechanism 32 of the steering column 31 to move the attitude position of the steering column 31 within a movable range defined by two movable limit positions of the attitude adjustment mechanism 32.

[0014] Specifically, the actuator 33a drives the tilt steering mechanism 32a to move the tilt steering mechanism 32a between two mechanical movement limit positions A LU and A LL The movable range LR is defined by TILT In this case, the tilt angle θ of the steering column 31 is changed to move the posture position of the steering column 31 in the elevation angle direction EL. Here, the tilt angle θ is set to, for example, one of the movable limit positions A LL The position is 0 degrees, and the limit of movement is A. LL From limit of movement position A LU The tilt angle θ can be defined as the angle measured in the direction of the limit position A. LU The maximum value θ max This becomes:

[0015] The actuator 33b also drives the telescopic steering mechanism 32b to move the telescopic steering mechanism 32b between two mechanical limit positions P LU and P LL The movable range LR is defined by POS In this case, the front-rear position P of the steering column 31 FB is changed to move the posture position of the steering column 31 in the front-rear direction FB.FB For example, one of the movable limit positions P LL From the position of the limit of movement P LU The front-to-rear position P can be defined as the distance measured in the direction of the FB is the limit of movement position P LU The maximum value P max This becomes:

[0016] Below, the movable limit position A LU and P LU When there is no distinction between these, they are collectively referred to as the limit position LU, and the limit position A LL and P LL When there is no distinction between these, they are collectively referred to as the limit of movement position LL. TILT and LR POS When no distinction is made between these, they are collectively referred to as the movable range LR. That is, the actuator 33 drives the attitude adjustment mechanism 32 of the steering column 31 to move the attitude position of the steering column 31 within a movable range LR defined by two movable limit positions LU and LL of the attitude adjustment mechanism 32.

[0017] In the following, similar operations common to the tilt steering mechanism 32a and the telescopic steering mechanism 32b will be described as operations of the attitude adjustment mechanism 32, which is a general term for the tilt steering mechanism 32a and the telescopic steering mechanism 32b. Furthermore, in the following, when specifically describing operations of the attitude adjustment mechanism 32 common to the tilt steering mechanism 32a and the telescopic steering mechanism 32b, they may be described as operations of the tilt steering mechanism 32a and / or the telescopic steering mechanism 32b.

[0018] The steering column adjustment device 1 adjusts the attitude of the steering column 31 by operating an actuator 33 of an attitude adjustment mechanism 32 in response to an input from a column adjustment switch 4 operated by the driver of the vehicle 2 and / or a change in the state of a vehicle power switch 5 that turns on and off the power supply (not shown) of the vehicle 2. Here, the steering column adjustment device 1 detects a change in the state of the vehicle power switch 5 by, for example, acquiring information indicating the state of the vehicle power switch 5 when the vehicle power switch 5 is operated via a vehicle control device 6 mounted on the vehicle 2. Note that if the vehicle 2 is driven by an internal combustion engine, the vehicle power switch 5 may be an ignition switch that starts or stops the operation of the internal combustion engine. The steering column adjustment device 1 and the vehicle control device 6 are communicatively connected, for example, by an in-vehicle network bus 7.

[0019] The column adjustment switch 4 may be disposed on the steering wheel 35 or an instrument panel (not shown) of the vehicle 2. The column adjustment switch 4 is, for example, a rocker switch, and when the upward or downward arrow portion shown in the figure is pressed, a command to move the attitude position in the elevation angle direction EL upward or downward is input to the steering column adjustment device 1. Furthermore, when the leftward or rightward arrow portion shown in the figure is pressed, the column adjustment switch 4 inputs a command to move the attitude position in the fore-and-aft direction FB backward or forward.

[0020] The actuators 33a and 33b are provided with sensors 36a and 36b, respectively, that generate predetermined signals for each unit operation of the actuators 33a and 33b. Hereinafter, when there is no need to distinguish between the sensors 36a and 36b, they will be collectively referred to as the sensor 36.

[0021] In this embodiment, as an example, the actuators 33 are each a stepping motor. FIG. 2 is a diagram showing an example of the cross-sectional configuration of a stepping motor serving as the actuator 33, taken perpendicular to the rotation axis. The actuator 33 serving as a stepping motor includes a magnet rotor 331, a stator 332, and one sensor 36, which is a Hall sensor. The magnet rotor 331 is a cylindrical magnet having multiple magnetic poles arranged at equal intervals along its circumference, and rotates together with the rotation axis 330. In the configuration shown in FIG. 2, the magnet rotor 331 has, as an example, two magnetic poles. That is, the magnet rotor 331 has one south pole and one north pole arranged in each half-circumferential region that divides the outer periphery of the magnet rotor 331 into two equal halves. Note that the number of magnetic poles may be any multiple of two, depending on the design of the stepping motor, as per the prior art.

[0022] The stator 332 is made of a cylindrical magnetic body having a plurality of coils arranged at equal intervals along its inner circumference. In the configuration of FIG. 2, for example, the stator 332 has four coils. The four coils are energized by the drive control circuit 333. Note that the shape of the stator 332 and the number of coils may be any number other than four depending on the design of the stepping motor, in accordance with conventional techniques.

[0023] The drive control circuit 333 is disposed in the attitude adjustment mechanism 32. The drive control circuit 333 rotates the magnet rotor 331 clockwise or counterclockwise by sequentially changing the magnetic poles generated in the four coils in a clockwise or counterclockwise direction according to conventional technology. Specifically, the drive control circuit 333 controls the command voltage V given from the steering column adjustment device 1. CONT Depending on the voltage value, the magnet rotor 331 is rotated clockwise or counterclockwise, or is stopped from rotating.

[0024] The sensor 36 is disposed, for example, near the outer periphery of the magnet rotor 331. The sensor 36 may include a Hall element and an integrated circuit for outputting the output of the Hall element as a voltage output.

[0025] According to known techniques, the sensor 36 generates a square wave signal S in response to changes in the magnetic field applied to the sensor 36 as the magnetic poles of the magnet rotor 331 pass the position of the sensor 36 as the magnet rotor 331 rotates. HALL Since the magnetic poles are arranged at equal intervals in the magnet rotor 331, the rectangular wave signal S HALL As the magnet rotor 331 rotates, the level of the signal goes high for each rotation of a unit angle corresponding to the spacing between the magnetic poles.

[0026] In this embodiment, the square wave signal S output from the sensor 36 HALL For example, the signal S becomes high level while the north pole of the magnet rotor 331 passes the position of the sensor 36, and becomes low level while the south pole passes. In addition, in the configuration of FIG. 2, the magnet rotor 331 has an south pole and an north pole on each of two half revolutions that divide its outer circumference into two equal halves, so that the north pole passes the position of the sensor 36 for each rotation of the magnet rotor 331. Therefore, in this embodiment, the unit angle is 360 degrees. In other words, the square wave signal S output from the sensor 36 HALL The sensor 36 outputs a square wave signal S HALL is output to the steering column adjustment device 1.

[0027] In this embodiment, a brushless stepping motor having a magnet rotor 331 is shown as an example of the actuator 33, but the actuator 33 may also be a brushed stepping motor having a rotor coil. In the case of a brushed stepping motor, a sensor 36 that is a Hall sensor can be provided near the rotor coil. As a result, similar to the brushless stepping motor described above, a square wave signal S including a pulse signal Sp that is generated each time the rotor coil rotates a predetermined unit angle is generated. HALL may be output from the sensor 36.

[0028] FIG. 3 shows a square wave signal S output from the sensor 36 to the steering column adjustment device 1. HALL 3 is a diagram showing an example of a square wave signal S when the magnet rotor 331 rotates at a constant speed. HALL As shown in the figure, the square wave signal S HALL As the N pole and S pole of the magnet rotor 331 pass the position of the sensor 36, which is a Hall sensor, a voltage V H and the low-level voltage V L As a result, as described above, the square wave signal S HALL contains a pulse signal Sp that is generated every time the magnet rotor 331 rotates through a unit angle of 360 degrees.

[0029] The steering column adjustment device 1 detects the current attitude position of the steering column 31 based on an operation value that represents the amount of operation of the actuator 33 relative to one of the movement limit positions of the attitude adjustment mechanism 32, for example, the movement limit position LL. The operation value is a count value obtained by adding or subtracting the number of times a predetermined signal is generated per unit amount of operation of the actuator 33, depending on the direction of operation of the actuator 33. Note that the operation value may also represent the amount of operation of the actuator 33 relative to the movement limit position LU.

