automobile

Abstract

The present invention comprises: a steering apparatus (5) in which a steering wheel (501) is mechanically separated from steered wheels (502), and the operation of the steering wheel is transmitted to the steered wheels as an electric signal; an entertainment execution apparatus (41) that executes entertainment software or communicates with a radio control device (RC); and a mode select controller (2) that enables selection of an entertainment mode for running the entertainment execution device and a driving mode for driving an automobile (V), and that executes control according to each mode. Additionally, if the entertainment mode is selected, the mode select controller controls the steering device (5) such that the steered wheels (502) are not steered even if the steering wheel (501) is operated.

Description

car

[0001] The present invention relates to a vehicle, and more particularly to a vehicle that allows entertainment within the vehicle cabin.

[0002] There are known automobiles that allow drivers to enjoy racing games inside the vehicle by operating various operating devices such as a display, steering wheel, accelerator pedal, and brake pedal installed inside the vehicle (see the article in Non-Patent Document 1).

[0003] https: / / response.jp / article / 2019 / 06 / 23 / 323716.html Article published on June 23, 2019 on the Automotive Media Response website: "Play games on Tesla's in-car display, latest title is 'Beach Buggy Racing 2'...Controlled with steering wheel and pedals"

[0004] However, in the above-mentioned conventional automobiles, when the steering wheel is operated, the steered wheels also turn on the spot, which can damage the tires and cause wheel alignment problems, adversely affecting the automobile's mechanisms.

[0005] The problem to be solved by the present invention is to provide a vehicle in which it is possible to enjoy entertainment such as games inside the vehicle without adversely affecting the mechanisms of the vehicle.

[0006] The present invention solves the above problem by controlling a steering-by-wire steering device so that the steered wheels do not turn even when the steering wheel is operated when an entertainment mode is selected in a vehicle equipped with an entertainment execution device.

[0007] According to the present invention, it is possible to enjoy entertainment such as games inside the vehicle without adversely affecting the mechanisms of the vehicle.

[0008] 1 is a block diagram showing an embodiment of a vehicle according to the present invention. FIG. 2 is a schematic diagram showing an example of the steering device shown in FIG. 1. FIG. 3 is a front view showing an example of a display for allowing a driver to select an entertainment mode and a driving mode. FIG. 4 is a schematic diagram showing a situation in which a car racing game is being played using the entertainment execution device of FIG. 1. FIG. 5 is a schematic diagram showing a situation in which a radio-controlled toy car is being controlled using the entertainment execution device of FIG. 1. FIG. 6 is a flowchart showing an information processing flow executed by the vehicle of FIG. 1. FIG. 7 is a flowchart (part 1) showing a subroutine of the driving mode (S6) of FIG. 6. FIG. 8 is a flowchart (part 2) showing a subroutine of the driving mode (S6) of FIG. 6. FIG. 9 is a flowchart showing a subroutine of the entertainment mode (S7) of FIG. 8. FIG. 10 is a flowchart (part 1) showing a subroutine of the game mode (S74) of FIG. 8. FIG. 11 is a flowchart (part 2) showing a subroutine of the game mode (S74) of FIG. 8. FIG. 12 is a flowchart (part 1) showing a subroutine of the radio-controlled mode (S75) of FIG. 8. FIG. 13 is a flowchart (part 2) showing a subroutine of the radio-controlled mode (S75) of FIG. 8.

[0009] <<Main Configuration of Automobile V According to the Embodiment>> An example of an embodiment of the present invention will now be described with reference to the drawings. Fig. 1 is a block diagram showing one embodiment of an automobile according to the present invention. The automobile V of this embodiment is an automobile V equipped with an entertainment execution device 41. By activating the entertainment execution device 41 while the automobile V is stopped and operating various operating devices provided in the passenger compartment, such as the display 6, steering wheel 501, accelerator pedal 14, and brake pedal 15, a passenger can enjoy playing racing games, operating radio-controlled toys, and the like within the passenger compartment.

[0010] Therefore, the automobile V of this embodiment is equipped with an entertainment execution device 41 that executes racing games or other entertainment software or communicates with radio-controlled toys or other radio-controlled devices, a steering device 5 of a so-called steering-by-wire type in which the steering wheel 501 is mechanically separated from the steered wheels 502 and the operation of the steering wheel 501 is transmitted to the steered wheels 502 as an electrical signal, and a mode selection control device 2 that can select between an entertainment mode that operates the entertainment execution device 41 and a driving mode that drives the automobile V.

[0011] First, the steering-by-wire (SBW) type steering device 5 of this embodiment will be described. Fig. 2 is a schematic diagram showing an example of the steering device 5 of this embodiment, which includes a steering wheel 501 that can be steered by the driver, steerable wheels 502 which are the left and right front wheels, and a steering shaft 503. The steering wheel 501 is connected to the steering shaft 503 and is provided so as to be mechanically separable from the steerable wheels 502, 502. The steering shaft 503 is provided with a steering angle sensor 504, a reaction force motor 505, and a steering torque sensor 506.

[0012] The steering angle sensor 504 detects the steering angle of the steering wheel 501 and can be configured with an encoder or the like.

[0013] The reaction force motor 505 applies torque to the steering shaft 503 to give a steering reaction force to the steering wheel 501. The steering reaction force is a force that acts in the opposite direction to the operating direction in which the driver steers the steering wheel 501. The reaction force motor 505 can be configured with a brushless motor or the like, and is driven in response to a reaction force motor drive current output by a first control unit 51 of the SBW controller ECU 5, which will be described later.

[0014] The steering torque sensor 506 detects the steering torque transmitted from the steering wheel 501 to the steering shaft 503. The steering torque sensor 506 is configured to detect the steering torque by detecting the torsional angle displacement of a torsion bar with a potentiometer, for example.

[0015] The steering device 5 of this embodiment further includes a clutch 507, a pinion shaft 508, a steering motor 509, a steering motor angle sensor 510, a pinion gear 511, a rack shaft 512, a tie rod 513, a knuckle arm 514, and an SBW controller ECU 5.

