WO2015040961A1 - パワーステアリング装置および車両搭載機器の制御装置 - Google Patents
パワーステアリング装置および車両搭載機器の制御装置 Download PDFInfo
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- WO2015040961A1 WO2015040961A1 PCT/JP2014/070023 JP2014070023W WO2015040961A1 WO 2015040961 A1 WO2015040961 A1 WO 2015040961A1 JP 2014070023 W JP2014070023 W JP 2014070023W WO 2015040961 A1 WO2015040961 A1 WO 2015040961A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
Definitions
- the present invention relates to a power steering device and a control device for on-vehicle equipment.
- Patent Document 1 discloses a method of using another sensor output signal as a backup signal instead of an abnormal sensor output signal.
- abnormality determination is performed using at least four sensor output signals, and among the plurality of sensor output signals, the first condition and the same value are set.
- n the largest number of signals belong to a group to which sensor output signals sharing a common factor belong
- the present invention it is a problem to improve the abnormality detection accuracy of the sensor output signal in the power steering device and the control device for on-vehicle equipment.
- FIG. 1 is a schematic diagram of a power steering device according to Embodiment 1.
- FIG. FIG. 2 is an electric system block diagram of the power steering apparatus according to the first embodiment. The figure which shows the input / output of a steering torque sensor and a steering angle sensor.
- 5 is a flowchart showing an abnormal signal detection process in the first embodiment.
- FIG. 3 is a block diagram showing an abnormal signal detection process in the first embodiment. Explanatory drawing which shows the calculation method of a steering torque calculation signal.
- 9 is a flowchart showing an abnormal signal detection process in the second embodiment.
- FIG. 9 is a block diagram showing an abnormal signal detection process in the second embodiment. Explanatory drawing which shows the calculation method of a steering angle calculation signal.
- 10 is a flowchart showing an abnormal signal detection process in the third embodiment.
- FIG. 10 is a block diagram showing an abnormal signal detection process in the third embodiment. Explanatory drawing which shows the calculation method of a motor rotation angle calculation signal. 10 is a flowchart showing an abnormal signal detection process in the fourth embodiment.
- FIG. 10 is a block diagram showing an abnormal signal detection process in a fourth embodiment.
- 10 is a flowchart showing an abnormal signal detection process in the fifth embodiment.
- FIG. 10 is a diagram showing absolute difference values of cases 1 and 2 in the fifth embodiment.
- 10 is a flowchart showing an abnormal signal detection process in the sixth embodiment.
- FIG. 10 is a block diagram showing common factors in the sixth embodiment. The figure which shows the difference absolute value of cases 3 and 4 in Embodiment 6.
- FIG. The figure which shows the difference absolute value of cases 5 and 6 in Embodiment 6.
- Embodiments 1 to 6 of the power steering device and the control device for on-vehicle equipment according to the present invention will be described in detail below with reference to FIGS.
- FIG. 1 is a schematic diagram illustrating a power steering apparatus according to the first embodiment.
- a basic steering mechanism is configured by a steering wheel (not shown), a steering shaft (steering shaft) 1, a pinion shaft 2, and a rack shaft 3.
- the steering wheel when the steering wheel is rotated by the driver, the steering torque of the steering wheel is transmitted to the pinion shaft 2 via the steering shaft 1, and the rotational movement of the pinion shaft 2 is applied to the rack shaft 3.
- the left and right steered wheels (not shown) converted to linear motion and connected to both ends of the rack shaft 3 are steered. That is, the rack shaft 3 is formed with rack teeth that mesh with the pinion shaft 2, and a conversion mechanism that converts the rotation of the steering shaft 1 into a steering operation by meshing the rack teeth with the pinion shaft is configured. .
- the housing of the pinion shaft 2 is provided with a steering torque sensor TS (for example, a resolver) that detects the steering angle of the steering wheel.
- the steering torque detection signal of the steering torque sensor TS and the rotation of the rotor of the electric motor M are provided.
- An electric motor M is driven by a motor control circuit (not shown) of a control device (hereinafter referred to as ECU) based on a motor rotation angle detection signal of a motor rotation angle sensor (for example, a resolver or IC) and vehicle speed information for detecting an angle. It is configured to control and apply a steering assist force from the electric motor M to the rack shaft 3 via the speed reducer 5.
- the electric motor M is provided with a speed reducer 5 on its output shaft, and the rotation of the electric motor M is converted into a linear motion of the rack shaft 3 while being decelerated.
- the steering shaft 1 is divided in the axial direction into an input shaft on the steering wheel side and an output shaft on the rack shaft 3 side.
- the input shaft and the output shaft are coaxially connected to each other via a torsion bar (not shown).
- the steering torque sensor TS includes a main steering torque sensor that detects a rotation angle on the input shaft side, and a sub steering torque sensor that detects a rotation angle on the output shaft side, and the steering torque sensor of the main and the steering of the sub. Based on the output signal of the torque sensor, the steering torque is calculated by calculating the twist amount of the torsion bar.
- the torsion bar is provided with a steering angle sensor AS (for example, an MR element or an IC).
- a steering angle sensor AS for example, an MR element or an IC.
- FIG. 2 is a block diagram showing the configuration of the electric system
- FIG. 3 is a diagram showing input / output of the steering torque sensor TS, the steering angle sensor AS, and the motor rotation angle sensor 6.
