Steering control device and steering control method

Abstract

To suppress a load on wrists in a control stick type steering member.SOLUTION: A steering control device 100 includes a control part for independently controlling a right reaction force device 113 and a left reaction force device 114 on the basis of a shaft body rotation angle of a steering shaft body 119, for a steering device 101 which includes: the steering shaft body 119; a right gripping member 111 which is gripped by a driver and rotates the steering shaft body 119, and rotates around a right rotary shaft 211 extending in a direction crossing a steering shaft 219; a left gripping member 212 which is gripped by a driver and rotates the steering shaft body 119, and rotates around a left rotary shaft 212 extending in a direction crossing the steering shaft 119; a shaft body rotation angle detection device 118 for detecting a shaft body rotation angle that is a rotation angle of the steering shaft body 119; the right reaction force device 113 for imparting reaction force to the right gripping member 111; and the left reaction force device 114 for imparting reaction force to the left gripping member 112.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a steering control device and a steering control method for controlling a steering wheel used by a driver to steer a vehicle. [Background technology]

[0002] Conventionally, vehicle steering members have not been circular steering wheels, but rather stick-type steering members in which the driver grips left and right grip members attached to the tips of levers protruding to the left and right (see, for example, Patent Document 1).

[0003] In the case of such a steering member, the driver steers while holding the grip member without changing his / her grip, so the grip member may rotate relative to the lever to reduce strain on the wrist.Patent Document 1 discloses a technology that includes a drive device that forcibly rotates the grip member relative to the lever, and forcibly rotates the grip member based on the steering angle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-49967 Summary of the Invention [Problem to be solved by the invention]

[0005] As a result of extensive experiments and research into control stick-type steering members, the inventors have found that the state of twisting of the wrist between the upper hand and the lower hand when steering varies greatly depending on the driver. Therefore, simply determining the angle of the grip member according to the steering angle, as in the prior art, can place strain on the wrist.

[0006] The present invention has been made based on the findings of the above inventors, and aims to provide a steering control device and a steering control method that control the rotation of the grip member of a so-called control stick-type steering member so as to reduce the strain on the wrist. [Means for solving the problem]

[0007] In order to achieve the above object, one aspect of the present invention is a steering control device, which is provided with a steering device including a steering shaft that rotates around a steering axis, a right gripping member that is a first gripping member that is gripped by the driver to rotate the steering shaft and rotates around a right rotation axis that is a first rotation axis extending in a direction intersecting the steering shaft, a left gripping member that is a second gripping member that is gripped by the driver to rotate the steering shaft and rotates around a left rotation axis that is a second rotation axis extending in a direction intersecting the steering shaft, a shaft rotation angle detection device that detects the shaft rotation angle that is the rotation angle of the steering shaft, a right reaction force device that is a first reaction force device that applies a reaction force to the right gripping member, and a left reaction force device that is a second reaction force device that applies a reaction force to the left gripping member, and which is provided with a control unit that independently controls the right reaction force device and the left reaction force device based on the shaft rotation angle of the steering shaft.

[0008] In addition, in order to achieve the above-mentioned object, another steering control method of the present invention provides a steering device including a steering shaft that rotates around a steering axis, a right gripping member that is a first gripping member that is gripped by the driver to rotate the steering shaft and rotates around a right rotation axis that is a first rotation axis extending in a direction intersecting the steering axis, a left gripping member that is a second gripping member that is gripped by the driver to rotate the steering shaft and rotates around a left rotation axis that is a second rotation axis extending in a direction intersecting the steering axis, a shaft rotation angle detection device that detects the shaft rotation angle that is the rotation angle of the steering shaft, a right reaction force device that is a first reaction force device that applies a reaction force to the right gripping member, and a left reaction force device that is a second reaction force device that applies a reaction force to the left gripping member, wherein a steering control device independently controls the right reaction force device and the left reaction force device based on the shaft rotation angle of the steering shaft. [Effects of the Invention]

