Patent Description:
At autonomous driving level <NUM> or higher at which a system is responsible for autonomous driving of a vehicle, a driver need not be responsible for the operation of the vehicle and therefore need not hold a steering wheel. Accordingly, driver's comfort is increased if the steering wheel is moved to create a large space in front of the driver during autonomous driving. For example, <CIT> (<CIT>) discloses a vehicle operation system capable of moving a driving operator that is a steering wheel. This vehicle operation system includes the driving operator that accepts an operation performed by an occupant and a control unit that controls a holding mechanism for the driving operator so that the driving operator is stored by changing the state of the holding mechanism based on the state of autonomous driving that is performed in a vehicle.

Document <CIT> relates to a steer by wire steering system including a steering wheel selectively coupled to a steering shaft, wherein the steering wheel and steering shaft axially are movable between a deployed position and a retracted position; an advanced driver assist system (ADAS) configured to steer the steerable wheels of a vehicle that is in communication with the steering wheel and steering shaft, wherein the ADAS is configured to selectively control the steering of the steerable wheels in an autonomous driving mode and a manual driving mode; and a steering system controller in communication with the ADAS, wherein the steering system controller is programmed to, while the steering wheel is in the retracted position, move the steering wheel to the deployed position and operatively couple the steering wheel to the steering shaft, in response to a vehicle operator request to deactivate a portion of the ADAS and transition from the autonomous driving mode to the manual driving mode. Document <CIT> relates to a steering system including a variable mechanism that reversibly changes a configuration of an operating member between a configuration for automated driving and a configuration for manual driving, wherein the configuration includes at least one of a position, an orientation, and a shape; a variable drive source; a receiver that receives an operation of a driver; and a controller that controls the variable drive source to cause the variable mechanism to return the configuration of the operating member to the configuration for manual driving, when the receiver receives the operation of the driver in a period when the configuration of the operating member is being changed.

A steering system that moves a steering wheel (operation member) like the vehicle operation system in the related art includes, e.g., a mechanism that stops the operation member when some external force is applied to the operation member while the operation member is moving. When an external force is detected while the operation member is moving, this system in the related art determines that the operation member has come into contact with a driver and stops the operation member in order to improve the driver's safety.

The cases where the driver contacts the moving operation member include a case where the driver contacts the moving operation member with some intention, for example, the intention to operate the operation member as soon as possible, in addition to a case where the driver contacts the moving operation member unintentionally. In the case where the driver contacts the moving operation member with some intention, stopping the operation member may require unnecessary control of the operation of the steering system. For example, stopping the operation member may require performing a process related to movement of the operation member again.

The invention, as claimed in the accompanying claims, provides a steering system which can increase the space in front of a driver and whose operation can be efficiently controlled.

An aspect of the invention relates to a steering system configured to steer a vehicle. The steering system includes a rotary shaft to which an operation member is coupled; a moving unit configured to move the operation member between a normal position that is a position where the operation member is operated by a driver, and a storage area located ahead of the normal position; an external force detection unit configured to detect an external force externally applied to the operation member while the operation member is moving; a determination unit configured to determine whether a direction of the external force detected by the external force detection unit is the same as a moving direction of the operation member; and a control unit configured to control a moving unit based on a determination result from the determination unit.

According to the above aspect of the invention, it is possible to provide the steering system which can increase the space in front of the driver and whose operation can be efficiently controlled.

Embodiments of a steering system according to the invention will be specifically described with reference to the accompanying drawings. The embodiments described below illustrate comprehensive or specific examples. The numerical values, shapes, materials, components, positions and connections of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the invention.

The drawings are schematic views with components being emphasized, omitted, or adjusted in proportion as appropriate in order to illustrate the invention, and the shapes, positional relationships, and proportions in the drawings may be different from the actual shapes, positional relationships, and proportions. In the following embodiments, expressions indicating relative directions or attitudes such as parallel and perpendicular are sometimes used. These expressions include the case where the relative directions or attitudes are not exactly the indicated directions or attitudes. For example, two directions being parallel not only means that the two directions are exactly parallel, but also means that the two directions are substantially parallel, that is, the two directions are nearly parallel within, e.g., about several percent differences.

<FIG> illustrates a schematic configuration of a steering system <NUM> according to an embodiment. <FIG> is a perspective view illustrating the appearance of a steering mechanism unit <NUM> included in the steering system <NUM> according to the embodiment.

The steering system <NUM> according to the embodiment is a system that is mounted on vehicles such as passenger vehicles, buses, trucks, construction equipment, or agricultural machines capable of switching between a manual drive mode and an autonomous drive mode.

As shown in <FIG>, the steering system <NUM> includes the steering mechanism unit <NUM> including an operation member <NUM> that is operated by a driver, and a steering operation mechanism unit <NUM> that steers steered wheels <NUM>. The steering system <NUM> is a so-called steer-by-wire (SBW) system in which the rotation angle, etc. of the operation member <NUM> are read with a sensor, etc. and the steered wheels <NUM> are steered by a shaft <NUM> reciprocating in the lateral direction of the vehicle (right-left direction in <FIG>) based on signals from the sensor, etc, in the manual drive mode, for example.

In the steering mechanism unit <NUM> located upstream in such operations and processes related to steering of the vehicle, a rotary shaft <NUM> is coupled to the operation member <NUM>, and the rotary shaft <NUM> is configured to receive a rotational driving force of a first actuator <NUM>. The operation member <NUM> is subjected to a reaction force by the rotational driving force of the first actuator <NUM> when the driver operates the operation member <NUM>. The rotational driving force of the first actuator <NUM> is also used to synchronize the rotational position of the operation member <NUM> with the steered angle of the steered wheels <NUM>. An example of operation control using the first actuator <NUM> will be described later with reference to <FIG>, etc..

In the steering operation mechanism unit <NUM> located downstream of the steering mechanism unit <NUM>, the steered wheels <NUM> connected to the shaft <NUM> via tie rods <NUM> are steered when the shaft <NUM> moves in the lateral direction (width direction) of the vehicle (right-left direction in <FIG>). Specifically, in the manual drive mode, a second actuator <NUM> operates based on signals indicating the rotation angle, etc. of the operation member <NUM> that are sent from the steering mechanism unit <NUM>. As a result, the shaft <NUM> moves in the lateral direction of the vehicle, and the steered wheels <NUM> are steered accordingly. That is, the steered wheels <NUM> are steered according to the operation of the operation member <NUM>. In the autonomous drive mode, the second actuator <NUM> operates based on signals, etc. that are sent from a computer (not shown) for autonomous driving mounted on the vehicle. The steered wheels <NUM> are thus steered without depending on the operation of the operation member <NUM>.