[0030] In this embodiment, the predetermined signal is a square wave signal S output from the sensor 36, which is generated every time the magnet rotor 331 of the stepping motor, which is the actuator 33, rotates by a unit angle. HALL is a pulse signal Sp included in

[0031] The steering column adjustment device 1 can know the rotation angle of the magnet rotor 331, i.e., the amount of operation of the actuator 33, which is a stepping motor, from a count value Nc obtained by adding or subtracting the number of times this pulse signal Sp is generated in accordance with the rotation direction of the magnet rotor 331. The steering column adjustment device 1 detects the current attitude position of the steering column 31 from the count value Nc, which is an operation value representing the amount of operation of the actuator 33, which is a stepping motor.

[0032] Specifically, the steering column adjustment device 1 sets the count value Nc to 0 (zero) when the steering column 31 is at one of the movable limit positions LL of the attitude adjustment mechanism 32. Then, when the magnet rotor 331 is rotated so that the steering column 31 moves toward the other movable limit position LU of the attitude adjustment mechanism 32, the steering column adjustment device 1 adds the number of times that the pulse signal Sp output from the sensor 36 is generated to the count value Nc. Furthermore, when the magnet rotor 331 is rotated so that the steering column 31 moves toward the one of the movable limit positions LL of the attitude adjustment mechanism 32, the steering column adjustment device 1 subtracts the number of times that the pulse signal Sp output from the sensor 36 is generated from the count value Nc.

[0033] As a result, the count value Nc represents the amount of movement of the actuator 33 based on one of the movable limit positions LL of the attitude adjustment mechanism 32, and indirectly represents the current attitude position of the steering column 31 that moves between one of the movable limit positions LL and the other movable limit position LU.

[0034] Hereinafter, the count value Nc of the number of times the pulse signal Sp is generated from the sensor 36a of the tilt steering mechanism 32a will be referred to as the count value Nc1, and the count value Nc of the number of times the pulse signal Sp is generated from the sensor 36b of the telescopic steering mechanism 32b will be referred to as the count value Nc2. LL Based on this, the other limit of movement position A LUThe count value Nc2 represents the position of the steering column 31 that has moved toward one of the movement limit positions P LL Based on this, the other movable limit position P LU 10 represents the attitude position of the steering column 31 that has moved toward the Hereinafter, when there is no need to distinguish between the count value Nc1 and the count value Nc2, they will be collectively referred to as the count value Nc.

[0035] In the following description, the direction of operation of the actuator 33 that moves the position of the steering column 31 from the movable limit position LL toward the movable limit position LU will be referred to as the "forward direction," and the direction of operation of the actuator 33 that moves the position of the steering column 31 from the movable limit position LU toward the movable limit position LL will be referred to as the "reverse direction." Furthermore, the rotation direction of the magnet rotor 331 that corresponds to the forward operation of the actuator 33, which is a stepping motor, will be referred to as the "normal" direction, and the rotation direction of the magnet rotor 331 that corresponds to the reverse operation of the actuator 33 will be referred to as the "reverse" direction.

[0036] The magnet rotor 331 is connected to the steering column adjustment device 1, which supplies a command voltage V to a drive control circuit 333 of the actuator 33a, which is a stepping motor. CONT As a result, the forward rotation command voltage V CF When the reverse voltage V is input, the motor rotates in the forward direction. CR When you input, it rotates in the reverse direction.

[0037] FIG. 4 is a diagram showing an example of a change over time in the count value Nc1 of the pulse signal Sp output from the sensor 36a provided in the actuator 33a that drives the tilt steering mechanism 32a.

[0038] The upper diagram in FIG. 4 shows the command voltage V that the steering column adjustment device 1 outputs to the drive control circuit 333 of the actuator 33a, which is a stepping motor. CONT4. In the upper diagram of FIG. 4, the vertical axis represents voltage and the horizontal axis represents time. The lower diagram of FIG. 4 shows the change in the indicated voltage V CONT 4 is a diagram showing an example of a change in count value Nc1 over time in response to a change in count value Nc1 over time. In the lower diagram of FIG. 4, of the two vertical axes, the vertical axis on the right side of the figure indicates the value of count value Nc1, and the vertical axis on the left side of the count axis indicates tilt angle θ, which is the attitude position of steering column 31 in elevation angle direction EL corresponding to count value Nc1. Here, the vertical axis on the right side of the figure indicating count value Nc1 will be referred to as the count axis, and the vertical axis on the left side of the figure indicating tilt angle θ will be referred to as the tilt axis.

[0039] In the example shown in FIG. 4, as shown by the tilt axis and count axis in the lower diagram of FIG. 4, the tilt steering mechanism 32a is at the movable limit position A LL That is, the posture position of the steering column 31 where the tilt angle θ=0 corresponds to [count value Nc1=0], and the movable limit position A of the tilt steering mechanism 32a LU That is, the tilt angle θ = θ max The posture position of the steering column 31 where Nc1 corresponds to, for example, [count value Nc1=400]. Note that the tilt angle θ=θ max The method for determining the count value Nc corresponding to the posture position of the steering column 31 will be described later with reference to FIG. LU The correct count value Nc1 corresponding to the Nc1 limit value V 1U ) is an example.

[0040] Movable limit position A indicated by tilt angle θ=0 on the tilt axis LL The position and tilt angle θ = θ max Movable limit position A indicated by LU The range between the positions is the movable range LR TILT Corresponds to.

[0041] The steering column adjustment device 1 may move the actuator 33a to the movable limit position A due to a count error in the count value Nc1 or the like. LLand / or limit of movement position A LU To avoid collisions, the movable range LR TILT Setting tolerance SR is narrower than TILT The attitude of the steering column 31 is adjusted within the range of the set tolerance range SR. TILT are the two limit positions A LL and A LU Two set limit positions A, A, B, C, and D are spaced apart by a predetermined margin from each other. SL and A SU In the example shown in the lower part of Figure 4, the set tolerance range SR TILT is the limit of movement position A LL and A LU The count value Nc1 is set to a range with a margin of 20 counts, and the setting limit position A SL and A SU correspond to the count value Nc1 values ​​of 20 and 380, respectively.

[0042] As in the above, the steering column adjustment device 1 adjusts the actuator 33b of the telescopic steering mechanism 32b to the movable limit position P LL and / or limit position P LU To avoid collisions, the movable range LR POS Setting tolerance SR is narrower than POS The attitude of the steering column 31 is adjusted within the range of the set tolerance range SR. POS are the two limit positions P LL and P LU Two set limit positions P are set at a predetermined margin from each other. SL and P SU It is defined as the range between

[0043] Below is the setting limit position A SL and P SL When there is no distinction between these, they are collectively called the setting limit position SL, and the setting limit position A SU and P SUWhen no distinction is made between these, they are collectively referred to as the setting limit position SU. TILT and setting tolerance SR POS When no distinction is made between these, they are collectively referred to as the setting tolerance range SR. That is, the steering column adjustment device 1 adjusts the attitude of the steering column 31 within a set allowable range SR that is narrower than the movable range LR of the attitude adjustment mechanism 32. The set allowable range SR is defined as the range between two set limit positions SL and SU that are separated by a predetermined margin from the two movable limit positions LL and LU, respectively.

[0044] Referring to FIG. 4, first, at time t11, for example, when an instruction to move the steering column 31 upward along the elevation angle direction EL is given from the column adjustment switch 4, the steering column adjustment device 1 applies an instruction voltage V CONT forward rotation instruction voltage V CF and rotates the magnet rotor 331 of the actuator 33a in the forward direction. While the actuator 33a is being moved in the forward direction, the steering column adjustment device 1 adds 1 to the count value Nc1 every time a pulse signal Sp is output from the sensor 36a of the actuator 33a. As a result, the count value Nc1 increases over time, and at time t12, it reaches the set allowable range SR TILT Setting limit position A SU The count value Nc1 reaches the set limit position A. SU In response to the steering column adjusting device 1 reaching a value 380 corresponding to the command voltage V CONT is set to 0 (zero) V to stop the operation of the actuator 33a. As a result, the steering column 31 is set to the set limit position A SU The tilt angle is maintained at a position corresponding to the tilt angle.

[0045] After that, at time t13, when a command is given from the column adjustment switch 4 to move the steering column 31 downward along the elevation angle direction EL, the steering column adjustment device 1 applies a command voltage V CONT The reverse instruction voltage V CR and rotates the magnet rotor 331 of the actuator 33a in the reverse direction. While the actuator 33a is being moved in the reverse direction, the steering column adjustment device 1 subtracts 1 from the count value Nc1 every time a pulse signal Sp is output from the sensor 36a of the actuator 33a. As a result, the count value Nc1 decreases over time.

[0046] At time t14, the count value Nc1 falls within the set tolerance range SR TILT Setting limit position A SL When the value 20 corresponding to the command voltage V CONT is set to 0 (zero) V to stop the operation of the actuator 33a. As a result, the steering column 31 is set to the set limit position A SL The tilt angle is maintained at a position corresponding to the tilt angle.