[0009] According to the present invention, in a control stick-type steering member, the rotation of the gripping member located above the reference plane and the rotation of the gripping member located below the reference plane are controlled independently, and the rotation of the gripping member is controlled as a reaction force to the force applied to the gripping member from the hand, thereby improving the comfort of the driver when driving manually, such as by supporting the body by holding the gripping member while reducing the strain on the wrist. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 2 is a perspective view showing a steering device. [Figure 2] FIG. 2 is a front view showing the internal structure of the steering device. [Figure 3] FIG. 2 is a top view showing the internal structure of the steering device. [Figure 4] FIG. 2 is a block diagram showing the functional configuration of the steering control device. [Figure 5] 3 is a flowchart showing the flow of a steering control method. [Figure 6] 10 is a graph showing Example 1 of the state of a reaction force applied to a lower gripping member. [Figure 7] 10 is a graph showing Example 1 of the state of a reaction force applied to an upper gripping member. [Figure 8] FIG. 10 is a block diagram showing a functional configuration of a steering control device according to a first modified example. [Figure 9] FIG. 10 is a front view showing the internal structure of a steering device according to a second modified example. [Figure 10] FIG. 10 is a block diagram showing a functional configuration of a steering control device according to a second modification. [Figure 11] 10 is a graph showing Example 2 of the state of the reaction force applied to the upper gripping member. [Figure 12] 10 is a graph showing Example 2 of the state of the reaction force applied to the lower gripping member. [Figure 13] 10 is a graph showing differences in the state of the reaction force applied to the gripping member due to differences in the current control limit value of the power supply device that supplies current to the reaction force device. [Figure 14]10 is a graph showing an example of a reaction force due to a friction term added to the reaction force control. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a steering control device and a steering control method according to the present invention will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present invention and are not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in a method, and the order of each step shown in the following embodiments are merely examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical precision and include substantially allowable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially allowable ranges.

[0012] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions has been appropriately made to explain the present invention, and may differ from the actual shapes, positional relationships, and proportions. The X-axis, Y-axis, and Z-axis shown in the drawings represent Cartesian coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily located within a horizontal plane.

[0013] In addition, in the following, multiple inventions may be collectively described as one embodiment, and some of the contents described below may be described as optional components related to the present invention.

[0014] Fig. 1 is a perspective view showing a steering device. Fig. 2 is a front view showing the internal structure of the steering device. Fig. 3 is a top view showing the internal structure of the steering device. The steering device 101 is a device that is controlled by the steering control device 100. The steering device 101 is attached to a vehicle such as an automobile and receives operations related to driving the vehicle, and includes a steering member 110, a shaft rotation angle detection device 118, a right reaction force device 113, and a left reaction force device 114.

[0015] In this embodiment, steering device 101 is attached to the vehicle body via mounting member 140 in a state in which it is suspended from mounting member 140, and is capable of moving steering member 110 in the longitudinal direction (Y-axis direction) of the vehicle body. Steering device 101 is one of the components of a so-called SBW (Steer by Wire) system that can steer the steered wheels even when steering member 110 and the steered wheels are not mechanically connected, and converts the angle at which the driver rotates steering member 110 by manual driving into a signal and transmits it to a steering device that steers the steered wheels.

[0016] The steering member 110 is a member that receives an operation by the driver to steer the vehicle, and includes a steering shaft 119 , a right grip member 111 , and a left grip member 112 .

[0017] The steering shaft 119 is a member extending in the Y-axis direction, and supports a right gripping member 111 and a left gripping member 112 (hereinafter, these may be collectively referred to as "grip members") that the driver grasps to steer the vehicle, and is a member called a boss or the like that rotates around the steering shaft 219 (around the Y-axis) due to the force applied to the gripping members by the driver.

[0018] The shaft rotation angle detection device 118 is a device that detects the rotation angle of the steering shaft 119 around the steering shaft 219. In the present embodiment, the rotation angle of the steering shaft 119 detected by the shaft rotation angle detection device 118 is used to control the reaction force applied to the gripping member, and is also used to control the direction of the vehicle and the reaction force applied to the steering shaft 119. The type of the shaft rotation angle detection device 118 is not particularly limited, and examples include a resolver and a rotary encoder.

[0019] The right gripping member 111 is a member that is gripped by the driver with his right hand during manual driving or the like to rotate the steering shaft 119 about the steering shaft 219. The right gripping member 111 itself is attached so as to rotate relative to the steering shaft 219 about a right rotation axis 211 that extends in a direction intersecting the steering shaft 219 (the X-axis + direction). In the present embodiment, the right gripping member 111 is disposed at a position separated from the steering shaft 119 in a radial direction centered on the steering shaft 219, and the steering shaft 119 and the right gripping member 111 are connected by a cylindrical right connecting member 115. The steering shaft 119 and the right connecting member 115 are fixedly connected, and the right gripping member 111 and the right connecting member 115 are connected so as to be rotatable about the right rotation axis 211 (about the X-axis).