- two steering torque sensors TS1 and TS2 for Main and Sub two steering angle sensors AS1 and AS2 for Main and Sub, and two motor rotation angle sensors 61 and 62 for Main and Sub, respectively.
- the steering torque, the steering angle, and the motor rotation angle are detected, and the steering torque detection signals Tt (Main) and Tt (Sub), the steering angle detection signals ⁇ s (Main) and ⁇ s (Sub), and the motor rotation angle detection signal ⁇ m, respectively.
- (Main) and ⁇ m (Sub) are output to a torque signal receiving unit (not shown), a steering angle signal receiving unit (not shown), and a motor rotation angle signal receiving unit (not shown) in the ECU 4.
- the power supply circuit 7 supplies power for sensors, MPU 9 and IC.
- the CAN communication circuit 8 exchanges data and other information with the vehicle.
- the MPU 9 performs EPS assist control calculation, motor current control, functional component abnormality detection, transition processing to a safe state, and the like.
- the fail-safe circuit 13 has a function of shutting off the power supply of the motor current based on a command from the MPU 9 when an abnormality is detected in the MPU 9 and it is determined that the system should be shut off.
- the drive circuit 10 drives the drive element of the inverter circuit 12 based on a command from the MPU 9.
- the inverter circuit 12 is composed of a drive element and operates based on a command from the drive circuit 10.
- the electric motor M is driven according to the current from the inverter circuit 12 and outputs a motor torque for assisting steering.
- the current on the downstream side of the inverter circuit 12 is detected by a current sensor 11a as a current detection element.
- main and sub current detection circuits 14a and 14b that perform high-response filter processing are provided. Further, in order to monitor the overcurrent of the inverter circuit 12, there are provided main and sub current detection circuits 15a and 15b which detect an average current and perform low-response filter processing.
- the steering torque detection signals Tt (Main) and Tt (Sub) are read from the steering torque sensor Ts2 of the main steering torque sensor Ts1 and Sub in S1, and the steering angle sensors AS1 and Sub of the main steering angle sensors Sub are read in S2.
- the steering angle detection signals ⁇ s (Main) and ⁇ s (Sub) are read from the steering angle sensor AS2, and the motor rotation angle detection signals ⁇ m (Main) and ⁇ m from the motor rotation angle sensor 61 of Main and the motor rotation angle sensor 62 of Sub in S3.
- (Sub) is read, torsional stiffness value Ktb of the torsion bar is read in S4, and the reduction ratio Ng from the pinion shaft 2 to the motor shaft is read in S5.
- the first comparison signal generation circuit 16a uses the steering angle detection signal ⁇ s (Main), the motor rotation angle detection signal ⁇ m (Main), the torsion bar torsional rigidity value Ktb, and the pinion shaft 2 to the motor shaft. Based on the reduction ratio Ng, a steering torque calculation signal (Main) is calculated.
- a steering torque calculation signal Tts is calculated by multiplying the relative angle between the upstream and downstream of the torsion bar by the torsional rigidity value Ktb of the torsion bar.
- the steering angle detection signal ⁇ s (Main) is used as the angle upstream of the torsion bar.
- the angle downstream of the torsion bar is calculated by multiplying the motor rotation angle detection signal ⁇ m (Main) by the reduction ratio Ng between the pinion shaft 2 and the motor shaft. That is, the steering torque calculation signal Tts (Main) is expressed by the following equation (1).
- the second comparison signal generation circuit 16b causes the steering angle detection signal ⁇ s (Sub), the motor rotation angle detection signal ⁇ m (Sub), the torsion bar torsional rigidity value Ktb, and the pinion shaft 2 to the motor shaft. Based on the reduction ratio Ng, a steering torque calculation signal Tts (Sub) is calculated. The calculation method of the steering torque calculation signal Tts (Sub) is the same as that of the steering torque calculation signal Tts (Main).
- the abnormality detection circuit 17 compares the steering torque detection signal Tt (Main), the steering torque detection signal Tt (Sub), the steering torque calculation signal Tts (Main), and the steering torque calculation signal Tts (Sub) to find the difference. Calculate the absolute value.
- the steering torque detection signal Tt (Main), the steering torque detection signal Tt (Sub), the steering torque calculation signal Tts (Main), and the steering torque calculation signal Tts (Sub) are compared on a one-to-one basis. Each difference absolute value is calculated.
- the abnormality determination circuit 17 determines whether or not the absolute value of the difference between the signals is equal to or less than a threshold value. When the difference absolute value between all the signals is smaller than the threshold value, the process in this control cycle is terminated as a determination of no abnormality, and when there is a difference absolute value between signals larger than the threshold value, the process proceeds to S10.
- the abnormality determination circuit 17 determines whether each signal can be determined normal or abnormal.
- the abnormality determination circuit 17 determines that a signal that satisfies both the following first condition and second condition is normal, and determines that other signals are abnormal.
- First condition the number of signals having the same value is the largest.
- Second condition the number of signals having the same value is n + 1.
- n represents the number of signals in a group to which signals having the largest number of shared factors belong.
- the abnormality determination circuit 17 determines whether or not the steering torque detection signal Tt (Main) is abnormal. If the abnormal signal is the steering torque detection signal Tt (Main), the process proceeds to S14, and otherwise, the process proceeds to S16.
- the backup signal selection circuit 18 uses the steering torque detection signal Tt (Sub), the steering torque calculation signal Tts (Main), or the steering torque calculation signal Tts (Sub) instead of the steering torque detection signal Tt (Main) as a backup signal. And used as a control signal.