More specifically, in the steering system <NUM> configured as described above, the steering mechanism unit <NUM> includes support members <NUM> that support the operation member <NUM> and a rotation mechanism unit <NUM>, as shown in <FIG>. For example, in the embodiment, the operation member <NUM> is a member corresponding to a rim of a steering wheel, and the support members <NUM> are members corresponding to spokes of the steering wheel.

The operation member <NUM> is rotated about a steering axis Aa (imaginary axis extending in the longitudinal direction of the vehicle, the imaginary axis extending in parallel with the X axis in the embodiment) when operated by the driver, and the rotary shaft <NUM> coupled to the operation member <NUM> is also rotated about the steering axis Aa accordingly. In the manual drive mode, the one or more steered wheels <NUM> of the vehicle are steered as described above based on the amount of this rotation, etc..

The operation member <NUM> is supported by the support members <NUM> extending from the rotation mechanism unit <NUM>. For example, the support members <NUM> are respectively located on both sides in the vehicle lateral direction (Y-axis direction in the embodiment) of the rotation mechanism unit <NUM> when the steered wheels <NUM> are in a neutral state, namely in a straight ahead state where the steered wheels <NUM> face the straight ahead direction. When the operation member <NUM> is rotated about the steering axis Aa, the rotation mechanism unit <NUM> is also rotated about the steering axis Aa accordingly. The rotary shaft <NUM> with its one end fixed to the rotation mechanism unit <NUM> is also rotated with the rotation of the operation member <NUM>. That is, in the embodiment, the rotary shaft <NUM> is coupled to the operation member <NUM> via the rotation mechanism unit <NUM>.

The rotation mechanism unit <NUM> is a device that rotates the support members <NUM> about a rotation axis Ab extending in the lateral direction of the vehicle. The rotation mechanism unit <NUM> includes a rotation motor <NUM> configured to rotate the support members <NUM>, etc. When the support members <NUM> are rotated about the rotation axis Ab by the driving force of the rotation mechanism unit <NUM>, the operation member <NUM> supported by the support members <NUM> is also rotated about the rotation axis Ab accordingly.

The operation member <NUM> is rotated along with the operation of advancing or retracting the operation member <NUM>. For example, when the operation mode is switched from the manual drive mode to the autonomous drive mode, the operation member <NUM> is stored in a storage area (not shown) in a dashboard (an example of a vehicle member) located in front of the driver's seat. At this time, the operation member <NUM> is collapsed so as to be parallel to the steering axis Aa. When the operation mode is switched from the autonomous drive mode to the manual drive mode, the operation member <NUM> is returned to its normal position. At this time, the operation member <NUM> is rotated about the rotation axis Ab to an attitude perpendicular to the steering axis Aa.

As shown in <FIG>, the steering system <NUM> according to the embodiment further includes a switch holding unit <NUM> and a reaction force generating device <NUM> that are disposed on the front side (negative X-axis side) of the rotation mechanism unit <NUM>. The switch holding unit <NUM> is a member that holds a switch configured to operate turn signals, etc., and the switch holding unit <NUM> is connected to a turn signal lever, etc. that is operated by the driver.

The reaction force generating device <NUM> is a device that applies torque against the force from the driver to the operation member <NUM> when the driver operates the operation member <NUM> for steering. The reaction force generating device <NUM> includes the first actuator <NUM>, etc. The reaction force generating device <NUM> is a device that reproduces, as a reaction force, e.g., a force that is applied to an operation member during driving of a conventional vehicle in which tires (wheels) and the operation member are mechanically connected. That is, in the embodiment, one end of the rotary shaft <NUM> is fixed to the rotation mechanism unit <NUM>, and the other end of the rotary shaft <NUM> inserted through the switch holding unit <NUM> is connected to the reaction force generating device <NUM>. The reaction force generating device <NUM> applies the reaction force to the operation member <NUM> via the rotary shaft <NUM>. The reaction force generating device <NUM> can also control the rotational position of the operation member <NUM> about the steering axis Aa. Specifically, in the case where the operation member <NUM> is stored (retracted) in the storage area when, e.g., the vehicle is stopped, the operation member <NUM> is operated in the manual drive mode to a neutral rotational position (initial rotational position) in which the steered wheels <NUM> are in the straight ahead state. Synchronous control is performed when the operation member <NUM> is subsequently advanced from the storage area to the normal position. In the synchronous control, the rotational position of the operation member <NUM> is controlled to the rotational position corresponding to the steered angle of the steered wheels <NUM> at that time. The first actuator <NUM> is used to rotate and drive the operation member <NUM> in the synchronous control. An example of the operation of the steering system <NUM> in the synchronous control will be described later with reference to <FIG>.

The steering system <NUM> further includes a mechanism that changes the position and attitude of an integral mechanism unit including the operation member <NUM>, the support members <NUM>, the rotation mechanism unit <NUM>, the switch holding unit <NUM>, and the reaction force generating device <NUM>. The distance between the operation member <NUM> and the driver can thus be changed.

Specifically, as shown in <FIG>, the steering system <NUM> includes a moving unit <NUM> that moves the steering mechanism unit <NUM> in the longitudinal direction (front-rear direction), i.e., the moving unit <NUM> changes the position of the steering mechanism unit <NUM> in the front-rear direction. In the embodiment, the moving unit <NUM> is a device that moves the operation member <NUM> by a sliding mechanism. Specifically, the integral mechanism unit including the operation member <NUM> is supported by a base guide <NUM> via a movable body <NUM>, and the movable body <NUM> is slidably held by the base guide <NUM>. The base guide <NUM> is fixed to the vehicle via, e.g., brackets, not shown. As shown in <FIG>, a slide drive shaft <NUM> is fixed to the base guide <NUM>, and a body of the moving unit <NUM>, which includes a slide motor <NUM>, is moved along the slide drive shaft <NUM> by the driving force of the slide motor <NUM> of the moving unit <NUM>. The movable body <NUM> connected to the body of the moving unit <NUM> is thus moved in the longitudinal direction along the base guide <NUM>. As a result, the operation member <NUM>, the rotation mechanism unit <NUM>, etc. are moved in the longitudinal direction. The steering system <NUM> may include a tilt mechanism unit that changes the tilt of the integral mechanism unit including the operation member <NUM>.

The functional configuration of the steering system <NUM> configured as described above will be described with reference to <FIG> is a block diagram illustrating a basic functional configuration of the steering system <NUM> according to the embodiment. <FIG> is a flowchart illustrating a basic operation flow of the steering system <NUM> according to the embodiment.

