Steering gear

Abstract

Improved operability [Solution] The system comprises a first operating member 111, a second operating member 112, a first drive unit 121, a second drive unit 122, and a control device 130. The control device 130 includes an information acquisition unit 131 that acquires a first operating force, a second operating force, a first position of the first operating member 111, and a second position of the second operating member 112; a reaction force derivation unit 132 that derives a first reaction force based on the first position and a first reference position, and a second reaction force based on the second position and a second reference position; a linkage force derivation unit 133 that derives a first linkage force and a second linkage force; a coefficient derivation unit 134 that derives a first coefficient and a second coefficient based on the first operating force and the second operating force; and a drive control unit 135 that controls the first drive unit 121 based on formula 1 and controls the second drive unit 122 based on formula 2. First driving force = First coefficient * First reaction force + Second coefficient * First interlocking force ... Equation 1 Second driving force = Second coefficient * Second reaction force + First coefficient * Second linked force ... Equation 2

Description

Technical Field

[0006] , ,

[0001] The present invention relates to a steering device in which a pair of operation members and a steering wheel are mechanically separated, and the steering wheel is steered based on signals output by operating the two operation members.

Background Art

[0002] Conventionally, Patent Document 1 describes a technique related to a steering device having a pair of operation members that are not mechanically connected to each other. Patent Document 1 discloses a technique for applying to each operation member a resultant force of an operation feeling force component that generates an operation feeling when an operator operates each operation member and an interlocking operation force component that makes the operator feel as if the operation members are interlocked (in this specification and the claims, this resultant force may be referred to as a "reaction force").

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique described in Patent Document 1, since the interlocking operation force component is added based on the difference in the positions of the pair of operation members, it is difficult to set free reaction force characteristics when only one of the operation members is operated, such as a one-handed operation, and there is room for improvement.

[0005] The present invention has been made in view of the above problems, and provides an improved steering device.

Means for Solving the Problems

[0006] One steering device according to the present invention comprises a first operating member and a second operating member, which are operating members operated by an operator for steering; a first drive unit and a second drive unit that independently move the first operating member and the second operating member, respectively; and a control device that controls the first drive unit and the second drive unit. The control device includes an information acquisition unit that acquires a first operating force applied to the first operating member and a second operating force applied to the second operating member by the operator's operation, a first position of the first operating member and a second position of the second operating member; and a unit for generating the feel of operation when operating the first operating member based on the first position and a predetermined first reference position. The system includes: a reaction force derivation unit that derives a first reaction force and a second reaction force for generating an operating sensation when operating the second operating member based on the second position and a predetermined second reference position; an interlocking force derivation unit that derives a first interlocking force to move the first operating member and a second interlocking force to move the second operating member in order to generate an interlocked state between the first operating member and the second operating member; a coefficient derivation unit that derives a first coefficient and a second coefficient based on the first operating force and the second operating force; and a drive control unit that controls the first drive device based on the following formula 1 to apply a first driving force to the first operating member and controls the second drive device based on the following formula 2 to apply a second driving force to the second operating member.

[0007] First driving force = First coefficient * First reaction force + Second coefficient * First interlocking force ... Equation 1 Second driving force = Second coefficient * Second reaction force + First coefficient * Second linked force ... Equation 2 (* indicates multiplication) [Effects of the Invention]

[0008] The steering device according to the present invention can be further improved, and the setting of reaction force characteristics can be made easier. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 shows the overall configuration of the steering device 100. [Figure 2]Figure 2 is a block diagram showing the functional configuration of the steering device 100. [Figure 3] Figure 3 shows the overall configuration of another steering system 100. [Modes for carrying out the invention]

[0010] The following describes embodiments of the steering device according to the present invention with reference to the drawings. Note that the following embodiments are examples provided to illustrate the present invention and are not intended to limit it. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, formulas, the content of each step in the method, and the order of each step shown in the following embodiments are examples and may include content not described below. Furthermore, geometric expressions such as parallel and orthogonal may be used, but these expressions do not indicate mathematical rigor and include substantially acceptable errors and deviations. Similarly, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0011] Furthermore, the drawings are schematic diagrams that have been appropriately emphasized, omitted, or had their proportions adjusted to illustrate the present invention, and therefore differ from the actual shapes, positional relationships, and proportions. Also, the X, Y, and Z axes shown in the drawings represent orthogonal coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z axis is not necessarily an axis along the vertical direction, and the X and Y axes are not necessarily located in the horizontal plane.

