Steering device

Abstract

To provide a steering device that can be prevented from erroneously determination due to variation of an environmental condition around a steering handle, with a simple structure.SOLUTION: A steering device comprises a measurement circuit that measures electrostatic capacitance of an electrode part provided in a steering handle, and a gripping determination device that determines whether the steering handle is gripped or not, on the basis of a measured value Ch_d by the measurement circuit. The gripping determination device comprises a capacitance threshold setting part that sets a reference value Ch_0 with respect to the electrostatic capacitance of the electrode part, and a determination part that determines whether the steering handle is gripped or not, on the basis of a difference between the measured value Ch_d and the reference value Ch_0. The capacitance threshold setting part changes a reference value Ch_0(n) in accordance with a changed portion dCh_0(n) of the measured value at the time when an absolute value |a(n)| of an inclination of a filtered value Ch_d_f(n) of the measured value is less than a predetermined inclination threshold a_th.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a steering device, and more particularly to a steering device including a steering wheel and a grip determination device that determines whether or not the steering wheel is being gripped by a driver. [Background technology]

[0002] In recent years, in order to improve traffic safety, vehicles are increasingly being equipped with driving assistance devices that assist the driver in driving the vehicle, such as a lane keeping function, a lane departure prevention function, a lane change function, and a preceding vehicle following function. In vehicles equipped with such driving assistance devices, a grip determination device as shown in Patent Document 1, for example, determines whether the driver is gripping the steering wheel, and if it is determined that the driver is not gripping the steering wheel, the device may prompt the driver to grip the steering wheel or cancel the driving assistance function being executed.

[0003] The grip determination device disclosed in Patent Document 1 determines whether or not the driver is gripping the steering wheel based on a comparison between the output value of a capacitance sensor provided on the steering wheel and a predetermined threshold value. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-87883 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the output value of the capacitance sensor varies depending on the temperature around the steering wheel. Therefore, if the threshold value is fixed regardless of changes in the environmental conditions around the steering wheel, there is a risk of erroneous determination. Therefore, in the invention described in Patent Document 1, the threshold value for the output value of the capacitance sensor is changed based on the detected value or estimated value of the temperature around the steering wheel.

[0006] However, in the invention shown in Patent Document 1, it is necessary to provide a temperature sensor in addition to the capacitance sensor. Also, the output value of the capacitance sensor varies not only with the surrounding temperature but also with the humidity. Therefore, in order to take the surrounding humidity into account, not only a temperature sensor but also a humidity sensor is required.

[0007] The present invention aims to provide a steering device that has a simple configuration and can prevent erroneous judgments due to changes in the environmental conditions around the steering wheel, and ultimately to contribute to the development of sustainable transportation systems. [Means for solving the problem]

[0008] (1) A steering device according to the present invention (e.g., steering device 1 described later) includes a steering wheel (e.g., steering wheel 2 described later) that receives steering operation of a vehicle by a driver, a measuring device (e.g., measuring circuit 42 described later) that measures the capacitance of an electrode portion (e.g., electrode portion 40 described later) provided on the steering wheel, and a grip determination device (e.g., grip determination device 80 described later) that determines whether or not the steering wheel is being gripped based on a measurement value by the measuring device. The grip determination device includes a capacitance threshold setting unit (e.g., capacitance threshold setting unit 82 described later) that sets a capacitance threshold for the capacitance of the electrode portion (e.g., reference value Ch_0 or grip determination threshold Ch_th described later), and a determination unit (e.g., determination unit 81 described later) that determines whether or not the steering wheel is being gripped based on a difference or comparison between the measurement value and the capacitance threshold, and the capacitance threshold setting unit changes the capacitance threshold in accordance with a change in the measurement value when the absolute value of the slope of the measurement value is less than a predetermined slope threshold.

[0009] (2) In this case, it is preferable that the capacity threshold setting unit increases the capacity threshold when the absolute value of the slope of the measurement value in a specified judgment period is less than the slope threshold (e.g., slope threshold a_th described below) and the measurement value increases in the judgment period, decreases the capacity threshold when the absolute value of the slope of the measurement value in the judgment period is less than the slope threshold and the measurement value decreases in the judgment period, and maintains the capacity threshold constant when the absolute value of the slope of the measurement value in the judgment period is greater than or equal to the slope threshold.

[0010] (3) In this case, it is preferable that the judgment unit judges whether or not the steering wheel is being gripped based on a capacity difference value (e.g., a capacity difference value ΔCh described later) obtained by subtracting a reference value (e.g., a reference value Ch_0 described later) which is the capacity threshold value from the measurement value.

[0011] (4) In this case, it is preferable that the determination unit determines whether the steering wheel is being gripped by comparing the measurement value with a grip determination threshold (for example, a grip determination threshold Ch_th described later) which is the capacity threshold.

[0012] (5) A steering device according to the present invention (for example, steering device 1A described later) includes a steering handle (for example, steering handle 2 described later) that receives a steering operation of a vehicle by a driver, a measuring device (for example, measuring circuits 42A, 52A, 62A, 72A described later) that measures the capacitance of an electrode portion (for example, electrode portions 40A, 50A, 60A, 70A described later) provided on the steering handle, a plurality of the measuring devices (for example, measuring circuits 42A, 52A, 62A, 72A described later) having different installation positions for the electrode portion, and a grip determination device (for example, grip determination device 80A described later) that determines whether or not the steering handle is being gripped based on measurement values ​​by the plurality of the measuring devices. A detection target area is defined on the steering wheel for each of the measuring devices, and the gripping judgment device includes a capacitance threshold setting unit (e.g., capacitance threshold setting unit 82A described later) that sets a capacitance threshold for the capacitance of the electrode unit (e.g., a reference value Ch_0 or a gripping judgment threshold Ch_th described later), and a judgment unit (e.g., judgment unit 81A described later) that judges whether or not each of the detection target areas is being gripped based on a difference or comparison between the measurement value and the capacitance threshold, and the capacitance threshold setting unit uses a correction measuring device as the detection target area that is determined by the judgment unit to be not being gripped among the multiple measuring devices, and sets the capacitance threshold based on the measurement value by the correction measuring device.

[0013] (6) In this case, it is preferable that the capacitance threshold setting unit sets the capacitance threshold so as to be equal to the measurement value obtained by the correction measurement device.

[0014] (7) In this case, it is preferable that the judgment unit judges the presence or absence of grasping in the detection target area based on a capacitance difference value (e.g., ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D described below) obtained by subtracting a reference value which is the capacitance threshold (e.g., the reference value Ch_0 described below) from the measurement value.

[0015] (8) In this case, it is preferable that the determination unit determines whether or not there is a grip in the detection target area by comparing the measurement value with a grip determination threshold, which is the capacity threshold (for example, a grip determination threshold Ch_th described later).

[0016] (9) A steering device according to the present invention (for example, steering device 1B described later) includes a steering handle (for example, steering handle 2 described later) that receives a steering operation of a vehicle by a driver, a measuring device (for example, measuring circuits 42A, 52A, 62A, 72A described later) that measures the capacitance of an electrode unit (for example, electrode units 40A, 50A, 60A, 70A described later) provided on the steering handle, a correction measuring device (for example, correction measuring circuit 92B described later) that measures the capacitance of a correction electrode unit (for example, correction electrode unit 90B described later) provided on the steering handle or in the vicinity thereof and in a position that cannot be grasped by the driver, and a measurement device and a measurement circuit for measuring the capacitance of the correction electrode unit. The present invention is characterized in that the gripping determination device includes a gripping determination device (e.g., gripping determination device 80B described later) that determines whether or not the steering wheel is being gripped based on a measurement value by a correction measurement device, and the gripping determination device includes a capacitance threshold setting unit (e.g., capacitance threshold setting unit 82B described later) that sets a capacitance threshold for the capacitance of the electrode portion (e.g., reference value Ch_0 or gripping determination threshold Ch_th described later), and a determination unit (e.g., determination unit 81A described later) that determines whether or not the steering wheel is being gripped based on a difference or comparison between the measurement value by the measurement device and the capacitance threshold, and the capacitance threshold setting unit sets the capacitance threshold based on the measurement value by the correction measurement device.

[0017] (10) In this case, it is preferable that the capacitance threshold setting unit sets the capacitance threshold so as to be equal to the measurement value obtained by the correction measurement device.

[0018] (11) In this case, it is preferable that the judgment unit judges the presence or absence of grasping in the detection target area based on a capacitance difference value (e.g., ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D described below) obtained by subtracting a reference value which is the capacitance threshold (e.g., the reference value Ch_0 described below) from the measurement value.

[0019] (12) In this case, it is preferable that the determination unit determines whether or not there is a grip in the detection target area by comparing the measurement value with a grip determination threshold, which is the capacity threshold (for example, a grip determination threshold Ch_th described later). Effect of the Invention

[0020] (1) The grip determination device for a steering device according to the present invention includes a capacitance threshold setting unit that sets a capacitance threshold for the capacitance of an electrode unit provided on a steering wheel, and a determination unit that determines whether or not the steering wheel is being gripped based on a difference or comparison between a measurement value of the electrode unit by a measurement device and the capacitance threshold. When a driver grips the steering wheel, the capacitance measurement value by the measurement device increases, and thus the difference between the measurement value and the capacitance threshold also increases. Therefore, the steering device can determine whether or not the steering wheel is being gripped based on the difference or comparison between the measurement value and the capacitance threshold. When the environmental conditions around the steering wheel, such as the temperature and humidity, change, the capacitance measurement value by the measurement device also changes, but the rate of change is slower than the rate of change of the measurement value when the driver moves his / her hands closer to or away from the steering wheel. Therefore, the capacitance threshold setting unit changes the capacitance threshold according to the amount of change in the measurement value when the absolute value of the slope of the measurement value is less than the slope threshold, i.e., the amount of change in the measurement value when the rate of change of the measurement value is gentle. This makes it possible to eliminate the change in the measurement value caused by the change in the environmental condition around the steering wheel from the difference between the measurement value and the capacity threshold value, thereby preventing erroneous determination due to the fluctuation in the environmental condition around the steering wheel, and thus contributing to the development of a sustainable transportation system. In addition, since the present invention does not require a sensor for detecting the environmental condition around the steering wheel, it is possible to prevent erroneous determination with a simpler configuration than conventional methods.