As shown in <FIG>, the steering system <NUM> includes, as a basic configuration, the moving unit <NUM>, a control unit <NUM>, an external force detection unit <NUM>, and a determination unit <NUM>. As described above, the moving unit <NUM> moves the operation member <NUM> between the normal position that is a position where the operation member <NUM> is operated by the driver, and the storage area located ahead of the normal position. The external force detection unit <NUM> detects an external force that is externally applied to the operation member <NUM> while the operation member <NUM> is moving. The determination unit <NUM> determines whether the direction of the external force detected by the external force detection unit <NUM> is the same as the moving direction of the operation member <NUM>. Specifically, the determination unit <NUM> determines, e.g., whether the direction of an axial component of the external force detected by the external force detection unit <NUM> is the same as the moving direction of the operation member <NUM>. The direction of the axial component of the external force is along the moving direction of the operation member <NUM>. The "direction of the external force that is applied to the operation member <NUM>," which is compared with the moving direction of the operation member <NUM>, means the direction of the axial component of the external force. That is, when the external force detection unit <NUM> detects an external force applied to the operation member <NUM>, the external force detection unit <NUM> may output only the direction of the axial component of the external force to the determination unit <NUM>.

The control unit <NUM> controls the operation of the steering system <NUM> based on the determination result of the determination unit <NUM>. That is, the control unit <NUM> is a device that sends control signals to various devices in the steering system <NUM> including the moving unit <NUM>. The control unit <NUM> also receives signals indicating the operation results or detection results from the various devices and generates control signals based on the received signals.

In the steering system <NUM> configured as described above, as shown in <FIG>, the moving unit <NUM> operates according to, e.g., a predetermined operation performed by the driver or an instruction from a host control unit <NUM> (hereinafter referred to as the "predetermined operation, etc."). The moving unit <NUM> thus starts moving the operation member <NUM> (S10). When an external force including an axial component is applied to the operation member <NUM>, the external force detection unit <NUM> detects the direction of the external force, and the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). The control unit <NUM> acquires the determination result from the determination unit <NUM> and controls the operation of the steering system <NUM> based on the acquired determination result (S30).

As described above, in the steering system <NUM> according to the embodiment, when an external force is applied to the operation member <NUM> while the operation member <NUM> is moving, the operation of the steering system <NUM> is controlled according to whether the direction of the external force is the same as the moving direction of the operation member <NUM>. That is, the driver can convey his or her intention, such as the intention (i.e., desire) to operate the operation member <NUM>, etc. as soon as possible or the intention to return the operation member <NUM>, etc. to its original position, to the steering system <NUM> by applying an external force to the operation member <NUM> by, for example, pulling or pushing the operation member <NUM> while the operation member <NUM> is moving. The steering system <NUM> can operate according to the driver's intention. The operation of the steering system <NUM> can thus be efficiently controlled.

The control unit <NUM> is implemented by a computer including, e.g., a central processing unit (CPU), a storage device such as a memory, an interface for inputting and outputting information, etc. For example, the control unit <NUM> can control the operation of the steering system <NUM> according to control signals sent from the host control unit <NUM>, etc., detection results of sensors, etc. by executing a predetermined program stored in the storage device by the CPU.

The external force detection function of the external force detection unit <NUM> is implemented by, e.g., a device such as a sensor provided in the moving unit <NUM>. The determination function of the determination unit <NUM> is implemented by, e.g., executing a determination program by the computer that implements the control unit <NUM>. That is, the information processing functions of the functional blocks of the steering system <NUM> such as the control unit <NUM> and the determination unit <NUM> may be implemented by a single computer or separate computers. The same applies to the functional blocks for performing various kinds of information processing that will be described below.

More specific operation examples of the steering system <NUM> having the basic configuration described above will be described with reference to <FIG>. <FIG> is a flowchart illustrating a first example of a specific operation of the steering system <NUM> according to the embodiment. <FIG> schematically illustrates the states of the steering system <NUM> regarding the operation shown in <FIG>.

As shown in <FIG>, in the steering system <NUM>, the control unit <NUM> operates the moving unit <NUM> according to the predetermined operation, etc. The moving unit <NUM> thus starts moving the operation member <NUM> (S10). When the external force detection unit <NUM> detects an external force applied to the moving operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). When the determination unit <NUM> determines that the direction of the external force is the same as the moving direction of the operation member <NUM> (Yes in S20), the control unit <NUM> controls the moving unit <NUM> to increase the moving speed of the operation member <NUM> (S31). When the determination unit <NUM> determines that the direction of the external force is not the same as the moving direction of the operation member <NUM> (No in S20), the control unit <NUM> controls the moving unit <NUM> to reduce the moving speed of the operation member <NUM> (S32).

That is, the control unit <NUM> controls the operation of the steering system <NUM> by controlling the movement of the operation member <NUM> based on the determination result of the determination unit <NUM>. Accordingly, when the driver applies an external force to the operation member <NUM> by, e.g., pulling or pushing the operation member <NUM>, the steering system <NUM> can control the movement of the operation member <NUM> according to the direction of the external force, namely according to the driver's intention.

It is assumed that, as shown in, e.g., (a) of <FIG>, for example, when the operation mode is switched from the manual drive mode to the autonomous drive mode, an external force in the opposite direction (rearward direction) is applied to the operation member <NUM> that has started moving forward so as to be stored in the storage area. In this case, it is presumed that the driver pulls the retracting operation member <NUM> in the opposite direction, for example, because he or she wants to manually drive the vehicle. The control unit <NUM> therefore controls the moving unit <NUM> to reduce the forward moving speed of the operation member <NUM>. For example, the control unit <NUM> changes the moving speed of the operation member <NUM> to a negative value. As a result, the moving speed of the operation member <NUM> that is moving forward (toward the storage area) is reduced to zero, and the operation member <NUM> then starts moving rearward and moves to the normal position. When the operation member <NUM> is returned to the normal position, the control unit <NUM> requests, e.g., the host control unit <NUM> to cancel the autonomous drive mode and switch to the manual drive mode. After the request is accepted, the control unit <NUM> enables steering with the operation member <NUM> (i.e., control of the steering operation mechanism unit <NUM> (see <FIG>) according to the operation of the operation member <NUM>).