[0012] Furthermore, in the following, multiple inventions may be described comprehensively as a single embodiment. Also, some of the content described below is described as an optional component relating to the present invention.

[0013] Figure 1 shows the overall configuration of the steering system 100. The steering system 100 is a system that can steer the steering wheels 200 mounted on a vehicle such as a passenger car based on the operator's input. The steering system is a so-called linkless steer-by-wire system in which the steering wheels 200 are steered based solely on signals, without being connected to the steering wheels 200 by mechanical elements such as links, using a first operating member 111 and a second operating member 112 (hereinafter, these may be collectively referred to as "operating members"). The steering system 100 comprises a first operating member 111, a second operating member 112, a first drive unit 121, a second drive unit 122, and a control device 130.

[0014] The operating members are devices whose position can be changed by the operator, allowing the vehicle to be steered based on that position. They include a first operating member 111 operated with the operator's left hand and a second operating member 112 operated with the operator's right hand. The first operating member 111 and the second operating member 112 are not connected by mechanical elements. In other words, when the first drive unit 121 and the second drive unit 122 are not functioning, the first operating member 111 and the second operating member 112 can be operated independently of each other.

[0015] The shape of the operating component is not limited. For example, the operating component could be a rod-shaped component (lever) that can be grasped by the operator, or a spherical (dome-shaped) component that can be covered by the operator's palm, attached to the end of a rod-shaped component or the like. The operating component could also be shaped to be grasped with the fingertips or operated with the pads of the fingers.

[0016] The structure of the operating member is not limited. For example, as shown in Figure 1, the operating member may rotate and oscillate around a rotation axis that intersects the direction of extension of the operating member. Alternatively, the operating member may rotate around a rotation axis that is parallel to (or along) the direction of extension. In these cases, the position of the operating member is expressed as an angle from a reference position. Furthermore, the operating member may reciprocate along a predetermined path based on rails or the like. In this case, the position of the operating member is expressed as a distance from a reference position.

[0017] The method of operating the operating member is not limited. For example, an example is when the operator tilts the operating member to the right from the reference position to steer the steering wheel 200 to the right, and when the operator tilts the operating member to the left from the reference position to steer the steering wheel 200 to the left. Another example is when the angle of the operating member from the reference position corresponds to the steering angle of the steering wheel 200. In this invention, for example, when the operator operates the first operating member 111 with one hand and tilts the first operating member 111 to a predetermined angle, control is performed so that the second operating member 112 also tilts to the same angle.

[0018] The drive device is a device that causes the operator holding the operating member to feel a reaction force by moving the operating member, and includes a first drive device 121 that operates the first operating member 111 and a second drive device 122 that operates the second operating member 112. The first drive device 121 and the second drive device 122 can operate the first operating member 111 independently, and the second drive device 122 can operate the second operating member 112 independently. The type of drive device is not limited. For example, a drive device equipped with an electric motor can be exemplified. The drive device can move the operating member to a predetermined position based on the output of the electric motor. The drive device can also generate a reaction force when the operator operates the operating member.

[0019] Figure 2 is a block diagram showing the functional configuration of the steering device 100. The control device 130 is a device that independently controls the first drive device 121 and the second drive device 122, and is equipped with a processor. The control device 130 is an information processing unit realized by having the processor execute a control program, and includes an information acquisition unit 131, a reaction force derivation unit 132, an interlocking force derivation unit 133, a coefficient derivation unit 134, and a drive control unit 135. In this embodiment, the control device 130 further includes a return force derivation unit 136 and an inverse phase suppression force derivation unit 137.

[0020] The information acquisition unit 131 acquires the first operating force applied to the first operating member 111 and the second operating force applied to the second operating member 112 by the operation of the operator, as well as the first position of the first operating member 111 and the second position of the second operating member 112. The first operating force, the second operating force, the first position, and the second position are acquired from sensors attached to the operating members. The type of sensor that is the acquisition source of the information acquisition unit 131 is not limited. For example, when the operating member performs a swinging motion or a rotating motion, a torque sensor can be exemplified as a sensor that outputs the first operating force and the second operating force. In addition, examples of the sensor that outputs the first position and the second position include an angle sensor, a linear encoder, and the like.

[0021] In the case of this embodiment, the information acquisition unit 131 acquires the vehicle speed of the vehicle on which the steering device 100 is mounted. The acquisition source of the vehicle speed is not limited. For example, a case where the information acquisition unit 131 acquires the vehicle speed from an ECU (Electronic Control Unit) provided in the vehicle can be exemplified.