- the steering assist control is continued using the steering torque detection signal Tt (Main) as it is as a control signal in S16. However, since there is an abnormal signal other than the steering torque detection signal Tt (Main), the warning lamp is turned on in S17.
- the number of sensor output signals having a common factor is the largest since it is determined as a normal value only when n + 1 or more signals show similar values. Even if an abnormality occurs in the sensor output signal having the common factor due to the common factor, there is no possibility that the sensor output signal having the common factor is erroneously determined as a normal value. As a result, it is possible to improve the accuracy of the abnormal signal detection process.
- an abnormal signal when an abnormal signal is determined by majority vote using three signals, if two signals become abnormal due to a common factor, the two abnormal signals may be determined to be normal. However, as in the first embodiment, the determination of an abnormal signal using four or more signals can suppress erroneous determination due to the cause of the common factor.
- the sensor output signal that satisfies the first and second conditions has high reliability, a plurality of sensor outputs can be obtained by continuously controlling the electric motor using the sensor output signal.
- the driver's steering load can be reduced compared to when the steering assist is stopped.
- the sensor output signal provided on one of the divided members and the sensor output provided on the other Since the signals do not have a correspondence relationship based on mechanical linkage, the reliability is low compared to sensor output signals provided between members having mechanical linkage. Therefore, the reliability of abnormality determination can be improved by using sensor output signals provided between members having mechanical linkage.
- the steering torque calculation signal can be calculated from the output signals of the steering angle sensor and the motor rotation angle sensor, and the abnormality of the sensor output can be determined by comparing the signals arranged as the same steering torque. it can.
- the motor control may be limited more than usual. Thereby, safety can be improved.
- the driver can be notified of the abnormality by turning on the warning light.
- the power steering apparatus according to the second embodiment will be described with reference to the flowchart in FIG. 7, the abnormality detection block diagram of the steering angle detection signal in FIG. 8, and the calculation example of the steering angle calculation signal in FIG.
- S1 to S5, S9 to S12, and S15 to 1S17 are the same as those in the first embodiment.
- description of the same processing as that of the first embodiment will be omitted, and only processing different from that of the first embodiment will be described.
- the first and second comparison signal generation circuits 26a and 26b use the steering angle calculation signals ⁇ ss (Main) and ⁇ ss ( Sub) is calculated.
- the first comparison signal generation circuit 26a uses the steering torque detection signal Tt (Main), the motor rotation angle detection signal ⁇ m (Main), the torsion bar torsional rigidity value Ktb, and the deceleration from the pinion shaft 2 to the motor shaft. Based on the ratio Ng, the steering angle calculation signal ⁇ ss (Main) is calculated.
- the motor rotation angle detection signal ⁇ m is multiplied by the reduction ratio Ng between the pinion shaft 2 and the motor shaft to convert it to a rotation angle ⁇ p at the pinion shaft 2.
- the torsion bar twist angle T / Ktb is calculated by dividing the steering torque detection signal Tt by the torsion bar twist stiffness value Ktb.
- the steering angle calculation signal ⁇ ss (Main) can be calculated as in the following equation (2).
- the second comparison signal generation circuit 26b causes the steering torque detection signal Tt (Sub), the motor rotation angle detection signal ⁇ m (Sub), the torsional bar torsional rigidity value Ktb, and the pinion shaft 2 to the motor shaft.
- a steering angle calculation signal ⁇ ss (Sub) is calculated based on the reduction ratio Ng.
- the calculation method of the steering angle calculation signal ⁇ ss (Sub) is the same as that of the steering angle calculation signal ⁇ ss (Main).
- S23 to S25 are a steering torque detection signal Tt (Main), a steering angle detection signal ⁇ s (Main), a steering torque detection signal Tt (Sub), a steering angle detection signal ⁇ s (Sub), and a steering torque calculation signal Tts (Main).
- the processing is the same as S8, S13, and S14 only by replacing the steering angle calculation signal ⁇ ss (Main) and the steering torque calculation signal Tts (Sub) with the steering angle signal ⁇ ss (Sub).
- the first abnormality detection circuit 26 can easily compare them, and can judge normality and abnormality with high accuracy. It becomes possible.
- the abnormality detection circuit 27 can determine normality and abnormality with higher accuracy.
- the steering angle and the motor rotation angle are both angle information
- the steering angle calculation signals ⁇ ss (Main) and ⁇ ss (Sub) can be calculated from the motor rotation angle detection signals ⁇ m (Mian) and ⁇ m (Sub).
- the abnormality detection circuit 27 determines whether the abnormality is normal or abnormal, so that a highly accurate determination can be made.
- the motor rotation angle sensors 61 and 62 detect the rotation amount after the ignition is turned on, and the detection range is 0 ° to 360 °. Therefore, by accumulating the motor rotation angle detection signals ⁇ m (Main) and ⁇ m (Sub) in the comparison signal generation circuits 26a and 26b, the absolute angle that is the rotation angle from the neutral position of the steering wheel can be calculated.
- the steering angle detection signals ⁇ s (Main) and ⁇ s (Sub), which are the same angle signals, and the motor rotation angle detection signals ⁇ m (Main) and ⁇ m (Sub) are compared, and the steering angle detection signals ⁇ s (Main), Abnormality of ⁇ s (Sub) and motor rotation angle detection signals ⁇ m (Main) and ⁇ m (Sub) can be determined.
