Shift device

A shift device mounted on a vehicle, the shift device comprising:

• a detent plate including a plurality of valley portions provided so as to correspond to shift positions;
• a detent spring configured to cause the shift position to be established while being fitted in any of the plurality of valley portions of the detent plate;
• a motor configured to drive the detent plate and including a rotor and a stator;
• a driving force transmission mechanism configured to transmit a driving force from the motor to the detent plate;
• a rotor rotation angle sensor configured to detect a rotation angle of the rotor;
• an output shaft rotation angle sensor configured to detect a rotation angle of the detent plate;
• and
• a controller including a processor, the controller is configured to
• determine whether the shift position is switched to a predetermined shift position,
• when it is determined that the shift position is switched to the predetermined shift position
• obtain a first angle of rotation of the rotor,
• obtain a difference between the obtained first angle of rotation of the rotor and an initial rotation angle corresponding to the predetermined shift position,
• determined if the obtained difference is greater than or equal to a predetermined threshold value, and
• store the first angle of rotation,
• determine whether the shift position is switched to another predetermined shift position,
• when it is determined that the shift position is switched to the another predetermined shift position
• obtain a second angle of rotation of the rotor,
• obtain a current backlash width based on a difference between the first angle of rotation and the second angle of rotation,
• obtain an increase amount of the current backlash width based on a difference between an initial backlash width and the current backlash width, and
• offset a center of a backlash by the increase amount of the current backlash width.