[0022] The reaction force derivation unit 132 derives a first reaction force for generating an operating feeling when operating the first operating member 111 based on the first position and a predetermined first reference position, and a second reaction force for generating an operating feeling when operating the second operating member 112 based on the second position and a predetermined second reference position. The first reference position and the second reference position are not limited and can be arbitrarily set. For example, when the operating member rotates and swings, the position where the operating member stands upright in the vertical direction may be set as the first reference position and the second reference position. Also, when the operating member reciprocates along a predetermined path, the central position of the path may be set as the first reference position and the second reference position. Further, the first reference position and the second reference position may be made to correspond to the steering angle (0 degrees) of the steering wheel 200 when the vehicle is going straight.

[0023] For example, the first and second reaction forces may tend to become stronger as the angle or distance from the first reference position increases. In other words, when the vehicle is driven with the steering wheel 200 turned, the first and second reaction forces may correspond to the force that tries to return the steering wheel 200 to a steering angle of zero. The reaction force derivation unit 132 may derive the reaction force based on a map that associates the position of the operating member or the steering angle of the steering wheel 200 with the reaction force. Alternatively, the reaction force derivation unit 132 may derive the reaction force using a calculation formula based on parameters such as the position of the operating member, the steering angle of the steering wheel 200, and the vehicle speed.

[0024] The interlocking force derivation unit 133 derives a first interlocking force to move the first operating member 111 and a second interlocking force to move the second operating member 112 in order to create an interlocked state between the first operating member 111 and the second operating member 112.

[0025] The coefficient derivation unit 134 derives the first coefficient and the second coefficient based on the first operating force and the second operating force. The first operating force and the second operating force are the forces exerted by the operator to operate the first operating member 111 and the second operating member 112, respectively. In this embodiment, the coefficient derivation unit 134 derives the first coefficient and the second coefficient based on the ratio of the first operating force to the second operating force. The first coefficient takes a larger value as the first operating force increases. Also, when the first operating force is zero, the first coefficient is also zero. The second coefficient takes a larger value as the second operating force increases. Also, when the second operating force is zero, the second coefficient is also zero. For example, the coefficient derivation unit 134 may derive the first coefficient and the second coefficient using the following two equations: First coefficient = First operating force / (First operating force + Second operating force), Second coefficient = Second operating force / (First operating force + Second operating force), ( / indicates division).

[0026] The return force deriving unit 136 derives a first return force and a second return force that return the first operating member 111 and the second operating member 112 to the first reference position and the second reference position, respectively, based on the first position, the second position, and the vehicle speed. In this embodiment, the first return force increases as the first position or vehicle speed increases, and the second return force increases as the second position or vehicle speed increases. The first return force and the second return force are used in predetermined cases (details will be described later).

[0027] The reverse-phase suppression force derivation unit 137 derives a first reverse-phase suppression force that moves the first operating member 111 and a second reverse-phase suppression force that moves the second operating member 112 in order to suppress reverse-phase operation with respect to the first and second operating forces. Reverse-phase operation means, for example, when one of the first operating member 111 and the second operating member 112 is operated to steer the steering wheel 200 to the right, the other operating member 112 steers the steering wheel 200 to the left. The first reverse-phase suppression force may be multiplied by a first gain proportional to the magnitude of the second operating force, and the second reverse-phase suppression force may be multiplied by a second gain proportional to the magnitude of the first operating force. By multiplying by the gains, if the operating force of one of the operating members in the reverse-phase operation state is small, it becomes possible to operate against the reverse-phase suppression force. This makes it possible to generate a natural steering feel similar to that of a mechanically connected steering device. Specific control using the reverse-phase suppression force will be described later.

[0028] The drive control unit 135 controls the first drive device 121 based on the following formula 1 to apply a first driving force to the first operating member 111, and controls the second drive device 122 based on the following formula 2 to apply a second driving force to the second operating member 112.