- the power steering apparatus will be described with reference to the flowchart in FIG. 10, the abnormality detection block diagram of the motor rotation angle detection signal in FIG. 11, and the calculation example of the motor rotation angle calculation signal in FIG.
- S1 to S5, S9 to S12, and S15 to S17 are the same as those in the first embodiment.
- description of the same processing as that of the first embodiment will be omitted, and only processing different from that of the first embodiment will be described.
- the motor rotation angle calculation signals ⁇ ms (Main) and ⁇ ms (Sub) are calculated in the comparison signal generation circuits 36a and 36b in order to detect an abnormality in the motor rotation angle sensors 61 and 62.
- the comparison signal generation circuit 36a uses the steering torque detection signal Tt (Main), the steering angle detection signal ⁇ s (Main), the torsion bar torsional stiffness value Ktb, and the reduction ratio Ng from the pinion shaft to the motor shaft.
- the motor rotation angle calculation signal ⁇ ms (Main) is calculated.
- the second comparison signal generation circuit 36b causes the steering torque detection signal Tt (Sub), the steering angle detection signal ⁇ s (Sub), the torsion bar torsional stiffness value Ktb, and the deceleration from the pinion shaft 2 to the motor shaft.
- the motor rotation angle calculation signal ⁇ ms (Sub) is calculated.
- the calculation method of the motor rotation angle calculation signal ⁇ ms (Sub) is the same as that of the motor rotation angle calculation signal ⁇ ms (Main).
- the steering torque detection signal Tt (Main) is used as the motor rotation angle detection signal ⁇ m (Main)
- the steering torque detection signal Tt (Sub) is used as the motor rotation angle detection signal ⁇ m (Sub)
- the processing is the same as S8, S13, and S14.
- control apparatus for on-vehicle equipment in the fourth embodiment will be described based on the flowchart of FIG. 13 and the abnormality detection block diagram of the current detection signal of FIG.
- S9 to S12 and S15 to S17 are the same as those in the first embodiment.
- description of the same processing as that of the first embodiment will be omitted, and only processing different from that of the first embodiment will be described.
- the current detection signals Is (Main) and Is (Sub) for EPS control apply the values detected by the current sensor 11a to the amplifiers 41a and 41c and the first and second filter circuits 42a and 42c. Signal.
- the first and second filter circuits 42a and 42c have substantially the same responsiveness, and output to the ECU 4 after extracting the band limit or specific frequency component.
- the current detection signals Io (Main) and Io (Sub) for overcurrent detection are obtained by detecting the values detected by the current sensor 11a as amplifiers 41b and 41d, and third and fourth filter circuits 42b and 42d. It is a signal applied to.
- the third and fourth filter circuits 42b and 42d have responsiveness different from that of the first and second filter circuits 42a and 42c, and output the band limit or specific frequency component to the ECU 4 after taking out.
- the responsiveness adjustment circuit 43 detects abnormalities in the current detection signals Is (Main) and Is (Sub) for EPS control and the current detection signals Io (Main) and Io (Sub) for overcurrent detection. In order to detect, the response is adjusted and brought closer.
- the first and second filter circuits 42a and 42c used for the current detection signals Is (Main) and Is (Sub) for EPS control have a higher response and a higher cut-off frequency. By further filtering the current detection signals Is (Main) and Is (Sub), the responsiveness can be easily made uniform.
- the steering torque detection signal Tt (Main) is the current detection signal Is (Main) for EPS control
- the steering torque detection signal Tt (Sub) is the current detection signal Is (Sub) for EPS control
- the steering torque is calculated.
- the signal Tts (Main) is replaced with a current detection signal Io (Main) for overcurrent detection
- the steering torque calculation signal Tts (Sub) is replaced with a current detection signal Io (Sub) for overcurrent detection.
- Embodiment 5 The power steering apparatus according to Embodiment 5 will be described with reference to the flowchart of FIG. 15 and the diagrams showing the absolute difference values of Case 1 and Case 2 of FIG.
- the fifth embodiment is the same as the first embodiment from S1 to S9, and a description thereof will be omitted.
- S51 to S59 different from the first embodiment will be described.
- the steering torque detection signal Tt (Main) is A
- the steering torque detection signal Tt (Sub) is B
- the steering torque calculation signal Tts (Main) is C
- the steering torque calculation signal Tts (Sub) is D.
- the abnormality determination circuit 17 determines whether or not the absolute value of the difference between the signals is equal to or less than a threshold value.
- the threshold is set to 0.8 as shown in FIG.
- the abnormality determination circuit 17 determines which one of the signals A, B, C, and D is abnormal and which is normal.
- the abnormality determination circuit 17 determines that a signal that satisfies both the following first condition and second condition is normal, and determines that other signals are abnormal.
- S52 it is determined which of the signals A, B, C, and D is abnormal.
- the signal A is determined to be abnormal.
- S53 it is determined whether or not the abnormal signal is a signal A (steering torque detection signal Tt (Main)) used for steering assist control. If the abnormal signal is the steering torque detection signal Tt (Main), the process proceeds to S54, and otherwise, the process proceeds to S55. In case 1 shown in FIG. 16, since the abnormal signal A is the steering torque detection signal Tt (Main), the process proceeds to S54.
- the backup signal selection circuit 18 uses the steering torque detection signal Tt (Sub), the steering torque calculation signal Tts (Main), and the steering torque calculation signal Tts (Sub) as backup signals instead of the steering torque detection signal Tt (Main). And used as a control signal.