[0016] Clutch 507 is interposed between steering wheel 501 and steered wheels 502 and switches between an engaged state and a disengaged state in accordance with a clutch command current from SBW controller ECU 5. Clutch 507 in this example is a non-excitation engaging type electromagnetic clutch. When the electromagnetic coil is de-energized, a cam roller mechanism, for example, engages rollers between the cam surface of the input shaft and the outer ring of the output shaft, engaging the input shaft and the output shaft to an engaged state. On the other hand, when the electromagnetic coil is excited, attraction of the armature releases the roller engagement between the cam surface of the input shaft and the outer ring of the output shaft, disconnecting the input shaft and the output shaft to an engaged state. Clutch 507 in this example is in a disengaged state when the SBW system is operating normally, and is in an engaged state when some abnormality occurs in the SBW system.

[0017] Furthermore, in the present example, when the clutch 507 is in a disengaged state, the torque transmission path between the steering wheel 501 and the steerable wheels 502 is mechanically separated, and therefore the steering operation of the steering wheel 501 is not transmitted to the steerable wheels 502. On the other hand, when the clutch 507 is in an engaged state, the torque transmission path between the steering wheel 501 and the steerable wheels 502 is mechanically connected, and therefore the steering operation of the steering wheel 501 is transmitted to the steerable wheels 502.

[0018] One end of pinion shaft 508 is connected to clutch 507, and the other end is provided with pinion gear 511. Pinion gear 511 meshes with a rack gear provided between both ends of rack shaft 512. Both ends of rack shaft 512 are connected to steered wheels 502 via tie rods 513 and knuckle arms 514. As a result, rack shaft 512 is displaced in the vehicle width direction in accordance with the rotation of pinion gear 511, and steered wheels 502 are turned via tie rods 513 and knuckle arms 514. As a result, the traveling direction of automobile V changes.

[0019] Like reaction motor 505, steering motor 509 is formed by a brushless motor or the like, and is driven in accordance with a steering motor drive current output by SBW controller ECU 5. By being driven in accordance with the steering motor drive current, steering motor 509 outputs a steering torque for steering steered wheels 502. A worm is provided at the tip of the output shaft of steering motor 509, and a worm wheel is provided on pinion shaft 508, and the rotation of steering motor 509 is transmitted to pinion shaft 508 by meshing of worm gear 515 consisting of the worm and worm wheel.

[0020] Steering motor 509 is provided with steering motor angle sensor 510. Steering motor angle sensor 510 detects the rotation angle of steering motor 509. Here, the steering angle of steered wheels 502 is uniquely determined by the rotation angle of steering motor 509, the gear ratio of worm gear 515, and the gear ratio between pinion gear 511 and the rack gear of rack shaft 512, so the steering angle of steered wheels 502 can be found from the rotation angle of steering motor 509. In other words, the steering angle of steered wheels 502 can be found from the angle detected by steering motor angle sensor 510.

[0021] SBW controller ECU 5 is composed of a microcomputer including a processor, and reads steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering torque T detected by steering torque sensor 506, and steering angle θr detected by steering motor angle sensor 510. In addition, SBW controller ECU 5 receives vehicle speed Vd and yaw rate γ from a controller of another system (not shown). When clutch 507 is in a disengaged state, SBW controller ECU 5 controls the drive of steering motor 509 in accordance with the steering state of steering wheel 501 to steer steered wheels 502. As a result, the steering angle θr of steered wheels 502 coincides with the steering command angle in accordance with the steering state of steering wheel 501. At the same time, SBW controller ECU 5 controls the drive of reaction force motor 505 in accordance with the steering state of steered wheels 502 to apply a steering reaction force to steering wheel 501. As a result, a steering reaction force simulating a road reaction force is applied to the steering wheel 501. In this way, the SBW controller ECU 5 performs steer-by-wire control (hereinafter also referred to as SBW control).

[0022] More specifically, the SBW controller ECU 5 is configured to include a first control unit 51 and a second control unit 52, and the first control unit 51 outputs a first control amount corresponding to the steering reaction force on the steering wheel to the reaction force motor 505, and the second control unit 52 outputs a second control amount corresponding to the steering angle of the steered wheels to the steering motor 509.

[0023] Although not particularly limited, in SBW controller ECU 5 of the present embodiment, first control unit 51 and second control unit 52 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering torque T detected by steering torque sensor 506, steering angle θr detected by steering motor angle sensor 510, vehicle speed Vd, yaw rate γ, and based on these, independently calculate a first control amount to be output to reaction force motor 505 and a second control amount to be output to steering motor 509.

[0024] Then, before outputting to the reaction force motor 505 and the steering motor 509, it is determined whether the first control amount and the second control amount calculated by the first control unit 51 match the first control amount and the second control amount calculated by the second control unit 52, and if they do not match, it is determined that some kind of abnormality has occurred in the steering device 5, and a signal indicating an abnormality is output.

[0025] Although details will be described later, in a driving mode in which automobile V is driven, first control unit 51 outputs a first control amount corresponding to the steering reaction force applied to steering wheel 501 to reaction force motor 505, and second control unit 52 outputs a second control amount corresponding to the steering angle of steered wheels 502 to steering motor 509. However, in an entertainment mode in which automobile V is stopped and entertainment execution device 41 is operated to enjoy a game or the like, first control unit 51 outputs a first control amount corresponding to the steering reaction force applied to steering wheel 501 to reaction force motor 505, while second control unit 52 outputs a control amount of 0 to steering motor 509 as a control amount that does not change the steering angle of steered wheels 502. This makes it possible to stop steering of steered wheels 502 even when steering wheel 501 is rotated, while feeling a steering reaction force at steering wheel 501 that corresponds to the content of the game.

[0026] Returning to FIG. 1 , the automobile V of this embodiment is equipped with an IVI controller 4 including an entertainment execution device 41. The IVI controller 4 in this embodiment refers to an in-vehicle infotainment system, which is comprised of a microcomputer including a processor and provides information and entertainment. The IVI controller 4 in this embodiment provides information by using a car navigation system to provide route guidance and road traffic information. The IVI controller 4 also provides entertainment by using an audio device 8 including a TV tuner and a display 6 to provide music, movies, television programs, and the like. In particular, the IVI controller 4 in this embodiment is equipped with an entertainment execution device 41 that executes racing games and other entertainment software and communicates with radio-controlled toys and other radio-controlled devices. When game software is executed using the entertainment execution device 41, the software content can be accessed by connecting to a cloud server CS, for example.