[0047] The operation from time t15 to t16 is the same as the operation from time t11 to t12 described above. After that, at time t17, when a command is given from the column adjustment switch 4 to move the steering column 31 downward along the elevation angle direction EL, the steering column adjustment device 1 generates a command voltage V CONT The reverse instruction voltage V CR and moves the actuator 33a in the reverse direction, and each time a pulse signal Sp is output from the sensor 36a, 1 is subtracted from the count value Nc1. Then, at time t18, the count value Nc1 reaches the set limit position A SL If the column adjustment switch 4 is turned off before the command voltage V reaches the value 20 corresponding to V CONTis set to 0 (zero) V to stop the operation of the actuator 33a. As a result, the steering column 31 is held in a posture position with a tilt angle corresponding to the count value Nc1 at time t18.

[0048] The change over time in the count value Nc2 of the pulse signal Sp from the sensor 36b of the actuator 33b provided in the telescopic steering mechanism 32b and the operation of the steering column adjustment device 1 with respect to the telescopic steering mechanism 32b may be similar to the change over time in the count value Nc1 with respect to the tilt steering mechanism 32a shown in FIG. 4 and the operation of the steering column adjustment device 1 with respect to the tilt steering mechanism 32a described above.

[0049] The above operation is performed based on the relationship between the count value Nc and the attitude position of the steering column 31 in the attitude adjustment mechanism 32 (i.e., the relationship between the tilt angle θ and the count value Nc1, and the relationship between the front-rear position P FB and the count value Nc2) is maintained stable, it functions properly.

[0050] However, the relationship between the count value Nc and the attitude position of the steering column 31 may vary significantly due to various factors.

[0051] For example, as described above, the steering column adjustment device 1 is configured to supply a command voltage V CONT forward rotation instruction voltage V CF Set the reverse command voltage V CRDepending on whether the setting is 0 or 1, it is determined whether the actuator 33 is moving in the forward direction or the reverse direction, and the number of pulse signals Sp output from the sensor 36 is added to or subtracted from the count value Nc. However, after the magnet rotor 331 of the actuator 33, which is a stepping motor, rotates due to the energization of the coil of the stator 332 (hereinafter referred to as the stator coil), even if the energization to the stator coil is turned off, it does not necessarily stop at the position at which the energization was turned off, and due to various factors, it may rotate slightly from the position at which the energization was turned off, causing the sensor 36 to generate a pulse signal Sp. Hereinafter, the rotation of the magnet rotor 331 after the energization is turned off will be referred to as excess rotation.

[0052] This excess rotation can be rotation in any direction depending on various factors such as the position of the magnetic poles of the magnet rotor 331 when power is turned off. Therefore, it is unclear whether the number of pulse signals Sp generated from the sensor 36 due to this excess rotation should be added to or subtracted from the count value Nc1, and as a result, a deviation may occur in the count value Nc relative to the attitude position of the steering column 31.

[0053] As a first example, this excess rotation after power-off occurs when, for example, the magnetic poles of the magnet rotor 331, which has stopped rotating due to power-off, are attracted to the magnetic core of the nearby stator coil, and the direction of this rotation can be forward or reverse depending on the positional relationship between the magnetic poles and the magnetic core. For this reason, if the direction of excess rotation is uniformly considered to be the same as the direction of rotation before power-off, and if, for example, the direction of rotation before power-off was forward, and the number of pulse signals Sp generated from the sensor 36 during excess rotation is added to the count value Nc, a deviation may occur in the relationship between the count value Nc and the attitude position of the steering column 31 if the actual excess rotation is in the reverse direction.

[0054] As a second example, excess rotation after de-energization can occur, for example, when the driver operates the column adjustment switch 4 to change the position of the steering column 31 and the steering column 31 hits the driver's body or another object, causing the driver to turn off the column adjustment switch 4. In this case, excess rotation can occur when the magnet rotor 331 of the actuator 33 rotates due to the force of the steering column 31 being pushed by the object after the column adjustment switch 4 is turned off and power to the actuator 33 is cut off. Furthermore, since the direction of excess rotation in this case is either forward or reverse depending on the direction of the force applied to the steering column 31, it is difficult for the steering column adjustment device 1 to determine whether the pulse signal Sp generated by the sensor 36 during excess rotation should be added to or subtracted from the count value Nc. As a result, for example, if the number of pulse signals Sp generated by the sensor 36 during excess rotation were ignored (i.e., neither added nor subtracted from the count value), a discrepancy could occur in the relationship between the count value Nc and the position of the steering column 31.

[0055] As a third example, excess rotation after power-off may occur when there is backlash in the transmission path of the driving force from the actuator 33 to the attitude adjustment mechanism 32 (for example, backlash in the meshing of gears), causing the magnet rotor 331 of the actuator 33 to freely rotate within the range of that backlash. Since it is difficult for the steering column adjustment device 1 to determine the direction of such free rotation of the magnet rotor 331, this may be a factor that causes a deviation in the relationship between the count value Nc and the attitude position of the steering column 31.

[0056] As a fourth example, when the power supply is turned off, the boundary between the magnetic poles of the magnet rotor 331 stops at the position of the sensor 36. When the boundary between the magnetic poles stops at the position of the sensor 36, the magnet rotor 331 repeatedly rotates slightly freely in the forward and reverse directions, and pulse signals Sp can be generated from the sensor 36 the number of times mentioned above. Because these pulse signals Sp are not generated for each unit angle of the magnet rotor 331, adding or subtracting the number of these pulse signals Sp to or from the count value Nc can cause a deviation in the relationship between the count value Nc and the attitude position of the steering column 31.

[0057] Furthermore, when there is a deviation in the relationship between the count value Nc and the attitude position of the steering column 31, if the steering column adjustment device 1 adjusts the steering column 31 based on the count value Nc, problems such as a narrowing of the adjustable range of the attitude position of the steering column 31 may occur.

[0058] Fig. 5 is an explanatory diagram for explaining an example of an adjustment operation of the steering column 31 when there is a deviation in the relationship between the count value Nc and the attitude position of the steering column 31. Fig. 5 shows, as an example, an example of an operation when there is a deviation from the correct correspondence between the tilt angle θ indicated by the tilt axis and count axis in the lower diagram of Fig. 4 and the count value Nc1.

[0059] 5, the leftmost vertical axis of the three vertical axes on the left side of the drawing is a tilt axis that indicates the tilt angle θ of the steering column 31, and the middle vertical axis of the three vertical axes is a first count axis that indicates the "correct count value Nc1" that has a correct correspondence with the tilt angle. These tilt axes and first count axes are the same as the tilt axes and count axes shown in the lower diagram of FIG.

[0060] On the other hand, the rightmost vertical axis of the three vertical axes on the left side of FIG. 5 is a second count axis that indicates a "deviant count value Nc1" that is deviated from its corresponding relationship with the tilt angle θ, which is the attitude position of the steering column 31. In the illustrated example, the "deviant count value Nc1" shown on the second count axis is a value that is shifted in the forward direction (movable limit position A) relative to the "correct count value Nc1" shown on the first count axis. LL From limit of movement position A LU There is a 50 count difference in the direction of the

[0061] As a result, the limit of movement position A LL The posture position of [tilt angle θ=0] corresponding to [count value Nc1=0] does not correspond to [count value Nc1=0], and the movable limit position A LU [Tilt angle θ=θ max ] corresponds to [count value Nc1=350], not [count value Nc1=400]. On the other hand, in the steering column adjustment device 1, the count value Nc1 is set to a range of 20 to 380 in the same manner as in the case shown in FIG. TILT is stipulated.

[0062] Therefore, for example, at time t21, the column adjustment switch 4 is operated, and the steering column adjustment device 1 adjusts the steering column adjustment amount within the above-specified set allowable range SR TILT Setting limit position A SU Even if the steering column 31 is moved to the position of [count value Nc1=380] corresponding to the count value Nc1=350, the position of [count value Nc1=350] is actually the limit position A. LU Therefore, the steering column 31 reaches the count value Nc1=350 at time t22 and stops.

[0063] After that, when the column adjustment switch 4 is operated at time t23, the steering column adjustment device 1 moves to the movable limit position A LL At time t24, the steering column 31 is moved in the direction of the set tolerance range SR TILT Setting limit position ASL When the position of [count value Nc1=20] corresponding to the count value Nc1 is reached, the movement of the steering column 31 is stopped.

[0064] That is, because the count value Nc1 is off by 50 counts, the actual adjustment tolerance range of the attitude position of the steering column 31 that can be adjusted by the steering column adjustment device 1 is in the range of [20≦count value Nc1≦350], and the above-specified set tolerance range SR TILT This is a region that is 30 counts narrower than the region [20≦count value Nc1≦380] that corresponds to the above. The operation from time t25 to t27 is the same as the operation from time t21 to t23 described above.