- the steering assist control is continued using the steering torque detection signal Tt (Main) as a control signal in S55. To do. However, since there is an abnormal signal other than the steering torque detection signal Tt (Main), the warning lamp is turned on in S59.
- S56 it is determined whether or not there are two signals whose absolute difference from other signals is equal to or greater than a threshold value. If there are two signals, the process proceeds to S57, and if there are no two signals, the process proceeds to S58.
- Embodiment 6 A control apparatus for on-vehicle equipment in Embodiment 6 will be described based on the flowchart of FIG. 17, the block diagram of FIG. 18, and the abnormal pattern examples of FIGS.
- sensors C, D, and E are supplied with power from a common power source 7A, and sensors A and B are supplied with power from independent power sources 7C and 7B, respectively. ing.
- on-vehicle equipment is controlled based on the output signal of the sensor A.
- the output signals of sensors A, B, C, D, and E are read in S61a.
- the signals are compared with each other to calculate the absolute value of the difference, and in S62, it is determined whether or not the absolute value of the difference is equal to or greater than a threshold value.
- the process in the present control cycle is terminated without any abnormality, and when there is a difference absolute value between the signals larger than the threshold value, the process proceeds to S63.
- the abnormality determination circuit 17 determines which signal is normal and which is abnormal among the output signals of the sensors A, B, C, D, and E.
- the abnormality determination circuit 17 determines that a signal that satisfies both the following first condition and second condition is normal, and determines that other signals are abnormal.
- the abnormality determination circuit 17 determines whether there are four or more signals whose absolute difference from other signals is equal to or greater than a threshold value.
- the abnormality determination circuit 17 determines which signal is abnormal and which is normal among the output signals of the sensors A, B, C, D, and E. In S65, the abnormal signal is output from the sensor A. It is determined whether it is an output signal. If the abnormal signal is an output signal of sensor A, the process proceeds to S66, and otherwise, the process proceeds to S68. In case 3 shown in FIG. 19, since the output signal of the sensor A is abnormal, the process proceeds to S66.
- the backup signal selection circuit 18 switches one of the output signals of the sensors B to E as a backup signal instead of the output signal of the sensor A, and uses it as a control signal.
- the process proceeds to S68 and the control is continued based on the output signal of the sensor A as it is. However, since there is an abnormal signal other than the output signal of the sensor A, the warning lamp is turned on in S67.
- the process proceeds to S71, and the control is continued based on the output signal of the sensor A as it is. However, since the output signals of the sensors C, D, E are abnormal, the warning lamp is turned on in S67.
- S72 it is determined whether the output signal of the sensor A is 2 or not. In case 5 shown in FIG. 20, the output signal of sensor A has two NG signals. The output signal of the sensor A does not have a common factor, and since the number of signals having the same value is the largest, it is determined as a normal signal. Further, the output signals of the sensors C and D whose absolute value of the difference between the output signal of the sensor A and the threshold value is within the threshold are determined to be normal. If it is determined Yes in S72, the process proceeds to S73.
- the output signal of sensor A is determined to be abnormal because the output signal of sensor A has three NGs.
- the output signal of the sensor B does not have a common factor, and since the number of signals having the same value is the largest, it is determined as a normal signal. Further, the output signals of the sensors D and E whose absolute value of the difference from the output signal of the sensor B is within the threshold are also determined as normal signals. If it is determined No in S72, the process proceeds to S74.
- a signal that does not belong to the group having the largest number of signals and has a small number of NGs that is, a signal having the largest number of signals having similar values.
- a sensor or a circuit to which power is supplied from the same power supply circuit 7 is affected in the same manner and may output a similar abnormality signal.
- the sensor output signal shares a harness and an abnormality such as a disconnection occurs in this harness
- the sensor or circuit connected to the same harness may be affected in the same way and output a similar abnormality signal.
- the plurality of sensor output signals may be detection signals output from different detection elements, or detection signals output from different electronic circuits after being detected by a common detection element. It may be.
- the first and second steering angles are compared by comparing the first and second steering angle detection signals and the first and second motor rotation angle detection signals, which are the same angle signals.
- the abnormality of the detection signal and the first and second motor rotation angle detection signals can be determined.
- a comparison signal for correcting the first and second steering angle detection signals or the first and second motor rotation angle detection signals based on the twist amount of the torsion bar A generation circuit, and the abnormality determination circuit compares the corrected first and second steering angle detection signals and the first and second motor rotation angle detection signals with each other to thereby determine the first and second steering angles. An abnormality in a detection signal and the first and second motor rotation angle detection signals is determined.
- the driver when an abnormal value is included in the sensor output signal, the driver can be notified of the abnormality by turning on the warning lamp.
- the plurality of sensors are configured such that, among the members constituting the on-vehicle equipment, the movement of any one of the members is mechanically linked.
- a control device for on-vehicle equipment which is provided within a range having mechanical linkage transmitted to the vehicle.
- sensor output signals between members that do not have mechanical linkage do not have a correspondence relationship based on mechanical linkage, they are provided between members that have mechanical linkage. Less reliable than sensor output signal. Therefore, the reliability of abnormality determination can be improved by using sensor output signals provided between members having mechanical linkage.
- the on-vehicle equipment is based on the sensor output signal determined as a normal value as a result of the abnormality determining circuit satisfying the first and second conditions.
