Steering column device and control method for steering column device

Abstract

To provide a steering column assemblage making it possible to preferably control a steering column which stretches or contracts in a multistep manner and a control method of the steering column assemblage.SOLUTION: A steering column assemblage includes a steering column having a base bracket, first column, and second column, a first actuator, a second actuator, and a controller that controls the first actuator and second actuator. The controller calculates a first stroke quantity and second stroke quantity, and calculates a first target speed at which the first column is moved to the base bracket, and a second target speed at which the second column is moved to the first column, on the basis of the first stroke quantity and second stroke quantity.SELECTED DRAWING: Figure 6

Description

[Technical field]

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

[0002] A steering column device is used that has a telescopic mechanism that adjusts the position of the steering wheel in the fore-and-aft direction and a tilt mechanism that adjusts the angle of the steering wheel in the up-and-down direction.

[0003] A steering column device equipped with a telescopic mechanism that can expand and contract in multiple stages has been devised. In the steering column device described in Patent Document 1, the steering column expands and contracts in two stages using an adjustment actuator and a contraction actuator, allowing the steering wheel to be moved to a predetermined position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent No. 9,849,904 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the steering column device described in Patent Document 1 does not include a method for appropriately controlling the steering column that expands and contracts in two stages.

[0006] In view of the above circumstances, an object of the present invention is to provide a steering column device and a control method for a steering column device that can suitably control a steering column that expands and contracts in multiple stages. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention proposes the following means. A steering column device according to a first aspect of the present invention comprises a steering column having a base bracket, a first column, and a second column, a first actuator that moves the base bracket and the first column relatively in a fore-and-aft direction, a second actuator that moves the first column and the second column relatively in the fore-and-aft direction, and a control device that controls the first actuator and the second actuator, wherein the control device calculates a first stroke amount by which the first column is moved relative to the base bracket and a second stroke amount by which the second column is moved relative to the first column, and calculates a first target speed at which the first column is moved relative to the base bracket and a second target speed at which the second column is moved relative to the first column based on the first stroke amount and the second stroke amount.

[0008] A control method for a steering column device according to a second aspect of the present invention is a method for controlling a steering column device including a steering column having a base bracket, a first column, and a second column, a first actuator for relatively moving the base bracket and the first column in a fore-and-aft direction, and a second actuator for relatively moving the first column and the second column in the fore-and-aft direction, the method comprising: calculating a first stroke amount by which the first column is moved relative to the base bracket and a second stroke amount by which the second column is moved relative to the first column; and calculating a first target speed at which the first column is moved relative to the base bracket and a second target speed at which the second column is moved relative to the first column based on the first stroke amount and the second stroke amount. Effect of the Invention

[0009] According to the steering column device and the control method for the steering column device of the present invention, it is possible to suitably control a steering column that expands and contracts in multiple stages. [Brief description of the drawings]

[0010] [Figure 1]1 is a schematic diagram showing a configuration of a steering device including a steering column device according to a first embodiment. FIG. [Diagram 2] FIG. 2 is a perspective view showing the steering column device. [Diagram 3] FIG. 2 is a perspective view showing the steering column device. [Figure 4] FIG. 2 is a cross-sectional view of the steering column device. [Diagram 5] FIG. 2 is a perspective view of a column holder of the steering column device. [Figure 6] FIG. 2 is a diagram showing the configuration of a control device for the steering column device. [Figure 7] FIG. 2 is a functional block diagram of the control device. [Figure 8] 3 is a control flowchart of the control device. [Figure 9] 10 is a control flowchart of a control device for a steering column device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] First embodiment A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a schematic diagram showing the configuration of a steering device 300 including a steering column device 100 according to this embodiment.

[0012] [Steering device 300] As shown in FIG. 1, the steering device (steering system) 300 includes a steering wheel (input mechanism) 200 which is a steering member for steering a vehicle, a steering mechanism 210 which turns the steered wheels in conjunction with the rotation of the steering wheel 200, and a steering assist mechanism 230 which assists the driver in steering.

[0013] The steering mechanism 210 includes a steering column device 100, a steering shaft 220 connected to the steering wheel 200, a universal joint 224, an intermediate shaft 225, a pinion rack mechanism 226, tie rods 227a, 227b, and hub units 228a, 228b.

[0014] The steering shaft 220 is connected to the steered wheels via a universal joint 224, an intermediate shaft 225, a pinion rack mechanism 226, tie rods 227a, 227b, and further via hub units 228a, 228b.

[0015] The pinion rack mechanism 226 has a pinion and a rack, not shown. The pinion is connected to the intermediate shaft 225 and rotates in conjunction with the rotation of the intermediate shaft 225. The rack extends linearly in the left-right direction of the vehicle (the direction perpendicular to the straight-ahead direction). The rack meshes with the pinion near the middle of the rack's axial direction. The pinion and rack convert the rotation of the pinion into axial movement of the rack. The steered wheels are turned by moving the rack in the axial direction.