[0020] The left grip member 112 is a member that is gripped by the driver's left hand during manual driving or the like to rotate the steering shaft 119 around the steering shaft 219. The left grip member 112 itself is attached so as to rotate around a left rotation shaft 212 that extends in a direction intersecting the steering shaft 219 (the negative direction of the X-axis). The right rotation shaft and the left rotation shaft may be collectively referred to as the "grip member rotation shaft." In this embodiment, the left grip member 112 is disposed at a position separated from the steering shaft 119 in a radial direction centered on the steering shaft 219, and the steering shaft 119 and the left grip member 112 are connected by a cylindrical left connecting member 116. The steering shaft 119 and the left connecting member 116 are fixedly connected, and the left grip member 112 and the left connecting member 116 are connected so as to be rotatable around the left rotation shaft 212 (around the X-axis).

[0021] In this embodiment, the steering shaft 219, the right rotation shaft 211, and the left rotation shaft 212 are arranged in a single plane (XY plane), and the steering shaft 219, the right rotation shaft 211, and the left rotation shaft 212 are arranged to intersect at a right angle. The right rotation shaft 211 and the left rotation shaft 212 are arranged in a straight line. Note that the positional relationship between the steering shaft 219, the right rotation shaft 211, and the left rotation shaft 212 is not limited to the above, and the steering shaft 219, the right rotation shaft 211, and the left rotation shaft 212 do not have to be arranged in a single plane. Also, the steering shaft 219, the right rotation shaft 211, and the left rotation shaft 212 do not have to intersect at a right angle. Also, the right rotation shaft 211 and the left rotation shaft 212 may intersect. Note that "intersection" includes intersection in a plane where the axes intersect, and three-dimensional intersection (twist) where the axes do not intersect.

[0022] The right reaction force device 113 is a device that applies a reaction force to the right gripping member 111 in response to torque applied to the right gripping member 111 by the driver around the right rotation shaft 211. There are no limitations on the type of right reaction force device 113. In the present embodiment, the right reaction force device 113 includes a right motor 121, a right rotation angle detection device 123 such as an encoder or resolver, and a right transmission mechanism 125 such as a belt drive or reduction gear.

[0023] The left reaction force device 114 is similar to the right reaction force device 113, and is a device that applies a reaction force to the left gripping member 112 in response to torque applied to the left gripping member 112 by the driver around the left rotation shaft 212. The type of the left reaction force device 114 is not limited. In the present embodiment, the left reaction force device 114, like the right reaction force device 113, includes a left motor 122, a left rotation angle detection device 124, and a left transmission mechanism 126.

[0024] 4 is a block diagram showing the functional configuration of the steering control device. The steering control device 100 is a device that independently controls the right reaction force device 113 and the left reaction force device 114 based on the shaft rotation angle acquired from the shaft rotation angle detection device 118. As processing units realized by causing a processor included in the steering control device 100 to execute a program, the steering control device 100 includes a right reaction force control unit 151 which is a control unit, a left reaction force control unit 152 which is also a control unit, a shaft rotation angle acquisition unit 158, a right rotation angle acquisition unit 153, and a left rotation angle acquisition unit 154.

[0025] The shaft rotation angle acquisition unit 158 acquires the rotation angle of the steering shaft 119 around the steering shaft 219, that is, the steering angle, based on a signal output from the shaft rotation angle detection device 118. In the present embodiment, the shaft rotation angle acquisition unit 158 acquires the rotation angle of the steering shaft 119 by defining the rotation angle of the steering shaft 119 as 0 degrees when the right grip member 111 and the left grip member 112 are arranged horizontally as shown in Fig. 1, and defining clockwise (right-handed) as the positive direction P and counterclockwise (left-handed) as the negative direction N when viewed from the driver. Note that the allowable rotation angles of the steering shaft 119 may be greater than or equal to 90 degrees and less than 180 degrees to the left and right, respectively.

[0026] The right rotation angle acquisition unit 153 acquires the right rotation angle, which is the rotation angle of the right grip member 111 around the right rotation axis 211, based on a signal output from the right rotation angle detection device 123. In the present embodiment, as shown in FIG. 1 , when the right grip member 111 and the left grip member 112 are horizontally arranged, the right rotation angle acquisition unit 153 acquires the right rotation angle of the right grip member 111 by defining the direction in which the upper end of the right grip member 111 rotates from front to back as seen from the driver as an upward direction U and the direction in which it rotates from back to front as a downward direction D. The right rotation angle acquisition unit 153 also sets the neutral position as 0 degrees. Note that in the present embodiment, the right grip member 111 is spherical, so the neutral position is not associated with the rotational posture of the right grip member 111. However, if the right grip member 111 has a shape characteristic, the neutral position may be associated with the rotational posture of the right grip member 111.