- the sensor output signal that satisfies the two conditions has high reliability. Therefore, by continuously controlling the on-vehicle equipment using the sensor output signal, a plurality of sensor output signals can be obtained. When an abnormal value is included in the sensor output signal, the convenience of the driver can be improved as compared with the case where the control of the on-vehicle equipment is stopped.
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Abstract
Description
図1は、本実施形態1におけるパワーステアリング装置を示す概略図である。図1に示すパワーステアリング装置は、ステアリングホイール(図示省略),ステアリングシャフト(操舵軸)1,ピニオン軸2,ラック軸3により基本的な操舵機構が構成されている。この操舵機構は、運転者によってステアリングホイールが回転操作されると、そのステアリングホイールの操舵トルクがステアリングシャフト1を介してピニオン軸2に伝達されると共に、ピニオン軸2の回転運動がラック軸3の直線運動に変換され、ラック軸3の両端に連結された左右の転舵輪(図示省略)が転舵するようになっている。つまり、ラック軸3には、ピニオン軸2が噛み合いするラック歯が形成されており、そのラック歯とピニオン軸との噛合をもってステアリングシャフト1の回転を転舵動作に変換する変換機構が構成される。
次に、S7において、第2比較信号生成回路16bにより、舵角検出信号θs(Sub),モータ回転角検出信号θm(Sub),トーションバーの捻れ剛性値Ktb,ピニオン軸2からモータシャフトまでの減速比Ngに基づいて、操舵トルク演算信号Tts(Sub)を演算する。操舵トルク演算信号Tts(Sub)の演算方法は、操舵トルク演算信号Tts(Main)と同様である。
第1条件:同様の値を示す信号の数が最多数である
第2条件:同様の値を示す信号の数がn+1
ここで、上記nは、最多数の共有因子を有する信号が属するグループの信号数を表す。
実施形態1では操舵トルクセンサTS1,TS2の操舵トルク検出信号Tt(Main),Tt(Sub)の異常を検出したが、本実施形態2では、舵角センサAS1,AS2の舵角検出信号θs(Main),θs(Sub)の異常を検出するものである。
舵角センサASがトーションバーよりも転舵輪側に設けられている場合は、ピニオン軸2における回転角θpが舵角演算信号θssとなり、トーションバーの捻れ角T/Ktbは不要となる。
本実施形態3は、モータ回転角センサ61,62のモータ回転角検出信号θm(Main),θm(Sub)の異常を検出するものである。
すなわち、モータ回転角演算信号θmsは以下の(3)式となる。
舵角センサASがトーションバーよりも転舵輪側に設けられている場合は、舵角検出信号θsがピニオン軸2における回転角θpとなり、Tt/Ktbは不要となる。
本実施形態4は、インバータ回路12のパワーステアリング装置制御用(以下、EPS制御用と称する)の電流検出信号,過電流検出用の電流検出信号の異常を検出するものである。
本実施形態5におけるパワーステアリング装置を図15のフローチャート,図16のケース1,ケース2の差分絶対値を示す図に基づいて説明する。
第1条件:同様の値を示す信号の数が最多数である
第2条件;同様の値を示す信号の数がn+1(本実施形態5では、n=1であるため、n+1=2)以上である
図16に示すケース1では、総信号数が4つであるため、同様の値を示す信号の数が3つ以上の場合、最多数とみなし、同様の値を示す信号の数が2つの場合は最多数とみなさないものとする。
本実施形態6における車両搭載機器の制御装置を図17のフローチャート,図18のブロック図,図19,図20の異常パターン例に基づいて説明する。
第1条件:同様の値を示す信号の数が最多数である
第2条件;同様の値を示す信号の数がn+1(本実施形態6では、n=3であるため、n+1=4)以上である
図19に示すケース3では、総信号数が5つであるため、同様の値を示す信号の数が3つ以上の場合、最多数とみなす。
Claims (19)
- ステアリングホイールの操舵操作に応じて転舵輪を転舵させる操舵機構と、
前記操舵機構に操舵力を付与する電動モータと、
前記電動モータを駆動制御するECUと、
前記ECUに設けられ、車両の運転状態に応じて前記電動モータを駆動制御するモータ指令信号を出力するモータ制御回路と、
前記操舵機構の操舵状態または前記電動モータの駆動状態を検出する複数のセンサと、
前記ECUに設けられ、前記複数のセンサから出力される検出信号であって互いに異なる4つ以上の信号である複数のセンサ出力信号を受信する検出信号受信部と、
前記ECUに設けられ、前記複数のセンサ出力信号同士を比較することで前記センサ出力信号の異常を判断する異常判断回路と、
を備え、
前記複数のセンサ出力信号は、互いに異なる検出素子から出力される検出信号、または共通の検出素子によって検出された後、互いに異なる電子回路を介して出力される検出信号であって、
前記センサ出力信号に共通の原因によって同様の変化を発生させる共通因子を共有するセンサ出力信号のグループのうち、最多数の信号が属するグループの信号数がn個のとき、
