US 12,466,473 B2
Steering device
Yoji Kunihiro, Susono (JP); Takahiro Kojo, Gotemba (JP); Yutaka Aoki, Mishima (JP); Go Inoue, Gotemba (JP); Yushi Shibaike, Susono (JP); and Yushi Nagata, Atsugi (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 2, 2024, as Appl. No. 18/401,826.
Claims priority of application No. 2023-067194 (JP), filed on Apr. 17, 2023.
Prior Publication US 2024/0343300 A1, Oct. 17, 2024
Int. Cl. B62D 6/00 (2006.01); B60W 50/10 (2012.01)
CPC B62D 6/00 (2013.01) [B60W 50/10 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A steering device configured to automatically perform a steering operation on a steering wheel of a vehicle, the steering device comprising
a steering support mechanism mounted on a steering shaft connected to the steering wheel, wherein the steering support mechanism includes an electric motor and a speed reducer that transmits output of the electric motor to the steering shaft, and
an electronic control unit including a processor configured to:
calculate a steering deviation between a steering angle of the steering wheel and a target steering angle during a driving mode in which the steering operation on the steering wheel is automatically performed, the target steering angle being obtained based on information about surrounding environment of the vehicle;
determine whether the steering deviation is equal to or greater than a predetermined first positive threshold or whether the steering deviation is equal to or less than a predetermined first negative threshold;
determine that a driver of the vehicle has performed the steering operation on the steering wheel in a case where the calculated steering deviation is equal to or greater than the predetermined first positive threshold or in a case where the steering deviation is equal to or less than the predetermined first negative threshold;
determine that the driver has not performed the steering operation on the steering wheel in a case where the calculated steering deviation is less than the predetermined first positive threshold or in a case where the steering deviation is greater than the predetermined first negative threshold;
calculate a target steering torque based on the steering angle and the target steering angle, wherein the processor
sets the target steering angle to a first angle in response to determining that the driver has not performed the steering operation, and
sets the target steering angle to a second angle in response to determining that the driver has performed the steering operation, an absolute value of the second angle being less than an absolute value of the first angle;
calculate a target motor torque based on the calculated target steering torque; and
control the electric motor to output the calculated target motor torque.