JP2002019631A - Steering apparatus and setting method for steering reaction force - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set steering reaction force so as to obtain a good steering feeling. SOLUTION: A steering reaction force command value Tp* having hysteresis characteristics to a steering angle θh is calculated on the basis of the judgment whether the steering wheel is increased in steering or decreased in steering therefrom, the steering angle θh, and vehicle speed V, and an actuator such as a motor is controlled so that the steering reaction force equivalent to the steering reaction force command value Tp* applys on the steering wheel. Since the steering reaction force command value Tp* is calculated on the basis of the judgment whether the steering wheel is increased in steering or decreased in steering and the steering angle θh, an adequate steering reaction force command value Tp* can be calculated even if the resolution of a sensor for detecting the steering angle θh is rough, and the stable steering reaction force command value Tp* can be outputted even in slow steering or keeping steering. As a result, good steering feeling can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device and a method for setting a steering reaction force, and more particularly, to a vehicle-mounted steering device for outputting a steering reaction force in response to an operation of a steering wheel and an operation of the steering wheel of the vehicle. The present invention relates to a steering reaction force setting method for setting a steering reaction force.

[0002]

2. Description of the Related Art Conventionally, as this type of steering apparatus, there is known a steering apparatus which sets a steering torque output from an electric motor based on a compensated torque obtained by phase-compensating a torque acting on a steering shaft and a vehicle speed. Proposed. In this device, a map showing the relationship between the compensated torque, the vehicle speed, and the current command value to the electric motor is created in advance, and when the compensated torque and the vehicle speed are given, the compensated torque given from the map is given. A current command value corresponding to the torque and the vehicle speed is derived, and the steering torque is output from the electric motor. By providing an insensitive area on the map, stability during steering is obtained.

[0003]

However, such a steering device may not provide a good steering feeling. Since the torque that acts on the steering shaft varies depending on the vehicle speed, rotation speed, etc.,
Simply by simply deriving a current command value based on the torque acting on the steering shaft and the vehicle speed and driving the electric motor, it is not possible to obtain a steering feeling suitable for the operating condition of the steering wheel.

[0004] It is an object of the present invention to provide a steering device capable of obtaining a better steering feeling.
Another object of the present invention is to set a steering reaction force at which a better steering feeling can be obtained.

[0005] In order to achieve a part of the above-described object, the applicant has proposed a method of controlling the steering angle between when the steering wheel is turned further and when the steering wheel is turned back, based on the steering angle of the steering wheel, the rate of change of the steering angle, and the vehicle speed. It has been proposed to output a steering reaction force so that hysteresis occurs in the force (Japanese Patent Application No. 2000-136082).
issue).

[0006]

Means for Solving the Problems and Actions and Effects Thereof The steering apparatus and the steering reaction force setting method of the present invention employ the following means in order to at least partially achieve the above-mentioned object.

A steering device according to the present invention is a vehicle-mounted steering device that outputs a steering reaction force in accordance with the operation of a steering wheel. The steering device includes a steering angle detecting means for detecting a steering angle of the steering wheel, and the detected steering angle. Turning-back and turning-back determining means for determining whether the steering wheel is turned further and turning back based on the target steering reaction force for setting a target steering reaction force with hysteresis characteristics based on the determination result and the detected steering angle. The gist of the present invention is to include a setting unit and a steering reaction force output unit that outputs a steering reaction force so as to output the set target steering reaction force.

In the steering apparatus according to the present invention, it is determined whether the steering wheel is to be turned further or not, based on the steering angle of the steering wheel detected by the steering angle detecting means, and based on the determination result and the detected steering angle. The target steering reaction force is set based on the hysteresis characteristics. Then, the steering reaction force is output such that the set target steering reaction force is output. By giving the steering reaction force at the time of turning the steering wheel more and turning back to have a hysteresis characteristic, a better steering feeling can be obtained. Moreover, since the target steering reaction force is set based on the determination of whether the steering wheel is to be turned further or the turning back and the steering angle, the steering reaction force at the time of holding the steering can be stabilized.