It is assumed that, as shown in, e.g., (b) of <FIG>, for example, when the manual drive mode is resumed or when driving of the vehicle is started, an external force in the opposite direction (forward direction) is applied to the operation member <NUM> that has started moving rearward so as to advance to the normal position. In this case, it is presumed that the driver pushes the advancing operation member <NUM> in the opposite direction, for example, because he or she wants to cancel the start of driving of the vehicle for now. The control unit <NUM> therefore controls the moving unit <NUM> to reduce the rearward moving speed of the operation member <NUM>. For example, the control unit <NUM> changes the moving speed of the operation member <NUM> to a negative value. As a result, the moving speed of the operation member <NUM> that is moving rearward (toward the driver's seat) is reduced to zero, and the operation member <NUM> then moves forward and stops in the storage area. At this time, the control unit <NUM> notifies, e.g., the host control unit <NUM> of the cancellation of the start of the manual drive mode. For example, in the case where the vehicle is traveling in the autonomous drive mode and the host control unit <NUM> is notified by the control unit <NUM> of the cancellation of the start of the manual drive mode when the operation mode is switched from the autonomous drive mode to the manual drive mode, the host control unit <NUM> maintains the autonomous drive mode. In this case, for example, the host control unit <NUM> may perform control for, e.g., moving the vehicle to a safe position and stopping the vehicle at the safe position during a period in which the vehicle can travel in the autonomous drive mode. That is, in the case where the vehicle is traveling in the autonomous drive mode and the driver determines, when the operation mode is switched from the autonomous drive mode to the manual drive mode, that he or she cannot manually drive the vehicle for some reason, the vehicle can be moved to and stopped at the safe position by the driver pushing the operation member <NUM> that is being returned to the normal position.

It is assumed that, as shown in, e.g., (c) of <FIG>, for example, when the operation mode is switched from the manual drive mode to the autonomous drive mode, an external force in the same direction (forward direction) is applied to the operation member <NUM> that has started moving forward so as to be stored in the storage area. In this case, it is presumed that the driver pushes the retracting operation member <NUM> in the retracting direction, for example, because he or she wants to move the operation member <NUM> away from him or her as soon as possible. The control unit <NUM> therefore controls the moving unit <NUM> to increase the forward moving speed of the operation member <NUM>. The operation member <NUM> can thus be retracted to the storage area in a shorter time than when the operation member <NUM> is normally retracted to the storage area.

It is assumed that, as shown in, e.g., (d) of <FIG>, for example, when the manual drive mode is resumed or when driving of the vehicle is started, an external force in the same direction (rearward direction) is applied to the operation member <NUM> that has started moving rearward so as to advance to the normal position. In this case, it is presumed that the driver pulls the advancing operation member <NUM> in the same direction, for example, because he or she wants to operate the operation member <NUM> with his or her hands as soon as possible. The control unit <NUM> therefore controls the moving unit <NUM> to increase the rearward moving speed of the operation member <NUM>. The operation member <NUM> can thus be advanced to the normal position in a shorter time than when the operation member <NUM> is normally advanced to the normal position. At this time, the control unit <NUM> enables steering with the operation member <NUM> after, e.g., the host control unit <NUM> permits resuming or starting the manual drive mode.

When the moving direction of the operation member <NUM> is the same as the direction of the external force applied to the operation member <NUM> and the moving speed of the operation member <NUM> is increased, this increase in the moving speed of the operation member <NUM> is based on the driver's intention. It can therefore be said that it is unlikely that increasing the moving speed of the operation member <NUM> will cause unnecessary interference between the operation member <NUM> and the driver.

As described above, in the case where the determination result from the determination unit <NUM> indicates that the direction of the external force is not the same as the moving direction of the operation member <NUM> ((a) and (b) of <FIG>), the control unit <NUM> according to the embodiment controls the operation of the steering system <NUM> by controlling the moving unit <NUM> to reduce the moving speed of the operation member <NUM>. In the case where the determination result from the determination unit <NUM> indicates that the direction of the external force is the same as the moving direction of the operation member <NUM> ((c) and (d) of <FIG>), the control unit <NUM> according to the embodiment controls the operation of the steering system <NUM> by controlling the moving unit <NUM> to increase the moving speed of the operation member <NUM>. In each case, the operation member <NUM> can be moved to, e.g., the storage area or the normal position according to the driver's intention.

The operations illustrated in (a) to (d) of <FIG> may be performed in combination. For example, it is assumed that an external force in the forward direction is detected after the operation member <NUM> has started moving rearward due to an external force in the opposite direction (rearward direction) applied to the forward moving operation member <NUM> as shown in (a) of <FIG>. In this case, the control unit <NUM> may control the moving unit <NUM> to reduce the moving speed of the operation member <NUM> and move the operation member <NUM> in the opposite direction so as to retract the operation member <NUM> in the storage area as shown in (b) of <FIG>. That is, it is assumed that immediately after the driver pulls the retracting operation member <NUM> with the intention to execute the manual drive mode, he or she changes his or her mind and pushes the operation member <NUM> with the intention to execute the autonomous drive mode. In this case, the control unit <NUM> may move the operation member <NUM>, which has stopped retracting and has started advancing, forward again before the advancing movement of the operation member <NUM> is completed, to store the operation member <NUM> in the storage area. The same applies when the driver pulls the operation member <NUM> that is moving toward the storage area merely by mistake or with no intention. That is, in the case where the driver pulls the retracting operation member <NUM> by mistake and the operation member <NUM> has started moving back to the normal position, he or she can push the advancing operation member <NUM> forward to store the operation member <NUM> in the storage area.

When the external force detection unit <NUM> detects an external force applied to the moving operation member <NUM>, the control unit <NUM> may first stop the operation member <NUM>, and when the external force detection unit <NUM> detects an external force again, the control unit <NUM> may increase or decrease the moving speed of the operation member <NUM> according to the direction of the external force. For example, it is assumed that an external force in the opposite direction is applied to the forward moving operation member <NUM> as shown in (a) of <FIG>. In this case, the control unit <NUM> may control the moving unit <NUM> to stop (immediately stop) the operation member <NUM>, and when an external force in the opposite direction is applied again thereafter, the control unit <NUM> may move the operation member <NUM> rearward. That is, when the driver repeats the same operation (in this case, the operation of pulling the operation member <NUM> rearward) twice, the movement of the operation member <NUM> may be controlled according to the direction of the external force applied by this operation, in response to this repeated operation performed by the driver. The driver's intention can thus be more accurately reflected in controlling the movement of the operation member <NUM>.

As described above, when an external force is applied to the moving operation member <NUM>, the steering system <NUM> can also control the movement of the operation member <NUM> using an attribute value of the external force other than the direction of the external force. An example of this operation will be described with reference to <FIG>.