[0021] (2) In the present invention, the capacitance threshold setting unit increases the capacitance threshold when the absolute value of the slope of the measured value in a predetermined judgment period is less than the slope threshold and the measured value increases in this judgment period, and decreases the capacitance threshold when the absolute value of the slope of the measured value in the judgment period is less than the slope threshold and the measured value decreases in this judgment period. This makes it possible to appropriately increase or decrease the capacitance threshold so that the difference between the measured value and the capacitance threshold is constant regardless of changes in the environmental conditions around the steering wheel. Furthermore, when the absolute value of the slope of the measured value in the judgment period is equal to or greater than the slope threshold, the capacitance threshold setting unit determines that the change in the measured value is due to the driver moving his / her hands closer to or away from the steering wheel, and maintains the capacitance threshold constant. Thus, according to the present invention, it is possible to distinguish between changes in the measured capacitance caused by changes in the environmental conditions and changes in the measured capacitance caused by the driver moving his / her hands closer to or away from the steering wheel.

[0022] (3) In the present invention, the determination unit determines whether the steering wheel is being gripped based on a capacitance difference value obtained by subtracting a reference value, which is a capacitance threshold value, from a measured value. Therefore, according to the present invention, the capacitance difference value can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that it is possible to accurately determine whether the steering wheel is being gripped.

[0023] (4) In the present invention, the determination unit determines whether the steering wheel is being gripped by comparing the measurement value with a grip determination threshold, which is a capacitance threshold. Therefore, according to the present invention, the difference between the capacitance difference value and the grip determination threshold can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that it is possible to accurately determine whether the steering wheel is being gripped.

[0024] (5) In the present invention, the steering device includes a plurality of capacitance measuring devices having electrode parts at different installation positions relative to the steering wheel, and a grip determination device that determines whether the steering wheel is gripped based on measurements by the plurality of measuring devices. A detection target area is defined for each measuring device on the steering wheel, and the grip determination device includes a capacitance threshold setting unit that sets a capacitance threshold for the capacitance of the electrode part, and a determination unit that determines whether the steering wheel is gripped for each detection target area based on a difference or comparison between the measurement value and the capacitance threshold. When the driver grips the steering wheel in any of the plurality of detection target areas, the measurement value of the measuring device that sets the gripped area as the detection target area increases, and thus the difference between the measurement value and the capacitance threshold also increases. Therefore, the steering device can determine whether the steering wheel is gripped for each detection target area based on a difference or comparison between the measurement value and the capacitance threshold. When the environmental condition around the steering wheel changes, the measurement value of the capacitance measured by these measuring devices also changes. At this time, it is estimated that the driver's hands are not in the area that is determined by the determination unit as not being gripped, so the measurement value of the measuring device that sets this area as the detection target area reflects the environmental condition around the steering wheel. Therefore, the capacity threshold setting unit uses the measurement device for which the area determined by the determination unit not to be gripped is determined as the detection target area as a correction measurement device, and sets the capacity threshold based on the measurement value by this correction measurement device. Therefore, according to the present invention, the difference between the measurement value and the capacity threshold can be kept constant regardless of changes in the environmental condition around the steering wheel, so that erroneous determination due to changes in the environmental condition around the steering wheel can be prevented, which can contribute to the development of a sustainable transportation system. In addition, since there is no need to provide a sensor for detecting the environmental condition around the steering wheel, erroneous determination can be prevented with a simpler configuration than in the past.

[0025] (6) In the present invention, the capacity threshold setting unit sets the capacity threshold to be equal to the measurement value obtained by the correction measuring device, thereby making it possible to keep the difference between the measurement value and the capacity threshold constant regardless of changes in the environmental conditions around the steering wheel, thereby preventing erroneous judgments due to fluctuations in the environmental conditions around the steering wheel.

[0026] (7) In the present invention, the determination unit determines whether the steering wheel is being gripped based on a capacitance difference value obtained by subtracting a reference value, which is a capacitance threshold value, from a measured value. Therefore, according to the present invention, the capacitance difference value can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that it is possible to accurately determine whether the steering wheel is being gripped.

[0027] (8) In the present invention, the determination unit determines whether the steering wheel is being gripped by comparing the measurement value with a grip determination threshold, which is a capacitance threshold. Therefore, according to the present invention, the difference between the capacitance difference value and the grip determination threshold can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that it is possible to accurately determine whether the steering wheel is being gripped.

[0028] (9) In the present invention, the steering device includes a measuring device that measures the capacitance of an electrode portion provided on the steering wheel, a correction measuring device that measures the capacitance of a correction electrode portion provided on the steering wheel or in the vicinity thereof and in a position where the driver cannot grip it, and a grip determination device that determines whether the steering wheel is being gripped based on measurements by the measuring device and the correction measuring device. When the driver grips the steering wheel, the measurement value of the measuring device increases, and thus the difference between the measurement value and the capacitance threshold also increases, but the measurement value of the correction measuring device is unlikely to change. For this reason, the steering device can determine whether the steering wheel is being gripped based on the difference or comparison between the measurement value and the capacitance threshold. When the environmental condition around the steering wheel changes, the measurement values ​​of the capacitances measured by these measuring devices and the correction measuring device also change. At this time, the measurement value of the correction measuring device reflects the environmental condition around the steering wheel. Therefore, the capacitance threshold setting unit sets the capacitance threshold based on the measurement value by the correction measuring device. Therefore, according to the present invention, the difference between the measurement value by the measuring device and the capacitance threshold value can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that erroneous determination due to fluctuations in the environmental conditions around the steering wheel can be prevented, which can contribute to the development of a sustainable transportation system. In addition, since the present invention does not require a sensor for detecting the environmental conditions around the steering wheel, erroneous determination can be prevented with a simpler configuration than in the past.

[0029] (10) In the present invention, the capacity threshold setting unit sets the capacity threshold to be equal to the measurement value obtained by the correction measuring device, thereby making it possible to keep the difference between the measurement value and the capacity threshold constant regardless of changes in the environmental conditions around the steering wheel, thereby preventing erroneous judgments due to fluctuations in the environmental conditions around the steering wheel.

[0030] (11) In the present invention, the determination unit determines whether the steering wheel is being gripped based on a capacitance difference value obtained by subtracting a reference value, which is a capacitance threshold value, from a measured value. Therefore, according to the present invention, the capacitance difference value can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that it is possible to accurately determine whether the steering wheel is being gripped.

[0031] (12) In the present invention, the determination unit determines whether the steering wheel is being gripped by comparing the measurement value with a grip determination threshold, which is a capacitance threshold. Therefore, according to the present invention, the difference between the capacitance difference value and the grip determination threshold can be kept constant regardless of changes in the environmental conditions around the steering wheel, so that it is possible to accurately determine whether the steering wheel is being gripped. [Brief description of the drawings]

[0032] [Figure 1] 1 is a diagram showing a configuration of a steering device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing a circuit configuration of a measurement circuit. [Diagram 3] 10 is a flowchart showing a specific procedure of a reference value setting process for setting a reference value. [Figure 4] 4 is a time chart showing a determination result as to whether or not a steering wheel is being gripped when a reference value is set by the reference value setting process shown in FIG. 3. [Diagram 5] FIG. 6 is a diagram showing a configuration of a steering device according to a second embodiment of the present invention. [Figure 6] 10 is a flowchart showing a specific procedure of a reference value setting process for setting a reference value. [Figure 7] FIG. 11 is a diagram showing a configuration of a steering device according to a third embodiment of the present invention. [Figure 8] 10 is a flowchart showing a specific procedure of a reference value setting process for setting a reference value. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] First Embodiment Hereinafter, a steering device according to a first embodiment of the present invention will be described with reference to the drawings.

[0034] 1 is a diagram showing the configuration of a steering device 1 according to this embodiment. The steering device 1 is mounted on a vehicle (not shown). The steering device 1 includes a steering wheel 2 that receives vehicle steering operations and auxiliary device operations by a driver, a steering shaft 3 that supports the steering wheel 2, and a grip sensor unit 8 that determines whether or not the driver is gripping the steering wheel 2 based on a measurement result of the electrostatic capacitance of one or more electrode parts provided on the steering wheel 2.

[0035] The steering wheel 2 comprises a circular rim portion 20 which can be gripped by the driver, a hub portion 23 provided on the inside of the rim portion 20, and three spoke portions 25L, 25R, 25D which extend radially from the hub portion 23 and are connected to the rim inner portion 21 of the rim portion 20.

[0036] The hub portion 23 is disk-shaped and is provided, for example, at the center of the rim portion 20 as seen by the driver, constituting the center of the steering wheel 2. A steering shaft 3 that axially supports the steering wheel 2 is connected to the back side of the hub portion 23 as seen by the driver. The steering shaft 3 is an axial connecting member that connects a core metal that is the skeleton of the hub portion 23 to a steering mechanism that constitutes part of the vehicle body (not shown). Therefore, the steering torque generated by the driver rotating the steering wheel 2 is transmitted by this steering shaft 3 to the steering mechanism (not shown).