[0027] The left rotation angle acquisition unit 154 acquires the left rotation angle, which is the rotation angle of the left gripping member 112 around the left rotation axis 212, based on a signal output from the left rotation angle detection device 124. The right rotation angle and the left rotation angle may be collectively referred to as the "grip member rotation angle." In the present embodiment, as shown in FIG. 1 , the left rotation angle acquisition unit 154 acquires the left rotation angle of the left gripping member 112 by defining the direction in which the upper end of the left gripping member 112 rotates from front to back as seen from the driver when the right gripping member 111 and the left gripping member 112 are horizontally arranged as an upward direction U and the direction in which the upper end of the left gripping member 112 rotates from back to front as a downward direction D. The left rotation angle acquisition unit 154 also sets the neutral position to 0 degrees. In this embodiment, since the left gripping member 112 is spherical, the neutral position is not associated with the rotational posture of the left gripping member 112; however, if the left gripping member 112 has a distinctive shape, the neutral position may be associated with the rotational posture of the left gripping member 112.

[0028] The right reaction force control unit 151 independently controls the right reaction force device 113, and when the driver applies force to the right grip member 111 around the right rotation axis 211, causes the right reaction force device 113 to generate a reaction torque that resists the applied force. In the case of this embodiment, the right reaction force control unit 151 controls the right reaction force device 113 based on the shaft body rotation angle acquired from the shaft body rotation angle acquisition unit 158 and the right rotation angle acquired from the right rotation angle acquisition unit 153.

[0029] The left reaction force control unit 152 independently controls the left reaction force device 114, and when the driver applies force to the left grip member 112 around the left rotation axis 212, causes the left reaction force device 114 to generate a reaction torque that resists the applied force. In the case of this embodiment, the left reaction force control unit 152 controls the left reaction force device 114 based on the shaft rotation angle acquired from the shaft rotation angle acquisition unit 158 and the left rotation angle acquired from the left rotation angle acquisition unit 154.

[0030] FIG. 5 is a flowchart showing the flow of a steering control method. The control methods of the right reaction force control unit 151 and the left reaction force control unit 152 are not particularly limited. In this embodiment, however, the shaft rotation angle acquisition unit 158 acquires the shaft rotation angle (S101), the right rotation angle acquisition unit 153 and the left rotation angle acquisition unit 154 acquire the grip member rotation angle, respectively (S102). If the left grip member 112 is above the right grip member 111 (S103, Yes), the right reaction force control unit 151 controls the right reaction force device 113 so that the reaction force increases with an increase in the right rotation angle (S104), as shown in the graph in FIG. 6. At the same time, the left reaction force control unit 152 controls the left reaction force device 114 so that it applies a reaction force stronger than the reaction force applied by the right reaction force device 113 (S105). In this embodiment, as shown in FIG. 7, a constant reaction force of a predetermined value is applied to the left grip member 112 regardless of the left rotation angle. On the other hand, if the right gripping member 111 is above the left gripping member 112 (S103, No), the right reaction force control unit 151 controls the right reaction force device 113 to apply a reaction force stronger than the reaction force applied by the left reaction force device 114 (S106). In the present embodiment, as shown in Fig. 7, a constant reaction force of a predetermined value is applied to the right gripping member 111 regardless of the right rotation angle. At the same time, the left reaction force control unit 152 controls the left reaction force device 114 so that the reaction force increases as the left rotation angle increases, as shown in the graph in Fig. 6 (S107).

[0031] The right reaction force control unit 151 and the left reaction force control unit 152 may be provided with maps such as those shown in Fig. 6 and Fig. 7 to control the right reaction force device 113 and the left reaction force device 114. Here, in the map of Fig. 7, control is performed using the following calculation formula 1: T = α(θ>0), T = 0(θ=0), T = -α(θ<0)... Calculation formula 1. On the other hand, in the map of Fig. 6, control is performed using the following calculation formula 2: T = k × θ... Calculation formula 2. Note that α is a fixed value of the reaction force, T is the reaction force (torque), θ is the rotation angle of the gripping member, and k is a coefficient.