[0029] First driving force = First coefficient * First reaction force + Second coefficient * First interlocking force ... Equation 1 Second driving force = Second coefficient * Second reaction force + First coefficient * Second linked force ... Equation 2 (* indicates multiplication)

[0030] In this embodiment, when the vehicle is in motion, the drive control unit 135 applies a first return force to the first driving force and a second return force to the second driving force to return the position of the first operating member 111 to the first reference position and the position of the second operating member 112 to the second reference position. When the hands are released from the first operating member 111 and the second operating member 112 while the vehicle is in motion, the first operating force and the second operating force become zero, and the first coefficient and the second coefficient become zero. As a result, the first driving force and the second driving force become zero (see Equations 1 and 2). In such cases, the first operating member 111 and the second operating member 112 are returned to the first reference position and the second reference position based on the first return force and the second return force. The first return force and the second return force may be realized as the first driving force and the second driving force as shown in Equations 3 and 4 below.

[0031] First driving force = First coefficient * First reaction force + Second coefficient * First linked force + First return force ... Equation 3 Second driving force = Second coefficient * Second reaction force + First coefficient * Second linked force + Second return force ... Equation 4

[0032] Furthermore, when the vehicle is stationary, if the state changes from one of the following states—where the first operating force is less than the first operating threshold and the second operating force is less than the second operating threshold—to a state where the first operating force is equal to or greater than the first operating threshold and the second operating force is equal to or greater than the second operating threshold, the drive control unit 135 temporarily updates the first and second positions to which either the first or second operating force is applied, respectively, to the first and second reference positions, and performs control based on the first and second driving forces calculated by updating them. In other words, when the vehicle is stationary with the steering wheels 200 turned to a certain extent, the operating member is positioned at a location shifted from the reference position according to the steering angle. If the driver attempts to perform a so-called stationary steering maneuver from this state, the first and second driving forces calculated based on the reference position become large, making it impossible to operate the operating member. In such a case, the drive control unit 135 calculates the reaction force based on the position of the rotating operating member to which the operating force is applied, generating a reaction force as if the steering were performed from a neutral position, thus enabling reliable operation of the operating member. Furthermore, this control may gradually switch to normal control (control based on Equations 1 and 2) as the vehicle speed increases.

[0033] Furthermore, when the first operating force and the second operating force are in opposite phases, the drive control unit 135 applies a first inverse phase suppression force to the first driving force and a second inverse phase suppression force to the second driving force, as shown in equations 5 and 6 below, to perform control.

[0034] First driving force = First coefficient * First reaction force + Second coefficient * First interlocking force + First reverse phase suppression force ... Equation 5 Second driving force = Second coefficient * Second reaction force + First coefficient * Second interlocking force + Second reverse-phase suppression force ... Equation 6

[0035] According to this, if the force to suppress the reverse-phase operation is insufficient due to the first and second driving forces calculated using Equations 1 and 2, it is possible to supplement this force with a reverse-phase suppression force.

[0036] It should be noted that the present invention is not limited to the embodiments described above. For example, other embodiments of the present invention may be realized by arbitrarily combining the components described herein, or by excluding some of the components. Furthermore, modifications obtained by applying various modifications to the above embodiments that a person skilled in the art could conceive of without departing from the spirit of the present invention, that is, the meaning indicated by the wording in the claims, are also included in the present invention.

[0037] For example, as shown in Figure 1, a pair of steering wheels 200 are mechanically connected by a rack and pinion mechanism 210, and a single steering motor 220 controls the steering of the pair of steering wheels 200 simultaneously. However, the steering mechanism is not limited to this. For example, as shown in Figure 3, the pair of steering wheels 200 may not be mechanically connected, and the steering of the wheels 200 may be controlled individually by a first steering motor 221 and a second steering motor 222. In this case, the drive control unit 135 controls the first steering motor 221 and the second steering motor 222 individually.

[0038] Furthermore, the drive control unit 135 may, when the vehicle is in motion and the first operating force is less than the first operating threshold, and the second operating force is less than the second operating threshold, perform control to return the position of the first operating member 111 to the first reference position and the position of the second operating member 112 to the second reference position by applying a first return force to the first driving force and a second return force to the second driving force.

[0039] Furthermore, the first driving force may be calculated based on the following equation 7, which integrates equations 1, 3, and 5 above. The second driving force may be calculated based on the following equation 8, which integrates equations 2, 4, and 6 above.