[0037] The rim portion 20 and the hub portion 23 are connected by three spoke portions 25L, 25R, and 25D. The left spoke portion 25L extends horizontally and connects the left portion of the hub portion 23 as seen by the driver to the left portion of the rim inner circumferential portion 21 as seen by the driver. The right spoke portion 25R extends horizontally and parallel to the left spoke portion 25L and connects the right portion of the hub portion 23 as seen by the driver to the right portion of the rim inner circumferential portion 21 as seen by the driver. The lower spoke portion 25D extends perpendicularly to the spoke portions 25L and 25R and vertically and connects the lower portion of the hub portion 23 as seen by the driver to the lower portion of the rim inner circumferential portion 21 as seen by the driver.

[0038] As described above, the rim portion 20 is annular when viewed from the driver, and the driver can grip the entire circumference of the rim portion 20. The rim portion 20 is provided with one or more electrode portions 40 of the grip sensor unit 8 described below. In this embodiment, the electrode portion 40 is provided on the rim portion 20 of the steering wheel 2, but the present invention is not limited to this. The electrode portion may be provided on the hub portion 23, the spoke portions 25L, 25R, 25D, etc., in addition to the rim portion 20. In this embodiment, the steering wheel 2 is provided with one electrode portion 40, but the present invention is not limited to this. The steering wheel 2 may be provided with two or more electrode portions.

[0039] The left spoke portion 25L and the right spoke portion 25R are provided with a left accessory operation console unit 27L and a right accessory operation console unit 27R, respectively, that accepts accessory operations by the driver to operate vehicle accessories (not shown, for example, an audio device, a car navigation device, etc.) The driver can operate the vehicle accessories by operating a plurality of switches provided on these accessory operation console units 27L and 27R with his / her fingers.

[0040] In the following description, the positions of the rim portion 20, the rim inner periphery 21, the hub portion 23, and the steering shaft 3, which are substantially circular as viewed from the driver, and the orientations of the spoke portions 25L, 25R, and 25D may be expressed as angles [°] in a clockwise direction with the steering shaft 3 as the center and the upper end portion 20C of the rim portion 20 as viewed from the driver as the reference point. That is, the right spoke portion 25R extends along a 90° direction and connects the 90° portions of the hub portion 23 and the rim inner periphery 21. The lower spoke portion 25D extends along a 180° direction and connects the 180° portions of the hub portion 23 and the rim inner periphery 21. The left spoke portion 25L extends along a 270° direction and connects the 270° portions of the hub portion 23 and the rim inner periphery 21.

[0041] The grip sensor unit 8 comprises an electrode portion 40 provided on the rim portion 20, a measurement circuit 42 electrically connected to the electrode portion 40, and a grip determination device 80 that determines whether or not the driver is gripping the steering wheel 2 based on the measurement results by the measurement circuit 42.

[0042] The electrode unit 40 is arc-shaped and extends along the rim unit 20, and is conductive. The electrode unit 40 is provided inside the rim unit 20. The measurement circuit 42 measures the capacitance between the electrode unit 40 and the ground as a value that increases or decreases according to the distance between the position of the electrode unit 40 and the human body. The closer the distance between the position of the electrode unit 40 and the human body, the larger the capacitance between the electrode unit 40 and the ground. The measurement value Ch_d of the capacitance of the electrode unit 40 by the measurement circuit 42 is transmitted to the grip determination device 80.

[0043] FIG. 2 is a diagram showing the circuit configuration of the measurement circuit 42. The measurement circuit 42 includes a pulse power supply 43, an amplifier 44, a first switch 45, a second switch 46, a charging capacitor 47, and a capacitance measurement unit 48. In Fig. 2, the capacitance between the electrode unit 40 and the ground (for example, the vehicle body) is illustrated as being divided into a capacitance Ch formed by the human body H including the driver's hands operating the steering wheel 2, and a floating capacitance Ce formed by a floating capacitor E such as wiring and components excluding the human body H.

[0044] As shown in FIG. 2, the pulsed power supply 43 and the amplifier 44 are connected in series. The second switch 46 and the charging capacitor 47 are connected in parallel. The series circuit consisting of the pulsed power supply 43 and the amplifier 44 and the parallel circuit consisting of the second switch 46 and the charging capacitor 47 are connected via a first switch 45. The output terminal of the amplifier 44 and the first switch 45 are connected to the electrode unit 40 via a wiring 41. Therefore, the pulsed power supply 43 is connected to the electrode unit 40 via the amplifier 44 and the wiring 41. Furthermore, the second switch 46 and the charging capacitor 47 are connected to the electrode unit 40 via the first switch 45 and the wiring 41, respectively.

[0045] The pulse power supply 43 supplies a pulse voltage Vs of a predetermined frequency and a predetermined voltage to the amplifier 44 in response to a command from the grip determination device 80. The amplifier 44 amplifies the pulse voltage Vs supplied from the pulse power supply 43 and applies it to the electrode portion 40.

[0046] The second switch 46 is a switching element that is turned on / off by a drive circuit (not shown). The drive circuit for the second switch 46 turns off the second switch 46 until the voltage VCref of the charging capacitor 47 reaches a predetermined threshold Vthr, for example, and turns on the second switch 46 after the voltage VCref reaches the threshold Vthr, thereby discharging the charge stored in the charging capacitor 47.

[0047] The first switch 45 is a switching element that is turned on / off by a drive circuit (not shown). The drive circuit for the first switch 45 turns off the first switch 45 in response to the rise of the pulse voltage Vs of the pulse power supply 43. As a result, the pulse voltage supplied from the pulse power supply 43 and the amplifier 44 is applied to the electrode unit 40, and electric charge moves through the path indicated by the arrow 2a in FIG. 2, charging the human body H and the floating capacitor E.

[0048] Furthermore, the drive circuit of the first switch 45 turns on the first switch 45 in response to the falling edge of the pulse voltage Vs of the pulse power supply 43. This connects the human body H and the floating capacitor E to the charging capacitor 47, and electric charge moves from the human body H and the floating capacitor E to the charging capacitor 47 via the path indicated by the arrow 2b in Fig. 2, charging the charging capacitor 47. This causes the voltage VCref of the charging capacitor 47 to rise.

[0049] Therefore, when a pulse voltage is applied to the electrode unit 40 by the pulse power supply 43 and the amplifier 44, charging and discharging of the human body H and the floating capacitor E are repeated alternately, and the voltage VCref of the charging capacitor 47 gradually increases. At this time, the time until the voltage VCref of the charging capacitor 47 reaches the threshold value Vthr (or the number of pulses of the pulse power supply 43) varies depending on the capacitance Ch formed by the human body H, that is, the distance between the electrode unit 40 and the driver's body. That is, when a part of the driver's body is in contact with or close to the position of the electrode unit 40 of the rim part 20 and the capacitance Ch is high, the time until the voltage VCref of the charging capacitor 47 reaches the threshold value Vthr is short, and when a part of the driver's body is away from the position of the electrode unit 40 and the capacitance Ch is low, the time until the voltage VCref of the charging capacitor 47 reaches the threshold value Vthr is long.

[0050] The capacitance measuring unit 48 measures the time and the number of pulses until the voltage VCref of the charging capacitor 47 reaches the threshold value Vthr, and based on this measurement result, indirectly measures the capacitance Ch formed by the human body H present in the vicinity of the electrode unit 40. The capacitance measuring unit 48 transmits the measurement value Ch_d of the capacitance Ch obtained by the above procedure to the grip determination device 80.

[0051] The grip determination device 80 includes a determination unit 81 that determines whether or not the steering handle 2 is being gripped based on a difference or comparison between a measurement value Ch_d and a capacitance threshold for capacitance such as a reference value Ch_0 or a grip determination threshold Ch_th, and a capacity threshold setting unit 82 that sequentially sets a capacity threshold to be referenced when determining whether or not the steering handle 2 is being gripped based on the measurement value Ch_d in the determination unit 81.

[0052] The determination unit 81 calculates a capacitance difference value ΔCh by subtracting a reference value Ch_0 from the measurement value Ch_d, and further compares the magnitude of this capacitance difference value ΔCh with the grip determination threshold value Ch_th to determine whether or not the driver is gripping the steering wheel 2. More specifically, the determination unit 81 determines that the steering wheel 2 is gripped by the driver at the rim portion 20 when the difference (ΔCh-Ch_th) between the capacitance difference value ΔCh and the grip determination threshold value Ch_th is 0 or positive, that is, when the following formula (1-1) is established. The determination unit 81 also determines that the steering wheel 2 is not gripped by the driver at the rim portion 20 when the difference (ΔCh-Ch_th) between the capacitance difference value ΔCh and the grip determination threshold value Ch_th is negative, that is, when the following formula (1-2) is established. Ch_d-Ch_0≧Ch_th (1-1) Ch_d-Ch_0 <Ch_th (1-2)

[0053] Here, the reference value Ch_0 corresponds to the capacitance value of the electrode unit 40 when the driver's hand is located at a position sufficiently away from the installation position of the electrode unit 40 on the steering wheel 2, and is a positive value. Therefore, the capacitance difference value ΔCh (=Ch_d-Ch_0) increases as the driver's hand approaches the installation position of the electrode unit 40. For this reference value Ch_0, a predetermined fixed value or a value sequentially set by the capacitance threshold setting unit 82 is used.

[0054] The grip determination threshold Ch_th is a threshold, which is a positive value, that is set for the capacitance difference value ΔCh in order to determine whether or not the driver's hands are sufficiently close to the installation position of the electrode unit 40, that is, whether or not the driver is gripping the steering wheel 2. For this grip determination threshold Ch_th, a predetermined fixed value or a value that is sequentially set by the capacitance threshold setting unit 82 is used.