[0032] According to the steering control device 100 of the above embodiment, by independently controlling the reaction forces applied to the right gripping member 111 and the left gripping member 112, the upper gripping member and the lower gripping member each have a rotation angle that corresponds to the gripping hand, thereby improving the operability of the steering device 101.

[0033] 6 and 7, by controlling the reaction forces applied to the upper and lower grip members, the upper grip member does not rotate easily even when a strong force is applied from the driver's hand, and the driver can stably steer by holding the upper grip member and holding their body against inertial forces generated, for example, when driving around a curve. Meanwhile, a reaction force that increases with an increase in the grip member rotation angle in the upward direction U or downward direction D is applied to the lower grip member. This allows the lower grip member to rotate while an appropriate reaction force is applied in response to the twist of the wrist, and the rotation state of the steering shaft 119 can be maintained and operation can be assisted with a natural twist of the wrist according to the driver's intention.

[0034] The present invention is not limited to the above-described embodiments. For example, the present invention may be embodied in another embodiment by arbitrarily combining the components described in this specification or by excluding some of the components. Furthermore, the present invention also includes various modifications that would occur to a person skilled in the art without departing from the spirit of the present invention, i.e., the meaning of the wording of the claims.

[0035] For example, as shown in Fig. 8, the steering device 101 may include a right grip detection device 131 and a left grip detection device 132. The types of the right grip detection device 131 and the left grip detection device 132 are not particularly limited, and examples thereof include touch sensors provided on the surface of the gripping member. Furthermore, the gripping state may be detected based on a torque sensor that acquires the torque around the gripping member rotation axis applied by the driver to the gripping member and the torque around the steering shaft 219.

[0036] When the steering device 101 is equipped with the right gripping detection device 131 and the left gripping detection device 132, the steering control device 100 is equipped with a right gripping state acquisition unit 155 and a left gripping state acquisition unit 156. For example, when the right reaction force control unit 151 and the left reaction force control unit 152 acquire a state in which one of the right gripping member 111 and the left gripping member 112 is not being gripped from the right gripping state acquisition unit 155 or the left gripping state acquisition unit 156, they may control the reaction force to be stronger than the reaction force when both gripping members are being gripped. For example, when a state in which the lower gripping member is not being gripped is acquired, the reaction force applied to the upper gripping member is controlled to be stronger than the reaction force when both gripping members are being gripped.

[0037] 9, the steering device 101 may include a right restriction device 161 that directly or indirectly contacts the right grip member 111 to restrict rotation of the right grip member 111, and a left restriction device 162 that directly or indirectly contacts the left grip member 112 to restrict rotation of the left grip member 112. In this case, the steering control device 100 may include a restriction control unit 160 that controls the right restriction device 161 or the left restriction device 162 so as to restrict rotation of the right grip member 111 or the left grip member 112 located above, as shown in FIG.

[0038] By fixing the rotation of the upper gripping member through mechanical contact in this way, the driver can hold the upper gripping member firmly and hold their body without wobbling, allowing them to maintain a more stable steering state.

[0039] Furthermore, as shown in Fig. 11, the upper gripping member may be controlled so that the reaction force increases rapidly with an increase in the gripping member rotation angle within a narrower range of gripping member rotation angles including the neutral position than the lower gripping member (for example, controlled by the map shown in Fig. 12). This allows for a so-called play in the rotation of the gripping members.

[0040] Furthermore, as shown in Fig. 12, the lower grip member may be controlled so that the reaction force increases as the grip member rotation angle increases within a wider range of grip member rotation angles including the neutral position than the upper grip member (for example, controlled by the map shown in Fig. 11), and once a predetermined angle range is exceeded, a constant strong reaction force may be applied to the lower grip member regardless of the grip member rotation angle, thereby restricting the rotation angle of the lower grip member to within a predetermined range. This prevents the lower grip member from rotating too much, ensuring stable steering.

[0041] Furthermore, as shown by the solid line in Figure 13, the control unit may apply a stronger reaction force to the upper gripping member than to the lower gripping member by increasing the current control limit value of the power supply device that supplies current to the corresponding reaction force device.

[0042] Furthermore, the reaction force, which changes based on the rotational angular velocity of the gripping member as shown in Fig. 14, may be converted into a reaction force that changes based on the rotation angle for control. The map shown in Fig. 14 can be obtained by a method for calculating a virtual friction term, such as the LuGre model. Alternatively, the map shown in Fig. 14 may be stored in advance and the control unit may add it to the map shown in Fig. 6. Alternatively, the calculation formula for the friction term used in the LuGre model may be directly added to Equation 2 for control.