[0065] In order to solve the problem of the adjustment range of the attitude position of the steering column 31 being reduced due to a deviation in the count value Nc as described above and to enable the steering column 31 to be moved throughout the entire set allowable range SR, the steering column adjustment device 1 of this embodiment performs a correction process for the deviation in the correspondence between the count value Nc and the attitude position of the steering column 31, as will be described later.

[0066] [2. Configuration of steering column adjustment device] FIG. 6 is a diagram showing the configuration of the steering column adjustment device 1. As shown in FIG. The steering column adjusting device 1 includes a processor 10 and a memory 11. The memory 11 is configured, for example, by a volatile and / or non-volatile semiconductor memory and / or a hard disk device.

[0067] The processor 10 is, for example, a computer including a CPU (Central Processing Unit) etc. The processor 10 may also include a ROM (Read Only Memory) in which a program is written, a RAM (Random Access Memory) for temporary data storage etc. The processor 10 includes a detection unit 13 and a setting unit 14 as functional elements or functional units.

[0068] These functional elements of the processor 10 are realized, for example, by the processor 10, which is a computer, executing a program 12 stored in a memory 11. The program 12 can be stored in any computer-readable storage medium. Alternatively, all or part of the functional elements of the processor 10 can be configured by hardware including one or more electronic circuit components.

[0069] The detection unit 13 detects the current attitude position of the steering column 31. Specifically, the detection unit 13 detects the current attitude position of the steering column 31 based on an operation value that indicates the amount of operation of the actuator 33 relative to the movable limit position LL of the attitude adjustment mechanism 32. As described above, the operation value is a count value obtained by adding or subtracting the number of times a predetermined signal is generated per unit amount of operation of the actuator 33 according to the direction of operation of the actuator 33.

[0070] More specifically, the detection unit 13 detects the movement limit position A of the tilt steering mechanism 32a. LL The current attitude position of the steering column 31 in the elevation angle direction EL is detected based on an operation value that indicates the amount of operation of the actuator 33a relative to the reference value. Here, the operation value is a count value Nc1 obtained by adding or subtracting the number of times a predetermined signal is generated per unit operation amount of the actuator 33a in accordance with the operation direction of the actuator 33a.

[0071] In this embodiment, the actuator 33a is a stepping motor equipped with a magnet rotor 331 having a plurality of poles and one sensor 36a which is a Hall sensor. The predetermined signal is a square wave signal S output from the sensor 36a which is generated every time the magnet rotor 331 of the actuator 33a rotates by a unit angle. HALLThe detection unit 13 calculates a count value Nc1 by adding or subtracting the number of times the pulse signal Sp is generated depending on whether the rotation direction of the magnet rotor 331 of the actuator 33a is forward or reverse.

[0072] Similarly, the detection unit 13 detects the movement limit position P of the telescopic steering mechanism 32b. LL The current longitudinal position P of the steering column 31 in the longitudinal direction FB is calculated based on the operation value representing the amount of operation of the actuator 33b relative to the reference position. FB Here, the operation value is a count value Nc2 obtained by adding or subtracting the number of times a predetermined signal is generated for each unit operation amount of the actuator 33b in accordance with the operation direction of the actuator 33b.

[0073] In this embodiment, the actuator 33b is a stepping motor equipped with a magnet rotor 331 having a plurality of poles and one sensor 36b which is a Hall sensor. The predetermined signal is a square wave signal S output from the sensor 36b which is generated every time the magnet rotor 331 of the actuator 33b rotates by a unit angle. HALL The detection unit 13 calculates the count value Nc2 by adding or subtracting the number of times the pulse signal Sp is generated depending on whether the rotation direction of the magnet rotor 331 of the actuator 33b is the forward direction or the reverse direction.

[0074] The detection unit 13 also performs a correction process to correct the deviation in the relationship between the count value Nc, which is an operating value, and the attitude position of the steering column 31. Specifically, the detection unit 13 detects that the operating load of the actuator 33 has become an overload equal to or greater than a predetermined threshold value during the operation of the actuator 33 performed by the setting unit 14, which will be described later. In response to detecting the overload, the detection unit 13 stores an operating value (i.e., a count value) of the actuator 33 that indicates an overload position, which is the attitude position of the steering column 31 when the overload was detected. That is, the detection unit 13 stores the operating value of the actuator 33 when the overload of the actuator 33 was detected.

[0075] Then, when the operation value indicating the current overload position detected when the setting unit 14 operates the actuator 33 in one movement direction matches, within a predetermined error range, the operation value indicating the previous overload position stored in the previous operation of the actuator 33 in the one movement direction, the detection unit 13 determines that the current overload position is the movable limit position (LU or LL) for the one movement direction, and corrects the operation value. Here, the "movable limit position for one movement direction" means the movable limit position LU when the "one movement direction" is a direction toward the movable limit position LU, and means the movable limit position LL when the "one movement direction" is a direction toward the movable limit position LL.

[0076] The operation of this correction process will be explained using a specific example. 7 is an explanatory diagram for explaining the above-mentioned correction process. In FIG. 6, the three vertical axes on the left side of the drawing are the same as the three vertical axes shown on the left side of FIG. 5, and from the left in the drawing are a tilt axis indicating the tilt angle θ of the steering column 31, a first count axis indicating a "correct count value Nc1" that is in a correct correspondence with the tilt angle, and a second count axis indicating a "deviant count value Nc1" that is deviated from its correspondence with the tilt angle θ, which is the attitude position of the steering column 31. As in the example of FIG. 5, in the example of FIG. 7, the "deviant count value Nc1" shown on the second count axis is shifted in the forward direction (movable limit position A) relative to the "correct count value Nc1" shown on the first count axis. LL From limit of movement position A LU There is a 50 count difference in the direction of the

[0077] The vertical axis on the right side of FIG. 7 is a third count axis indicating the "corrected count value Nc1" after the detection unit 13 performs the correction process at time t37. In the example of FIG. 7, it is assumed that, as an initial state, the detection unit 13 has not yet stored any value of the count value Nc1 indicating the overload position of the actuator 33a in the previous operation.

[0078] In FIG. 7, first, at time t31, the column adjustment switch 4 is operated to move the steering column 31 in the forward direction (to the movable limit position A LU An instruction to move the steering column 31 in the forward direction (towards the tilt steering mechanism 32a) is given to the steering column adjustment device 1. A setting unit 14 (described later) of the steering column adjustment device 1 instructs the actuator 33a of the tilt steering mechanism 32a to move the steering column 31 in the forward direction. During this time, the detection unit 13 continues to calculate a count value Nc1 by adding up the number of times a pulse signal Sp is generated from the sensor 36a provided in the actuator 33a.

[0079] The setting unit 14 sets the set allowable range SR TILT Setting limit position A SU However, the steering column 31 reaches the movable limit position A when the count value Nc1 reaches 350 at time t32. LU At this time, the actuator 33a is in an overload state where it cannot move the steering column 31 even though it is in an energized state. As described above, at this point in time, the detection unit 13 has not stored any value for the count value Nc1 indicating the overload position of the actuator 33a in the previous operation, so in response to detecting the overload state at time t32, the detection unit 13 stores the value of the count value Nc1 at time t32, "350," as the value of the count value Nc1 indicating the overload position.

[0080] Here, the operating load of the actuator 33a can be evaluated, for example, as the reciprocal of the number of pulse signals Sp generated per unit time from the sensor 36a when the actuator 33a is energized. If the energization voltage is constant, the greater the operating load, the fewer the number of pulse signals Sp generated per unit time. Therefore, the greater the load, the greater the reciprocal of the number of generated signals.

[0081] For example, if the number of times the pulse signal Sp is generated per unit time during normal operation of the actuator 33a is 5, the operating load during the normal operation is 0.2 (= 1 / 5). In this case, if the predetermined threshold value for the operating load is set to 0.5 (= 1 / 2), it can be determined that the actuator 33a is in an overload state when the number of times the pulse signal Sp is generated per unit time drops to 2 or less.

[0082] After that, at time t33, the column adjustment switch 4 is operated, and the steering column adjustment device 1 is caused to move the steering column 31 in the reverse direction (to the movable limit position A LL An instruction is given to move the steering column 31 in the reverse direction (towards the tilt steering mechanism 32a). The setting unit 14 instructs the actuator 33a of the tilt steering mechanism 32a to move the steering column 31 in the reverse direction. During this time, the detection unit 13 continues to calculate the count value Nc1 by subtracting the number of times that the pulse signal Sp is generated from the sensor 36a provided in the actuator 33a.