[0055] Here, the measurement value Ch_d and the capacitance difference value ΔCh vary depending on the environmental conditions such as the temperature and humidity around the installation position of the electrode unit 40 as well as the distance between the driver's hand and the installation position of the electrode unit 40. More specifically, the measurement value Ch_d and the capacitance difference value ΔCh tend to increase as the temperature increases and as the humidity increases. For this reason, if the capacitance thresholds such as the reference value Ch_0 and the grip determination threshold Ch_th are fixed values ​​that do not depend on the change in the environmental condition, the determination unit 81 may make an erroneous determination. Therefore, the capacity threshold setting unit 82 changes both or either of the reference value Ch_0 and the grip determination threshold Ch_th depending on the change in the environmental condition. In this embodiment, the capacity threshold setting unit 82 changes the reference value Ch_0 depending on the change in the environmental condition and sets the grip determination threshold Ch_th to a fixed value, but the present invention is not limited to this.

[0056] 3 is a flowchart showing a specific procedure of a reference value setting process for setting the reference value Ch_0. The reference value setting process shown in FIG.

[0057] First, in step ST1, the capacitance threshold setting unit 82 acquires a measured capacitance value Ch_d(n) from the measurement circuit 42, and proceeds to step ST2. Here, the symbol (n) is a symbol indicating discretized time, and indicates that the data is acquired or calculated by processing in the nth control cycle. In other words, if the symbol (n) is data acquired or calculated at the current control timing, the symbol (n-1) indicates that the data is acquired or calculated at the previous control timing (i.e., Δt ago). In the following description, the symbol (n) indicating time will be omitted as appropriate.

[0058] In step ST2, the capacity threshold setting unit 82 performs a filter process on the measurement value Ch_d(n) acquired in step ST1 to remove high frequency noise, and proceeds to step ST3. In the following, the value obtained by performing the filter process on the measurement value Ch_d(n) is referred to as a filter value and expressed as "Ch_d_f(n)". In this embodiment, the capacity threshold setting unit 82 performs a weighted moving average process as shown in the following formula (2) as the filter process on the measurement value Ch_d(n), but the present invention is not limited to this. In the following formula, "w" is a weight and is an arbitrary positive value greater than 0. Ch_d_f(n) = (Ch_d(n)+w×Ch_d_f(n-1)) / (1+w) (2)

[0059] In step ST3, the capacity threshold setting unit 82 calculates the slope a(n) of the filter value Ch_d_f(n) of the measurement value, and proceeds to step ST4. More specifically, the capacity threshold setting unit 82 calculates the slope a(n) of the filter value Ch_d_f(n) according to the following formula (3). a(n)=(Ch_d_f(n)-Ch_d_f(n-1)) / Δt (3)

[0060] In step ST4, the capacitance threshold setting unit 82 judges whether the absolute value of the slope |a(n)| calculated in step ST3 is less than a predetermined slope threshold a_th. Here, the slope threshold a_th is a threshold value, which is a positive value, that is set to determine whether the change in the measurement value and the filter value is due to a change in the distance between the driver's hand and the installation position of the electrode unit 40 or due to a change in the environmental condition around the electrode unit 40.

[0061] If the determination result of step ST4 is YES, that is, if the absolute value of the slope |a(n)| is less than the slope threshold a_th, the capacity threshold setting unit 82 determines that the change in the filter value during the determination period from the n-1th cycle to the nth cycle is due to a change in the surrounding environmental state, and proceeds to step ST5. In step ST5, the capacity threshold setting unit 82 calculates the change dCh_0(n) in the filter value by the following formula (4), and proceeds to step ST6. Here, the change dCh_0(n) is the change in the filter value Ch_d_f(n) during the determination period from the n-1th cycle to the nth cycle in which the absolute value of the slope of the filter value |a(n)| was less than the slope threshold a_th, as shown in the following formula (4). dCh_0(n)=Ch_d_f(n)-Ch_d_f(n-1) (4)

[0062] In step ST6, the capacity threshold setting unit 82 adds the change dCh_0(n) calculated in step ST5 to the reference value Ch_0(n-1) in the previous period as shown in the following formula (5), and sets the result as the reference value Ch_0(n), and returns to step ST1. That is, the capacity threshold setting unit 82 changes the reference value Ch_0(n) according to the change dCh_0(n) of the filter value when the absolute value |a(n)| of the slope of the filter value is less than the slope threshold a_th. Therefore, the capacity threshold setting unit 82 increases the reference value Ch_0(n) when the change dCh_0(n) increases (i.e., when the change dCh_0(n) is a positive value), and increases the reference value Ch_0(n) when the change dCh_0(n) decreases (i.e., when the change dCh_0(n) is a negative value). The initial value Ch_0(0) of the reference value is set to, for example, a predetermined value or a value equal to the measured value Ch_d(0) immediately after the start of the reference value setting process shown in Figure 3 and when the steering wheel 2 is not being gripped by the driver. Ch_0(n)=Ch_0(n-1)+dCh_0(n) (5)

[0063] If the determination result of step ST4 is NO, that is, if the absolute value of the slope |a(n)| is equal to or greater than the slope threshold a_th, the capacity threshold setting unit 82 determines that the change in the filter value during the determination period from the n-1th cycle to the nth cycle is due to a change in the distance between the driver's hand and the installation position of the electrode unit 40, and proceeds to step ST7. In step ST7, the capacity threshold setting unit 82 sets the reference value Ch_0(n) to a value equal to the reference value Ch_0(n-1) in the previous cycle, as shown in the following formula (6), and returns to step ST1. In other words, the capacity threshold setting unit 82 maintains the reference value Ch_0(n) constant. Ch_0(n)=Ch_0(n-1) (6)

[0064] Fig. 4 is a time chart showing the determination results with respect to whether the steering wheel 2 is gripped or not when the reference value Ch_0 is set by the above-described reference value setting process. The upper part of Fig. 4 shows the filter value Ch_d_f and the reference value Ch_0, the middle part shows the capacitance difference value ΔCh, and the lower part shows the determination results.

[0065] First, between times t0 and t1, when the steering wheel 2 is not gripped, the environmental condition around the electrode unit 40 changes, causing the filter value Ch_d_f to rise gently at a gradient less than the gradient threshold a_th. In this case, the capacitance threshold setting unit 82 increases the reference value Ch_0 in accordance with the increase in the filter value Ch_d_f (see step ST6 in FIG. 3). Therefore, between times t0 and t2, the capacitance threshold setting unit 82 sets the reference value Ch_0 to a value substantially equal to the filter value Ch_d_f. Therefore, the capacitance difference value ΔCh becomes substantially zero.

[0066] Next, between times t2 and t4, the driver grips the steering wheel 2, causing the filter value Ch_d_f to rise sharply. The slope of the filter value Ch_d_f caused by the driver gripping the steering wheel 2 is equal to or greater than the slope threshold a_th. Therefore, the capacity threshold setting unit 82 maintains the reference value Ch_0 constant (see step ST7 in FIG. 3). Therefore, between times t2 and t4, the capacity difference value ΔCh rises, and exceeds the grip determination threshold Ch_th at time t3. Therefore, after time t3, the determination unit 81 determines that the steering wheel 2 is being gripped.

[0067] Next, between times t4 and t5, the environmental condition around the electrode unit 40 changes while the steering wheel 2 is being gripped, causing the filter value Ch_d_f to rise gently at a gradient less than the gradient threshold a_th. In this case, the capacitance threshold setting unit 82 raises the reference value Ch_0 in accordance with the rise in the filter value Ch_d_f (see step ST6 in FIG. 3). Therefore, between times t4 and t5, the capacitance threshold setting unit 82 raises the reference value Ch_0 by the amount of the rise in the filter value Ch_d_f (see step ST6 in FIG. 3). Therefore, between times t4 and t5, the capacitance difference value ΔCh is substantially constant.

[0068] Next, between times t5 and t7, the driver releases his / her hands from the steering wheel 2, causing the filter value Ch_d_f to drop rapidly. The absolute value of the slope of the filter value Ch_d_f caused by the driver releasing his / her hands from the steering wheel 2 is equal to or greater than the slope threshold a_th. Therefore, the capacity threshold setting unit 82 maintains the reference value Ch_0 constant (see step ST7 in FIG. 3). Therefore, between times t5 and t7, the capacity difference value ΔCh drops, and falls below the grip determination threshold Ch_th at time t6. Therefore, after time t6, the determination unit 81 determines that the steering wheel 2 is not being gripped.

[0069] As described above, the capacity threshold setting unit 82 can change the reference value in accordance with fluctuations in the environmental conditions around the electrode unit 40 by changing the reference value in accordance with the change in the filter value when the absolute value of the slope of the filter value of the measurement value is less than the slope threshold.

[0070] As described above, in this embodiment, the reference value Ch_0(n) is changed according to the change dCh_0(n) in the filter value Ch_d_f(n) during the judgment period from the n-1th cycle to the nth cycle, i.e., during the control cycle Δt, but the length of the judgment period is not limited to this. The judgment period may be several cycles Δt×m (m is an integer of 2 or more). In the reference value setting process shown in FIG. 3, the reference value Ch_0(n) is changed according to the change dCh_0(n) in the filter value Ch_d_f(n) during a predetermined judgment period, but the present invention is not limited to this. The capacity threshold setting unit 82 may change the reference value Ch_0(n) according to the change during the predetermined judgment period of the measurement value Ch_d(n) before the filter process is applied.