[0043] Furthermore, the rotation control of the gripping members when the shaft rotation angle is 0 degrees is not particularly limited, but the same control may be performed on both the left and right gripping members. For example, both the right gripping member 111 and the left gripping member 112 may be controlled to generate a reaction force based on the rotation angle, or both the right gripping member 111 and the left gripping member 112 may be controlled to suppress rotation. [Industrial Applicability]

[0044] The present invention can be used in vehicles such as automobiles. [Explanation of symbols]

[0045] 100...Steering control device, 101...Steering device, 110...Steering member, 111...Right gripping member, 112...Left gripping member, 113...Right reaction force device, 114...Left reaction force device, 115...Right connecting member, 116...Left connecting member, 118...Shaft rotation angle detection device, 119...Steering shaft, 121...Right motor, 122...Left motor, 123...Right rotation angle detection device, 124...Left rotation angle detection device, 125...Right transmission mechanism, 126... Left transmission mechanism, 131...right grip detection device, 132...left grip detection device, 140...mounting member, 151...right reaction force control unit, 152...left reaction force control unit, 153...right rotation angle acquisition unit, 154...left rotation angle acquisition unit, 155...right grip state acquisition unit, 156...left grip state acquisition unit, 158...shaft rotation angle acquisition unit, 160...regulation control unit, 161...right regulation device, 162...left regulation device, 211...right rotation shaft, 212...left rotation shaft, 219...steering shaft

Claims

1. A steering device including a steering shaft that rotates around a steering axis, a first grip member that is gripped by a driver to rotate the steering shaft and that rotates around a first rotation axis extending in a direction intersecting the steering axis, a second grip member that is gripped by a driver to rotate the steering shaft and that rotates around a second rotation axis extending in a direction intersecting the steering axis, a shaft rotation angle detection device that detects a shaft rotation angle that is the rotation angle of the steering shaft, a first reaction force device that applies a reaction force to the first grip member, and a second reaction force device that applies a reaction force to the second grip member, A steering control device including a control unit that independently controls the first reaction force device and the second reaction force device based on a shaft rotation angle of the steering shaft.

2. The control unit When one of the first gripping member and the second gripping member is located above the other, the reaction force is controlled to be stronger than the other. The steering control device according to claim 1 .

3. the steering device includes a first grip detection device that detects a grip state of the first grip member and a second grip detection device that detects a grip state of the second grip member, The control unit When one of the first gripping member and the second gripping member is not gripped, the reaction force applied to the other gripped member is controlled to be stronger than the reaction force when both are gripped. The steering control device according to claim 1 or 2.

4. the steering device includes a first rotation angle detection device that detects a first rotation angle that is a rotation angle of the first gripping member, and a second rotation angle detection device that detects a second rotation angle that is a rotation angle of the second gripping member, The control unit The reaction force is controlled to be constant regardless of the first rotation angle of the first gripping member on the upper side or the second rotation angle of the second gripping member. The steering control device according to any one of claims 1 to 3.

5. the steering device includes a first rotation angle detection device that detects a first rotation angle that is a rotation angle of the first gripping member, and a second rotation angle detection device that detects a second rotation angle that is a rotation angle of the second gripping member, The control unit Control is performed so that the reaction force of the first gripping member or the second gripping member located below increases as the first rotation angle of the first gripping member located below or the second rotation angle of the second gripping member located below increases. The steering control device according to any one of claims 1 to 4.

6. the steering device includes a first restricting device that contacts the first gripping member to restrict rotation of the first gripping member, and a second restricting device that contacts the second gripping member to restrict rotation of the second gripping member, a restriction control unit that controls the first restriction device or the second restriction device so as to restrict rotation of the first gripping member or the second gripping member located above The steering control device according to any one of claims 1 to 5.

7. A steering device including a steering shaft that rotates around a steering axis, a first grip member that is gripped by a driver to rotate the steering shaft and that rotates around a first rotation axis extending in a direction intersecting the steering axis, a second grip member that is gripped by a driver to rotate the steering shaft and that rotates around a second rotation axis extending in a direction intersecting the steering axis, a shaft rotation angle detection device that detects a shaft rotation angle that is the rotation angle of the steering shaft, a first reaction force device that applies a reaction force to the first grip member, and a second reaction force device that applies a reaction force to the second grip member, A steering control method in which a steering control device independently controls the first reaction force device and the second reaction force device based on a shaft rotation angle of the steering shaft.

Images