[0027] The automobile V of this embodiment is equipped with a mode selection control device 2, which is composed of a microcomputer including a processor, and which can select between an entertainment mode for operating the entertainment device 41 and a driving mode for driving the automobile V. The mode selection control device 2 of this embodiment includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when the main switch 3 for starting the automobile V is turned on. FIG. 3 is a front view showing an example of a selection switch displayed on the center display 61 of the instrument panel for allowing the driver to select between the entertainment mode and the driving mode. If the center display 61 is configured as a liquid crystal touch panel or the like, the driver can select the desired mode by touching either the portion P1 on the left indicating the driving mode or the portion P2 on the right indicating the entertainment mode. The main switch 3 for starting the automobile V corresponds to an ignition switch in automobiles V equipped with an internal combustion engine, and corresponds to a power switch in electric vehicles and hybrid vehicles.

[0028] Incidentally, the mode selection control device 2 of this example requires the driver to select between the entertainment mode and the driving mode each time the main switch 3 for starting the automobile V is turned on, and this selection operation may be cumbersome for drivers who are not interested in the entertainment mode. For this reason, it is preferable that the mode selection control device 2 of this example be set as one of the so-called optional items when the automobile V is manufactured in accordance with the driver's request, and that it be installed only in automobiles V purchased by customers who require the entertainment mode.

[0029] The mode selection control device 2 of this example has a function of allowing the driver to select between an entertainment mode and a driving mode when starting the vehicle, and also has a function of controlling the steering device 5 so that the steered wheels 502 do not turn even when the steering wheel 501 is operated when the entertainment mode is selected. This will be described later.

[0030] Furthermore, the mode selection control device 2 of this example sets the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected, but is configured to be able to set the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to a smaller angle than the maximum rotation angle of the steering wheel 501 when the driving mode is selected, depending on the driver's request. Setting the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected is because this is suitable for cases where driving operations in the entertainment mode are used as a simulator for an actual vehicle, for example.

[0031] Furthermore, when the turning angle of the steered wheels is defined as the magnitude of the rotation angle of steered wheels 502 relative to the rotation angle of steering wheel 501, mode selection control device 2 of this example is configured to be able to set the turning angle of the steered wheels when entertainment mode is selected to be larger than the turning angle of the steered wheels when driving mode is selected, in response to a driver's request. This eliminates the need to turn steering wheel 501 significantly when playing games or operating a radio-controlled vehicle, enabling agile steering with a small steering angle. The maximum rotation angle of steering wheel 501 can be adjusted by the control amount output to reaction force motor 505 and steering motor 509. Therefore, mode selection control device 2 of this example may set the maximum rotation angle of steering wheel 501 to be smaller (the turning angle of the steered wheels to be larger) in response to a driver's request, not only when entertainment mode is selected but also when driving mode is selected. This eliminates the need to turn steering wheel 501 significantly in actual driving operations, enabling agile steering with a small steering angle.

[0032] As shown in FIG. 1 , the automobile V of this embodiment includes a body control module 1. The body control module 1 is an electronic control unit that comprehensively controls the overall functions of the vehicle body and is configured with a microcomputer including a processor. Similar to a typical automobile, the automobile V of this embodiment also includes a display 6, an air conditioning unit 7, an audio system 8 including speakers, a radio tuner, a TV tuner, and a CD / DVD / BD player, a seat position adjustment system 9 that adjusts the seat position and posture using an actuator, an air suspension system 10 that adjusts the posture of the vehicle body, steering switches 11 provided on a steering wheel 501, a gear shift lever 12 also known as a floor shift lever, paddle shifters 13 provided on the steering wheel 501, an accelerator pedal 14, and a brake pedal 15. In addition to these, the automobile V also includes interior and exterior lighting devices, door locking / unlocking devices, door window glass raising / lowering devices, door mirrors, interior mirrors, windshield wipers, etc.

[0033] In the automobile V of this embodiment, a communication path is constructed using an in-vehicle communication network (in-vehicle LAN) standard such as CSMA / CA multiplex communication (CAN: Controller Area Network) or FlexRay, and each controller including the body control module 1 is connected to each other via a communication line 16 so that they can communicate with each other.

[0034] When a driving mode is selected by the mode selection control device 2, this is output from the mode selection control device 2 to the body control module 1, and the body control module 1 controls each controller shown in Figure 1 in the normal driving mode.

[0035] On the other hand, when the entertainment mode is selected by the mode selection control device 2, a signal to that effect is output from the mode selection control device 2 to the body control module 1, and the body control module 1 controls each controller in accordance with the entertainment content being executed by the entertainment execution device 41. For example, an example of control of various devices of the automobile V will be described using the case where an automobile racing game is played using the entertainment execution device 41. Figure 4 is a schematic diagram showing a situation in which an automobile racing game is played using the entertainment execution device 41.

[0036] In an automobile racing game such as that shown in Figure 4, game software is displayed on the display 6, and the driver operates the steering wheel 501, accelerator pedal 14, and brake pedal 15 while viewing this screen. Operational inputs other than those for accelerating, decelerating, and turning the racing car are also performed using the various buttons on the steering switch 11, the paddle shifters 13, and the gearshift lever 12. The operation amounts of the operation signals input from the steering wheel 501, accelerator pedal 14, brake pedal 15, the various buttons on the steering switch 11, the paddle shifters 13, and the gearshift lever 12 are output to the entertainment execution device 41 via the communication line 16 and the body control module 1, and are input to the game software as control amounts for each operation defined by the game software. This allows the racing game to be played using the steering wheel 501 of the automobile V, etc.

[0037] On the other hand, while images of a car racing game are displayed on the display 6 as described above, sounds from the racing game are output from speakers using the audio device 8. To enhance the sense of realism in a racing game, the actuator of the seat position adjustment device 9 may be controlled to impart vibrations to the driver's seat. Similarly, the actuator of the air suspension device may be controlled to change the vehicle body position, thereby providing a sense of cornering and acceleration / deceleration. Furthermore, when enjoying a role-playing game (RPG), the air conditioning device 7 may be operated to change the temperature inside the vehicle cabin according to the in-game environment, thereby providing a sense of realism. Thus, by controlling at least one of the display 6, the air conditioning device 7, the audio device 8, the seat position adjustment device 9, and the air suspension device 10 in response to a control signal from the entertainment execution device 41, the sense of realism of the entertainment can be further enhanced. Furthermore, in a vehicle in which an actuator that applies a reaction force to the accelerator pedal 14 is provided, the reaction force may be applied to the accelerator pedal 14 by controlling the actuator, thereby enhancing the sense of realism during acceleration, etc. Furthermore, a master cylinder or a brake booster in the brake system may be controlled to add a reaction force to the brake pedal force, thereby providing the same feeling of pedal force as when driving a real vehicle.