[0071] In the present embodiment, the determination unit 81 determines whether the driver is gripping the steering wheel 2 based on the above formulas (1-1) and (1-2), but the present invention is not limited to this. The determination unit 81 may determine whether the driver is gripping the steering wheel 2 based on the following formulas (7-1) and (7-2) which are equivalent to the above formulas (1-1) and (1-2). That is, the determination unit 81 may determine that the driver is gripping the steering wheel 2 at the rim portion 20 when the sum of the grip determination threshold value Ch_th and the reference value Ch_0 is equal to or less than the measurement value Ch_d, that is, when the following formula (7-1) is satisfied, and may determine that the driver is gripping the steering wheel 2 at the rim portion 20 when the sum of the grip determination threshold value Ch_th and the reference value Ch_0 is greater than the measurement value Ch_d, that is, when the following formula (7-2) is satisfied. Ch_d≧Ch_th+Ch_0 (7-1) Ch_d <Ch_th+Ch_0 (7-2)

[0072] The steering device 1 according to this embodiment provides the following advantages. (1) The grip determination device 80 of the steering device 1 includes a capacitance threshold setting unit 82 that sets a reference value Ch_0 for the capacitance of the electrode unit 40 provided on the steering wheel 2, and a determination unit 81 that determines whether the steering wheel 2 is gripped based on a comparison between a capacitance difference value ΔCh between a measurement value Ch_d of the electrode unit 40 by the measurement circuit 42 and the reference value Ch_0 and a grip determination threshold value Ch_th. When the driver grips the steering wheel 2, the capacitance measurement value Ch_d by the measurement circuit 42 increases, and the difference between the measurement value Ch_d and the reference value Ch_0 also increases. Therefore, the steering device 1 can determine whether the steering wheel 2 is gripped based on the difference between the measurement value Ch_d and the reference value Ch_0. When the environmental conditions such as the temperature and humidity around the steering wheel 2 change, the capacitance measurement value Ch_d by the measurement circuit 42 also changes, but the rate of change is slower than the rate of change of the measurement value Ch_d when the driver moves his / her hand closer to or away from the steering wheel 2. Therefore, the capacity threshold setting unit 82 changes the reference value Ch_0 according to the change in the filter value Ch_d_f when the absolute value |a| of the slope of the filter value Ch_d_f of the measurement value is less than the slope threshold a_th, that is, the change in the filter value Ch_d_f when the rate of change of the filter value Ch_d_f is gentle. This makes it possible to remove the change in the filter value Ch_d_f caused by the change in the environmental condition around the steering wheel 2 from the difference between the filter value Ch_d_f and the reference value Ch_0, thereby preventing erroneous determination due to the change in the environmental condition around the steering wheel 2, and thus contributing to the development of a sustainable transportation system. In addition, since the steering device 1 does not need to provide a sensor for detecting the environmental condition around the steering wheel 2, it is possible to prevent erroneous determination with a simpler configuration than before.

[0073] (2) The capacity threshold setting unit 82 increases the reference value Ch_0 when the absolute value |a| of the slope of the filter value Ch_d_f in a predetermined judgment period is less than the slope threshold a_th and the filter value Ch_d_f increases in this judgment period, and decreases the reference value Ch_0 when the absolute value |a| of the slope of the filter value Ch_d_f in the judgment period is less than the slope threshold a_th and the filter value Ch_d_f decreases in this judgment period. This makes it possible to appropriately increase or decrease the reference value Ch_0 so that the difference between the measurement value Ch_d and the reference value Ch_0 is constant regardless of changes in the environmental state around the steering wheel 2. Furthermore, when the absolute value |a| of the slope of the filter value Ch_d_f in the judgment period is equal to or greater than the slope threshold a_th, the capacity threshold setting unit 82 determines that the change in the filter value Ch_d_f is due to the driver moving his / her hand closer to or away from the steering wheel 2, and maintains the reference value Ch_0 constant. Therefore, according to the steering device 1, the change in the capacitance filter value Ch_d_f can be separated into that caused by a change in the environmental condition and that caused by the driver moving his / her hands closer to or away from the steering wheel 2.

[0074] (3) The determination unit 81 determines whether the steering wheel 2 is gripped based on a capacitance difference value ΔCh obtained by subtracting a reference value Ch_0 from a measured value Ch_d. Therefore, according to the steering device 1, the capacitance difference value ΔCh can be kept constant regardless of changes in the environmental conditions around the steering wheel 2, so that it is possible to accurately determine whether the steering wheel 2 is gripped.

[0075] As described above, in this embodiment, the capacity threshold setting unit 82 has been described as having a constant grip determination threshold Ch_th and changing the reference value Ch_0 in response to changes in the environmental state, but the present invention is not limited to this. The capacity threshold setting unit 82 may have a constant reference value Ch_0 and change the grip determination threshold Ch_th in response to changes in the environmental state. In this case, the timing and width of changing the grip determination threshold Ch_th are the same as the timing and width of changing the reference value Ch_0 in the reference value setting process shown in FIG. 3, so detailed description will be omitted. In this case, the difference between the capacity difference value ΔCh and the grip determination threshold Ch_th can be kept constant regardless of changes in the environmental state around the steering wheel 2, so that the presence or absence of gripping can be determined with high accuracy as in the above embodiment.

[0076] <Second embodiment> Next, a steering device according to a second embodiment of the present invention will be described with reference to the drawings. In the following description, the same components as those in the steering device according to the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0077] 5 is a diagram showing the configuration of a steering device 1A according to this embodiment. The steering device 1A according to this embodiment differs from the steering device 1 according to the first embodiment in the configuration of a grip sensor unit 8A.

[0078] The grip sensor unit 8A includes multiple (four in this embodiment) proximity sensors 4A, 5A, 6A, 7A, each with a different detection target area, and a grip determination device 80A that determines whether or not the driver is gripping the steering wheel 2 and the gripping position based on the measurement results of these proximity sensors 4A to 7A.

[0079] The right proximity sensor 4A includes a right electrode portion 40A provided on the rim portion 20 and a right measurement circuit 42A electrically connected to the right electrode portion 40A. The right electrode portion 40A is arc-shaped extending along the rim portion 20 and is conductive. The right electrode portion 40A is provided inside the rim portion 20. The right electrode portion 40A is disposed in a range of about 90° between 45° and 135° of the rim portion 20 (i.e., a range that the driver can hold with his right hand mainly when driving straight). In the following, the area of ​​the rim portion 20 where the right electrode portion 40A is disposed is also referred to as the right grip portion 20R. The right measurement circuit 42A is connected to the right electrode portion 40A via a wiring 41A. The right measurement circuit 42A measures the capacitance between the right electrode portion 40A and the ground as a value that increases or decreases depending on the distance between the position where the right electrode portion 40A is disposed and the human body. The closer the position of the right electrode unit 40A is to the human body, the larger the capacitance between the right electrode unit 40A and the ground. The capacitance measurement value Ch_R_d by the right measurement circuit 42A is transmitted to the grip determination device 80A. Note that the circuit configuration of the right measurement circuit 42A is almost the same as the circuit configuration of the measurement circuit 42 according to the first embodiment, and therefore a detailed description thereof will be omitted.

[0080] The left proximity sensor 5A includes a left electrode portion 50A provided on the rim portion 20 and a left measurement circuit 52A electrically connected to the left electrode portion 50A. The left electrode portion 50A is arc-shaped extending along the rim portion 20 and is conductive. The left electrode portion 50A is provided inside the rim portion 20. The left electrode portion 50A is disposed in a range of approximately 90° between 225° and 315° of the rim portion 20 (i.e., a range that the driver can hold with his left hand mainly when driving straight). In the following, the area of ​​the rim portion 20 where the left electrode portion 50A is disposed is also referred to as the left grip portion 20L. The left measurement circuit 52A is connected to the left electrode portion 50A via a wiring 51A. The left measurement circuit 52A measures the electrostatic capacitance between the left electrode portion 50A and the ground as a value that increases or decreases according to the distance between the position where the left electrode portion 50A is disposed and the human body. The closer the position of the left electrode unit 50A is to the human body, the larger the capacitance between the left electrode unit 50A and the ground. The capacitance measurement value Ch_L_d by the left measurement circuit 52A is transmitted to the grip determination device 80A. Note that the circuit configuration of the left measurement circuit 52A is almost the same as the circuit configuration of the measurement circuit 42 according to the first embodiment, and therefore a detailed description thereof will be omitted.

[0081] The upper proximity sensor 6A includes an upper electrode portion 60A provided on the rim portion 20 and an upper measurement circuit 62A electrically connected to the upper electrode portion 60A. The upper electrode portion 60A is arc-shaped extending along the rim portion 20 and is conductive. The upper electrode portion 60A is provided inside the rim portion 20. The upper electrode portion 60A is arranged in a range of about 90° between 315° and 405° (45°) of the rim portion 20 (i.e., a range that the driver can hold with his right or left hand mainly when turning). In the following, the area of ​​the rim portion 20 where the upper electrode portion 60A is arranged is also referred to as the upper grip portion 20U. The upper measurement circuit 62A is connected to the upper electrode portion 60A via a wiring 61A. The upper measurement circuit 62A measures the electrostatic capacitance between the upper electrode portion 60A and the ground as a value that increases or decreases depending on the distance between the arrangement position of the upper electrode portion 60A and the human body. The closer the position of the upper electrode unit 60A is to the human body, the larger the capacitance between the upper electrode unit 60A and the ground. The capacitance measurement value Ch_U_d by the upper measurement circuit 62A is transmitted to the grip determination device 80A. Note that the circuit configuration of the upper measurement circuit 62A is almost the same as the circuit configuration of the measurement circuit 42 according to the first embodiment, and therefore a detailed description thereof will be omitted.