In the steering apparatus according to the present invention, the target steering reaction force setting means determines the target steering reaction force on the basis of the detected steering angle and a predetermined increasing tendency when the turning-increasing / return judging means judges that the turning has been increased. A steering reaction force is set, and when the additional turning-back determination unit determines that the vehicle is returning, the target steering reaction force is set based on the detected steering angle and a predetermined decreasing tendency. Can also. In the steering apparatus according to the aspect of the present invention, the target steering reaction force setting means uses the tendency that the rate of increase decreases as the steering angle increases as the predetermined increase tendency, and the steering angle decreases as the predetermined decrease tendency. The means for setting the target steering reaction force by using a tendency that the rate of decrease becomes smaller, or as a predetermined increasing tendency, a monotonic increasing tendency with respect to an increase in the steering angle, and a positive value when the steering angle is zero. Is used as the target steering reaction force, and a negative value is set as the target steering reaction force when the steering angle is zero and the steering angle is zero with respect to the decrease in the steering angle as the predetermined decreasing tendency. It may be a means for setting the target steering reaction force by using the tendency.

Further, in the steering apparatus according to the present invention, the target steering reaction force setting means, from the start of turning of the steering wheel to a predetermined steering angle, irrespective of a result of the judgment by the turning / returning judgment means, A means for setting a target steering reaction force based on the detected steering angle and a predetermined increasing / decreasing tendency may be employed. In this manner, a steering reaction force based on a predetermined increasing / decreasing tendency can be obtained from the start of turning the steering wheel to a predetermined steering angle. That is, assuming a linear relationship with the steering angle as an example of the predetermined increasing / decreasing tendency, the steering reaction force when the steering wheel is turned further or when the steering wheel is turned back can be made linear.

Further, in the steering apparatus according to the present invention, there is provided running speed detecting means for detecting a running speed of the vehicle, and the target steering reaction force setting means is configured to detect the running speed based on the running speed detected by the running speed detecting means. It may be a means for setting a target steering reaction force. In this case, a steering reaction force according to the traveling speed can be output. As a result, a better steering feeling can be obtained. In the steering apparatus according to the aspect of the present invention, the target steering reaction force setting means changes the degree of the predetermined increasing tendency and / or the predetermined decreasing tendency based on the detected traveling speed, and sets the target steering reaction force. It may be a means for setting the force.

In the steering apparatus according to the present invention, the target steering reaction force set by the target steering reaction force setting means is corrected based on the rate of change of the steering angle detected by the steering angle detection means. The vehicle may further include a force correcting unit, and the steering reaction force output unit may output the steering reaction force such that the target steering reaction force corrected by the target steering reaction force correcting unit is output. This improves the convergence characteristics of the handle to the equilibrium point when the handle is released from the hand. In the steering apparatus according to the aspect of the present invention, the target steering reaction force correction unit corrects the target steering reaction force by adding a value obtained by multiplying a change rate of the steering angle by a predetermined gain to the target steering reaction force. It can also be a means to perform.

A steering reaction force setting method according to the present invention is a steering reaction force setting method for setting a steering reaction force in accordance with an operation of a steering wheel of a vehicle, wherein the steering reaction force is set based on the steering angle of the steering wheel. The gist of the present invention is to determine whether to return the steering wheel, and to set the steering reaction force with hysteresis characteristics based on the determination result and the steering angle of the steering wheel.

In the steering reaction force setting method of the present invention, the steering reaction force is set with a hysteresis characteristic, so that a better steering feeling can be obtained. In addition, since the setting is made based on the result of the determination of whether the steering wheel is to be turned more or more and the steering wheel is to be returned, which is determined based on the steering angle of the steering wheel, and the steering angle of the steering wheel, the steering reaction force during steering can be stabilized. .

In the steering reaction force setting method according to the present invention, when the result of the determination is a turning increase, the steering reaction force is set based on the steering angle of the steering wheel and a predetermined increasing tendency. Sometimes, the steering reaction force may be set based on the steering angle of the steering wheel and a predetermined decreasing tendency. In the steering reaction force setting method according to the aspect of the present invention, the degree of the predetermined increasing tendency and / or the predetermined decreasing tendency may be changed based on the traveling speed of the vehicle to set the steering reaction force. it can. This makes it possible to set a steering reaction force according to the traveling speed. As a result, a better steering feeling can be obtained.

In the steering reaction force setting method according to the present invention, from the start of turning of the steering wheel to a predetermined steering angle, the steering angle of the steering wheel and a predetermined increasing / decreasing tendency are obtained regardless of the determination result. It is also possible to set the steering reaction force. In the steering reaction force setting method according to the aspect of the present invention, if the steering angle is linearly related to the steering angle as an example of the predetermined increasing / decreasing tendency, the steering reaction force when the steering wheel is turned further or when the steering wheel is returned is made linear. Can be.