[0040] First driving force = First coefficient * First reaction force + Second coefficient * First interlocking force + First return force + First reverse phase suppression force ... Equation 7 Second driving force = Second coefficient * Second reaction force + First coefficient * Second interlocking force + Second return force + Second reverse phase suppression force... Equation 8

[0041] (summary) The steering device 100 in the first embodiment includes a first operating member 111 and a second operating member 112, which are operating members operated by the operator for steering; a first drive unit 121 and a second drive unit 122 that independently move the first operating member 111 and the second operating member 112, respectively; and a control device 130 that controls the first drive unit 121 and the second drive unit 122. The control device 130 includes an information acquisition unit 131 that acquires a first operating force applied to the first operating member 111 and a second operating force applied to the second operating member 112 by the operator's operation, a first position of the first operating member 111 and a second position of the second operating member 112; and generates an operating feel when operating the first operating member 111 based on the first position and a predetermined first reference position. The system includes: a reaction force derivation unit 132 that derives a first reaction force and a second reaction force for generating an operating sensation when operating the second operating member 112 based on a second position and a predetermined second reference position; an interlocking force derivation unit 133 that derives a first interlocking force to move the first operating member 111 and a second interlocking force to move the second operating member 112 in order to create an interlocked state between the first operating member 111 and the second operating member 112; a coefficient derivation unit 134 that derives a first coefficient and a second coefficient based on the first and second operating forces; and a drive control unit 135 that controls the first drive device 121 based on the following formula 1 to apply a first driving force to the first operating member 111 and controls the second drive device 122 based on the following formula 2 to apply a second driving force to the second operating member 112.

[0042] First driving force = First coefficient * First reaction force + Second coefficient * First interlocking force ... Equation 1 Second driving force = Second coefficient * Second reaction force + First coefficient * Second linked force ... Equation 2 (* indicates multiplication)

[0043] According to the first embodiment, when only one of the first operating member 111 and the second operating member 112 is operated, the interlocking force acting on the operating side is multiplied by a coefficient of 0, so that only a reaction force can be applied to the operator, and a desired reaction force characteristic can be set. Furthermore, even if the operating force on one operating member is sufficiently greater than the operating force on the other, the driving force applied to one operating part becomes predominantly reaction force, and the same effect as when only one is operated can be obtained.

[0044] The steering device 100 in the second embodiment includes the first embodiment, and the information acquisition unit 131 acquires the vehicle speed of the vehicle to which the steering device 100 is attached, and the control device 130 includes a return force derivation unit 136 that derives a first return force and a second return force to return the first operating member 111 and the second operating member 112 to the first reference position and the second reference position, respectively, based on the first position, the second position and the vehicle speed, and the drive control unit 135, when the vehicle is running, performs control by adding the first return force to the first driving force and the second return force to the second driving force to return the position of the first operating member 111 to the first reference position and the position of the second operating member 112 to the second reference position.

[0045] According to the second embodiment, in cases such as when the vehicle is in motion and both the first operating member 111 and the second operating member 112 are not being gripped, the operating members can be returned to a reference position such as the neutral position.

[0046] The steering device 100 of the third embodiment includes the first embodiment or the second embodiment, and the information acquisition unit 131 acquires the vehicle speed of the vehicle to which the steering device is attached, and the drive control unit 135, when the vehicle is stopped, changes from a state in which the first operating force is less than the first operating threshold and the second operating force is less than the second operating threshold to a state in which the first operating force is greater than or equal to the first operating threshold and the second operating force is greater than or equal to the second operating threshold, and performs control based on the first driving force and second driving force calculated using the first position and second position to which either the first operating force or the second operating force is applied as the first reference position and second reference position, respectively.

[0047] According to the third embodiment, when the vehicle is stopped with the steering wheels 200 turned to a certain extent, the operating member is positioned at a location shifted from the reference position according to the steering angle. When attempting to perform a so-called stationary steering maneuver from this state, the first and second driving forces calculated based on the reference position become large, making it impossible to operate the operating member. In such a case, the drive control unit 135 calculates the reaction force based on the position of the rotating operating member to which the operating force is applied, thereby generating a reaction force as if the steering were performed from a neutral position, and enabling reliable operation of the operating member.

[0048] The steering device 100 of the fourth embodiment includes the first or second embodiment, and the control device 130 includes a reverse-phase suppression force derivation unit 137 that derives a first reverse-phase suppression force to move a first operating member 111 and a second reverse-phase suppression force to move a second operating member 112 in order to suppress reverse-phase operation with respect to the first operating force and the second operating force, and the drive control unit 135 performs control by adding the first reverse-phase suppression force to the first drive force and the second reverse-phase suppression force to the second drive force when the first and second operating forces are in opposite phases.

[0049] According to the fourth embodiment, even when reverse-phase operation occurs, the reverse-phase operation can be effectively suppressed by supplementing the force that suppresses the reverse-phase operation.