[0016] When the steering wheel 200 is steered (rotated) by the driver, the rotation of the steering wheel 200 is transmitted to the pinion via the steering shaft 220 and the intermediate shaft 225. The rotation of the pinion is then converted into the axial movement of the rack. Tie rods 227a, 227b and hub units 228a, 228b connected to both ends of the pinion rack mechanism 226 move in the axial direction of the rack, and the steered wheels connected to the hub units 228a, 228b are turned.

[0017] The steering mechanism 210 may be of a steer-by-wire type in which the steering shaft 220 and tie rods 227a, 227b for steering the steered wheels are electrically connected to each other.

[0018] In the following description, when the steering device 300 is attached to a vehicle, the direction toward the front of the vehicle along the axial direction A of the steering shaft 220 is defined as the "forward direction FR." The opposite direction is defined as the "rearward direction RR." The direction toward the forward direction FR or the rearward direction RR is defined as the "forward / rearward direction."

[0019] In the direction perpendicular to the front-to-rear direction, the direction toward the top of the vehicle is defined as "upward UP." The opposite direction is defined as "downward LWR." The direction toward the upward UP or downward LWR is defined as the "vertical direction."

[0020] In the direction perpendicular to the front-to-back and left-to-right directions, the direction toward the right as you face backwards is defined as the "right side RH." The opposite direction is defined as the "left side LH." The direction toward the right side RH or left side LH is defined as the "left-to-right direction" or "width direction."

[0021] 2 and 3 are perspective views showing the steering column device 100. FIG. The steering assist mechanism 230 includes a reduction gear mechanism 231, an electric motor (not shown), an ECU (not shown), and a housing 240.

[0022] The speed reduction mechanism 231 has, for example, a worm gear mechanism. A worm of the worm gear mechanism is rotationally driven by an electric motor. A worm wheel of the worm gear mechanism is connected to the steering shaft 220 so as to be integrally rotatable therewith.

[0023] The electric motor is, for example, a three-phase brushless motor, and assists the steering force of the steering shaft 220. The electric motor is connected to the steering shaft 220 via a reduction gear mechanism 231.

[0024] The ECU (control unit) has a programmable device (computer). The ECU controls the driving of the electric motor to generate a desired torque in the steering shaft 220 via the reduction gear mechanism 231, thereby assisting the driver's steering operation.

[0025] [Steering column device 100] The steering column device 100 is a device that supports a steering wheel 200, and has a telescopic mechanism that adjusts the position of the steering wheel 200 in the front-rear direction, and a tilt mechanism that adjusts the angle of the steering wheel 200 in the up-down direction. The steering column device 100 includes a steering column 10 that supports a steering shaft 220, a retractable actuator 6, a telescopic actuator 7, a tilt actuator 8, and a control device 9.

[0026] The retractable actuator 6 and the telescopic actuator 7 constitute a part of a telescopic mechanism that extends and retracts in two stages. The tilt actuator 8 constitutes a part of a tilt mechanism. The retractable actuator 6, the telescopic actuator 7 and the tilt actuator 8 are controlled by a control device 9.

[0027] FIG. 4 is a cross-sectional view of the steering column device 100. The steering shaft 220 has an inner shaft 221 and an outer shaft 222. The inner shaft 221 and the outer shaft 222 are connected to each other so as to be unable to rotate relative to each other about an axis along the axial direction A, but are capable of moving relative to each other in the front-rear direction. In this embodiment, the inner shaft 221 of the front side FR and the outer shaft 222 of the rear side RR are connected by spline engagement.

[0028] A steering wheel 200 is attached to the rear RR end of the steering shaft 220, i.e., the rear RR end of the outer shaft 222. In addition, a steering assist mechanism 230 that assists the driver in steering is provided to the front FR end of the steering shaft 220, i.e., the front FR end of the inner shaft 221.

[0029] [Steering column 10] The steering column 10 is an axial tube member that supports a steering shaft 220. The steering column 10 has a base bracket 1 that is attached to a vehicle body, a column holder 2, a lower column 3 (first column), an inner column 4, and an upper column 5 (second column).

[0030] The steering column 10 is extendable and retractable in its entire length in the front-rear direction. Specifically, in the steering column 10, the base bracket 1 and the column holder 2 are connected to be relatively movable in the front-rear direction. Also, in the steering column 10, the column holder 2 and the upper column 5 are connected to be relatively movable in the front-rear direction.