Further, according to the steering reaction force setting method of the present invention, the set steering reaction force is corrected based on a change rate of the steering angle of the steering wheel, and the corrected steering reaction force is set as a new steering reaction force. It can also be done. This way,
The convergence characteristics of the handle to the equilibrium point when the handle is separated from the hand can be improved.

[0018]

Next, embodiments of the present invention will be described with reference to examples. FIG. 1 is a configuration diagram schematically showing a configuration of a steering device 20 mounted on a vehicle according to one embodiment of the present invention. The steering device 20 of the embodiment, as illustrated,
The steering wheel 30 and the steering torque of the steering wheel 22 are transmitted to the rack 28 via the pinion gear 26 to control the steering wheels 30 and 3.
2 includes a steering shaft 24 for changing the turning angle of 2, a motor 34 for outputting an output torque to the rack 28 via a speed reducer 36 and a pinion gear 38, and an electronic control unit 50 for controlling the entire apparatus.

The electronic control unit 50 is configured as a microprocessor mainly including a CPU 52, and includes a ROM 54 storing a processing program, a RAM 56 temporarily storing data, and an input / output port (not shown). Prepare. The electronic control unit 50 includes a torque Th from a torque sensor 40 attached to the steering shaft 24, a steering angle θh from a steering angle sensor 42 attached to the steering shaft 24, and a vehicle speed sensor 5.
The vehicle speed V from 8 is input via an input port. The electronic control unit 50 outputs a drive signal to the motor 34 through an output port.

FIG. 2 is an explanatory diagram exemplifying a control block when the electronic control unit 50 of the steering apparatus 20 of the embodiment operates as a steering reaction force command value calculation block 60 for calculating a steering reaction force command value Tp *. is there. As shown in the figure, the steering reaction force command value calculation block 60 includes an additional turning-back determining unit 62 that determines whether the steering wheel 22 is turned further or more based on the input steering angle θh, and an additional turning-return determining unit. A steering reaction force command value calculation unit 64 that calculates a steering reaction force command value Tp * based on the determination result of 62, the steering angle θh, and the vehicle speed V. In the electronic control unit 50 of the steering device 20 of the embodiment, the steering reaction force command value Tp * calculated by the steering reaction force command value calculation block 60 and the torque sensor 40
22 based on the torque Th detected by the
The motor 34 is controlled so that the reaction force acting on the motor 34 becomes the steering reaction force command value Tp *.

In the steering reaction force command value calculation block 60, the turning / turning-back determining section 62 determines whether the steering wheel 22 has been turned or turned back based on the steering angle θh detected by the steering angle sensor 42. Specifically, the determination is made based on the sign of the deviation between the steering angle θh input last time and the steering angle θh input this time, that is, positive or negative.

In the steering reaction force command value calculating section 64, the steering reaction force acting on the steering wheel 22 based on the determination result of the additional turning and return determining section 62, the steering angle θh and the vehicle speed V is as shown in FIG. A steering reaction force command value Tp * is calculated so as to have a hysteresis characteristic. In FIG. 3, the horizontal axis is the steering angle θh, and the vertical axis is the steering reaction force Tp. Straight lines A and C are straight lines having a slope of K1, and straight lines B and D are straight lines having a slope of K2 and intercepts of T2 and -T2. The calculation of the steering reaction force command value Tp * is performed as follows. The steering reaction force command value T
p * is calculated in the same way except that the sign is different between when the steering wheel 22 is turned to the right and when the steering wheel 22 is turned to the left. Therefore, when the steering angle θh is in the positive direction (in the embodiment, when the steering wheel 22 is turned to the right) ) Will be described. Further, a process of calculating the steering reaction force command value Tp * without using the vehicle speed V will be described for ease of explanation.

The steering angle θh and the steering reaction force Tp are plotted on the horizontal axis and the vertical axis until the steering angle θh at the start of turning of the steering wheel 22 reaches the angle θ1 that intersects the straight line B on the straight line of the slope K1 from the value 0. The steering reaction force command value Tp * is calculated as a relationship of a straight line passing through the origin with the inclination K1 on the coordinates at the time of the above. That is, the steering reaction force command value Tp * is calculated as the following equation (1).

Tp * = K1 · θh (1)

The equation of motion of the handle is expressed by the following equation (2). Here, in equation (2), Jh is the handle 22
, Th is the steering torque of the steering wheel 22, and Tp is the steering reaction force. Further, the third right side in the equation (2)
The term is Coulomb friction generated on the steering shaft 24, and fs is a constant.