<FIG> is a flowchart illustrating a second example of the specific operation of the steering system <NUM> according to the embodiment. In the steering system <NUM> according to the embodiment, the external force detection unit <NUM> can acquire not only the direction of an external force but also the magnitude and duration of the external force. That is, the external force detection unit <NUM> can acquire, e.g., the three kinds of external force attribute values including the direction, magnitude, and duration of the external force. The operation of the steering system <NUM> can thus be controlled so as to reflect the driver's intention more accurately. Namely, the operation of the steering system <NUM> can be more efficiently controlled.

Specifically, as shown in <FIG>, the control unit <NUM> operates the moving unit <NUM> according to the predetermined operation, etc. The moving unit <NUM> thus starts moving the operation member <NUM> (S10). When the external force detection unit <NUM> detects an external force applied to the moving operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). The control unit <NUM> acquires the determination result from the determination unit <NUM> and acquires an external force attribute value indicating the magnitude or duration of the external force from the external force detection unit <NUM>. The control unit <NUM> controls the operation of the steering system <NUM> using the acquired determination result and external force attribute value (S33). The driver's intention can thus be more accurately conveyed to the steering system <NUM>. Specifically, for example, the control unit <NUM> controls the moving unit <NUM> to change the moving speed of the operation member <NUM> to a moving speed according to the acquired external force attribute value (S33).

More specifically, for example, when the magnitude of the external force acquired as the external force attribute value is F1, the control unit <NUM> increases the moving speed of the operation member <NUM> by V1 from its normal moving speed. When the magnitude of the external force is F2 (F2 > F1), the control unit <NUM> increases the moving speed of the operation member <NUM> by V2 (V2 > V1) from the normal moving speed. In this case, the driver can change the subsequent moving speed of the operation member <NUM> to a speed according to his or her intention by adjusting the pushing or pulling force he or she applies to the operation member <NUM>.

For example, when the duration of the external force acquired as the external force attribute value is T1, the control unit <NUM> increases the moving speed of the operation member <NUM> by V1 from the normal moving speed. When the duration of the external force is T2 (T2 > T1), the control unit <NUM> increases the moving speed of the operation member <NUM> by V2 (V2 > V1) from the normal moving speed. In this case, the driver can change the subsequent moving speed of the operation member <NUM> to a speed according to his or her intention by adjusting the time during which he or she pushes or pulls the operation member <NUM>.

As described above, in the embodiment, the external force detection unit <NUM> detects the external force attribute value that includes at least one of the magnitude and duration of the external force in addition to the direction of the external force. When changing the moving speed of the operation member <NUM> in controlling the operation of the steering system <NUM>, the control unit <NUM> acquires the external force attribute value detected by the external force detection unit <NUM> and controls the moving unit <NUM>. The control unit <NUM> can thus change the moving speed of the operation member <NUM> to a speed based on the external force attribute value.

The steering system <NUM> can thus adjust the moving speed of the operation member <NUM> in view of at least one of the magnitude and duration of the external force applied to the moving operation member <NUM>, in addition to the direction of the external force. As a result, the operation of the steering system <NUM> can be controlled so as to reflect the driver's intention more accurately. That is, the operation of the steering system <NUM> can be more efficiently controlled.

<FIG> is a block diagram illustrating an example of a more detailed functional configuration of the steering system <NUM> according to the embodiment. As shown in <FIG>, the steering system <NUM> includes a position detection unit <NUM> and an input unit <NUM> in addition to the control unit <NUM>, the external force detection unit <NUM>, the determination unit <NUM>, the first actuator <NUM>, and the second actuator <NUM> that are shown in <FIG>. The position detection unit <NUM> is a device that detects the position of the operation member <NUM>. The position detection unit <NUM> can detect the position of the operation member <NUM> relative to a predetermined reference position by, e.g., using an encoder value of the slide motor <NUM> of the moving unit <NUM> or analyzing a captured image of the operation member <NUM>. The input unit <NUM> is a device that can accept an input by the driver and operates according to the input. Examples of the input unit <NUM> include turn signals, a horn, and various touch panels and switches. A specific example of the operation of the steering system <NUM> configured as described above will be described.

The steering system <NUM> according to the embodiment can also reduce the moving speed of the operation member <NUM> according to the position of the operation member <NUM> in the case where the steering system <NUM> increases the moving speed of the operation member <NUM> in response to detection of an external force applied to the operation member <NUM> that is being retracted to the storage area. An example of this operation will be described with reference to <FIG> is a flowchart illustrating a third example of the specific operation of the steering system <NUM> according to the embodiment.

As shown in <FIG>, the control unit <NUM> operates the moving unit <NUM> according to the predetermined operation, etc. The moving unit <NUM> thus starts moving (retracting) the operation member <NUM> forward (S11). When the external force detection unit <NUM> detects an external force applied to the retracting operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). When the determination unit <NUM> determines that the direction of the external force is the same as the moving direction of the operation member <NUM> (Yes in S20), the control unit <NUM> controls the moving unit <NUM> to increase the moving speed of the operation member <NUM> (S31). When the determination unit <NUM> determines that the direction of the external force is not the same as the moving direction of the operation member <NUM> (No in S20), the control unit <NUM> controls the moving unit <NUM> to reduce the moving speed of the operation member <NUM> (S32). In the case where the moving speed of the operation member <NUM> is increased (S31), the control unit <NUM> reduces the moving speed of the operation member <NUM> (S35) when the position of the operation member <NUM> acquired from the position detection unit <NUM> reaches a predetermined position (Yes in S34).

Specifically, as described above, the operation member <NUM> is stored in the storage area in the dashboard that is an example of the vehicle member. Accordingly, the distance between the dashboard and the operation member <NUM> is reduced as the operation member <NUM> is stored in the storage area. The driver may therefore get his or her finger, etc. caught between the dashboard and the operation member <NUM>. Accordingly, in the embodiment, the moving speed of the operation member <NUM> is reduced when the operation member <NUM> reaches, e.g., a predetermined position close to the dashboard (about several to ten centimeters from the dashboard). That is, the moving speed of the operation member <NUM> that has been increased based on the detection result of the external force is reduced when the operation member <NUM> approaches the dashboard. The problem that, for example, the driver's finger is caught between the operation member <NUM> and the dashboard is therefore less likely to occur.

As described above, the steering system <NUM> according to the embodiment includes the position detection unit <NUM> that detects the position of the operation member <NUM>. In the case where the control unit <NUM> has increased the moving speed of the operation member <NUM> based on the determination result while the operation member <NUM> is moving toward the storage area, the control unit <NUM> can reduce the moving speed of the operation member <NUM> when the control unit <NUM> acquires from the position detection unit <NUM> the detection result indicating that the operation member <NUM> has reached a position that is a predetermined distance away from the dashboard defining the storage area. The operation member <NUM> is thus efficiently moved according to the driver's intention and the driver's safety is also ensured.