[0038] The entertainment execution device 41 of this embodiment is used not only to execute games and other entertainment software, but also to remotely control radio-controlled cars and drones by communicating with a radio-controlled device RC. Fig. 5 is a schematic diagram showing a situation in which the entertainment execution device 41 is used to operate a radio-controlled device RC such as a radio-controlled car toy or a radio-controlled drone toy.

[0039] In a radio-controlled device RC such as a radio-controlled car or drone as shown in FIG. 5 , an image from a CCD camera mounted on the radio-controlled car or drone is displayed on a display 6, and the driver operates the steering wheel 501, accelerator pedal 14, and brake pedal 15 while viewing this screen. Operational inputs other than acceleration, deceleration, and turning of the radio-controlled car or drone are input using the various buttons on the steering switch 11, the paddle shifters 13, and the gear shift lever 12. The operation amounts of operation signals input from the steering wheel 501, accelerator pedal 14, brake pedal 15, the various buttons on the steering switch 11, the paddle shifters 13, and the gear shift lever 12 are output to the entertainment execution device 41 via communication line 16 and body control module 1 and input to the radio-controlled device RC as control amounts for each operation defined by the radio-controlled device RC. This allows the radio-controlled car or drone to be controlled using the steering wheel 501 of the automobile V.

[0040] Meanwhile, when operating a radio-controlled car or a radio-controlled drone, the camera image is displayed on the display 6 as described above, while the audio output from the radio-controlled device RC is output from a speaker using the audio device 8. To enhance the sense of realism of the radio-controlled car or the radio-controlled drone, the actuator of the seat position adjustment device 9 may be controlled to impart vibration to the driver's seat. Similarly, the actuator of the air suspension system may be controlled to change the vehicle body position to provide a sense of cornering or acceleration / deceleration. Furthermore, the air conditioning system 7 may be operated to change the temperature inside the vehicle cabin according to the driving or flight environment, thereby enhancing the sense of realism. Thus, by controlling at least one of the display 6, the air conditioning system 7, the audio system 8, the seat position adjustment device 9, and the air suspension system 10 in response to a control signal from the entertainment execution device 41, the sense of realism of the entertainment can be further enhanced. Furthermore, in a vehicle equipped with an actuator that applies a reaction force to the accelerator pedal 14, the actuator may be controlled to apply a reaction force to the accelerator pedal 14, thereby enhancing the sense of realism during acceleration, etc. Furthermore, a master cylinder or a brake booster in the brake system may be controlled to add a reaction force to the brake pedal force, thereby providing the same feeling of pedal force as when driving a real vehicle.

[0041] <<Operation of Vehicle According to Embodiment>> Next, the operation of the vehicle V according to this embodiment will be described. Figure 6 is a flowchart showing the information processing flow executed by the vehicle V according to this embodiment. First, in step S1, when the driver turns on the main switch 3 of the vehicle V, the internal combustion engine starts in the case of a vehicle equipped with an internal combustion engine, and power supply from the main power supply to the electrical system starts in the case of an electric vehicle. In the following step S2, control by the SBW controller ECU 5 is started, and if it is determined that there is no ≦ in the steering device 5, in step S3 the engagement of the clutch 507 is released and the clutch 507 is put into a non-engaged state.

[0042] 3 is displayed on the center display 61, and in step S5, if the driving mode is desired, touch portion P1, and if the entertainment mode is desired, touch portion P2. If portion P1 indicating the driving mode is touched, the process proceeds to step S6, whereas if portion P2 indicating the entertainment mode is touched, the process proceeds to step S7.

[0043] In step S8, if the driving mode is selected, the driving mode continues until the driver turns off the main switch 3 of the automobile V, and if the entertainment mode is selected, the entertainment mode continues until the driver turns off the main switch 3 of the automobile V. When the driver turns off the main switch 3, the internal combustion engine stops in the case of an automobile equipped with an internal combustion engine, and the power supply from the main power source to the electrical system stops in the case of an electric automobile, so in step S9, the clutch 507 is engaged, changing from its previous disengaged state to an engaged state.

[0044] <<Operation in Driving Mode>> Next, the operation in the driving mode in step S6 will be described. Figures 7A and 7B are flowcharts showing a subroutine when the driving mode in step S6 in Figure 6 is selected. The calculation processes shown in Figures 7A and 7B are repeated at predetermined time intervals (for example, every few msec). When the driver selects a driving mode in step S5 in Figure 6, the process proceeds to step S601 in Figure 7A. In step S601, the detection signal from steering angle sensor 504 is read out, and the steering angle of steering wheel 501 is detected.

[0045] When the steering angle of steering wheel 501 is detected in step S601, in the subsequent steps S602 and S603, first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, as well as steering torque T detected by steering torque sensor 506, vehicle speed Vd, and yaw rate γ, and independently calculate a second control variable to be output to steering motor 509 based on these values. This second control variable is obtained as an output control value to steering motor 509 corresponding to the steering angle of steered wheels 502. Here, the second control variable calculated by first control unit 51 is designated θ1, and the second control variable calculated by second control unit 52 is designated θ2. Note that, although not particularly limited in the automobile according to the present invention, an abnormality in related equipment can be discovered by having first control unit 51 and second control unit 52 perform the same calculation and confirming the agreement of the calculation results as in this embodiment.

[0046] In step S604, the second control variables θ1 and θ2 calculated in steps S602 and S603 are determined to be consistent with each other. A certain tolerance range may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 are consistent (θ1 = θ2), the process proceeds to step S608 in FIG. 7B, where normal steering control is executed. On the other hand, if the second control variables θ1 and θ2 are not consistent (θ1 ≠ θ2), the process proceeds to step S605, where a warning light provided on a meter display or the like on the instrument panel is turned on to indicate that an abnormality has been detected.