[0026]

(Equation 1)

The steering reaction force command value Tp * of the expression (1) is substituted for the steering reaction force Tp of the steering equation of motion represented by the expression (2) and the value 0 is substituted for Th, and the steering wheel 22 is released. Considering the state, the equation of motion of the handle is expressed by the following equation (3), and it can be understood that the equation converges to the origin.

[0028]

(Equation 2)

When the steering angle θh is increased after the steering angle θh exceeds the angle θ1, the steering angle θh is calculated by the following equation (4) from the above equation (1) every time the steering angle θh is increased by the minimum resolution Δθh. Subtract ΔT. That is, the minimum resolution Δθh
Is increased by n times, the steering reaction force command value Tp * is calculated by equation (5).

ΔT = (K1−K2) · Δθh (4) Tp * = K1 · θh−n · ΔT = K1 · θh−n · (K1−K2) · Δθh (5)

FIG. 4 shows how the steering reaction force command value Tp * is set when the steering angle θh increases by the minimum resolution Δθh.
Shown in As shown in the drawing, after the steering angle θh exceeds the angle θ1, the calculated steering reaction force command value Tp * becomes a value on the straight line B. Considering a state in which the steering reaction force command value Tp * of Expression (5) is substituted into the steering reaction force Tp of the steering wheel motion equation and the value 0 is substituted into Th, and the handle 22 is released, the motion equation of the steering wheel is as follows. Equation (6) shows that the steering angle θh converges to n · ΔT / K1.

[0032]

(Equation 3)

In the embodiment, every time the minimum resolution Δθh increases, ΔT is subtracted from the equation (1). However, if the minimum resolution Δθh approaches infinity, n · ΔT = (K1−K
2) · (θh−θ1), and this relationship is expressed by equation (5).
May be used to calculate the steering reaction force command value Tp * using the following equation (7) obtained by substituting into the following equation. Note that (K1−K2) · θ1 in the second term on the right side in the equation (7) is an intercept T2 of the straight line B in FIG.

Tp * = K2 · θh + (K1−K2) · θ1 (7)

In this case, when the steering wheel 22 is turned back from the state where the steering angle θh is larger than the angle θ1 and the steering angle θh reaches the intersection between the straight line A and the straight line B on the straight line A. The steering reaction force command value Tp * is calculated according to the following equation (8) until the angle becomes smaller by the angle required for.

Tp * = K1 · θh− (K1−K2) · (θ2−θ1) (8)

The steering reaction force command value Tp * immediately before the return is determined is the value of the point B2 on the straight line B in FIG. When the turning back is started, the steering reaction force command value Tp * is calculated by Expression (8), and the steering reaction force command value Tp * is on a straight line A2 parallel to the straight line A through the point B2 in FIG. Value. Considering a state in which the steering reaction force command value Tp * of Expression (8) is substituted into the steering reaction force Tp in the equation of motion of the steering wheel, and the value 0 is substituted into Th, and the handle 22 is released, the motion equation of the steering wheel is as follows. Equation (9) is obtained, and the steering angle θh is (K
1−K2) · (θ2−θ1) / K1.

[0038]

(Equation 4)

Next, the steering angle θh is represented by a straight line A in FIG.
Consider a case in which the data is returned to the angle θ3 corresponding to the intersection D2 between the line 2 and the straight line D. When the steering wheel is further turned back from the angle θ3, the steering angle θh is added to the above equation (8) by ΔT calculated by the above equation (4) every time the steering angle θh is turned back by the minimum resolution Δθh. The reaction force command value Tp * is set to a value on the straight line D in FIG. That is, when the angle θ3 is returned by m times the minimum resolution Δθh, the steering reaction force command value Tp * is calculated by the following equation (10).

Tp * = K1 · θh- (nm) · ΔT (10)

The steering reaction force command value Tp * of equation (10) is substituted for the steering reaction force Tp of the steering wheel motion equation, and Th
, And the handle 22 is released, and the equation of motion of the handle is given by the following equation (11), and it can be understood that the steering angle θh converges to (nm) · ΔT / K1.

[0042]

(Equation 5)

FIG. 5 is an explanatory diagram illustrating the relationship between the steering angle θh and the corresponding steering reaction force Tp acting on the steering wheel 22. The steering angle θh is set at about 0.75 sec.
It increases linearly with the lapse of time from the start of cutting 2 until it is held around 1.7 seconds. Steering reaction force Tp
Is 1.7 from the start of turning the handle 22 around 0.75 seconds.
It increases with the lapse of time before about seconds, but the rate of increase greatly changes around about 1.15 seconds. This is 1.
About 15 seconds, the steering angle θh reaches the angle θ1, and thereafter, FIG.
The steering reaction force command value Tp * is calculated as a value on the straight line B in the above. Note that, in the steering device 20 of the embodiment, as shown in FIG. 5, the steering reaction force Tp holds a stable value when the steering is maintained for 1.7 seconds or more.