[0031] FIG. 5 is a perspective view of the column holder 2. As shown in FIG. The column holder 2 is connected to the base bracket 1 so as to be movable relatively in the front-to-rear direction. The column holder 2 has a displacement plate portion 21, a pair of hanging plate portions (right hanging plate portion 22a, left hanging plate portion 22b), and a swing support bracket portion 23 that supports the lower column 3 so as to be swingable in the up-down direction.

[0032] The displacement plate portion 21 has a rectangular shape extending in the front-rear direction when viewed from the top-bottom direction. A pair of hanging plate portions (right hanging plate portion 22a, left hanging plate portion 22b) hang down from both ends of the displacement plate portion 21 in the width direction toward the lower LWR.

[0033] The swing support bracket portion 23 is formed in a substantially U-shape when viewed from the front-rear direction, and is fixed to an end portion of the rear RR of the displacement plate portion 21. The swing support bracket portion 23 is provided with a tilt position adjustment device 81 that supports the lower column 3 so that the lower column 3 is swingable in the vertical direction relative to the swing support bracket portion 23. The supported lower column 3 passes through a space surrounded by the displacement plate portion 21 and the swing support bracket portion 23.

[0034] The lower column 3 (first column) has a substantially cylindrical shape, and is supported by the swing support bracket portion 23 of the column holder 2 so as to be swingable in the up-down direction but immovable in the front-rear direction. As shown in Fig. 4, the lower column 3 has a large diameter portion 32 disposed at the front FR and a small diameter portion 33 disposed at the rear RR. The inner diameter dimension of the small diameter portion 33 is smaller than the inner diameter dimension of the large diameter portion 32. In addition, the lower column 3 has a slit 34 extending in the axial direction on the underside.

[0035] The large diameter portion 32 has a screw hole 35a on the upper surface of the end portion of the front FR. A screw plug 37a having a pad 36a made of a material with a low friction coefficient such as polyacetal (POM) adhesively fixed to the tip end thereof is screwed into the screw hole 35a.

[0036] The small diameter portion 33 has a screw hole 35b on the upper surface of the end portion of the front FR. A screw plug 37b having a pad 36b made of a material with a low friction coefficient such as polyacetal (POM) adhesively fixed to the tip end thereof is screwed into the screw hole 35b.

[0037] 2 to 4, the inner column 4 has a cylindrical portion 45 and a flange portion 46 bent radially outward from the end portion of the front FR of the cylindrical portion 45. The flange portion 46 is rotatably supported on the base bracket 1 via a housing 240 by a pivot bolt 49 that passes through the base bracket 1 in the left-right direction.

[0038] The inner column 4 and the lower column 3 are connected to be capable of relative movement in the front-rear direction. Specifically, the rear portion of the cylindrical portion 45 of the inner column 4 is internally fitted into the large diameter portion 32 of the lower column 3 with a clearance fit. The pad 36a of the screw plug 37a screwed into the front screw hole 35a of the lower column 3 abuts against the outer circumferential surface of the rear portion of the cylindrical portion 45.

[0039] The upper column 5 (second column) is formed in a substantially cylindrical shape, as shown in Fig. 4. The lower column 3 and the upper column 5 are connected to be capable of relative movement along the front-rear direction. Specifically, the front portion of the upper column 5 is internally fitted into the small diameter portion 33 of the lower column 3 with a gap fit. Pad 36b of a screw plug 37b screwed into a screw hole 35b on the rear side of the lower column 3 abuts against the outer circumferential surface of the front portion of the upper column 5.

[0040] The upper column 5 has a first bearing portion 51 and a second bearing portion 52. The first bearing portion 51 is provided at an end portion of the front FR of the upper column 5, and rotatably supports the outer shaft 222. The second bearing portion 52 is provided at an end portion of the rear RR of the upper column 5, and rotatably supports the outer shaft 222.

[0041] [Retractable Actuator 6] The retractable actuator 6 (first actuator) has a retractable motor 60 and a retractable position adjustment device 61. The retractable actuator 6 moves the column holder 2 relative to the base bracket 1 in the front-rear direction using the retractable motor 60 as a drive source.

[0042] The retractable motor 60 is a motor that drives the retractable position adjustment device 61, and is, for example, a brushed motor or a brushless motor. The retractable motor 60 has a retractable motor position detection sensor 60s. The retractable motor position detection sensor 60s is, for example, a hall sensor, a resolver, or an encoder. The motor position of the retractable motor 60 detected by the retractable motor position detection sensor 60s is acquired by the control device 9.

[0043] 2, the retractable position adjustment device 61 has a first screw shaft 62 having a male threaded portion on its outer circumferential surface, and a first nut 63 having a female threaded portion on its inner circumferential surface. The male threaded portion of the first screw shaft 62 and the female threaded portion of the first nut 63 are screwed together. The first screw shaft 62 is rotated by the retractable motor 60, with an axis along the front-rear direction as the rotation axis.