[0047] Following this, in step S606, excitation of the electromagnetic coil of the clutch 507 is stopped, and the previous disengaged state is changed to an engaged state. Alternatively, if the steering device 5 is configured in advance as a redundant system in which a plurality of sensors, controllers, and motors are provided, redundant control may be initiated to activate the backup system.

[0048] Subsequently, clutch 507 is engaged and the steering torque of steering wheel 501 is transmitted to pinion shaft 508, so in step S607 the system transitions to EPS control for using steering motor 509 as an actuator for electric power steering that assists the driver's steering operation. Thereafter, electric power steering control is performed with clutch 507 engaged.

[0049] Returning to step S604 in Fig. 7A, if second control variables θ1 and θ2 match (θ1 = θ2), the process proceeds to step S608 in Fig. 7B. In steps S608 to S610 in Fig. 7B, second control unit 52 outputs calculated second control variable θ2 to steering motor 509, and performs angle servo control to steer steerable wheels 502 via pinion shaft 508, pinion gear 511, rack shaft 512, etc. As a result, steerable wheels 502 are turned in accordance with the amount of operation of steering wheel 501 by the driver, and vehicle V turns in the desired direction.

[0050] In step S611, it is determined whether or not there is an input from the road surface to the steering gear via the steered wheels 502. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing is terminated.

[0051] On the other hand, if there is an input from the road surface, the process proceeds to steps S612 and S613, where first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering angle θr detected by steering motor angle sensor 510, steering torque T detected by steering torque sensor 506, vehicle speed Vd, and yaw rate γ, and based on these, independently calculate a first control amount to be output to reaction motor 505. This first control amount is obtained as an output control value to reaction motor 505 that corresponds to the steering reaction torque of steering wheel 501. Here, the first control amount calculated by first control unit 51 is designated F1, and the first control amount calculated by second control unit 52 is designated F2. Although not particularly limited to this, in the automobile according to the present invention, the first control unit 51 and the second control unit 52 perform the same calculation as in this embodiment, and by checking the consistency of the calculation results, abnormalities in related equipment can be discovered.

[0052] In step S614, the first control variables F1 and F2 calculated in steps S612 and S613 are determined to be consistent with each other. A certain tolerance may be set for this consistency determination, taking into account calculation errors and the like. If the first control variables F1 and F2 are consistent (F1=F2), the process proceeds to step S615, where reaction force control by the first control unit is performed as in a normal case. On the other hand, if the first control variables F1 and F2 are not consistent (F1≠F2), the process proceeds to step S617, where a warning light provided on a meter display or the like on the instrument panel is turned on to indicate that an abnormality has been detected.

[0053] Following this, in step S618, F=0 is output as the first control amount to reaction motor 505. That is, in the following step S619, clutch 507 is engaged, so that the original mechanical reaction force is applied to steering wheel 501, or instead, redundant control is initiated, and therefore the first control amount output to reaction motor 505 is set to F=0.

[0054] Following this, in step S619, excitation of the electromagnetic coil of the clutch 507 is stopped, and the clutch 507 is changed from the disengaged state to the engaged state. Alternatively, if the steering device 5 is configured in advance as a redundant system in which a plurality of sensors, controllers, and motors are provided, a redundant control for starting up the backup system may be initiated.

[0055] Subsequently, clutch 507 is engaged and the steering torque of steering wheel 501 is transmitted to pinion shaft 508, so in step S620 the system transitions to EPS control for using steering motor 509 as an actuator for electric power steering that assists the driver's steering operation. Thereafter, electric power steering control is performed with clutch 507 engaged.

[0056] Returning to step S614, if the first control amounts F1 and F2 are equal (F1=F2), the process proceeds to step S615. In steps S615 and S616, the calculated first control amount F1 is output to reaction force motor 505, and a pseudo force equivalent to the steering reaction force input from the road surface is applied to steering wheel 501. This allows the driver to feel a reaction force corresponding to the driving operation.

[0057] <<Operation in Entertainment Mode>> Next, the operation of the entertainment mode in step S7 of Fig. 6 will be described. Fig. 8 is a flowchart showing a subroutine when the entertainment mode is selected in step S7 of Fig. 6. When the driver selects the entertainment mode in step S5 of Fig. 6, the process proceeds to step S71 of Fig. 8. In step S71, the entertainment execution device 41 is started, and in the following step S72, an initial screen and a selection screen are displayed on the display 6. The entertainment execution device 41 of this embodiment has a game mode for enjoying games and a radio control mode for enjoying radio control devices, and therefore in the following step S73, the driver is prompted to select whether he wishes to execute the game mode or the radio control mode.

[0058] If the driver selects the game mode, the process proceeds to step S74; if the driver selects the radio control mode, the process proceeds to step S75. Details of the game mode in step S74 and the radio control mode in step S75 will be described later. In the following step S76, if the driver selected the game mode in step S74, it is determined whether or not the game has ended, and if the driver selected the radio control mode in step S75, it is determined whether or not the operation of the radio control device has ended, and if so, the process ends.

[0059] <<Game Mode Operation in Entertainment Mode>> Next, a description will be given of the operation when the driver selects the game mode in step S73 of Fig. 8. Figures 9A and 9B are flowcharts showing the game mode subroutine in step S74 of Fig. 8. Note that in the processing flow of Fig. 9A, one routine of calculation is executed when the game mode is selected, and the processing flow of Fig. 9B is repeatedly executed at predetermined time intervals (for example, every few msec) after the game control enters a standby state in step S745 of Fig. 9A.

[0060] First, when the driver selects the game mode, in step S741 of Fig. 9A, the IVI controller 4 starts overall control of the entertainment execution device 41, and the entertainment execution device 41 starts application software for executing a game. Then, in step S742, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud game platform, and starts the desired game software, in this case, a racing car game. As a result, in step S743, the entertainment execution device 41 displays the content of the selected racing car game on the display 6.

[0061] In step S744, second control unit 52 outputs θ3 = 0 as the steering angle to steering motor 509. Here, if main switch 3 of automobile V is turned ON in step S1 of FIG. 6 and then entertainment mode is selected in step S7, SBW control by SBW controller ECU 5 is started in the previous step S2, and clutch 507 is disengaged in step S3. Therefore, when steering wheel 501 is operated to operate a racing car in a racing car game, steered wheels 502 are also steered by SBW control. In this embodiment, in step S744 before the game is started, second control unit 52 outputs θ3 = 0 as the steering angle to steering motor 509 so that steered wheels 502 of automobile V are not steered when the game is executed.