In the above description, the steering reaction force command value Tp * is calculated without considering the vehicle speed V for the sake of simplicity. However, in the steering apparatus 20 of the embodiment, the steering reaction command value Tp * in FIGS. The slope K1 of the straight line A, the slope K2 of the straight line B, and the intercept T2
Is changed according to the vehicle speed V.
p * is calculated.

According to the steering apparatus 20 of the embodiment described above, a steering reaction force command value Tp * having a hysteresis characteristic is calculated based on the determination of whether the steering wheel 22 is turned further or turned back and the steering angle θh. The steering reaction force Tp can be applied to the steering wheel 22. Therefore, even when the steering angle sensor 42 has a coarse resolution and performs slow steering, a stable steering reaction force command value Tp * can be calculated. As a result, a good steering feeling can be obtained. In particular, if the slope K1 of the straight line A, the slope K2 of the straight line B, and the intercept T2 in FIGS. 3 and 4 are changed in accordance with the vehicle speed V to calculate the steering reaction force command value Tp *, A comfortable steering feeling can be obtained.

In the steering apparatus 20 of the embodiment, the parallelogram is drawn as the hysteresis characteristic of the steering reaction force command value Tp *. However, it is sufficient that the hysteresis characteristic is obtained.
Various shapes as illustrated in FIG.

In the steering device 20 of the embodiment, the motor 34 is controlled to be driven based on the calculated steering reaction force command value Tp *. However, as shown in the control block illustrated in FIG. A value obtained by multiplying the steering angular velocity, which is the time derivative of θh, by the damper gain may be added to the steering reaction force command value Tp *, and the drive of the motor 34 may be controlled based on this value. By doing so, the convergence characteristic to the equilibrium point when the hand is released from the handle 22 can be improved.

In the steering device 20 of the embodiment, the torque is output from the motor 34 to the rack 28 via the speed reducer 36 and the pinion gear 38. However, any device can be used as long as the torque can be output to the rack 28. Alternatively, the torque may be output to the rack 28 via the pinion gear 38.

The embodiments of the present invention have been described with reference to the embodiments. However, the present invention is not limited to the embodiments, and various embodiments may be made without departing from the scope of the present invention. Of course, it can be carried out.

[Brief description of the drawings]

FIG. 1 is a configuration diagram schematically showing a configuration of a steering device 20 mounted on a vehicle according to an embodiment of the present invention.

FIG. 2 is an electronic control unit 5 of the steering device 20 according to the embodiment;
FIG. 7 is an explanatory diagram illustrating a control block when 0 operates as a steering reaction force command value calculation block 60 for calculating a steering reaction force command value Tp *.

FIG. 3 is an explanatory diagram showing an example of a relationship between a steering angle θh and a steering reaction force Tp.

FIG. 4 is an explanatory diagram illustrating a manner in which a steering reaction force command value Tp * is calculated from a steering angle θh.

FIG. 5 is an explanatory diagram exemplifying a relationship between a steering angle θh and a corresponding steering reaction force Tp acting on a steering wheel 22;

FIG. 6 is an explanatory diagram showing an example of a shape of a hysteresis characteristic of a modified example.

FIG. 7 is an explanatory diagram illustrating an example of a control block according to a modified example.

[Explanation of symbols]

20 steering system, 22 steering wheel, 24 steering shaft, 26 pinion gear, 28 rack, 30,
32 steering wheel, 34 motor, 36 reduction gear, 38 pinion gear, 40 torque sensor, 42 steering angle sensor, 50 electronic control unit, 52 CPU, 54 R
OM, 56 RAM, 58 Vehicle speed sensor.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shoji Asai 41-cho, Yokomichi, Nagakute-machi, Aichi-gun, Aichi Prefecture Inside Toyota Central Research Laboratory Co., Ltd. 1-chome Toyota Koki Co., Ltd. (72) Inventor Toshihiro Takahashi 1-1-1 Asahi-cho, Kariya-shi, Aichi F-term (reference) 3D032 DA03 DA08 DA15 DA23 DE03 DE10 EB12 EC23 3D033 CA03 CA13 CA16 CA17 CA21