Even when the operation member <NUM> is advanced to the normal position, the operation of the steering system <NUM> according to the embodiment can be efficiently controlled by using the detection result regarding the position of the operation member <NUM> acquired from the position detection unit <NUM>. An example of this operation will be described with reference to <FIG> is a flowchart illustrating a fourth example of the specific operation of the steering system <NUM> according to the embodiment.

As shown in <FIG>, the control unit <NUM> operates the moving unit <NUM> according to the predetermined operation, etc. The moving unit <NUM> thus starts moving (advancing) the operation member <NUM> rearward (S12). When the external force detection unit <NUM> detects an external force applied to the advancing operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). When the determination unit <NUM> determines that the direction of the external force is the same as the moving direction of the operation member <NUM> (Yes in S20), the control unit <NUM> controls the moving unit <NUM> to increase the moving speed of the operation member <NUM> (S31). When the determination unit <NUM> determines that the direction of the external force is not the same as the moving direction of the operation member <NUM> (No in S20), the control unit <NUM> determines whether the position of the operation member <NUM> acquired from the position detection unit <NUM> is within a predetermined range from the normal position (S36). When the control unit <NUM> determines that the position of the operation member <NUM> is within the predetermined range from the normal position (Yes in S36), the control unit <NUM> controls the moving unit <NUM> to maintain the moving speed of the operation member <NUM> and move the operation member <NUM> to the normal position (S37). When the control unit <NUM> determines that the position of the operation member <NUM> is not within the predetermined range from the normal position (No in S36), the control unit <NUM> reduces the moving speed of the operation member <NUM> (S38). In this case, the control unit <NUM> reduces the rearward moving speed of the operation member <NUM> to, e.g., a negative value. As a result, the operation member <NUM> is moved forward and retracted to the storage area (see, e.g., (b) of <FIG>).

For example, it is assumed that, when the manual drive mode is started or resumed, an external force in the opposite direction (forward direction) is detected after the operation member <NUM> has started advancing toward the normal position. In this case, it is presumed that the driver is refusing to start manual driving as described above. However, in the case where an external force in the opposite direction (forward direction) is detected when the operation member <NUM> has advanced to a position close to the normal position (within the range of about several to ten centimeters from the normal position), it is presumed that this external force is generated, for example, because the driver prepared for manual driving holds the operation member <NUM>. In this case, the steering system <NUM> according to the embodiment maintains the moving speed of the operation member <NUM> and advances the operation member <NUM> to the normal position, instead of reducing the moving speed of the operation member <NUM>. The driver can thus quickly start manual driving.

As described above, the steering system <NUM> according to the embodiment includes the position detection unit <NUM> that detects the position of the operation member <NUM>. Even when the control unit <NUM> acquires the determination result indicating that the direction of the external force is not the same as the moving direction of the operation member <NUM> while the operation member <NUM> is moving toward the normal position, it is possible not to reduce the moving speed of the operation member <NUM> when the control unit <NUM> acquires from the position detection unit <NUM> the detection result indicating that the operation member <NUM> is located within the predetermined range from the normal position. The operation member <NUM> is thus efficiently moved according to the driver's intention.

In the steering system <NUM> according to the embodiment, other types of control can be performed in addition to, or instead of, the control of the moving speed of the operation member <NUM> in order to control the operation of the steering system <NUM> based on the determination result from the determination unit <NUM>. Examples of this operation will be described with reference to <FIG> are flowcharts illustrating fifth to seventh examples of the specific operation of the steering system <NUM> according to the embodiment.

As shown in <FIG>, the control unit <NUM> operates the moving unit <NUM> according to the predetermined operation, etc. The moving unit <NUM> thus starts moving (advancing) the operation member <NUM> rearward (S12). When the external force detection unit <NUM> detects an external force applied to the advancing operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). When the determination unit <NUM> determines that the direction of the external force is the same as the moving direction of the operation member <NUM> (Yes in S20), the control unit <NUM> controls the first actuator <NUM> to start the synchronous control for controlling the rotation angle of the rotary shaft <NUM> to the angle corresponding to the steered angle of the steered wheels <NUM> (S40).

In the steering system <NUM> according to the embodiment, when the operation member <NUM> is stored in the storage area, the rotation mechanism unit <NUM> (see <FIG>) is also stored in the storage area together with the operation member <NUM>. The operation member <NUM> is collapsed so as to be parallel to, e.g., the steering axis Aa. Accordingly, the operation member <NUM> and the structure that is stored in the storage area together with the operation member <NUM> have an asymmetrical shape (i.e., a non-circular shape) about the steering axis Aa as viewed from the direction of the steering axis Aa. The rotational position of the operation member <NUM> at the time when the operation member <NUM> is stored in the storage area is therefore limited. Specifically, when the operation member <NUM> is stored in the storage area, the operation member <NUM> is operated in the manual drive mode to the initial rotational position where the steered wheels <NUM> are in the straight ahead state. For example, when the operation mode is subsequently switched to the manual drive mode while the vehicle is traveling in the autonomous drive mode, it is necessary to perform the synchronous control for controlling the rotational position of the operation member <NUM> to the rotational position corresponding to the steered angle of the steered wheels <NUM> at the time when the manual drive mode is started. Specifically, the control unit <NUM> controls the rotation angle of the rotary shaft <NUM> that rotates the operation member <NUM>, thereby controlling the rotational position of the operation member <NUM> to the rotational position corresponding to the steered angle of the steered wheels <NUM> at that time.

For example, this synchronous control may be performed after the movement of the operation member <NUM> to the normal position is completed. In this case, however, the driver needs to wait for the completion of the movement of the operation member <NUM> to the normal position and the completion of the subsequent synchronization control. In the steering system <NUM> according to the embodiment, when it is determined that the direction of the external force is the same as the moving direction of the operation member <NUM> in the case where the operation member <NUM> is advancing to the normal position, the synchronous control can be started in response to this determination result.

As described above, the steering system <NUM> according to the embodiment includes the first actuator <NUM> that applies a driving force for rotating the rotary shaft <NUM> to the rotary shaft <NUM>, and the second actuator <NUM> that applies a driving force for steering to the steered wheels <NUM> that are not mechanically coupled to the rotary shaft <NUM>, the steered wheels <NUM> being included in the vehicle (see <FIG>). When the control unit <NUM> acquires, while the operation member <NUM> is moving toward the normal position, the determination result indicating that the direction of the external force is the same as the moving direction of the operation member <NUM>, the control unit <NUM> controls the operation of the steering system <NUM> by controlling the first actuator <NUM> to start the synchronous control for controlling the rotation angle of the rotary shaft <NUM> to the angle corresponding to the steered angle of the steered wheels <NUM> driven by the second actuator <NUM>.