前記異常判断回路は、前記複数のセンサ出力信号のうち、第1の条件、同様の値を示す信号の数が最多数であること、および第2の条件、その数が前記n個+1個以上であること、の2つの条件を満足するセンサ出力信号が存在するとき、前記第1および第2の条件を満足する前記センサ出力信号が正常値であり、その他のセンサ出力信号が異常値であると判断することを特徴とするパワーステアリング装置。 - 前記操舵機構と前記電動モータの間に設けられ、前記電動モータの回転力を前記操舵機構に伝達する減速器を備え、
前記複数のセンサは、前記操舵機構、前記減速器、および前記電動モータのうち、いずれかの部材の動きが機械的な連係によって他の部材の動きに伝達される機械的連係を有する範囲内において設けられることを特徴とする請求項1記載のパワーステアリング装置。 - 前記操舵機構は、前記ステアリングホイールに接続された操舵軸と、前記操舵軸の途中に設けられ、前記操舵軸の前記ステアリングホイール側と前記転舵輪側とを相対回転可能に接続するトーションバーを備え、
前記複数のセンサの1つは、前記トーションバーの捩れ量に応じて前記操舵機構に発生する操舵トルクを検出する操舵トルクセンサであって、
前記複数のセンサの1つは、前記トーションバーよりも前記ステアリングホイール側に設けられ、前記操舵軸の回転量を検出する舵角センサであって、
前記複数のセンサの1つは、前記トーションバーよりも前記転舵軸側に設けられ、前記電動モータの回転角を検出するモータ回転角センサであって、
前記検出信号受信部は、前記操舵トルクセンサから出力される異なる2つの第1,第2の操舵トルク検出信号を受信するトルク信号受信部と、
前記舵角センサから出力される異なる2つの第1,第2の舵角検出信号を受信する舵角信号受信部と、
前記モータ回転角センサから出力される異なる2つの第1,第2のモータ回転角検出信号を受信するモータ回転角信号受信部と、
前記第1の舵角検出信号と前記第1のモータ回転角検出信号に基づき、前記操舵トルク相当値である第1操舵トルク演算信号を演算すると共に、前記第2の舵角検出信号と前記第2のモータ回転角検出信号に基づき前記操舵トルク相当値である第2操舵トルク演算信号を演算する比較信号生成回路と、を備え、
前記異常判断回路は、前記第1、第2の操舵トルク検出信号および前記第1、第2操舵トルク演算信号同士を比較することで、前記操舵トルクセンサ,舵角センサ,モータ回転角センサの出力信号の異常を判断することを特徴とする請求項2記載のパワーステアリング装置。 - 前記操舵機構は、前記ステアリングホイールに接続された操舵軸と、前記操舵軸の途中に設けられ、前記操舵軸の前記ステアリングホイール側と前記転舵輪側とを相対回転可能に接続するトーションバーを備え、
前記複数のセンサの1つは、前記トーションバーよりも前記ステアリングホイール側に設けられ、前記操舵軸の回転量を検出する舵角センサであって、
前記複数のセンサの1つは、前記トーションバーよりも前記転舵輪側に設けられ、前記電動モータの回転角を検出するモータ回転角センサであって、
前記検出信号受信部は、前記舵角センサから出力される異なる2つの第1,第2舵角検出信号を受信する舵角信号受信部と、
前記モータ回転角センサから出力される異なる2つの第1,第2モータ回転角検出信号を受信するモータ回転角信号受信部と、を備え、
前記異常判断回路は、前記第1,第2舵角検出信号,第1,第2モータ回転角検出信号同士を比較することで、前記第1,第2舵角検出信号,第1,第2モータ回転角検出信号の異常を判断することを特徴とする請求項2記載のパワーステアリング装置。 - 前記第1,第2モータ回転角検出信号を累積することで操舵軸の回転量相当値を演算する比較信号生成回路を備え、前記第1,第2舵角検出信号,前記操舵軸の回転量相当値を比較することで、前記第1,第2舵角検出信号および第1,第2モータ回転角検出信号の異常を判断することを特徴とする請求項4記載のパワーステアリング装置。
- 前記トーションバーの捩れ量に基づき、前記第1,第2舵角検出信号、または、第1,第2モータ回転角検出信号を補正する比較信号生成回路を備え、前記異常判断回路は、補正後の前記第1,第2舵角検出信号および第1,第2モータ回転角検出信号同士を比較することで、前記第1,第2舵角検出信号および前記第1,第2モータ回転角検出信号の異常を判断することを特徴とする請求項5記載のパワーステアリング装置。
- 前記共通因子は、前記検出素子または前記電子回路に電力を供給する電源回路であることを特徴とする請求項1記載のパワーステアリング装置。
- 前記共通因子は、前記検出素子または前記電子回路に接続されたハーネスであることを特徴とする請求項1記載のパワーステアリング装置。
- 前記モータ制御回路は、前記異常判断回路が前記第1および第2の条件を満足した結果、正常値として判断した前記センサ出力信号に基づき、前記電動モータを継続して駆動制御することを特徴とする請求項1記載のパワーステアリング装置。
- 前記複数のセンサ出力信号に前記異常値を含む場合であって、かつ前記第1および第2の条件を満足する前記センサ出力信号が存在する場合、前記複数のセンサ出力信号に前記異常値を含まない場合に比べ、前記モータ指令信号の値が小さくなるように制限した状態で、前記正常値として判断した前記センサ出力信号に基づき、前記電動モータを継続して駆動制御することを特徴とする請求項9記載のパワーステアリング装置。
- 前記複数のセンサ出力信号に前記異常値を含む場合であって、かつ前記第1および第2の条件を満足する前記センサ出力信号が存在する場合、車両のイグニッションスイッチが切られた後、再度前記イグニッションスイッチが入れられたとき、前記モータ制御回路は、前記電動モータの駆動制御を行わないことを特徴とする請求項9記載のパワーステアリング装置。