[0082] The lower proximity sensor 7A includes a lower electrode portion 70A provided on the rim portion 20 and a lower measurement circuit 72A electrically connected to the lower electrode portion 70A. The lower electrode portion 70A is arc-shaped extending along the rim portion 20 and is conductive. The lower electrode portion 70A is provided inside the rim portion 20. The lower electrode portion 70A is disposed in a range of about 90° between 135° and 225° of the rim portion 20 (i.e., a range that the driver can hold with his right or left hand mainly when turning and a range of the rim portion 20 that is closest to the driver's knee). In the following, the area of ​​the rim portion 20 where the lower electrode portion 70A is disposed is also referred to as the lower grip portion 20D. The lower measurement circuit 72A is connected to the lower electrode portion 70A via a wiring 71A. The lower measurement circuit 72A measures the electrostatic capacitance between the lower electrode portion 70A and the ground as a value that increases or decreases according to the distance between the position where the lower electrode portion 70A is disposed and the human body. The closer the position of the lower electrode unit 70A is to the human body, the larger the capacitance between the lower electrode unit 70A and the ground. The capacitance measurement value Ch_D_d by the lower measurement circuit 72A is transmitted to the grip determination device 80A. Note that the circuit configuration of the lower measurement circuit 72A is almost the same as the circuit configuration of the measurement circuit 42 according to the first embodiment, and therefore a detailed description thereof will be omitted.

[0083] As described above, the right electrode portion 40A of the right proximity sensor 4A is provided at a position closer to the right grip portion 20R than the other electrode portions 50A, 60A, and 70A. Therefore, the right proximity sensor 4A has the right grip portion 20R of the rim portion 20 as its detection target area. The left electrode portion 50A of the left proximity sensor 5A is provided at a position closer to the left grip portion 20L than the other electrode portions 40A, 60A, and 70A. Therefore, the left proximity sensor 5A has the left grip portion 20L of the rim portion 20 as its detection target area. The upper electrode portion 60A of the upper proximity sensor 6A is provided at a position closer to the upper grip portion 20U than the other electrode portions 40A, 50A, and 70A. Therefore, the upper proximity sensor 6A has the upper grip portion 20U of the rim portion 20 as its detection target area. The lower electrode portion 70A of the lower proximity sensor 7A is provided at a position closer to the lower grip portion 20D than the other electrode portions 40A, 50A, and 60A. For this reason, the lower proximity sensor 7A has the lower grip portion 20D of the rim portion 20 as its detection target area. As described above, a detection target area is defined for each of the proximity sensors 4A-7A on the rim portion 20 of the steering wheel 2. The grip determination device 80A acquires whether or not the rim portion 20 is being gripped by the driver and the gripping position based on the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d of the four proximity sensors 4A-7A, each of which has a different detection target area on the rim portion 20 as described above.

[0084] The gripping determination device 80A includes a determination unit 81A that determines whether or not the driver is gripping each detection target area based on the difference or comparison between the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d of each proximity sensor 4A to 7A and a capacitance threshold for capacitance such as a reference value Ch_0 or a gripping determination threshold Ch_th, and a capacitance threshold setting unit 82A that sequentially sets a capacitance threshold to be referenced when determining whether or not the driver is gripping the area based on the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d.

[0085] The determination unit 81A calculates a capacitance difference value ΔCh_R by subtracting a reference value Ch_0 from the measurement value Ch_R_d of the right proximity sensor 4A, and further compares the magnitude of this capacitance difference value ΔCh_R with the grip determination threshold value Ch_th to determine whether or not the right grip portion 20R of the steering wheel 2, which is the detection target area of ​​the right proximity sensor 4A, is being gripped. More specifically, when the difference (ΔCh_R-Ch_th) between the capacitance difference value ΔCh_R and the grip determination threshold value Ch_th is 0 or positive, that is, when the following formula (8-1) is established, the determination unit 81A determines that the right grip portion 20R of the rim portion 20 of the steering wheel 2 is being gripped by the driver. In addition, if the difference (ΔCh_R-Ch_th) between the capacitance difference value ΔCh_R and the grip judgment threshold Ch_th is negative, that is, if the following equation (8-2) holds, the judgment unit 81A judges that the steering wheel 2 is not being gripped by the driver at the right grip 20R of the rim portion 20. Ch_R_d-Ch_0≧Ch_th (8-1) Ch_R_d-Ch_0 <Ch_th (8-2)

[0086] The determination unit 81A calculates a capacitance difference value ΔCh_L by subtracting a reference value Ch_0 from the measurement value Ch_L_d of the left proximity sensor 5A, and further compares the magnitude of this capacitance difference value ΔCh_L with the grip determination threshold value Ch_th to determine whether or not the left grip portion 20L of the steering wheel 2, which is the detection target area of ​​the left proximity sensor 5A, is being gripped. More specifically, when the difference (ΔCh_L-Ch_th) between the capacitance difference value ΔCh_L and the grip determination threshold value Ch_th is 0 or positive, that is, when the following formula (9-1) is established, the determination unit 81A determines that the left grip portion 20L of the rim portion 20 of the steering wheel 2 is being gripped by the driver. In addition, if the difference (ΔCh_L-Ch_th) between the capacitance difference value ΔCh_L and the grip judgment threshold Ch_th is negative, that is, if the following equation (9-2) holds, the judgment unit 81A judges that the steering wheel 2 is not being gripped by the driver at the left grip 20L of the rim portion 20. Ch_L_d-Ch_0≧Ch_th (9-1) Ch_L_d-Ch_0 <Ch_th (9-2)

[0087] The determination unit 81A calculates a capacitance difference value ΔCh_U by subtracting a reference value Ch_0 from the measurement value Ch_U_d of the upper proximity sensor 6A, and further compares the magnitude of this capacitance difference value ΔCh_U with the grip determination threshold value Ch_th to determine whether or not the upper grip portion 20U of the steering wheel 2, which is the detection target area of ​​the upper proximity sensor 6A, is being gripped. More specifically, when the difference (ΔCh_U-Ch_th) between the capacitance difference value ΔCh_U and the grip determination threshold value Ch_th is 0 or positive, that is, when the following formula (10-1) is established, the determination unit 81A determines that the upper grip portion 20U of the rim portion 20 of the steering wheel 2 is being gripped by the driver. In addition, if the difference (ΔCh_U-Ch_th) between the capacity difference value ΔCh_U and the grip judgment threshold Ch_th is negative, that is, if the following equation (10-2) holds, the judgment unit 81A judges that the steering wheel 2 is not being gripped by the driver at the upper grip 20U of the rim portion 20. Ch_U_d-Ch_0≧Ch_th (10-1) Ch_U_d-Ch_0 <Ch_th (10-2)

[0088] The determination unit 81A calculates a capacitance difference value ΔCh_D by subtracting a reference value Ch_0 from a measurement value Ch_D_d of the lower proximity sensor 7A, and further compares the magnitude of this capacitance difference value ΔCh_D with the grip determination threshold value Ch_th to determine whether or not the lower grip portion 20D of the steering wheel 2, which is the detection target area of ​​the lower proximity sensor 7A, is being gripped. More specifically, when the difference (ΔCh_D-Ch_th) between the capacitance difference value ΔCh_D and the grip determination threshold value Ch_th is 0 or positive, that is, when the following formula (11-1) is established, the determination unit 81A determines that the steering wheel 2 is being gripped by the driver at the lower grip portion 20D of the rim portion 20. In addition, if the difference (ΔCh_D-Ch_th) between the capacitance difference value ΔCh_D and the grip judgment threshold Ch_th is negative, that is, if the following equation (11-2) holds, the judgment unit 81A judges that the steering wheel 2 is not being gripped by the driver at the lower grip 20D of the rim portion 20. Ch_D_d-Ch_0≧Ch_th (11-1) Ch_D_d-Ch_0 <Ch_th (11-2)

[0089] Here, the reference value Ch_0 corresponds to the capacitance value of the electrode units 40A to 70A when the driver's hand is in a position sufficiently distant from the installation position of the electrode units 40A to 70S of the steering wheel 2, and is a positive value. Therefore, the capacitance difference values ​​ΔCh_R (=Ch_R_d-Ch_0), ΔCh_L (=Ch_L_d-Ch_0), ΔCh_U (=Ch_U_d-Ch_0), and ΔCh_D (=Ch_D_d-Ch_0) increase as the driver's hand approaches the installation position of each electrode unit 40A to 70A. For this reference value Ch_0, a predetermined fixed value or a value sequentially set by the capacitance threshold setting unit 82A is used.

[0090] The grip determination threshold Ch_th is a threshold value, which is a positive value, set for each capacitance difference value ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D to determine whether the driver's hands are sufficiently close to the installation positions of the electrodes 40A to 70A, that is, whether the driver is gripping the steering wheel 2 at each of the grip portions 20R, 20L, 20U, 20D. A predetermined fixed value or a value sequentially set by the capacitance threshold setting unit 82A is used as the grip determination threshold Ch_th.

[0091] Here, the measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d and the capacitance difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D vary depending on the environmental conditions such as the temperature and humidity around the installation positions of the electrodes 40A-70A as well as the distance between the driver's hand and the installation positions of the electrodes 40A-70A. More specifically, the measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d and the capacitance difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D tend to increase as the temperature increases and as the humidity increases. For this reason, if the capacitance thresholds such as the reference value Ch_0 and the grip determination threshold Ch_th are fixed values ​​that do not depend on the change in the environmental condition, the determination unit 81A may make an erroneous determination. Therefore, the capacitance threshold setting unit 82A changes both or either of the reference value Ch_0 and the grip determination threshold Ch_th according to the change in the environmental condition. In the present embodiment, the capacity threshold setting unit 82A varies the reference value Ch_0 in response to changes in the environmental state, and sets the grip determination threshold Ch_th to a fixed value; however, the present invention is not limited to this.