[0062] In step S746, the standby state is entered in which preparations for game control are complete, and a game start button and the like are displayed on the display 6.

[0063] In step S746, game control enters a standby state, and when the game starts, the process proceeds to step S7401 in FIG. 9B . Around this time, images of the game content and background music are output from the cloud game platform of the cloud server CS. Receiving this, the entertainment execution device 41 displays the images of the content on the display 6 via the body control module 1, and outputs the background music from the speakers using the audio device 8. When the racing game actually starts, the driver operates the accelerator pedal 14 and brake pedal 15 while operating the steering wheel 501 to drive the racing car in the game. In step S7401, the detection signal from the steering angle sensor 504 is read, and the steering angle of the steering wheel 501 is detected.

[0064] When the steering angle of steering wheel 501 is detected in step S7401, in the following steps S7402 and S7403, first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering torque T detected by steering torque sensor 506, vehicle speed Vd, and yaw rate γ, and based on these, independently calculate the second control variable to be output to steering motor 509. Note that since automobile V is stopped while the entertainment mode is being executed, the detection values ​​of vehicle speed Vd, yaw rate γ, etc. are the detection values ​​for the stopped vehicle.

[0065] However, the second control amount in the game mode is calculated as an output control value corresponding to the steering angle of the steered wheels of a racing car in the game content, rather than the steered wheels 502 of the automobile V. Here, the second control amount calculated by the first control unit 51 is designated as θ1, and the second control amount calculated by the second control unit 52 is designated as θ2. Although not particularly limited to the automobile according to the present invention, even in the game mode as in the present embodiment, by performing the same calculations by the first control unit 51 and the second control unit 52 and checking the consistency of the calculation results, it is possible to discover an abnormality in related devices before driving the automobile V again.

[0066] In step S7404, the second control variables θ1 and θ2 calculated in steps S7402 and S7403 are determined to be consistent with each other. A certain tolerance may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 are consistent (θ1 = θ2), the process proceeds to step S7406, where normal steering control is executed. On the other hand, if the second control variables θ1 and θ2 are not consistent (θ1 ≠ θ2), the process proceeds to step S7405, where a warning light provided on a meter display on the instrument panel or the like is turned on to indicate that an abnormality has been detected, and the game mode is then terminated.

[0067] Returning to step S7404, if the second control variables θ1 and θ2 are the same (θ1 = θ2), proceed to step S7406. In steps S7406 and S7407, the second control unit 52 outputs the calculated second control variable θ2 to the cloud game platform of the cloud server CS via the body control module 1 and the entertainment execution device 41, and steers the steered wheels of the racing car. As a result, the steered wheels of the racing car are turned in accordance with the amount of operation of the steering wheel 501 by the driver, and the racing car in the game turns in the desired direction.

[0068] Subsequently, in step S7408, the cloud game platform of the cloud server CS determines whether there is an input from the road surface during the game to the steering gear via the steering wheels of the racing car. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing ends.

[0069] On the other hand, if there is an input from the road surface, the process proceeds to step S7409, where the cloud game platform of the cloud server CS converts and calculates a control signal related to the steering reaction force based on various detection values ​​during the game into a first control amount F1 to be output to the reaction force motor 505 of the automobile V. This first control amount F1 is calculated as an output control value to the reaction force motor 505 that corresponds to the steering reaction force torque of the steering wheel 501.

[0070] In steps S7410 to S7412, the first control amount F1 output from the cloud game platform of the cloud server CS is output to the first control unit 51, and the first control unit 51 that has received this output outputs the first control amount F1 to the reaction force motor 505. As a result, a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501, allowing the driver to feel a reaction force corresponding to the driving operation.

[0071] 9B , in addition to reflecting the reaction force that the racing car receives from the road surface to the steering wheel 501 of the automobile V, the cloud game platform of the cloud server CS may detect the impacts and acceleration / deceleration forces (gravitational G that the driver receives) that the racing car receives, and output these to the entertainment execution device 41, and control the actuator of the seat posture adjustment device 9 to impart vibration to the driver's seat, or control the actuator of the air suspension device to change the posture of the vehicle body, thereby imparting a feeling of cornering or acceleration / deceleration. Furthermore, a reaction force against the pressure applied to the accelerator pedal 14 or the brake pedal 15 may be applied to provide the same feeling as operating a real vehicle.

[0072] <Operation of Radio Control Mode in Entertainment Mode> Next, an operation will be described when the driver selects the radio control mode in step S73 of Fig. 8. Figures 10A and 10B are flowcharts showing the radio control mode subroutine in step S75 of Fig. 8. Note that in the processing flow of Fig. 10A, one routine of calculations is executed when the radio control mode is selected, and the processing flow of Fig. 10B is repeatedly executed at predetermined time intervals (e.g., every few msec) after the radio control control enters standby mode in step S755 of Fig. 10A.

[0073] First, when the driver selects the radio-controlled car mode, the IVI controller 4 starts overall control of the entertainment execution device 41 in step S751 of Fig. 10A, and the entertainment execution device 41 launches application software for operating the radio-controlled car. Then, in step S752, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud game platform, and connects to the desired radio-controlled device RC, in this case, the radio-controlled car. As a result, in step S753, the entertainment execution device 41 displays an image captured by the camera mounted on the selected radio-controlled car on the display 6.

[0074] In step S754, second control unit 52 outputs θ3 = 0 as the steering angle to steering motor 509. Here, if main switch 3 of automobile V is turned ON in step S1 of FIG. 6 and then entertainment mode is selected in step S7, SBW control by SBW controller ECU 5 is started in the previous step S2, and clutch 507 is disengaged in step S3. Therefore, when steering wheel 501 is operated to operate the radio-controlled car, steered wheels 502 are also steered by SBW control. In this embodiment, in step S754 before the start of radio-controlled operation, second control unit 52 outputs θ3 = 0 as the steering angle to steering motor 509 so that steered wheels 502 of automobile V are not steered when radio-controlled operation is performed.

[0075] In step S756, the radio control operation is ready and the standby state is entered, and a radio control operation start button and the like are displayed on the display 6.