[0083] The setting unit 14 determines whether the steering column 31 is within the set tolerance range SR TILT Setting limit position A SL At time t34 when the position of [count value Nc1=20] corresponding to the count value Nc1 is reached, the actuator 33a is instructed to stop operating.

[0084] After that, at time t35, the column adjustment switch 4 is operated again, and the steering column adjustment device 1 is caused to move the steering column 31 in the forward direction (to the movable limit position A LUWhen a movement command in the forward direction (toward the tilt steering mechanism 32a) is given, the setting unit 14 commands the actuator 33a of the tilt steering mechanism 32a to move the steering column 31 in the forward direction. During this time, the detection unit 13 continues to calculate the count value Nc1 by adding up the number of times that the pulse signal Sp is generated from the sensor 36a provided in the actuator 33a.

[0085] The setting unit 14 again sets the setting tolerance range SR TILT Setting limit position A SU However, the steering column 31 reaches the movable limit position A when the count value Nc1 reaches 350 at time t36. LU At this time, the detector 13 detects that the actuator 33a is in an overload state.

[0086] At time t36, the detection unit 13 detects that the actuator 33a has entered an overload state, and sets the value of the count value Nc1 at time t36, ``350,'' to the value of the count value Nc1 that indicates the overload position in the current forward operation of the actuator 33a. Then, the detection unit 13 compares the value of the count value Nc1, "350," which indicates the overload position in the previous forward operation of the actuator 33a and was stored at time t32, with the value of the count value Nc1, "350," which indicates the overload position in the current forward operation of the actuator 33a, detected this time at time t36.

[0087] The detection unit 13 corrects the count value Nc1 because the stored value "350" of the count value Nc1 indicating the previous overload position and the value "350" of the count value Nc1 indicating the current overload position match. Specifically, at time t37, a little after time t36, the detection unit 13 determines that the current overload position, i.e., the position where the steering column 31 stopped at time t36, is actually the movable limit position A of the actuator 33a in the forward direction. LUThe current count value Nc1, which stopped at time t36, is set to "350" at the limit position A. LU The value is corrected to "400" which corresponds to the limit of movement position A. LU The correct value of the count value Nc1, "400", corresponds to the Nc1 limit value V 1U (described later) may be stored in advance.

[0088] As a result, the count value Nc1 held by the detection unit 13 conforms to the "corrected count value Nc1" indicated by the third count axis on the right side of FIG. 7, and the count value Nc1 indicates a correct correspondence with the tilt angle θ of the steering column 31 indicated by the tilt axis. For example, the value "400" of the count value Nc1 corresponds to the movable limit position A indicated by the tilt axis. LU The value "0" of the count value Nc1 corresponds to the limit position A indicated by the tilt axis. LL This will correspond correctly to the position of

[0089] The detector 13 may correct the count value Nc1 when the stored count value Nc1 indicating the previous overload position and the count value Nc1 indicating the current detected overload position match within a predetermined error range. LU Even if an error may occur between the count value Nc1 indicating the previous overload position and the count value Nc1 indicating the current overload position, the same movable limit position A LU It is possible to correctly determine whether the two values ​​match.

[0090] The correction process of the count value Nc1, which has been described with reference to an example in FIG. 7, is carried out by rotating the actuator 33a of the tilt steering mechanism 32a in the reverse direction (when the steering column 31 is at the movable limit position A LL The same occurs if an overload condition is detected when moving the

[0091] That is, when the value of the count value Nc1 indicating the current overload position detected when the actuator 33a is operated in the reverse direction matches, within a predetermined error range, the value of the count value Nc1 indicating the previous overload position stored in the previous operation of the actuator 33a in the reverse direction, the detection unit 13 determines that the current overload position is the movable limit position A in the reverse direction. LL (Specifically, the count value Nc1 is reset to zero).

[0092] 7, the detection unit 13 also adjusts the actuator 33b of the telescopic steering mechanism 32b in the forward direction (when the steering column 31 reaches the movable limit position P LU (the direction toward the steering column 31) or the opposite direction (when the steering column 31 reaches the movable limit position P LL If an overload state is detected when the motor is moved in the direction (towards the direction of rotation), the count value Nc2 is corrected.

[0093] That is, when the value of the count value Nc2 indicating the current overload position detected when the actuator 33b of the telescopic steering mechanism 32b is operated in the forward direction matches, within a predetermined error range, the value of the count value Nc2 indicating the previous overload position stored in the previous operation of the actuator 33b in the forward direction, the detection unit 13 determines that the current overload position is the movable limit position P LU Specifically, the current count value Nc2 is corrected based on the movement limit position P LU The correct count value Nc2 corresponding to the Nc2 limit value V 2U ) to

[0094] Furthermore, when the value of the count value Nc2 indicating the current overload position detected when the actuator 33b is operated in the reverse direction matches, within a predetermined error range, the value of the count value Nc2 indicating the previous overload position stored in the previous operation of the actuator 33b in the reverse direction, the detection unit 13 determines that the current overload position is the movable limit position P LL (Specifically, the count value Nc2 is reset to zero).

[0095] Furthermore, when the value of the count value Nc indicating the current overload position detected when the actuator 33 is operated in one movement direction does not match, within a predetermined error range, the value of the count value Nc indicating the previous overload position stored in the previous operation of the actuator 33 in the above-mentioned one movement direction, the detection unit 13 either updates the memory of the previous overload position with the current overload position, or maintains the memory of the previous overload position.

[0096] Specifically, when the current overload position detected when the actuator 33 is operated in one movement direction is a posture position farther from the movable limit position (LL or LU) in the one movement direction than the previous overload position detected and stored when the actuator 33 was operated in the one movement direction, the detection unit 13 does not store the value of the count value Nc indicating the current overload position, and maintains the memory of the previous overload position. Also, when the current overload position detected when the actuator 33 is operated in the one movement direction is a posture position closer to the movable limit position (LL or LU) in the one movement direction than the previous overload position detected and stored when the actuator 33 was operated in the one movement direction, the detection unit 13 updates the memory of the value of the count value Nc indicating the previous overload position with the value of the count value Nc indicating the current overload position.

[0097] Here, whether the current overload position detected when the actuator 33 is operated in one movement direction is a posture position farther or closer to the movable limit position (LL or LU) in the one movement direction compared to the previous overload position detected and stored when the actuator 33 is operated in the one movement direction can be determined by whether the value of the count value Nc indicating the previous overload position is larger or smaller than the value of the count value Nc indicating the current overload position.

[0098] This means that, for example, if the steering column 31 hits an obstacle before reaching the movable limit position LL or LU and the actuator 33 becomes overloaded, the overload position may not be stored, and therefore the operating value (i.e., the count value Nc) can be more accurately corrected at the movable limit position LL or LU.

[0099] Referring to FIG. 6, the setting unit 14 of the steering column adjustment device 1, in response to an input from the column adjustment switch 4, moves and sets the attitude position of the steering column 31 using the actuator 33 within a predetermined set allowable range SR within the movable range LR of the attitude adjustment mechanism 32, based on the current attitude position of the steering column 31 detected by the detection unit 13.

[0100] The set allowable range is determined as a range between two set limit positions SL and SU, which are separated by a predetermined margin from two movable limit positions LL and LU that define the movable range LR. As an example, for the attitude position of the steering column 31 in the elevation angle direction EL, which is changed by the tilt steering mechanism 32a, the set allowable range SR is determined as shown on the tilt axis in FIG. TILT is the range of motion LR TILT Two limit positions A that define LL and A LU Two set limit positions A, each separated by a predetermined margin, are set SL and A SU It is defined as the range between

[0101] The setting unit 14 also stores an in-use posture position and a standby posture position of the steering column 31 for each driver of the vehicle 2. The in-use posture position is the posture position of the steering column 31 when the driver is driving, and the standby posture position is the posture position of the steering column 31 when the driver is not driving. The in-use posture position and the standby posture position are determined within a set allowable range SR. For example, for one driver, the in-use posture position may be the center position of the set allowable range SR, and the standby posture position may be the set limit position SU of the set allowable range SR.

[0102] Then, when the state of the vehicle 2 satisfies a predetermined first condition, the setting unit 14 moves the steering column 31 to the in-use posture position stored for that driver. Also, when the state of the vehicle 2 satisfies a predetermined second condition, the setting unit 14 moves the steering column 31 to the standby posture position stored for that driver.

[0103] This allows the position of the steering column 31 to be automatically adjusted for each driver to the driver's preferred in-use posture position and standby posture position, thereby improving convenience for the driver.

[0104] In the above, the first condition may be when the driver gets into the vehicle 2 or when the vehicle 2 is started, and the second condition may be when the driver gets out of the vehicle 2 or when the vehicle 2 is stopped. Here, whether the driver has gotten into the vehicle 2 or whether the driver has gotten out of the vehicle 2 may be determined based on an image from an interior camera (not shown) provided in the cabin of the vehicle 2, for example. Also, whether the vehicle 2 has been started or stopped may be determined from information on the operation of the vehicle power switch 5 via the vehicle control device 6, that is, whether the vehicle power switch 5 has been switched from off to on or whether the vehicle power switch 5 has been switched from off to on, respectively.