[0044] A rear end RR of the first screw shaft 62 is supported so as to be rotatable by the retractable motor 60. In addition, the first nut 63 is fixed to a side surface on the left side LH of the left hanging plate portion 22b of the column holder 2. In addition, the retractable motor 60 is fixed to a side surface on the left side LH of the base bracket 1.

[0045] As the retractable motor 60 drives and rotates the first screw shaft 62 via a reduction mechanism such as a worm reducer, the first nut 63 moves in the front-to-rear direction along the first screw shaft 62, and the column holder 2 and the lower column 3 supported by the column holder 2 move in the front-to-rear direction relative to the base bracket 1.

[0046] [Telescopic Actuator 7] The telescopic actuator 7 (second actuator) has a telescopic motor 70 and a telescopic position adjustment device 71. The telescopic actuator 7 moves the upper column 5 relative to the column holder 2 in the front-rear direction using the telescopic motor 70 as a drive source.

[0047] The telescopic motor 70 is a motor that drives the telescopic position adjustment device 71, and is, for example, a brushed motor or a brushless motor. The telescopic motor 70 has a telescopic motor position detection sensor 70s. The telescopic motor position detection sensor 70s is, for example, a hall sensor, a resolver, or an encoder. The motor position of the telescopic motor 70 detected by the telescopic motor position detection sensor 70s is acquired by the control device 9.

[0048] 2, the telescopic position adjustment device 71 has a second screw shaft 72 having a male threaded portion on its outer circumferential surface, and a second nut 73 having a female threaded portion on its inner circumferential surface. The male threaded portion of the second screw shaft 72 and the female threaded portion of the second nut 73 are screwed together. The second screw shaft 72 is rotated by a telescopic motor 70 about an axis that runs along the front-rear direction.

[0049] A rear end RR of the second screw shaft 72 is supported by the telescopic motor 70 so as to be rotatable and driven by the telescopic motor 70. In addition, the second nut 73 is fixed to the lower surface of the upper column 5. As shown in Fig. 4, the second nut 73 passes through a slit 34 formed in the lower column 3. In addition, the telescopic motor 70 is fixed to the lower surface of the large diameter portion 32 of the lower column 3.

[0050] As the telescopic motor 70 drives and rotates the second screw shaft 72 via a reduction mechanism such as a worm reducer, the second nut 73 moves in the front-to-rear direction along the second screw shaft 72, and the upper column 5 moves in the front-to-rear direction relative to the lower column 3.

[0051] [Tilt actuator 8] The tilt actuator 8 has a tilt motor 80 and a tilt position adjustment device 81. The tilt actuator 8 moves the lower column 3 relative to the column holder 2 in the up and down direction using the tilt motor 80 as a drive source.

[0052] The tilt motor 80 is a motor that drives the tilt position adjustment device 81, and is, for example, a brushed motor or a brushless motor. The tilt motor 80 has a tilt motor position detection sensor 80s. The tilt motor position detection sensor 80s is, for example, a hall sensor, a resolver, or an encoder. The motor position of the tilt motor 80 detected by the tilt motor position detection sensor 80s is acquired by the control device 9.

[0053] 5, the tilt position adjustment device 81 has a third screw shaft 82 having a male threaded portion on its outer circumferential surface, and a third nut 83 having a female threaded portion on its inner circumferential surface. The male threaded portion of the third screw shaft 82 and the female threaded portion of the third nut 83 are screwed together. The third screw shaft 82 is rotated by a tilt motor 80. The third nut 83 has a cylindrical pivot shaft portion 84 on its outer circumferential surface.

[0054] The third screw shaft 82 is supported by the swing support bracket portion 23 so as to be rotatable about an axis extending along the vertical direction. A pivot shaft portion 84 of the third nut 83 is fixed to the lower column 3.

[0055] As the tilt motor 80 drives and rotates the third screw shaft 82 via a reduction mechanism such as a worm reducer, the third nut 83 moves vertically along the third screw shaft 82, and the connected lower column 3 moves vertically relative to the column holder 2.

[0056] [Control device 9] FIG. 6 is a diagram showing the configuration of the control device 9. The control device 9 includes an MCU 91 having a processor, a memory, etc., a storage device 92, a communication interface 93, a power supply circuit 94, a motor drive circuit 96a, a position detection circuit 96b, a motor drive circuit 97a, a position detection circuit 97b, a motor drive circuit 98a, and a position detection circuit 98b. At least a part of the control device 9 may be shared with the ECU of the steering assist mechanism 230.

[0057] The MCU 91 is a program-executable device (computer) that executes a predetermined program to function as a plurality of functional blocks such as a telescopic target direction calculation unit 911, which will be described later.