[0092] Fig. 6 is a flowchart showing a specific procedure of the reference value setting process for setting the reference value Ch_0. The reference value setting process shown in Fig. 6 is repeatedly executed by the capacity threshold setting unit 82A at every predetermined control period Δt.

[0093] First, in step ST11, the capacitance threshold setting unit 82A determines at least one of the multiple proximity sensors 4A, 5A, 6A, and 7A as a correction sensor based on the determination result of the determination unit 81A on the presence or absence of gripping in each of the grip parts 20R, 20L, 20U, and 20D, and proceeds to step ST12. More specifically, the capacitance threshold setting unit 82A determines the sensor having the detection target area of ​​the four proximity sensors 4A, 5A, 6A, and 7A that is determined by the determination unit 81A to be not gripped as the correction sensor. At this time, if there are multiple areas determined by the determination unit 81A to be not gripped, the sensor having the smallest measurement value among the multiple proximity sensors having the detection target area of ​​the areas determined to be not gripped as the correction sensor.

[0094] In step ST12, the capacity threshold setting unit 82A acquires the measurement value of the correction sensor determined in step ST11, and proceeds to step ST13. In the following, the measurement value of the correction sensor in the n-th control cycle is represented as "Ch_C_d(n)".

[0095] In step ST13, the capacitance threshold setting unit 82A applies filtering to the measurement value Ch_C_d(n) of the correction sensor acquired in step ST12 in order to remove high frequency noise using the same procedure as in the first embodiment, and then proceeds to step ST14. Note that, hereinafter, the value obtained by applying filtering to the measurement value Ch_C_d(n) of the correction sensor is referred to as a filtered value, and is denoted by "Ch_C_d_f(n)."

[0096] In step ST14, the capacitance threshold setting unit 82A sets the reference value Ch_0(n) to a value equal to the filtered value Ch_C_d_f(n) of the measurement value of the correction sensor, as shown in the following equation (12), and returns to step ST11. Ch_0(n)=Ch_C_d_f(n) (12)

[0097] As described above, the capacitance threshold setting unit 82A uses as a correction sensor the area among the multiple proximity sensors 4A, 5A, 6A, 7A that is determined by the judgment unit 81A to be not grasped as the detection target area, and by setting a reference value Ch_0 based on the measurement value of this correction sensor, the reference value Ch_0 can be changed in accordance with changes in the environmental conditions around the electrode units 40A, 50A, 60A, 70A.

[0098] As described above, in this embodiment, the capacity threshold setting unit 82A sets the reference value Ch_0(n) so as to be equal to the filtered value Ch_C_d_f(n) of the measurement value Ch_C_d(n) of the correction sensor, but the present invention is not limited to this. The capacity threshold setting unit 82A may set the reference value Ch_0(n) so as to be equal to the measurement value Ch_C_d(n) of the correction sensor before filtering.

[0099] In the present embodiment, the determination unit 81A has been described as determining whether the right grip portion 20R of the steering wheel 2 is gripped by the driver based on the above formulas (8-1) and (8-2), but the present invention is not limited thereto. The determination unit 81A may determine whether the right grip portion 20R of the steering wheel 2 is gripped by the driver based on the following formulas (13-1) and (13-2) which are equivalent to the above formulas (8-1) and (8-2). That is, the determination unit 81A may determine that the steering wheel 2 is gripped by the driver at the right grip portion 20R when the sum of the grip determination threshold value Ch_th and the reference value Ch_0 is equal to or less than the measured value Ch_R_d, that is, when the following formula (13-1) is satisfied, and may determine that the steering wheel 2 is gripped by the driver at the right grip portion 20R when the sum of the grip determination threshold value Ch_th and the reference value Ch_0 is greater than the measured value Ch_R_d, that is, when the following formula (13-2) is satisfied. The same applies to the determination of whether or not the left grip portion 20L, the upper grip portion 20U, and the lower grip portion 20D are gripped, so a detailed description thereof will be omitted. Ch_R_d≧Ch_th+Ch_0 (13-1) Ch_R_d <Ch_th+Ch_0 (13-2)

[0100] The steering device 1A according to this embodiment provides the following advantages. (4) The steering device 1A includes a plurality of proximity sensors 4A, 5A, 6A, 7A having different detection target areas, and a grip determination device 80A that determines whether or not each of the grip portions 20R, 20L, 20U, 20D of the steering wheel 2 is gripped based on capacitance measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d of the electrode portions 40A, 50A, 60A, 70A measured by the proximity sensors 4A, 5A, 6A, 7A. The grip determination device 80A includes a capacitance threshold setting unit 82A that sets a reference value Ch_0 for the capacitance of the electrode portions 40A, 50A, 60A, 70A, and a determination unit 81A that determines whether or not each of the grip portions 20R, 20L, 20U, 20D is gripped based on the difference between each measurement value Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d and the reference value Ch_0. When the driver grips the steering wheel at any of the grip parts 20R, 20L, 20U, and 20D, the measurement value of the proximity sensor, which has the gripped area as a detection target area, increases, and the difference between the measurement value and the reference value Ch_0 also increases. Therefore, the steering device 1A can determine whether each of the grip parts 20R, 20L, 20U, and 20D is gripped based on the difference between each measurement value Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d and the reference value Ch_0. When the environmental condition around the steering wheel 2 changes, the capacitance measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d by the proximity sensors 4A, 5A, 6A, and 7A also change. At this time, it is estimated that the driver's hands are not on the grip parts that are determined by the determination unit 81A as not being gripped, so the measurement value of the proximity sensor, which has this area as a detection target area, reflects the environmental condition around the steering wheel 2. Therefore, the capacitance threshold setting unit 82A uses as a correction sensor one of the multiple proximity sensors 4A, 5A, 6A, 7A whose detection target area is an area that is determined by the judgment unit 81A to be not grasped, and sets a reference value based on the filter value Ch_C_d_f of the measurement value Ch_C_d by this correction sensor.Therefore, according to the steering device 1A, the differences between the respective measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d and the reference value Ch_0 can be kept constant regardless of changes in the environmental conditions around the steering wheel 2, thereby preventing erroneous determination due to fluctuations in the environmental conditions around the steering wheel 2 and ultimately contributing to the development of a sustainable transportation system. Also, with the steering device 1A, there is no need to provide a sensor for detecting the environmental conditions around the steering wheel 2, so erroneous determination can be prevented with a simpler configuration than conventional ones.

[0101] (5) The capacity threshold setting unit 82A sets the reference value Ch_0 to be equal to the filtered value Ch_C_d_f of the measurement value Ch_C_d obtained by the correction sensor, thereby making it possible to keep constant the difference between each measurement value Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d and the reference value Ch_0 regardless of changes in the environmental conditions around the steering wheel 2, thereby preventing erroneous judgments due to fluctuations in the environmental conditions around the steering wheel 2.

[0102] (6) The determination unit 81A determines whether the steering wheel 2 is being gripped based on the difference between the capacitance difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D obtained by subtracting the reference value Ch_0 from each of the measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d and the grip determination threshold value Ch_th. Therefore, according to the steering device 1A, the capacitance difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D can be kept constant regardless of changes in the environmental state around the steering wheel 2, so that it is possible to accurately determine whether the steering wheel 2 is being gripped.

[0103] As described above, in this embodiment, the capacity threshold setting unit 82A has been described as having a constant grip determination threshold Ch_th and changing the reference value Ch_0 in response to changes in the environmental state, but the present invention is not limited to this. The capacity threshold setting unit 82A may have a constant reference value Ch_0 and change the grip determination threshold Ch_th in response to changes in the environmental state. In this case, the timing and width of changing the grip determination threshold Ch_th are the same as the timing and width of changing the reference value Ch_0 in the reference value setting process shown in FIG. 6, so detailed description will be omitted. In this case, the differences between the capacity difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D and the grip determination threshold Ch_th can be kept constant regardless of changes in the environmental state around the steering wheel 2, so that the presence or absence of gripping can be determined with high accuracy as in the above embodiment.

[0104] In the above embodiment, four proximity sensors 4A to 7A are arranged on the rim portion 20, but the number of proximity sensors arranged on the rim portion 20 is not limited to this. The present invention is applicable as long as two or more proximity sensors are arranged on the rim portion 20.

[0105] <Third embodiment> Next, a steering device according to a third embodiment of the present invention will be described with reference to the drawings. In the following description, the same components as those in the steering device according to the second embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0106] 7 is a diagram showing the configuration of a steering device 1B according to this embodiment. The steering device 1B according to this embodiment differs from the steering device 1A according to the second embodiment in the configuration of a grip sensor unit 8B.

[0107] The grip sensor unit 8B includes multiple (four in this embodiment) proximity sensors 4A, 5A, 6A, 7A, each with a different detection target area, a correction sensor 9B having a detection target area different from those of the proximity sensors 4A to 7A, and a grip determination device 80B that determines whether or not the driver is gripping the steering wheel 2 and the gripping position based on the measurement results of the proximity sensors 4A to 7A and the correction sensor 9B.

[0108] The correction sensor 9B includes a correction electrode portion 90B provided on the steering wheel 2 and a correction measurement circuit 92B electrically connected to the correction electrode portion 90B. The correction electrode portion 90B is rectangular and conductive. The correction electrode portion 90B is provided at a position on the steering wheel 2 that the driver cannot grip. In this embodiment, the correction electrode portion 90B is provided on the rear side of the hub portion 23 of the steering wheel 2, near the base of the steering shaft 3, but the present invention is not limited to this. The correction electrode portion 90B may be provided anywhere on the steering wheel 2 or in its vicinity, as long as it is at a position that the driver cannot grip.