[0105] This allows the steering column to be adjusted to an in-use position and a standby position according to the driver's preference when the driver gets into the vehicle or starts the vehicle, and when the driver gets out of the vehicle or stops the vehicle, thereby further improving convenience for the driver.

[0106] [3. Operation of the steering column adjustment device] Next, the procedure of the operation of the steering column adjustment device 1 will be described. The steering column adjustment device 1 executes an initialization process and a setting process. The initialization process is a process for initializing the correspondence between the attitude position of the steering column 31 and the count value Nc, which is an operation value indicating the amount of operation of the actuator 33. The setting process is a process for the steering column adjustment device 1 to set the attitude position of the steering column 31 in response to operation of the column adjustment switch 4 by the driver or in response to the first condition or the second condition being satisfied. The setting process includes the above-mentioned correction process performed by the detection unit 13.

[0107] First, the initialization process will be described. Fig. 8 is a flowchart showing the procedure of the initialization process executed by the processor 10, which is the computer of the steering column adjustment device 1. The initialization process is executed, for example, during maintenance work on the vehicle 2, when there are no obstacles around the steering column 31 that would hinder the movement of the steering column 31. The process shown in Fig. 8 starts when the power to the steering column adjustment device 1 is turned on. Note that in Fig. 8, while the attitude position of the steering column 31 is being moved by the actuator 33, the detection unit 13 counts the number of pulse signals Sp output from the sensor 36 and calculates a count value Nc.

[0108] When the process starts, the detection unit 13 of the steering column adjustment device 1 determines whether or not an initialization command has been received (S100). The initialization command is transmitted to the steering column adjustment device 1 from outside the vehicle 2 via the in-vehicle network bus 7 of the vehicle 2, for example, during maintenance work on the vehicle 2.

[0109] When an initialization instruction is not received (S100, NO), the detection unit 13 returns to step S100 and repeats the process, waiting for reception of an initialization instruction. On the other hand, when an initialization instruction is received (S100, YES), the detection unit 13 instructs the setting unit 14 to operate the actuator 33a of the tilt steering mechanism 32a in the reverse direction, and moves the attitude position of the steering column 31 to the movable limit position A. LL The steering column 31 stops at the limit position A (S102). LL The fact that this has happened can be detected, for example, when the operating load of the actuator 33a moved in the reverse direction becomes an overload equal to or greater than a predetermined threshold.

[0110] Next, the detection unit 13 detects whether the posture position of the steering column 31 is at the movable limit position A LL In the state where the actuator 33a is stopped, the current value of the count value Nc1, which is an operation value indicating the amount of operation of the actuator 33a, is reset to zero (S104).

[0111] Next, the detection unit 13 instructs the setting unit 14 to operate the actuator 33a in the forward direction, and moves the attitude position of the steering column 31 to the movable limit position A. Lu The steering column 31 stops at the limit position A (S106). Lu This can be detected by the fact that the operating load of the actuator 33a moved in the forward direction becomes an overload equal to or greater than a predetermined threshold.

[0112] Next, the detection unit 13 detects whether the posture position of the steering column 31 is in the movable limit position A. Lu In the stopped state, the current value of the count value Nc1, which is an operation value indicating the operation amount of the actuator 33a, is set to the Nc1 limit value V 1UThe detection unit 13 instructs the setting unit 14 to operate the actuator 33a in the reverse direction, and stores the count value Nc1 as the stored Nc1 limit value V 1U When the steering column 31 reaches half of the moving limit position A, the actuator 33a is stopped from operating. Lu and limit of movement position A LL The position is set to the center position between (S110).

[0113] Next, the detection unit 13 instructs the setting unit 14 to operate the actuator 33b of the telescopic steering mechanism 32b in the reverse direction, and moves the attitude position of the steering column 31 to the movable limit position P LL The steering column 31 stops at the limit position P LL This can be detected by the fact that the operating load of the actuator 33b moved in the reverse direction has become an overload.

[0114] Next, the detection unit 13 detects whether the posture position of the steering column 31 is at the movable limit position P LL In the state where the actuator 33b is stopped, the current value of the count value Nc2, which is an operation value indicating the amount of operation of the actuator 33b, is reset to zero (S114).

[0115] Next, the detection unit 13 instructs the setting unit 14 to operate the actuator 33b in the forward direction, and moves the attitude position of the steering column 31 to the movable limit position P LU The steering column 31 stops at the limit position P LU This can be detected by the fact that the operating load of the actuator 33b moved in the forward direction has become an overload equal to or greater than a predetermined threshold.

[0116] Next, the detection unit 13 detects whether the posture position of the steering column 31 is at the movable limit position P LU In the stopped state, the current value of the count value Nc2, which is an operation value indicating the operation amount of the actuator 33b, is set to the Nc2 limit value V 2UThe detection unit 13 instructs the setting unit 14 to operate the actuator 33b in the reverse direction, and stores the count value Nc2 as the stored Nc2 limit value V 2U When the steering column 31 reaches half of the moving limit position P LU and the limit of movement position P LL (S120), and then this process ends.

[0117] Below, Nc1 limit value V 1U and Nc2 limit value V 2U When no distinction is made between these, they are collectively referred to as the Nc limit value V U Let us assume that:

[0118] Next, the setting process will be described. 9 is a flowchart showing the procedure of the setting process executed by the processor 10, which is the computer of the steering column adjustment device 1. As described above, the setting process is a process in which the steering column adjustment device 1 sets the attitude position of the steering column 31 in response to the operation of the column adjustment switch 4 by the driver or in response to the satisfaction of the first or second condition described above.

[0119] Since the setting process is common to the tilt steering mechanism 32a and the telescopic steering mechanism 32b, in FIG. 9 it will be described as the operation of the attitude adjustment mechanism 32, which is a general term for the tilt steering mechanism 32a and the telescopic steering mechanism 32b.

[0120] 9, while the attitude position of the steering column 31 is being moved by the actuator 33, the detection unit 13 counts the number of pulse signals Sp output from the sensor 36 to calculate a count value Nc, and detects the current attitude position of the steering column 31 from the calculated count value Nc. As described above, the count value Nc is an operating value that indicates the amount of operation of the actuator 33 with one of the movable limit positions LL of the attitude adjustment mechanism 32 as the reference.

[0121] In addition, the setting unit 14 recognizes the attitude position of the steering column 31 based on the count value Nc calculated by the detection unit 13 while the actuator 33 of the attitude adjustment mechanism 32 is operated to move the steering column 31.

[0122] 9 is started when the power supply to the steering column adjusting device 1 is turned on, and is repeatedly executed, and ends when the power supply to the steering column adjusting device 1 is turned off.

[0123] When the process starts, the setting unit 14 of the steering column adjustment device 1 determines whether the column adjustment switch 4 has been turned on (S200). Here, turning on the column adjustment switch 4 refers to pressing either the up-down or forward-backward arrow portion of the column adjustment switch 4, which is, for example, a rocker switch. Pressing either of the arrow portions of the column adjustment switch 4 issues an instruction to the steering column adjustment device 1 to move the attitude position in the elevation angle direction EL or the attitude position in the forward-backward direction FB.

[0124] When the column adjustment switch 4 is turned on (S200, YES), the setting unit 14 moves the steering column 31 within the set allowable range SR in a direction corresponding to the operation of the column adjustment switch 4 (S220). This movement of the steering column 31 is performed by the setting unit 14 operating the actuator 33 of the attitude adjustment mechanism 32 (i.e., the tilt steering mechanism 32a or the telescopic steering mechanism 32b) corresponding to the operation of the column adjustment switch 4 in the direction corresponding to the operation of the column adjustment switch 4.

[0125] The detection unit 13 determines whether or not it has detected that the load on the operating actuator 33 has become overloaded while the steering column 31 is moving (S222). If it has detected that the load on the operating actuator 33 has become overloaded (YES in S222), the detection unit 13 executes a correction process (S212) and ends this process. The correction process is a process for correcting a deviation of the operation value indicating the amount of operation of the operating actuator 33 from the movable limit position LL. Details of the correction process will be described later with reference to FIG. 10.

[0126] On the other hand, in step S222 of Fig. 9, when an overload of the operating actuator 33 is not detected (S222, NO), the setting unit 14 determines whether or not the column adjustment switch 4 has been turned off (S224). Here, the column adjustment switch 4 being turned off means, for example, that neither the up / down nor the front / rear arrow portions as shown in Fig. 1 of the column adjustment switch 4, which is a rocker switch, are pressed, and therefore no command to move the steering column 31 is input to the steering column adjustment device 1.