[0058] The MCU 91 is connected to a telescopic manual switch 402 and a tilt manual switch 403 provided in a vehicle to which the steering device 300 is attached. The telescopic manual switch 402 is a switch for operating a telescopic mechanism of the steering column device 100. The tilt manual switch 403 is a switch for operating a tilt mechanism of the steering column device 100. The telescopic manual switch 402 and the tilt manual switch 403 are used for setting a position Xset of the steering wheel 200, which will be described later, and for adjusting the position of the steering wheel 200. When adjusting the position of the steering wheel 200, the steering device 300 may drive only one of the retractable actuator 6 and the telescopic actuator 7, or may drive both actuators based on a certain ratio.

[0059] The storage device 92 is a device that stores data and programs executed by the MCU 91. The storage device 92 is configured with, for example, a ROM, a flash memory, a hard disk, or the like.

[0060] The communication interface 93 is an interface circuit that performs communication between the MCU 91 and a vehicle ECU 400 etc. provided in the vehicle to which the steering device 300 is attached.

[0061] The power supply circuit 94 is connected to a battery 401 or the like provided in a vehicle to which the steering device 300 is attached. The power supply circuit 94 supplies power to each device of the control device 9.

[0062] The motor drive circuit 96a drives the retractable motor 60. The position detection circuit 96b acquires the motor position of the retractable motor 60 from the retractable motor position detection sensor 60s.

[0063] The motor drive circuit 97a drives the telescopic motor 70. The position detection circuit 97b acquires the motor position of the telescopic motor 70 from the telescopic motor position detection sensor 70s.

[0064] The motor drive circuit 98a drives the tilt motor 80. The position detection circuit 98b acquires the motor position of the tilt motor 80 from the tilt motor position detection sensor 80s.

[0065] FIG. 7 is a functional block diagram of the control device 9. The functional blocks of the control device 9 include a telescopic target direction calculation unit 911, a retractable speed control unit 912, a retractable motor speed calculation unit 913, a retractable stroke amount calculation unit 914, a telescopic speed control unit 915, a telescopic motor speed calculation unit 916, and a telescopic stroke amount calculation unit 917.

[0066] The telescopic target direction calculation unit 911 calculates the retractable target speed Vr and the telescopic target speed Vt based on the target speed V, the retractable target position Prr, the telescopic target position Ptr, and the like acquired from the vehicle ECU 400 via the communication interface 93.

[0067] The target speed V is the speed at which the steering column 10 extends and contracts in the front-rear direction. The retractable target position Prr is a target position to which the column holder 2 is moved in the front-rear direction relative to the base bracket 1 by the retractable actuator 6. In other words, the retractable target position Prr is a target value for the position of the column holder 2 relative to the base bracket 1. Note that the retractable target position Prr and the retractable current position Prs are defined as zero when the retractable actuator 6 is at its shortest and the extending direction is the positive direction. The retractable target speed Vr is a target speed at which the column holder 2 is moved in the front-rear direction relative to the base bracket 1 by the retractable actuator 6. The telescopic target position Ptr is a target position to which the upper column 5 is moved in the front-rear direction relative to the column holder 2 by the telescopic actuator 7. In other words, the telescopic target position Ptr is a target value for the position of the upper column 5 relative to the column holder 2. Note that the telescopic target position Ptr and the telescopic current position Pts are defined as zero when the telescopic actuator 7 is most retracted, and the extending direction is defined as a positive direction. The telescopic target speed Vt is a target speed at which the upper column 5 is moved in the front-rear direction relative to the column holder 2 by the telescopic actuator 7.

[0068] The retractable speed control unit 912 controls the driving of the retractable actuator 6 based on the retractable target speed Vr calculated by the telescopic target direction calculation unit 911 .

[0069] The retractable motor speed calculation unit 913 calculates the motor speed of the retractable motor 60 from the motor position of the retractable motor 60 acquired by the position detection circuit 96b. The motor speed of the retractable motor 60 is used for speed PID control (feedback control) in driving the retractable actuator 6 in the retractable speed control unit 912.

[0070] The retractable stroke amount calculation unit 914 calculates a current retractable position Prs from the motor position of the retractable motor 60 acquired by the position detection circuit 96b. The current retractable position Prs is the current position of the column holder 2 relative to the base bracket 1 in the front-rear direction.

[0071] The telescopic speed control unit 915 controls the driving of the telescopic actuator 7 based on the telescopic target speed Vt calculated by the telescopic target direction calculation unit 911 .

[0072] A telescopic motor speed calculation unit 916 calculates the motor speed of the telescopic motor 70 from the motor position of the telescopic motor 70 acquired by the position detection circuit 97b. The motor speed of the telescopic motor 70 is used in a telescopic speed control unit 915 for speed PID control (feedback control) in driving the telescopic actuator 7.