[0050] The steering device 100 of the fifth embodiment includes the fourth embodiment, wherein the first reverse-phase suppression force is multiplied by a first gain proportional to the magnitude of the second operating force, and the second reverse-phase suppression force is multiplied by a second gain proportional to the magnitude of the first operating force.

[0051] According to the fifth embodiment, by multiplying the gain, if the operating force of one of the operating members in the reverse-phase operation state is small, it becomes possible to operate it against the reverse-phase suppression force. This makes it possible to generate a natural steering feel similar to that of a mechanically coupled steering device. [Industrial applicability]

[0052] This invention can be used in a steering system that steers a vehicle based on the operation of a pair of operating members. [Explanation of symbols]

[0053] 100... Steering device, 111... First operating member, 112... Second operating member, 121... First drive unit, 122... Second drive unit, 130... Control device, 131... Information acquisition unit, 132... Reaction force derivation unit, 133... Interlocking force derivation unit, 134... Coefficient derivation unit, 135... Drive control unit, 136... Force derivation unit, 137... Reverse phase suppression force derivation unit, 200... Steering wheel, 210... Rack and pinion mechanism, 220... Steering motor, 221... First steering motor, 222... Second steering motor

Claims

1. A first operating member and a second operating member are operating members that the operator uses to steer, The first operating member and the second operating member are each independently operated by a first drive unit and a second drive unit, The system comprises the first drive unit and a control device for controlling the second drive unit, The control device is An information acquisition unit that acquires the first operating force applied to the first operating member by the operator's operation, the second operating force applied to the second operating member, the first position of the first operating member, and the second position of the second operating member. A reaction force derivation unit that derives a first reaction force for generating the feeling of operation when operating the first operating member based on the first position and a predetermined first reference position, and a second reaction force for generating the feeling of operation when operating the second operating member based on the second position and a predetermined second reference position, An interlocking force derivation unit that derives a first interlocking force to move the first operating member and a second interlocking force to move the second operating member in order to generate an interlocked state between the first operating member and the second operating member, A coefficient derivation unit that derives a first coefficient and a second coefficient based on the first operating force and the second operating force, A drive control unit controls the first drive device based on the following formula 1 to apply a first driving force to the first operating member, and controls the second drive device based on the following formula 2 to apply a second driving force to the second operating member, A steering system equipped with a steering mechanism. First driving force = First coefficient * First reaction force + Second coefficient * First linked force ... Equation 1 Second driving force = Second coefficient * Second reaction force + First coefficient * Second interlocking force ... Equation 2 (* indicates multiplication)

2. The aforementioned information acquisition unit, The vehicle speed of the vehicle to which the steering device is attached is obtained, The control device is The system includes a return force derivation unit that derives a first return force and a second return force to return the first operating member and the second operating member to the first reference position and the second reference position, respectively, based on the first position, the second position, and the vehicle speed. The drive control unit, When the vehicle is in motion, the control is performed to apply the first return force to the first driving force, and the second return force to the second driving force to return the position of the first operating member to the first reference position, and to return the position of the second operating member to the second reference position. The steering device according to claim 1.

3. The aforementioned information acquisition unit, The vehicle speed of the vehicle to which the steering device is attached is obtained, The drive control unit, When the vehicle is stationary, if the state changes from one of the following states—where the first operating force is less than the first operating threshold and the second operating force is less than the second operating threshold—to a state where the first operating force is equal to or greater than the first operating threshold and the second operating force is equal to or greater than the second operating threshold, control is performed based on the first driving force and the second driving force calculated using the first position and the second position, to which either the first or second operating force is applied, as the first and second reference positions, respectively. The steering device according to claim 1 or 2.

4. The control device is The system includes a reverse-phase suppression force derivation unit that derives a first reverse-phase suppression force to move the first operating member and a second reverse-phase suppression force to move the second operating member in order to suppress reverse-phase operation with respect to the first operating force and the second operating force, The drive control unit, If the first operating force and the second operating force are in opposite phases, control is performed by adding the first reverse-phase suppression force to the first driving force and the second reverse-phase suppression force to the second driving force. The steering device according to claim 1 or 2.

5. The first reverse-phase suppression force is multiplied by a first gain that is proportional to the magnitude of the second operating force. The second inverse phase suppression force is multiplied by a second gain that is proportional to the magnitude of the first operating force. The steering device according to claim 4.

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