Accordingly, for example, when the driver wants to start operating the operation member <NUM> as soon as possible and pulls the operation member <NUM> while the operation member <NUM> is moving toward the normal position, the synchronous control is started in response to the pulling of the operation member <NUM>. For example, the synchronous control can therefore be completed before the operation member <NUM> reaches the normal position. As a result, the driver can immediately start manual driving using the operation member <NUM> without feeling discomfort. In this case, the control unit <NUM> may also increase the moving speed of the operation member <NUM> as described above with reference to (d) of <FIG>. That is, in the case where an external force pulling the operation member <NUM> toward the normal position is applied to the operation member <NUM> that is moving toward the normal position, the control unit <NUM> may increase the moving speed of the operation member <NUM> and perform the synchronous control for the rotational position of the operation member <NUM> at the same time.

The first actuator <NUM> can apply a rotational driving force to fix the rotation angle of the rotary shaft <NUM> to a predetermined rotation angle. The first actuator <NUM> can thus function as a rotation fixing unit that fixes the rotational position of the operation member <NUM>. That is, the control unit <NUM> can fix and stop fixing the rotation angle of the rotary shaft <NUM> by controlling the first actuator <NUM> that functions as the rotation fixing unit. An example of this operation will be described with reference to <FIG>.

As shown in <FIG>, the control unit <NUM> fixes the rotational position of the operation member <NUM> during, e.g., a period in which the operation member <NUM> is stored in the storage area in order to, e.g., suppress interference between the operation member <NUM> and other members (S5). In the embodiment, for example, when the rotary shaft <NUM> tries to rotate with the operation member <NUM> due to vibration that occurs during traveling, the control unit <NUM> controls the first actuator <NUM> to apply a reaction force in the reverse direction to the rotary shaft <NUM>. Rotation of the rotary shaft <NUM> is thus prevented, and as a result, the rotational position of the operation member <NUM> is fixed to a predetermined rotational position. In principle, the rotational position of the operation member <NUM> is fixed to the predetermined position even during a period in which the operation member <NUM> moves between the storage area and the normal position. Subsequently, the control unit <NUM> operates the moving unit <NUM> according to the predetermined operation, etc. to start moving (advancing) the operation member <NUM> rearward (S12). When the external force detection unit <NUM> detects an external force applied to the advancing operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). When the determination unit <NUM> determines that the direction of the external force is the same as the moving direction of the operation member <NUM> (Yes in S20), the control unit <NUM> controls the first actuator <NUM> to stop fixing the rotational position of the operation member <NUM> (S41). The driver can thus quickly manually operate the operation member <NUM>.

As described above, the steering system <NUM> according to the embodiment includes the first actuator <NUM> that functions as the rotation fixing unit that fixes the rotational position of the operation member <NUM> to the predetermined rotational position. When the control unit <NUM> acquires the determination result indicating that the direction of the external force is the same as the moving direction of the operation member <NUM> while the operation member <NUM> is moving toward the normal position, the control unit <NUM> controls the first actuator <NUM> to stop fixing the rotational position of the operation member <NUM>.

Accordingly, for example, when the driver wants to start operating the operation member <NUM> as soon as possible and pulls the operation member <NUM> while the operation member <NUM> is moving toward the normal position, the control unit <NUM> immediately stops fixing the rotational position of the operation member <NUM>. For example, the driver can therefore start manual driving using the operation member <NUM> as soon as he or she holds the operation member <NUM>. In this case, the control unit <NUM> may also increase the moving speed of the operation member <NUM> as described above with reference to (d) of <FIG>. That is, in the case where an external force pulling the operation member <NUM> toward the normal position is applied to the operation member <NUM> that is moving toward the normal position, the control unit <NUM> may increase the moving speed of the operation member <NUM> and stop fixing the rotational position of the operation member <NUM> at the same time. In this case, the control unit <NUM> may also perform the synchronous control. That is, in the case where an external force pulling the operation member <NUM> toward the normal position is applied to the operation member <NUM> that is moving toward the normal position, the control unit <NUM> may perform the synchronous control for the rotational position of the operation member <NUM> and stop fixing the rotational position of the operation member <NUM> at the same time. Alternatively, for example, the control unit <NUM> may increase the moving speed of the operation member <NUM>, perform the synchronous control for the operation member <NUM>, and stop fixing the rotational position of the operation member <NUM> at the same time.

The first actuator <NUM> need not necessarily function as the rotation fixing unit. The steering system <NUM> may include, e.g., a lock mechanism unit that moves a member that engages with the rotary shaft <NUM> in the circumferential direction when controlled by the control unit <NUM>. In this case, the lock mechanism unit can have the function of the rotation fixing unit to fix and stop fixing the rotation angle of the rotary shaft <NUM>.

The steering system <NUM> according to the embodiment can also control the input unit <NUM> that is the turn signals, the horn, or the like based on the determination as to whether the direction of an external force applied to the operation member <NUM> is the same as the moving direction of the operation member <NUM>. An example of this operation will be described with reference to <FIG>.

As shown in <FIG>, the control unit <NUM> disables the input unit <NUM> such as the turn signals while, for example, the vehicle is traveling in the autonomous drive mode in order to prevent a malfunction or erroneous operation of the input unit <NUM> (S6). Accordingly, even if the turn signal lever is operated while the vehicle is traveling in the autonomous drive mode, the turn signals do not operate according to the operation of the turn signal lever. When the operation mode is subsequently switched from the autonomous drive mode to the manual drive mode, the control unit <NUM> operates the moving unit <NUM> to start moving (advancing) the operation member <NUM> rearward (S12). When the external force detection unit <NUM> detects an external force applied to the advancing operation member <NUM>, the determination unit <NUM> determines whether the direction of the external force is the same as the moving direction of the operation member <NUM> (S20). When the determination unit <NUM> determines that the direction of the external force is the same as the moving direction of the operation member <NUM> (Yes in S20), the control unit <NUM> enables the disabled input unit <NUM> (S42). The driver can thus quickly operate the input unit <NUM>.