[0073] The telescopic stroke amount calculation unit 917 calculates a current telescopic position Pts from the motor position of the telescopic motor 70 acquired by the position detection circuit 97b. The current telescopic position Pts is the current position of the upper column 5 relative to the column holder 2 in the front-rear direction.

[0074] [About the target location] Next, a description will be given of the retractable target position Prr and the telescopic target position Ptr acquired from the vehicle ECU 400. The retractable target position Prr and the telescopic target position Ptr may be fixed parameters or may be parameters that can be set by the user.

[0075] For example, the retractable target position Prr and the telescopic target position Ptr may use fixed parameters set based on the position of the steering wheel 200 set by the automobile manufacturer. The position of the steering wheel 200 set by the automobile manufacturer is, for example, a recommended drive position or a retracted position of the steering wheel 200 during automatic driving.

[0076] Also, for example, the retractable target position Prr and the telescopic target position Ptr can be determined based on the target position Xref, which is the target value of the steering wheel position. In this case, the position Xset set by the driver can be used as the target position Xref. That is, any position of the steering wheel 200 moved by the driver can be set as the position Xset.

[0077] For example, in a steering column device having a function for adjusting the position of the steering wheel 200 such that the steering wheel 200 moves in the forward / rearward direction while the driver is operating the telescopic manual switch 402, the position Xset is set in the following manner.

[0078] First, the driver operates a switch or the like to move the steering wheel 200 to an arbitrary position. Next, the driver executes a position setting operation. The position setting operation is performed by pressing a position storage button (not shown). The position setting operation may also be performed by operating an information input / output terminal (not shown) arranged on the dashboard. By performing the position setting operation, an arbitrary position is set as the position Xset and stored in a storage device on the vehicle ECU 400 side. The position Xset set in the above manner is used when moving the steering wheel 200 from the stored state to the drive position from the next time onwards. That is, when moving from the stored position to the drive position, the target position Xref=Xset is set, and when moving from the drive position to the stored position, the target position Xref=0 is set.

[0079] The relationship shown in Equation 1 is established among the position Xset of the steering wheel 200, the current position Xs of the steering wheel 200, the retractable target position Prr, the current retractable position Prs, the telescopic target position Ptr, and the current telescopic position Pts. Xref-Xs=Prr-Prs+Ptr-Pts...(Formula 1)

[0080] Here, each of the current positions Xs, Prs, and Pts is detected by a position sensor. By determining the value of one of the retractable target position Prr and the telescopic target position Ptr, or by determining the ratio between the retractable target position Prr and the telescopic target position Ptr, the specific values ​​of the retractable target position Prr and the telescopic target position Ptr can be determined.

[0081] For example, when moving from the stored position to position Xset, if the retractable target position Prr is set to Prr_max, which is the maximum movement distance of the retractable actuator 6, then the difference between the telescopic target position Ptr and the telescopic current position Pts, i.e., the movement amount Ptr-Pts to be moved by the telescopic actuator, is (Xset-Xs)-(Prr_max-Prs).

[0082] As another example, when moving from the stored position to the position Xset, the retractable target position Prr and the telescopic target position Ptr can be determined so that they have a predetermined ratio. For example, when the ratio of Prr to Ptr is set to 1:1, Prr-Prs=Ptr-Pts=0.5×(Xset-Xs).

[0083] [Operation of the steering column device 100] Next, a description will be given of the operation of the steering column device 100. The description will be made with reference to a control flowchart of the control device 9 shown in FIG.

[0084] When the control device 9 is started, the control device 9 initializes each functional block and then starts controlling the steering column device 100. When an operation command from the vehicle ECU 400 is detected, the control device 9 executes step S1. The operation command can be generated from the vehicle ECU 400 in response to pressing a vehicle start switch (not shown).

[0085] The telescopic target direction calculation unit 911 acquires Prr and Ptr determined based on Xref and Xs by the vehicle ECU 400. The telescopic target direction calculation unit 911 may acquire Xref and Xs from the vehicle ECU 400 to determine Prr and Ptr.

[0086] In step S1, the telescopic target direction calculation unit 911 acquires a retractable stroke amount Srr (first stroke amount). Specifically, the telescopic target direction calculation unit 911 calculates the retractable stroke amount Srr by Srr = retractable target position Prr - retractable current position Prs.

[0087] In step S2, the telescopic direction target calculation unit 911 acquires a telescopic stroke amount Str (second stroke amount). Specifically, the telescopic direction target calculation unit 911 calculates the telescopic stroke amount Str by Str=telescopic target position Ptr-telescopic current position Pts. The telescopic direction target calculation unit 911 may perform step S2 before step S1.