[0076] In step S756, the radio-controlled car operation control enters a standby state, and when radio-controlled car operation is initiated, the process proceeds to step S7501 in FIG. 10B. Around this time, radio-controlled device RC outputs camera images and microphone-collected audio. Receiving these, entertainment device 41 displays the camera images on display 6 via body control module 1 and outputs the collected audio from speakers using audio device 8. When remote control of the radio-controlled car actually begins, the driver operates accelerator pedal 14 and brake pedal 15 while operating steering wheel 501 to drive the remotely controlled radio-controlled car. In step S7501, the detection signal from steering angle sensor 504 is read, and the steering angle of steering wheel 501 is detected.

[0077] When the steering angle of steering wheel 501 is detected in step S7501, in the following steps S7502 and S7503, first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering torque T detected by steering torque sensor 506, vehicle speed Vd, and yaw rate γ, and based on these, independently calculate the second control variable to be output to steering motor 509. Note that since automobile V is stopped while the entertainment mode is being executed, the detection values ​​of vehicle speed Vd, yaw rate γ, etc. are the detection values ​​for the stopped state.

[0078] However, the second control amount in the radio control mode is calculated as an output control value corresponding to the steering angle of the steered wheels of the radio-controlled car being operated, rather than the steered wheels 502 of the automobile V. Here, the second control amount calculated by the first control unit 51 is designated θ1, and the second control amount calculated by the second control unit 52 is designated θ2. Although not particularly limited to the automobile according to the present invention, even in the radio control mode, as in the present embodiment, by performing the same calculations in the first control unit 51 and the second control unit 52 and checking the consistency of the calculation results, it is possible to discover an abnormality in related equipment before driving the automobile V again.

[0079] In step S7504, the second control variables θ1 and θ2 calculated in steps S7502 and S7503 are determined to be consistent with each other. A certain tolerance may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 are consistent (θ1 = θ2), the process proceeds to step S7506, where normal steering control is performed. On the other hand, if the second control variables θ1 and θ2 are not consistent (θ1 ≠ θ2), the process proceeds to step S7505, where a warning light provided on a meter display or the like on the instrument panel is turned on to indicate that an abnormality has been detected, and the radio control mode is then terminated.

[0080] Returning to step S7504, if the second control variables θ1 and θ2 are the same (θ1 = θ2), proceed to step S7506. In steps S7506 and S7507, second control unit 52 outputs the calculated second control variable θ2 to radio control device RC via body control module 1 and entertainment execution device 41, and steers the steered wheels of the radio-controlled car. As a result, the steered wheels of the radio-controlled car are turned in accordance with the amount of operation of steering wheel 501 by the driver, and the radio-controlled car being remotely controlled turns in the desired direction.

[0081] Subsequently, in step S7508, the radio control device RC determines whether there is an input from the road surface to the steering gear via the steering wheels of the radio-controlled car. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing ends.

[0082] On the other hand, if there is an input from the road surface, the process proceeds to step S7509, where the radio control device RC converts and calculates a control signal related to the steering reaction force based on various detection values ​​during radio control operation into a first control amount F1 to be output to the reaction force motor 505 of the automobile V. This first control amount F1 is calculated as an output control value to the reaction force motor 505 that corresponds to the steering reaction force torque of the steering wheel 501.

[0083] In steps S7510 to S7512, the first control amount F1 output from the radio control device RC is output to the first control unit 51, and the first control unit 51 that has received this output outputs the first control amount F1 to the reaction force motor 505. As a result, a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501, allowing the driver to feel a reaction force corresponding to the driving operation.

[0084] 10B , in addition to reflecting the reaction force received by the radio-controlled car from the road surface to the steering wheel 501 of the automobile V, the radio control device RC may detect the impacts and acceleration / deceleration forces received by the radio-controlled car (gravity G received by the driver) and output them from the radio control device RC to the entertainment execution device 41, which may then control the actuator of the seat position adjustment device 9 to impart vibration to the driver's seat or the actuator of the air suspension device to change the position of the vehicle body and provide a feeling of cornering or acceleration / deceleration. Furthermore, a reaction force against the pressure applied to the accelerator pedal 14 or the brake pedal 15 may be applied to provide the same feeling as operating a real vehicle.

[0085] <<Functions and Effects of the Embodiment>> As described above, the automobile V of this embodiment includes a steering device 5 in which the steering wheel 501 is mechanically separated from the steered wheels 502 and transmits the operation of the steering wheel 501 to the steered wheels 502 as an electrical signal, an entertainment execution device 41 that executes entertainment software or communicates with a radio-controlled device RC, and a mode selection control device 2 that is selectable between an entertainment mode in which the entertainment execution device 41 is operated and a driving mode in which the automobile V is driven and that executes control according to the respective modes. When the entertainment mode is selected, the mode selection control device 2 controls the steering device 5 so that the steered wheels 502 are not steered even when the steering wheel 501 is operated, thereby suppressing so-called stationary steering. As a result, tire damage and wheel alignment problems are suppressed, and the automobile can be enjoyed in the passenger compartment, such as playing games, without adversely affecting the automobile's mechanisms.

[0086] In addition, in the automobile V of this embodiment, the mode selection control device 2 includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when a main switch for starting the automobile V is turned on. In other words, the entertainment mode is selected only when the main switch 3 is turned on to start the automobile V, so that the entertainment mode can be prevented from being selected while driving the automobile V.

[0087] Furthermore, in the automobile V of this embodiment, the mode selection control device 2 is installed in the automobile when the automobile is manufactured in accordance with the driver's request. That is, since the mode selection control device 2 is an optional setting when the automobile is manufactured, a driver who does not need the entertainment mode can choose not to install the mode selection control device 2. This avoids the hassle of having to perform a mode selection operation every time the automobile V is started.

[0088] In addition, in the automobile V of this embodiment, the mode selection control device 2 sets the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected, and can set the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to a value smaller than the maximum rotation angle of the steering wheel 501 when the driving mode is selected, in response to a request from the driver. Since the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected is set to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected, this is suitable for use in driving operations in the entertainment mode as a simulator of a real vehicle, for example. Furthermore, since the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected can be set to a value smaller than the maximum rotation angle of the steering wheel 501 when the driving mode is selected, in response to a request from the driver, it is no longer necessary to turn the steering wheel 501 greatly when playing games or operating a radio-controlled car, and agile steering operations can be achieved with a small operating angle.