As described above, the steering system <NUM> according to the embodiment includes the input unit <NUM> that can accept an input by the driver and operate according to the input. The control unit <NUM> can switch between the manual drive mode in which steering of the steered wheels <NUM> of the vehicle is driven based on the operation of the operation member <NUM> by the driver and the autonomous drive mode in which steering of the steered wheels <NUM> is driven based on an instruction that is generated without depending on the operation of the operation member <NUM> by the driver. In the autonomous drive mode, the control unit <NUM> disables the input unit <NUM> so as not to allow the input unit <NUM> to accept the input by the driver. In the case where the control unit <NUM> acquires, while the input unit <NUM> is in the disabled state and the operation member <NUM> is moving toward the normal position, the determination result indicating that the direction of the external force is the same as the moving direction of the operation member <NUM>, the control unit <NUM> enables the disabled input unit <NUM>.

Accordingly, for example, when the driver wants to start operating the operation member <NUM> as soon as possible and pulls the operation member <NUM> while the operation member <NUM> is moving toward the normal position, the control unit <NUM> immediately enables the disabled input unit <NUM>. For example, the driver can therefore start operating the turn signals, or honk the horn, as soon as he or she holds the operation member <NUM>. In this case, the control unit <NUM> may also increase the moving speed of the operation member <NUM> as described above with reference to (d) of <FIG>. That is, in the case where an external force pulling the operation member <NUM> toward the normal position is applied to the operation member <NUM> that is moving toward the normal position, the control unit <NUM> may increase the moving speed of the operation member <NUM> and enable the input unit <NUM> at the same time.

In the case where the operation member <NUM> is pulled during a period in which the operation member <NUM> disabled in the autonomous drive mode is being moved toward the normal position, the steering system <NUM> may immediately enable the operation member <NUM>. That is, the control unit <NUM> can switch between the manual drive mode in which steering of the steered wheels <NUM> of the vehicle is driven based on the operation of the operation member <NUM> by the driver and the autonomous drive mode in which steering of the steered wheels <NUM> is driven based on an instruction that is generated without depending on the operation of the operation member <NUM> by the driver. In the autonomous drive mode, the control unit <NUM> disables the operation member <NUM> so as not to allow the operation member <NUM> to accept the operation by the driver. In the case where the control unit <NUM> acquires, while the operation member <NUM> is in the disabled state and is moving toward the normal position, the determination result indicating that the direction of the external force is the same as the moving direction of the operation member <NUM>, the control unit <NUM> enables the disabled operation member <NUM>. That is, driving of the vehicle according to the operation of the operation member <NUM> by the driver, namely the manual drive mode, is started.

Accordingly, for example, when the driver wants to start operating the operation member <NUM> as soon as possible and pulls the operation member <NUM> while the operation member <NUM> is moving toward the normal position, the control unit <NUM> immediately enables the disabled operation member <NUM>. For example, the driver can therefore start driving (manually driving) the vehicle using the operation member <NUM> as soon as he or she holds the operation member <NUM>. In this case, the control unit <NUM> may also increase the moving speed of the operation member <NUM> as described above with reference to (d) of <FIG>. That is, in the case where an external force pulling the operation member <NUM> toward the normal position is applied to the operation member <NUM> that is moving toward the normal position, the control unit <NUM> may increase the moving speed of the operation member <NUM> and enable the operation member <NUM> at the same time.

The steering system according to the invention is described above based on the embodiment. However, the invention is not limited to the above embodiment. Various modifications that can be made to the above embodiment by those skilled in the art and forms using any combination of two or more of the components described above without departing from the scope of the invention are within the scope of the invention.

For example, the steering system <NUM> need not necessarily include the rotation mechanism unit <NUM>. That is, advancing and retracting of the operation member <NUM> need not necessarily involve rotation of the operation member <NUM> about the rotation axis Ab extending in the lateral direction of the vehicle. The operation member <NUM> can still be stored in the storage area in, for example, the dashboard located in front of the driver's seat. When the operation member <NUM> is stored in the storage area, a member that supports the operation member <NUM> and that is non-circular as viewed in the direction of the steering axis Aa may also be stored in the storage area. In this case, the rotational position of the operation member <NUM> when stored in the storage area is limited. Accordingly, the rotational position of the operation member <NUM> at the time when the operation member <NUM> is advanced from the storage area may not correspond to the steered angle of the steered wheels <NUM> at that time. Accordingly, in this case as well, performing the synchronous control for the rotational position of the operation member <NUM> while the operation member <NUM> is advancing toward the normal position is effective for efficiently controlling the operation of the steering system <NUM>, as described above with reference to, e.g., <FIG>.

The function of the control unit <NUM> to control the steering mechanism unit <NUM> including the first actuator <NUM>, etc. and the function of the control unit <NUM> to control the steering operation mechanism unit <NUM> including the second actuator <NUM>, etc. may be implemented by separate computers. That is, the control unit <NUM> according to the embodiment may be implemented by a first control unit that controls the steering mechanism unit <NUM>, a second control unit that controls the steering operation mechanism unit <NUM>, and a main control unit that controls the first control unit and the second control unit. The first control unit may have a function to control the second control unit. That is, the control unit <NUM> according to the embodiment may be implemented by the first control unit and the second control unit. The configuration of hardware and software for controlling the steering system <NUM> is not particularly limited, and the arrangement thereof is also not particularly limited.

The mechanism for moving the operation member <NUM> in the longitudinal direction need not necessarily be the sliding mechanism. For example, the operation member <NUM> may be moved between the storage area and the normal position by collapsing and deploying an arm with one or more joints that integrally supports the mechanism unit including the operation member <NUM>, etc..

The operation member <NUM> need not necessarily have such an annular shape as shown in <FIG>. For example, the operation member <NUM> may have a U-shape or an H-shape that lacks a part of its upper end and/or lower end, etc. in <FIG>. That is, the shape and size of the operation member <NUM> are not particularly limited as long as the driver can hold the operation member <NUM> in the manual drive mode in such a manner that he or she can drive the vehicle.

Claim 1:
A steering system configured to steer a vehicle comprising:
a rotary shaft (<NUM>) to which an operation member (<NUM>) is coupled;
a moving unit (<NUM>) configured to move the operation member (<NUM>) between a normal position that is a position where the operation member (<NUM>) is operated by a driver, and a storage area located ahead of the normal position; characterized by
an external force detection unit (<NUM>) configured to detect an external force externally applied to the operation member (<NUM>) while the operation member (<NUM>) is moving;
a determination unit (<NUM>) configured to determine whether a direction of the external force detected by the external force detection unit (<NUM>) is the same as a moving direction of the operation member (<NUM>); and
a control unit (<NUM>) configured to control the moving unit (<NUM>) based on a determination result from the determination unit (<NUM>).