[0088] In step S3, the target telescopic direction calculation unit 911 calculates the total stroke amount S. Specifically, the target telescopic direction calculation unit 911 calculates the total stroke amount S by S=retractable stroke amount Srr+telescopic stroke amount Str.

[0089] In step S4, the telescopic target direction calculation unit 911 calculates the target moving time Tr. Specifically, the telescopic target direction calculation unit 911 calculates the target moving time Tr by Tr=total stroke amount S÷target speed V.

[0090] In step S5, the telescopic target direction calculation unit 911 calculates a retractable target speed Vr (first target speed). Specifically, the telescopic target direction calculation unit 911 calculates the retractable target speed Vr by Vr=retractable stroke amount Srr÷target moving time Tr.

[0091] In step S6, the telescopic target direction calculation unit 911 calculates the telescopic target speed Vt (second target speed). Specifically, the telescopic target direction calculation unit 911 calculates the telescopic target speed Vr by Vt = telescopic stroke amount Str ÷ target moving time Tr. The telescopic target direction calculation unit 911 may perform step S6 before step S5.

[0092] The retractable target speed Vr (first target speed) and the telescopic target speed Vt (second target speed) are relatively determined by the retractable stroke amount Srr (first stroke amount) and the telescopic stroke amount Str (second stroke amount).

[0093] In this embodiment, the control device 9 determines the retractable target speed Vr (first target speed) and the telescopic target speed Vt (second target speed) so that the time (first target time) taken by the retractable actuator 6 to move the first column by a retractable stroke amount Srr (first stroke amount) at the retractable target speed Vr (first target speed) relative to the base bracket 1 matches the time (second target time) taken by the telescopic actuator 7 to move the second column by a telescopic stroke amount Str (second stroke amount) at the telescopic target speed Vt (second target speed) relative to the first column.

[0094] The retractable speed control section 912 drives the retractable motor 60 based on the retractable target speed Vr, and moves the column holder 2 in the front-rear direction relative to the base bracket 1 by the retractable stroke amount Srr.

[0095] The telescopic speed control section 915 controls the telescopic motor 70 based on the telescopic target speed Vt, and moves the upper column 5 in the front-rear direction relative to the lower column 3 by the retractable stroke amount Srr.

[0096] As a result, the steering column 10 expands and contracts at a target speed V to a target position instructed by the vehicle ECU 400.

[0097] According to the steering column device 100 of this embodiment, the retractable actuator 6 and the telescopic actuator 7 are driven at different target speeds (retractable target speed Vr and telescopic target speed Vt), so that the driving operation of both the retractable actuator 6 and the telescopic actuator 7 is completed after the target movement time Tr has elapsed. Since neither the driving operation of the retractable actuator 6 nor the driving operation of the telescopic actuator 7 is completed first, the user does not feel uncomfortable.

[0098] Although the first embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design modifications and the like that do not depart from the gist of the present invention are also included. Also, the components shown in the above embodiment and modified examples can be appropriately combined to form a configuration.

[0099] (Variation 1) In the above embodiment, the retractable position adjustment device 61 and the telescopic position adjustment device 71 are provided with a feed screw mechanism having a screw shaft and a nut. However, the configuration of the retractable position adjustment device 61 and the telescopic position adjustment device 71 is not limited to this. The retractable position adjustment device 61 and the telescopic position adjustment device 71 may be, for example, a mechanism for directly adjusting the position or a reducer.

[0100] Second Embodiment A steering column device 100B according to a second embodiment of the present invention will be described with reference to Fig. 9. In the following description, the same components as those already described will be denoted by the same reference numerals, and duplicated description will be omitted.

[0101] [Steering column device 100B] 1, the steering column device 100B has a similar configuration to the steering column device 100 of the first embodiment. The steering column device 100B differs from the steering column device 100 of the first embodiment only in the control flow of the control device 9.

[0102] In the following description, the maximum value of the relative speed of the column holder 2 (first column) with respect to the base bracket 1 driven by the retractable actuator 6 is referred to as the retractable maximum speed Vr_max (first maximum speed). Also, the maximum value of the relative speed of the upper column 5 (second column) with respect to the column holder 2 (first column) driven by the telescopic actuator 7 is referred to as the telescopic target speed Vt_max (second maximum speed).

[0103] Hereinafter, a description will be given with reference to the control flowchart of the control device 9 shown in Fig. 9. When the control device 9 is started, the control device 9 initializes each functional block and then starts control of the steering column device 100B (step S10). When an operation command from the vehicle ECU 400 is detected, the control device 9 executes step S11.

[0104] In step S11, the control device 9 acquires the total stroke amount S from the vehicle ECU 400. Specifically, the total stroke amount S is calculated based on the difference between the current position Xs of the steering wheel and the target position Xref of the steering wheel. Next, the control device 9 performs steps S12 and S13. The control device 9 may perform either step S12 or step S13 first.