[0127] If the column adjustment switch 4 is turned off (S224, YES), the setting unit 14 ends this process. On the other hand, if the column adjustment switch 4 is not turned off (S224, NO), the setting unit 14 returns to step S220 and repeats the process.

[0128] On the other hand, when the column adjustment switch 4 is not turned on in step S200 (S200, NO), the setting unit 14 determines whether or not the first condition is satisfied (S202). As described above, the first condition is that the driver has entered the vehicle 2 or started the vehicle 2. When the first condition is satisfied (S202, YES), the setting unit 14 operates the actuator 33 of the attitude adjustment mechanism 32 to move the steering column 31 toward the in-use attitude position within the set allowable range SR (S214).

[0129] While the steering column 31 is moving toward the in-use posture, the detection unit 13 determines whether or not it has detected that the load on the operating actuator 33 has become overloaded (S216). If it has detected that the load on the operating actuator 33 has become overloaded (YES in S216), the detection unit 13 executes correction processing (S212) and ends this processing.

[0130] On the other hand, when an overload of the operating actuator 33 is not detected (S216, NO), the setting unit 14 determines whether or not the steering column 31 has reached the in-use posture position based on the value of the count value Nc (S218). Then, when the steering column 31 has not reached the in-use posture position (S218, NO), the setting unit 14 returns to step S214 and repeats the process. On the other hand, when the steering column 31 has reached the in-use posture position (S218, YES), the setting unit 14 ends this process.

[0131] On the other hand, when the first condition is not satisfied in step S202 (S202, NO), the setting unit 14 determines whether the second condition is satisfied (S204). As described above, the second condition is that the driver has gotten off the vehicle 2 or that the vehicle 2 has stopped. When the second condition is not satisfied (S204, NO), the setting unit 14 returns to step S200 and repeats the process.

[0132] On the other hand, when the second condition is satisfied (S204, YES), the setting unit 14 operates the actuator 33 of the attitude adjustment mechanism 32 to move the steering column 31 toward a standby attitude position within the set allowable range SR (S206).

[0133] While the steering column 31 is moving toward the standby posture position, the detection unit 13 determines whether or not it has detected that the load on the operating actuator 33 has become overloaded (S208). If it has detected that the load on the operating actuator 33 has become overloaded (S208, YES), the detection unit 13 executes correction processing (S212) and ends this processing.

[0134] On the other hand, when an overload of the operating actuator 33 is not detected (S208, NO), the setting unit 14 determines whether or not the steering column 31 has reached the standby posture position based on the value of the count value Nc (S210). Then, when the steering column 31 has not reached the standby posture position (S210, NO), the setting unit 14 returns to step S206 and repeats the process. On the other hand, when the steering column 31 has reached the standby posture position (S210, YES), the setting unit 14 ends this process.

[0135] FIG. 10 is a flowchart showing the procedure of the correction process executed in step S212 of FIG. When the process starts, the detection unit 13 first instructs the setting unit 14 to set the current overload position P, which is the posture position of the steering column 31 when the overload was detected in the immediately preceding step S208, S216, or S222. OLC Then, the operation of the actuator 33 is stopped to stop the movement of the steering column 31 (S300). OLC The value of the count value Nc, which is an operating value indicating the overload position P OLP It is determined whether the count value Nc, which is an operating value indicating the value of the count value Nc, matches the value of the count value Nc within a predetermined error range (S302).

[0136] And, this time the overload position P OLC The count value Nc indicating the previous overload position P OLP If the count value Nc, which indicates the current operation value of the actuator 33, matches the count value Nc within a predetermined error range (YES in S302), the detection unit 13 sets the count value Nc, which is the current operation value of the actuator 33, to 0 (zero) or the Nc limit value V U Specifically, the detection unit 13 corrects the current overload position P OLC If the direction of movement of the actuator 33 immediately before reaching the target position is reverse, the count value Nc is reset to zero and corrected. If the direction of movement of the actuator 33 is forward, the count value Nc is corrected to the Nc limit value V UCorrect it to:

[0137] Next, the detector 13 detects the previous overload position P OLP The detection unit 13 then erases the count value Nc, which is an operating value indicating the corrected count value Nc (S306). Furthermore, the detection unit 13 instructs the setting unit 14 to return the attitude position of the steering column 31 to a position within the set allowable range SR based on the corrected count value Nc (S308), and ends the correction process. After the correction process is completed, the detection unit 13 returns the process to the setting process shown in Fig. 10, and ends the setting process.

[0138] On the other hand, in step S302, the current overload position P OLC The value of the count value Nc, which is the operating value indicating the previous overload position P OLP When the value of the count value Nc, which is an operating value indicating the overload position P, does not match within a predetermined error range (S302, NO), the detection unit 13 OLC The previous overload position P indicated by the stored count value Nc OLP It is determined whether the position is farther from the movement limit position (LL or LU) in the movement direction of the actuator 33 immediately before compared with the previous position (S310).

[0139] And, this time the overload position P OLC The previous overload position P indicated by the stored count value Nc OLP When the actuator 33 is at a position farther from the limit of movement (LL or LU) in the direction of movement of the previous actuator 33 than the current overload position P OLC The previous overload position P is stored without storing the count value Nc, which is the operating value indicating the previous overload position P. OLP The count value Nc, which is an operating value indicating the above, is maintained (S312), and the process ends.

[0140] On the other hand, this time the overload position P OLC The previous overload position P indicated by the stored count value Nc OLPWhen the actuator 33 is in a position closer to the limit of movement (LL or LU) in the direction of movement of the actuator 33 immediately before (S310, NO), the detection unit 13 determines the current overload position P OLC The value of the count value Nc, which is the operating value indicating the previous overload position P OLP The count value Nc, which is the operating value indicating the previous overload position P, is updated. OLP If the count value Nc indicating the current overload position P OLC The count value Nc indicates the previous overload position P OLP is stored as an operating value indicating (S314), and this process ends.

[0141] Here, the initialization process shown in FIG. 8 and the setting process shown in FIG. 9 (including the correction process shown in FIG. 10) correspond to a steering column adjusting method executed by the processor 10, which is the computer of the steering column adjusting device 1. For example, the above-described setting process in Fig. 9 in which the detection unit 13 counts the number of pulse signals Sp output from the sensor 36 while the attitude position of the steering column 31 is being moved by the actuator 33, and detects the current attitude position of the steering column 31 from the count value Nc, is part of the detection step in the steering column adjustment method. Also, steps S208, S216, and S224 shown in Fig. 9 and the correction process shown in Fig. 10 correspond to another part of the detection step in the steering column adjustment method. Also, steps S206, S214, and S220 in FIG. 9 correspond to the setting steps in the steering column adjustment method.

[0142] The present invention is not limited to the configurations of the above-described embodiments, and can be implemented in various forms without departing from the spirit of the present invention.

[0143] 6. Configurations Supported by the Above Embodiments The above-described embodiment supports the following configurations.

[0144] (Configuration 1) A steering column adjustment device that adjusts the attitude of a steering column of a vehicle, comprising: an actuator that drives an attitude adjustment mechanism of the steering column to move the attitude position of the steering column within a movable range defined by two movable limit positions of the attitude adjustment mechanism; and a detection unit that detects the current attitude position of the steering column, wherein the detection unit detects the current attitude position of the steering column using an operating value that represents the operating amount of the actuator based on one of the movable limit positions, and stores the operating value that indicates an overload position, which is the attitude position at which the actuator is overloaded by more than a predetermined threshold, during operation of the actuator, and when the operating value that indicates the current overload position detected when the actuator is operated in one movement direction matches, within a predetermined error range, the operating value that indicates the previous overload position that was stored during a previous operation of the actuator in the one movement direction, the steering column adjustment device corrects the operating value, assuming that the current overload position is the movable limit position for the one movement direction. According to the steering column adjustment device of configuration 1, even if a deviation occurs in the correspondence between the actuator's operating value and the steering column's attitude position, the fact that the steering column has reached its movable limit position is detected by the actuator being overloaded at the same position twice, and the actuator's operating value is corrected, so that the deviation in the detection of the steering column's attitude position can be appropriately corrected, and the steering column's attitude position can be adjusted stably and accurately.