Claims (14)

[Claims] 1. An in-vehicle steering device for outputting a steering reaction force in accordance with an operation of a steering wheel, a steering angle detecting means for detecting a steering angle of the steering wheel, and a steering wheel based on the detected steering angle. Turning-back and turning-back determining means for determining turning back and turning back; target steering reaction force setting means for setting a target steering reaction force with hysteresis characteristics based on the determination result and the detected steering angle; A steering reaction force output unit that outputs a steering reaction force so as to output a set target steering reaction force. 2. The target steering reaction force setting means sets a target steering reaction force based on the detected steering angle and a predetermined increasing tendency when the turning-increasing / returning determining means determines that the turning has been increased. 2. The steering apparatus according to claim 1, wherein when the turning-back / turn-back determining means determines that turning back is performed, the target steering reaction force is set based on the detected steering angle and a predetermined decreasing tendency. 3. The target steering reaction force setting means uses a tendency that the rate of increase decreases as the steering angle increases as the predetermined increasing tendency, and decreases the rate of decrease as the steering angle decreases as the predetermined decreasing tendency. 3. The steering apparatus according to claim 2, wherein the target steering reaction force is set using a tendency to decrease. 4. The target steering reaction force setting means sets a positive value as a target steering reaction force when the steering angle is zero and the steering angle is zero as the predetermined increase tendency. The target steering reaction force is set by using the tendency and using the tendency that a negative value is set as the target steering reaction force when the steering angle is zero and the steering angle is zero with respect to the decrease in the steering angle as the predetermined decreasing tendency. 3. The steering device according to claim 2, wherein the steering device is a means for performing steering. 5. The target steering reaction force setting means is configured to determine whether the detected steering angle is equal to the detected steering angle from the start of turning of the steering wheel to a predetermined steering angle regardless of the result of the determination by the turning / turning-back return determining means. 5. The steering apparatus according to claim 1, wherein the target steering reaction force is set based on a predetermined increase / decrease tendency. 6. The steering device according to claim 1, further comprising a traveling speed detecting unit that detects a traveling speed of the vehicle, wherein the target steering reaction force setting unit detects the traveling speed by the traveling speed detecting unit. A steering device which is a means for setting the target steering reaction force based on the determined traveling speed. 7. The target steering reaction force setting means, wherein the predetermined increasing tendency and / or the predetermined increasing tendency is determined based on the detected traveling speed.
7. The steering device according to claim 2, wherein the target steering reaction force is set by changing the degree of the predetermined decreasing tendency. 8. The steering apparatus according to claim 1, wherein the target steering reaction force setting unit sets the target steering reaction force based on a rate of change of the steering angle detected by the steering angle detection unit. A target steering reaction force correcting means for correcting the reaction force, wherein the steering reaction force output means is a means for outputting a steering reaction force such that the target steering reaction force corrected by the target steering reaction force correction means is output. Some steering gear. 9. The target steering reaction force correction means for correcting the target steering reaction force by adding a value obtained by multiplying a change rate of the steering angle by a predetermined gain to the target steering reaction force. Item 10. The steering device according to Item 8. 10. A steering reaction force setting method for setting a steering reaction force in accordance with an operation of a steering wheel of a vehicle, the method further comprising: determining whether the steering wheel is to be turned more or less based on the steering angle of the steering wheel. A steering reaction force setting method for setting a steering reaction force with hysteresis characteristics based on a result and a steering angle of the steering wheel. 11. A steering reaction force is set based on the steering angle of the steering wheel and a predetermined increasing tendency when the result of the determination is a turning-up operation, and when the determination result is a turning-back operation, the steering angle of the steering wheel is set to a predetermined value. The steering reaction force setting method according to claim 10, wherein the steering reaction force is set based on the decreasing tendency. 12. The steering reaction force setting method according to claim 11, wherein the degree of the predetermined increase tendency and / or the predetermined decrease tendency is changed based on the traveling speed of the vehicle to set the steering reaction force. 13. A steering reaction force is set based on the steering angle of the steering wheel and a predetermined increasing / decreasing tendency from the start of turning the steering wheel to a predetermined steering angle regardless of the determination result. 13. The steering reaction force setting method according to any one of claims 12 to 12. 14. The steering reaction force that is set based on a change rate of the steering angle of the steering wheel, and the corrected steering reaction force is set as a new steering reaction force.
3. The steering reaction force setting method according to any one of 3).