To provide a steering gear capable of executing appropriate steering control when a situation to be switched to a manual steering mode is detected during the control in an automatic steering mode.SOLUTION: A control section 202 has an automatic steering mode of controlling an electric motor 18 on the basis of an automatic steering command value, a manual steering mode of controlling the electric motor 18 on the basis of a manual steering command value corresponding to driver's steering and a cooperation steering mode of controlling the electric motor 18 on the basis of a cooperation steering command value with both of the automatic steering command value and the manual steering command value added, and when a situation to be switched to the manual steering mode is detected during the control in the automatic steering mode and a manual steering request is output to the driver at first predetermined time or the first predetermined distance before the situation is reached, controls the electric motor 18 in the cooperation steering mode unconditionally or when a predetermined condition is satisfied.SELECTED DRAWING: Figure 2

    【課題】自動操舵モードによる制御中に手動操舵モードに切り替えるべき状況が検出されたときに、適切な操舵制御を行うことが可能となる操舵装置を提供する。【解決手段】制御部202は、自動操舵指令値に基づき電動モータ18を制御する自動操舵モードと、ドライバの操舵に対応した手動操舵指令値に基づき電動モータ18を制御する手動操舵モードと、自動操舵指令値および手動操舵指令値の両方を加味した協調操舵指令値に基づき電動モータ18を制御する協調操舵モードとを有し、自動操舵モードによる制御中に手動操舵モードに切り替えるべき状況が検出され、当該状況に到達する第1所定時間前または第1所定距離前に、ドライバに対して手動操舵要求が出力された場合、無条件にまたは所定の条件を満たしたときに協調操舵モードにより電動モータ18を制御する。【選択図】図2


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    Title :

    STEERING GEAR


    Additional title:

    操舵装置


    Contributors:

    Publication date :

    2020-10-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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