[0109] The correction measurement circuit 92B is connected to the correction electrode unit 90B via a wiring 91B. The correction measurement circuit 92B measures the capacitance between the correction electrode unit 90B and the ground. The capacitance measurement value Ch_C_d by the correction electrode unit 90B is transmitted to the grip determination device 80B. Note that the circuit configuration of the correction measurement circuit 92B is almost the same as the circuit configuration of the measurement circuit 42 according to the first embodiment, and therefore a detailed description thereof will be omitted.

[0110] As described above, the correction electrode portion 90B is provided on the rear side of the hub portion 23, which cannot be gripped by the driver, of the steering wheel 2. For this reason, the correction sensor 9B uses the rear side of the hub portion 23 as a detection target area.

[0111] The gripping determination device 80B includes a determination unit 81A that determines whether or not the driver is gripping each detection target area based on the difference or comparison between the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d of each proximity sensor 4A to 7A and a capacitance threshold for capacitance such as a reference value Ch_0 or a gripping determination threshold Ch_th, and a capacitance threshold setting unit 82B that sequentially sets the capacitance threshold to be referenced when determining whether or not the object is being gripped in the determination unit 81A based on the measurement value Ch_C_d of the correction sensor 9B.

[0112] The capacity threshold setting unit 82B changes both or either of the reference value Ch_0 and the grip determination threshold Ch_th in response to a change in the environmental state. Note that in this embodiment, the capacity threshold setting unit 82B changes the reference value Ch_0 in response to a change in the environmental state and sets the grip determination threshold Ch_th to a fixed value, but the present invention is not limited to this.

[0113] Fig. 8 is a flowchart showing a specific procedure of the reference value setting process for setting the reference value Ch_0. The reference value setting process shown in Fig. 8 is repeatedly executed by the capacity threshold setting unit 82B at every predetermined control period Δt.

[0114] First, in step ST21, the capacitance threshold setting unit 82B acquires the measurement value Ch_C_d(n) of the correction sensor 9B, and then the process proceeds to step ST22.

[0115] In step ST22, the capacitance threshold setting unit 82B applies a filter process to the measurement value Ch_C_d(n) of the correction sensor 9B acquired in step ST21 to remove high frequency noise using the same procedure as in the first embodiment, and proceeds to step ST23. Note that, hereinafter, the value obtained by applying the filter process to the measurement value Ch_C_d(n) of the correction sensor is referred to as a filtered value, and is denoted by "Ch_C_d_f(n)".

[0116] In step ST23, the capacitance threshold setting unit 82B sets the reference value Ch_0(n) to a value equal to the filtered value Ch_C_d_f(n) of the measurement value of the correction sensor, as shown in the following equation (14), and returns to step ST11. Ch_0(n)=Ch_C_d_f(n) (14)

[0117] As described above, the capacity threshold setting unit 82B sets the reference value Ch_0 based on the measurement value Ch_C_d of the correction sensor 9B, which has an area of ​​the steering wheel 2 that cannot be gripped by the driver as the detection target area, thereby enabling the reference value Ch_0 to be changed in accordance with changes in the environmental conditions around the electrode units 40A, 50A, 60A, and 70A.

[0118] As described above, in this embodiment, the capacity threshold setting unit 82B sets the reference value Ch_0(n) so as to be equal to the filtered value Ch_C_d_f(n) of the measurement value Ch_C_d(n) of the correction sensor, but the present invention is not limited to this. The capacity threshold setting unit 82B may set the reference value Ch_0(n) so as to be equal to the measurement value Ch_C_d(n) of the correction sensor before filtering.

[0119] (7) The steering device 1B includes proximity sensors 4A, 5A, 6A, and 7A that measure the capacitance of a plurality of electrode portions 40A, 50A, 60A, and 70A provided on the steering wheel 2, a correction sensor 9B that measures the capacitance of a correction electrode portion 90B provided on the steering wheel 2 or in its vicinity and in a position where the driver cannot grip the steering wheel 2, and a grip determination device 80B that determines whether the steering wheel 2 is being gripped based on the measurements by the proximity sensors 4A to 7A and the correction sensor 9B. When the driver grips the steering wheel 2, the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d of the proximity sensors 4A to 7A increase, and thus the differences between the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d and the reference value Ch_0 also increase, but the measurement value Ch_C_d of the correction sensor 9B is unlikely to change. Therefore, in the steering device 1B, it is possible to determine whether the steering wheel 2 is being gripped based on the difference between the measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d and the reference value Ch_0. When the environmental condition around the steering wheel 2 changes, the measured capacitance values ​​by the proximity sensors 4A to 7A and the correction sensor 9B also change. At this time, the measured value Ch_C_d by the correction sensor 9B reflects the environmental condition around the steering wheel 2. Therefore, the capacitance threshold setting unit 82B sets the reference value Ch_0 based on the measured value Ch_C_d by the correction sensor 9B. Therefore, according to the steering device 1B, the difference between the measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, and Ch_D_d by the proximity sensors 4A to 7A and the reference value Ch_0 can be kept constant regardless of the change in the environmental condition around the steering wheel 2, so that it is possible to prevent erroneous determination due to the change in the environmental condition around the steering wheel 2, and thus contribute to the development of a sustainable transportation system. Furthermore, in the steering device 1B, there is no need to provide a sensor for detecting the environmental condition around the steering wheel 2, so that erroneous determination can be prevented with a simpler configuration than in the past.

[0120] (8) The capacity threshold setting unit 82B sets the reference value Ch_0 to be equal to the measurement value Ch_C_d by the correction sensor 9B, thereby making it possible to keep constant the differences between the measurement values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d by the proximity sensors 4A to 7A and the reference value Ch_0 regardless of changes in the environmental conditions around the steering wheel 2, thereby preventing erroneous judgments due to fluctuations in the environmental conditions around the steering wheel 2.

[0121] (9) The determination unit 81B determines whether the steering wheel 2 is being gripped based on the difference between the capacitance difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D obtained by subtracting the reference value Ch_0 from each of the measured values ​​Ch_R_d, Ch_L_d, Ch_U_d, Ch_D_d and the grip determination threshold value Ch_th. Therefore, according to the steering device 1B, the capacitance difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D can be kept constant regardless of changes in the environmental state around the steering wheel 2, so that it is possible to accurately determine whether the steering wheel 2 is being gripped.

[0122] As described above, in this embodiment, the capacity threshold setting unit 82B has been described as having a constant grip determination threshold Ch_th and changing the reference value Ch_0 in response to changes in the environmental state, but the present invention is not limited to this. The capacity threshold setting unit 82B may have a constant reference value Ch_0 and change the grip determination threshold Ch_th in response to changes in the environmental state. In this case, the timing and width of changing the grip determination threshold Ch_th are the same as the timing and width of changing the reference value Ch_0 in the reference value setting process shown in FIG. 8, so detailed description will be omitted. In this case, the differences between the capacity difference values ​​ΔCh_R, ΔCh_L, ΔCh_U, ΔCh_D and the grip determination threshold Ch_th can be kept constant regardless of changes in the environmental state around the steering wheel 2, so that the presence or absence of gripping can be determined with high accuracy similar to the above embodiment.

[0123] In the above embodiment, four proximity sensors 4A to 7A are arranged on the rim portion 20, but the number of proximity sensors arranged on the rim portion 20 is not limited to this. The present invention is applicable as long as one or more proximity sensors are arranged on the rim portion 20. [Explanation of symbols]

[0124] 1, 1A, 1B…Steering device 2. Steering handle 20…Rim section 3...Steering shaft 40...Electrode part 42...Measuring circuit (measuring device) 4A…Right proximity sensor 40A...Right electrode part (electrode part) 42A…Right measuring circuit (measuring device) 5A…Left proximity sensor 50A…Left electrode part (electrode part) 52A…Left measuring circuit (measuring device) 6A…Upper proximity sensor 60A...Upper electrode part (electrode part) 62A…Upper measurement circuit (measuring device) 7A…Lower proximity sensor 70A…Lower electrode part (electrode part) 72A…Lower measurement circuit (measuring device) 8, 8A, 8B...Grip sensor unit 80,80A,80B…Grip judgment device 81,81A…Judgment part 82, 82A, 82B...Capacity threshold setting section

Claims

1. a steering wheel that receives steering operation of the vehicle by a driver; a measuring device for measuring the capacitance of an electrode portion provided on the steering wheel; A steering device including: a grip determination device that determines whether or not the steering handle is being gripped based on a measurement value by the measurement device, The grip determination device includes a capacitance threshold setting unit that sets a capacitance threshold for the capacitance of the electrode unit, and a determination unit that determines whether or not the steering wheel is being gripped based on a difference or comparison between the measurement value and the capacitance threshold, The capacity threshold setting unit is if the absolute value of the slope of the measurement value during a predetermined judgment period is less than a predetermined slope threshold and the measurement value increases during the judgment period, increasing the capacity threshold in accordance with the change in the measurement value; If the absolute value of the slope of the measurement value during the determination period is less than the slope threshold and the measurement value during the determination period has decreased, the capacity threshold is decreased according to the change in the measurement value; A steering device characterized in that, when an absolute value of the slope of the measured value during the determination period is equal to or greater than the slope threshold, the capacity threshold is maintained constant.

2. 2. The steering device according to claim 1, wherein the determination unit determines whether the steering wheel is being gripped based on a capacitance difference value obtained by subtracting a reference value, which is the capacitance threshold value, from the measured value.

3. 2. The steering device according to claim 1, wherein the determination unit determines whether or not the steering wheel is being gripped by comparing the measured value with a grip determination threshold that is the capacity threshold.

Images