[0089] In addition, in the automobile V of this embodiment, the steering device 5 includes a reaction motor (first actuator) 505 that applies a steering reaction force to the steering wheel 501, a steering motor (second actuator) 509 that steers the steerable wheels 502, a first control unit 51 that calculates a first control amount corresponding to the steering reaction force on the steering wheel 501 and controls the reaction motor (first actuator) 505 based on the first control amount, and a second control unit 52 that calculates a second control amount corresponding to the steering angle of the steerable wheels 502 and controls the steering motor (second actuator) 509 based on the second control amount. When a driving mode selection signal is input to the mode selection control device 2, the first control unit 51 outputs the first control amount to the reaction motor (first actuator) 505, and the second control unit 52 outputs the second control amount to the steering motor (second actuator) 509. On the other hand, when an entertainment mode selection signal is input to the mode selection control device 2, the first control unit 51 outputs the first control amount input via the entertainment execution device 41 to the reaction motor (first actuator) 505, and the second control unit 52 outputs 0 as the second control amount to the steering motor (second actuator) 509 and also outputs the second control amount to the entertainment execution device 41. As a result, stationary steering operation is suppressed in the entertainment mode, which prevents tire damage and wheel alignment from being disturbed, allowing the driver to enjoy entertainment such as games inside the vehicle without adversely affecting the vehicle's mechanisms. In addition, the steering reaction force according to the driving state in the entertainment mode can be reflected in the steering wheel 501.

[0090] In addition, in the automobile V of this embodiment, the first control unit 51 and the second control unit 52 each calculate the first control amount and the second control amount based on the operating angle of the steering wheel 501, and determine whether the first control amount F1 and the second control amount θ1 calculated by the first control unit 51 match the first control amount F2 and the second control amount θ2 calculated by the second control unit 52, respectively.If they do not match, a signal indicating that the steering device 5 is abnormal is output, so that abnormalities in the steering device 5 can be detected even when the entertainment mode is selected.

[0091] Furthermore, in the automobile V of this embodiment, the mode selection control device 2 detects the amount of operation of at least one of the steering wheel 501, accelerator pedal 14, brake pedal 15, steering switch 11, paddle shift 13, and gear shift lever 12, and outputs this as a control amount to the entertainment execution device 41, so that it can handle even game software or radio control equipment RC that has many input items.

[0092] In addition, in the automobile V of this embodiment, the mode selection control device 2 controls at least one of the display 6, the air conditioning device 7, the audio device 8, the seat position adjustment device 9, and the air suspension device 10 in response to a control signal from the entertainment execution device 41, thereby enhancing the sense of realism of game software and radio control equipment RC.

[0093] DESCRIPTION OF THE SYMBOLS V...AUTOMOBILE 1...Body control module (BCM) 2...Mode selection control device 3...Main switch 4...IVI controller (in-vehicle information and entertainment providing device) 41...Entertainment execution device 5...Steering device ECU5...SBW controller 51...First control unit 52...Second control unit 501...Steering wheel 502...Steering wheel 503...Steering shaft 504...Steering angle sensor 505...Reaction motor (first actuator) 506...Steering torque sensor 507...Clutch 508...Pinion shaft 509...Steering motor (second actuator) 510...Steering motor angle sensor 511...Pinion gear 512...Rack shaft 513...Tie rod 514...Knuckle arm 515...Worm gear 6...Display 61...Centre display 7...Air conditioning device 8...Audio device 9...Seat position adjustment device 10...Air suspension device 11...Steering switch 12...Gear shift lever 13...Paddle shift 14...Accelerator pedal 15...Brake pedal 16...Communication line RC...Radio control device CS...Cloud server

Claims

1. a steering device in which a steering wheel is mechanically separated from steered wheels and an operation of the steering wheel is transmitted to the steered wheels as an electrical signal; an entertainment execution device that executes entertainment software or communicates with the radio-controlled device; a mode selection control device that is capable of selecting an entertainment mode for operating the entertainment device and a driving mode for driving a vehicle, and that executes control corresponding to each mode; The mode selection control device includes: When the entertainment mode is selected, the steering device is controlled so that the steered wheels are not turned even when the steering wheel is operated; setting an initial value of the maximum rotation angle of the steering wheel when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel when the driving mode is selected; A vehicle in which the maximum rotation angle of the steering wheel when the entertainment mode is selected can be set to a value smaller than the maximum rotation angle of the steering wheel when the driving mode is selected, in response to a driver's request.

2. 2. The vehicle according to claim 1, wherein the mode selection control device includes a selection switch that allows a driver to select between the entertainment mode and the driving mode when a main switch for starting the vehicle is turned on.

3. 3. The vehicle according to claim 1, wherein the mode selection control device is installed in the vehicle during manufacture in response to a driver's request.

4. The steering device includes: A first actuator that applies a steering reaction force to the steering wheel; A second actuator that steers the steered wheels; a first control unit that calculates a first control amount corresponding to a steering reaction force applied to the steering wheel and controls the first actuator based on the first control amount; a second control unit that calculates a second control amount corresponding to a steering angle of the steered wheels and controls the second actuator based on the second control amount, When the operation mode selection signal is input to the mode selection control device, the first control unit outputs the first control amount to the first actuator; The second control unit outputs the second control amount to the second actuator, When the entertainment mode selection signal is input to the mode selection control device, The first control unit outputs a first control amount input via the entertainment device to the first actuator; 3. The automobile according to claim 1, wherein the second control unit outputs 0 as the second controlled variable to the second actuator and outputs the second controlled variable to the entertainment device.

5. the first control unit and the second control unit calculate the first control amount and the second control amount based on an operation angle of the steering wheel, determining whether or not the first control amount and the second control amount calculated by the first control unit match with the first control amount and the second control amount calculated by the second control unit; 5. The vehicle according to claim 4, wherein if they do not match, a signal is output to indicate that the steering device is abnormal.

6. 3. The automobile according to claim 1 or 2, wherein the mode selection control device detects the amount of operation of at least one of the steering wheel, accelerator pedal, brake pedal, steering switch, paddle shift, and gear shift lever, and outputs this as a control amount to the entertainment execution device.

7. 3. The automobile according to claim 1, wherein the mode selection control device controls at least one of a display, an air conditioning device, an audio device, a seat position adjustment device, and an air suspension device in response to a control signal from the entertainment device.