[0105] In steps S12 and S13, the control device 9 calculates a retractable stroke amount Srr (first stroke amount) and a telescopic stroke amount Str (second stroke amount).

[0106] Specifically, the retractable stroke amount Srr (first stroke amount) and the telescopic stroke amount Str (second stroke amount) are relatively calculated by the ratio (Equation 2) between the retractable maximum speed Vr_max (first maximum speed) and the telescopic target speed Vt_max (second maximum speed). Srr:Str=Vr_max:Vt_max...(Formula 2)

[0107] When the maximum speeds of the retractable actuator 6 and the telescopic actuator 7 are approximately the same, the retractable stroke amount Srr and the telescopic stroke amount Str become approximately the same.

[0108] However, if the calculated retractable stroke amount Srr exceeds the actual stroke amount by which the column holder 2 can be moved relative to the base bracket 1, the control device 9 adjusts the retractable stroke amount Srr, etc. Also, if the calculated telescopic stroke amount Str exceeds the actual stroke amount by which the upper column 5 can be moved relative to the column holder 2, the control device 9 adjusts the telescopic stroke amount Str, etc.

[0109] According to the steering column device 100B of this embodiment, the steering wheel 200 can be moved at the maximum speed of each actuator, and the movement of each actuator is started or ended simultaneously. That is, according to this embodiment, the steering wheel 200 can be moved in a short time without causing the driver to feel uncomfortable due to a change in the moving speed of the steering wheel 200.

[0110] Although the second embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design modifications and the like that do not depart from the gist of the present invention are also included. Also, the components shown in the above embodiment and modified examples can be appropriately combined to form a configuration.

[0111] The programs in each embodiment may be recorded on a computer-readable recording medium, and the programs recorded on the recording medium may be read into a computer system and executed to realize the above. The term "computer system" includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" may also include a medium that dynamically holds a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client in such a case. The above-mentioned program may be a program for realizing a part of the above-mentioned functions, or may be a program that can realize the above-mentioned functions in combination with a program already recorded in the computer system. [Industrial Applicability]

[0112] The present invention can be applied to a steering column device. [Explanation of symbols]

[0113] 300 Steering device (steering device) 220 Steering shaft 200 Steering wheel (input mechanism) 100,100B Steering column device 10. Steering column 1 Base bracket 2 Column holder 3 Lower Column (First Column) 4. Innacolumn 5 Upper Column (Second Column) 6 Retractable actuator (first actuator) 7 Telescopic actuator (second actuator) 8 Tilt Actuator 9 Control device

Claims

1. a steering column having a base bracket, a first column and a second column; a first actuator that moves the base bracket and the first column relatively in a front-rear direction; a second actuator that relatively moves the first column and the second column in a front-rear direction; A control device for controlling the first actuator and the second actuator; Equipped with The control device includes: Calculating a first stroke amount by which the first column is moved relative to the base bracket and a second stroke amount by which the second column is moved relative to the first column; calculating a first target speed at which the first column moves relative to the base bracket and a second target speed at which the second column moves relative to the first column based on the first stroke amount and the second stroke amount; Steering column device.

2. The control device includes: a first target time during which the first actuator moves the first column relative to the base bracket at the first target speed by the first stroke amount; a second target time during which the second actuator moves the second column relative to the first column by the second stroke amount at the second target speed; Match the 2. The steering column assembly according to claim 1.

3. a steering column having a base bracket, a first column and a second column; a first actuator that moves the base bracket and the first column relatively in a front-rear direction; a second actuator that relatively moves the first column and the second column in a front-rear direction; A control device for controlling the first actuator and the second actuator; Equipped with the control device calculates a first stroke amount for moving the first column relative to the base bracket and a second stroke amount for moving the second column relative to the first column based on a ratio between a first maximum speed of the first column relative to the base bracket driven by the first actuator and a second maximum speed of the second column relative to the first column driven by the second actuator. Steering column device.

4. a steering column having a base bracket, a first column and a second column; a first actuator that moves the base bracket and the first column relatively in a front-rear direction; a second actuator that relatively moves the first column and the second column in a front-rear direction; A method for controlling a steering column device comprising: Calculating a first stroke amount by which the first column is moved relative to the base bracket and a second stroke amount by which the second column is moved relative to the first column; calculating a first target speed at which the first column moves relative to the base bracket and a second target speed at which the second column moves relative to the first column based on the first stroke amount and the second stroke amount; A method for controlling a steering column device.

5. a first target time during which the first actuator moves the first column relative to the base bracket at the first target speed by the first stroke amount; a second target time during which the second actuator moves the second column relative to the first column by the second stroke amount at the second target speed; Match the A method for controlling a steering column device according to claim 4.

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