[0145] (Configuration 2) The steering column adjustment device according to Configuration 1, wherein when the current overload position detected when the actuator is operated in one direction of movement is the attitude position farther from the movable limit position in the one direction of movement than the previous overload position indicated by the operation value detected and stored when the actuator is operated in the one direction of movement, the detection unit does not store the operation value indicating the current overload position and maintains the memory of the operation value indicating the previous overload position, and when the current overload position detected when the actuator is operated in the one direction of movement is the attitude position closer to the movable limit position in the one direction of movement than the previous overload position indicated by the operation value detected and stored when the actuator is operated in the one direction of movement, the detection unit updates the memory of the operation value indicating the previous overload position with the operation value indicating the current overload position. According to the steering column adjustment device of configuration 2, when the current overload position is farther from the movable limit position than the previous overload position that was stored, the current overload position is not stored as the previous overload position. Therefore, for example, if the steering column hits an obstacle before reaching the movable limit position and the actuator becomes overloaded, the overload position will not be stored, and the operation to correct the operating value can be performed more appropriately.

[0146] (Configuration 3) A steering column adjustment device according to configuration 1 or 2, wherein the operation value of the actuator is a count value obtained by adding or subtracting the number of times a predetermined signal is generated for each unit operation amount of the actuator depending on the direction of operation of the actuator. According to the steering column adjustment device of configuration 3, the operation value that represents the operation amount of the actuator based on one of the movable limit positions can be easily obtained as a count value of the number of times a predetermined signal is generated for each unit operation amount of the actuator.

[0147] (Configuration 4) A steering column adjustment device according to Configuration 3, wherein the actuator is a motor equipped with a magnet rotor having a plurality of poles and one sensor which is a Hall sensor, and the predetermined signal is a pulse signal output from the sensor which is generated for each unit angle rotation of the magnet rotor. According to the steering column adjusting device of configuration 4, even when a motor having a magnet rotor is used as an actuator, the count value, which is an operating value, can be easily obtained.

[0148] (Configuration 5) A steering column adjustment device as described in any one of configurations 1 to 4, further comprising a setting unit that sets the attitude position of the steering column by the actuator within a predetermined set tolerance range within the movable range of the steering column in the attitude adjustment mechanism, and the set tolerance range is determined as a range between two set limit positions that are each separated by a predetermined margin range from the two movable limit positions. According to the steering adjustment device of configuration 5, the attitude of the steering column is adjusted within a set tolerance range that is narrower than the movable limit range, so that the steering column is prevented from repeatedly colliding with the movable limit position during attitude adjustment, thereby suppressing damage or breakage of the attitude adjustment mechanism.

[0149] (Configuration 6) The setting unit stores, for each driver of the vehicle, an in-use posture position of the steering column when the driver is driving and a standby posture position when the driver is not driving, and when the state of the vehicle satisfies a predetermined first condition, moves the steering column to the in-use posture position of the driver, and when the state of the vehicle satisfies a predetermined second condition, moves the steering column to the standby posture position of the driver. This is a steering column adjustment device described in Configuration 5. According to the steering column adjustment device of configuration 6, the steering column is automatically adjusted for each driver to the driver's preferred in-use posture position and standby posture position, thereby improving convenience for the driver.

[0150] (Configuration 7) A steering column adjustment device as described in Configuration 6, wherein the first condition is when the driver gets into the vehicle or starts the vehicle, and the second condition is when the driver gets out of the vehicle or stops the vehicle. According to the steering column adjustment device of configuration 7, the steering column is adjusted to an in-use posture position and a standby posture position according to the driver's preference when the driver gets into the vehicle or starts the vehicle, and when the driver gets out of the vehicle or stops the vehicle, thereby further improving convenience for the driver.

[0151] (Configuration 8) A steering column adjustment method executed by a computer of a steering column adjustment device that adjusts the attitude of a vehicle steering column, comprising: a setting step of driving an attitude adjustment mechanism of the steering column by an actuator to move the attitude position of the steering column within a movable range defined by two movable limit positions of the attitude adjustment mechanism; and a detection step of detecting a current attitude position of the steering column, wherein in the detection step, the current attitude position of the steering column is detected using an operating value that represents the operating amount of the actuator based on one of the movable limit positions, and the operating value that indicates an overload position, which is the attitude position at which the actuator is overloaded by more than a predetermined threshold, is stored, and when the operating value that indicates the current overload position detected when the actuator is operated in one movement direction matches, within a predetermined error range, the operating value that indicates the previous overload position that was stored in a previous operation of the actuator in the one movement direction, the steering column adjustment method considers the current overload position to be the movable limit position for the one movement direction, and corrects the operating value. According to the steering column adjusting method of the eighth aspect, the same effects as those of the first aspect can be achieved. [Explanation of symbols]

[0152] 1...Steering column adjustment device, 2...Vehicle, 3...Electric steering column, 4Steering column adjustment switch (column adjustment switch), 5...Vehicle power switch, 6...Vehicle control device, 7...In-vehicle network bus, 10...Processor, 11...Memory, 12...Program, 13...Detection unit, 14...Setting unit, 31...Steering column, 32...Attitude adjustment mechanism, 32a...Tilt steering mechanism, 32b...Telescopic steering mechanism, 33, 33a, 33b...Actuator, 35...Steering handle, 36, 36a, 36b...Sensor, 330...Rotating shaft, 331...Magnet rotor, 332...Stator, 333...Drive control circuit

Claims

1. A steering column adjustment device for adjusting the attitude of a steering column of a vehicle, an actuator that drives an attitude adjustment mechanism of the steering column to move the attitude position of the steering column within a movable range defined by two movable limit positions of the attitude adjustment mechanism; a detection unit that detects a current attitude position of the steering column; Equipped with The detection unit detecting the current attitude position of the steering column based on an operation value representing an operation amount of the actuator relative to one of the movable limit positions; storing the operation value indicating an overload position, which is the posture position at which the actuator is overloaded by a predetermined threshold or more, in the operation of the actuator; When the operation value indicating the current overload position detected when the actuator is operated in one movement direction matches, within a predetermined error range, the operation value indicating the previous overload position stored in the previous operation of the actuator in the one movement direction, the operation value is corrected assuming that the current overload position is the movable limit position in the one movement direction. Steering column adjustment device.

2. The detection unit when the current overload position detected when the actuator is operated in one movement direction is the posture position farther from the movable limit position in the one movement direction than the previous overload position indicated by the operation value detected and stored when the actuator is operated in the one movement direction, the operation value indicating the current overload position is not stored, and the storage of the operation value indicating the previous overload position is maintained; when the current overload position detected when the actuator is operated in the one movement direction is the posture position closer to the movable limit position in the one movement direction compared to the previous overload position indicated by the operation value detected and stored when the actuator is operated in the one movement direction, the stored operation value indicating the current overload position is updated with the operation value indicating the previous overload position.

2. The steering column adjustment device of claim 1.

3. the operation value of the actuator is a count value obtained by adding or subtracting the number of times a predetermined signal is generated for each unit operation amount of the actuator according to the operation direction of the actuator; 2. The steering column adjustment device of claim 1.

4. The actuator is a motor including a magnet rotor having a plurality of poles and one sensor that is a Hall sensor, the predetermined signal is a pulse signal included in a square wave signal output from the sensor, the pulse signal being generated for each unit angle rotation of the magnet rotor; 4. The steering column adjustment device according to claim 3.

5. a setting unit that sets an attitude position of the steering column by the actuator within a predetermined set allowable range within the movable range of the steering column in the attitude adjustment mechanism, The set tolerance range is determined as a range between two set limit positions that are respectively spaced apart from the two movable limit positions by a predetermined margin range. A steering column adjustment device according to any one of claims 1 to 4.

6. The setting unit storing, for each driver of the vehicle, a steering column position in use when the driver is driving and a steering column position in standby when the driver is not driving; When the state of the vehicle satisfies a predetermined first condition, the steering column is moved to the driver's in-use posture position, and when the state of the vehicle satisfies a predetermined second condition, the steering column is moved to the driver's standby posture position.

6. The steering column adjustment device according to claim 5.

7. the first condition is when the driver gets into the vehicle or starts the vehicle; the second condition is when the driver gets out of the vehicle or when the vehicle is stopped; 7. The steering column adjustment device according to claim 6.

8. A steering column adjustment method executed by a computer of a steering column adjustment device that adjusts the attitude of a steering column of a vehicle, comprising: a setting step of driving an attitude adjustment mechanism of the steering column by an actuator to move the attitude position of the steering column within a movable range defined by two movable limit positions of the attitude adjustment mechanism; a detecting step of detecting a current attitude position of the steering column; and In the detecting step, detecting the current attitude position of the steering column based on an operation value representing an operation amount of the actuator relative to one of the movable limit positions; storing the operation value indicating an overload position, which is the posture position at which the actuator is overloaded by a predetermined threshold or more, in the operation of the actuator; When the operation value indicating the current overload position detected when the actuator is operated in one movement direction matches, within a predetermined error range, the operation value indicating the previous overload position stored in the previous operation of the actuator in the one movement direction, the operation value is corrected assuming that the current overload position is the movable limit position in the one movement direction. How to adjust a steering column.

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