- 前記複数のセンサ出力信号に前記異常値を含む場合、前記ECUは、車両のワーニングランプを点灯する点灯指示信号を出力することを特徴とする請求項9記載のパワーステアリング装置。
- 前記ECUは、不揮発性メモリを更に備え、前記複数のセンサ出力信号に前記異常値を含む場合、前記ECUは、異常の内容を前記不揮発性メモリに記憶することを特徴とする請求項9記載のパワーステアリング装置。
- 車両の運転状態を検出する複数のセンサから出力される検出信号であるセンサ出力信号を受信し、前記センサ出力信号に基づき車両搭載機器を制御する車両搭載機器の制御装置において、
前記制御装置は、前記複数のセンサから出力される検出信号であって互いに異なる4つ以上の信号である複数のセンサ出力信号を受信する検出信号受信部と、
前記複数のセンサ出力信号同士を比較することで前記センサ出力信号の異常を判断する異常判断回路と、
を備え、
前記複数のセンサ出力信号は、互いに異なる検出素子から出力される検出信号、または共通の検出素子によって検出された後、互いに異なる電子回路を介して出力される検出信号であって、
前記センサ出力信号に共通の原因によって同様の変化を発生させる共通因子を共有するセンサ出力信号のグループのうち、最多数の信号が属するグループの信号数がn個のとき、
前記異常判断回路は、前記複数のセンサ出力信号のうち、第1の条件、同様の値を示す信号の数が最多数であること、および第2の条件、その数が前記n個+1個以上であること、の2つの条件を満足するセンサ出力信号が存在するとき、前記第1および第2の条件を満足する前記センサ出力信号が正常値であり、その他のセンサ出力信号が異常値であると判断することを特徴とする車両搭載機器の制御装置。 - 前記共通因子は、前記検出素子または前記電子回路に電力を供給する電源回路であることを特徴とする請求項14記載の車両搭載機器の制御装置。
- 前記共通因子は、前記検出素子または前記電子回路に接続されたハーネスであることを特徴とする請求項14記載の車両搭載機器の制御装置。
- 前記複数のセンサは、前記車両搭載機器を構成する部材のうち、いずれかの部材の動きが機械的な連係によって他の部材の動きに伝達される機械的連係を有する範囲内において設けられることを特徴とする請求項14記載の車両搭載機器の制御装置。
- 前記異常判断回路が前記第1および第2の条件を満足した結果、正常値として判断した前記センサ出力信号に基づき、前記車両搭載機器を継続して制御することを特徴とする請求項14記載の車両搭載機器の制御装置。
- ステアリングホイールの操舵操作に応じて転舵輪を転舵させる操舵機構と、
前記操舵機構に操舵力を付与する電動モータと、
前記電動モータを駆動制御するECUと、
前記ECUに設けられ、車両の運転状態に応じて前記電動モータを駆動制御するモータ指令信号を出力するモータ制御回路と、
前記操舵機構の操舵状態または前記電動モータの駆動状態を検出する複数のセンサと、
前記ECUに設けられ、前記複数のセンサから出力される検出信号であって互いに異なる4つ以上の信号である複数のセンサ出力信号を受信する検出信号受信部と、
前記ECUに設けられ、前記複数のセンサ出力信号同士を比較することで前記センサ出力信号の異常を判断する異常判断回路と、
を備え、
前記複数のセンサ出力信号は、互いに異なる検出素子から出力される検出信号、または共通の検出素子によって検出された後、互いに異なる電子回路を介して出力される検出信号であって、
前記センサ出力信号に共通の原因によって同様の変化を発生させる共通因子を共有するセンサ出力信号のグループのうち、最多数の信号が属するグループの信号数がn個のとき、
前記異常判断回路は、
前記複数のセンサ出力信号のうち、第1の条件、同様の値を示す信号の数が最多数であること、および第2の条件、その数が前記n個+1個以上であること、の2つの条件を満足するセンサ出力信号が存在するとき、前記第1および第2の条件を満足する前記センサ出力信号が正常値であり、その他のセンサ出力信号が異常値であると判断し、
第1および第2の条件を満足する前記センサ出力信号が存在しない場合は、前記複数のセンサ出力信号のうち、最多数の信号を有するグループに属さないセンサ出力信号の全てが、差分絶対値が大きい他の信号を前記n個有する場合、最多数の信号を有するグループに属さないセンサ出力信号が正常値であり、最多数のセンサ出力信号を有するグループに属するセンサ出力信号が異常値であると判断し、
最多数の信号を有するグループに属しないセンサ出力信号の全てが、差分絶対値が大きい他の信号を前記n個有さない場合、最多数の信号を有するグループに属さず、同様の値を示す信号の数が最多数であることを満足する信号を正常値と判定することを特徴とするパワーステアリング装置。
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DE112014004320B4 (de) | 2021-01-28 |
KR101784640B1 (ko) | 2017-10-11 |
KR20160044552A (ko) | 2016-04-25 |
US20160229445A1 (en) | 2016-08-11 |
JP2015058911A (ja) | 2015-03-30 |
DE112014004320T5 (de) | 2016-07-07 |
US9988080B2 (en) | 2018-06-05 |
JP6078444B2 (ja) | 2017-02-08 |
CN105531178A (zh) | 2016-04-27 |
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