JP2020131860A - Control device of on-vehicle apparatus - Google Patents

Abstract

To provide a novel control device of an on-vehicle apparatus which can exactly specify whether sensors of two systems are truly normal or abnormal, and can safely continue the control of the on-vehicle apparatus on the basis of a detection value of the sensor which is specified as the normal sensor.SOLUTION: When it is determined that an abnormality occurs in either of sensors 24am, 24as by comparing a first main sensor signal and a first sub-sensor signal of a first sensor group 24a, the first main sensor signal and the first sub-sensor signal of the first sensor group 24a are compared with a second main sensor signal or a second sub-sensor signal of a second sensor group 24b, and the sensor which outputs a sensor signal coinciding with the second main sensor signal or the second sub-sensor signal out of the sensors 24am, 24as of the first sensor group 24a is specified as the sensor which normally operates. By this constitution, the reliability of an abnormality diagnosis function can be improved.SELECTED DRAWING: Figure 3

Description

The present invention relates to a control device for a vehicle-mounted device mounted on a vehicle such as an automobile, and particularly relates to a control device for a vehicle-mounted device having an abnormality diagnosis function of a sensor that detects a physical quantity indicating a driving state of the vehicle. is there.

As an example of a control device for a vehicle-mounted device, for example, in a control device for an electric power steering device of an automobile, the rotation direction and rotation torque of the steering shaft that is rotated by the driver operating the steering wheel are detected. However, the electric motor is driven so as to rotate in the same direction as the rotation direction of the steering shaft based on the detected torque value, and the steering assist torque is generated.

Then, in order to deal with the occurrence of an abnormality in the torque sensor that detects the rotational torque, an electric power steering device having two systems of torque sensors has been conventionally known. For example, in Japanese Patent Application Laid-Open No. 2009-74858 (Patent Document 1), when an abnormality is detected in one of the torque sensors, the rotation torque detected by the torque sensor on the side where the abnormality is not detected is used. Steering assist control is continued.

JP-A-2009-74858

By the way, although the conventional electric power steering device as in Patent Document 1 is provided with two torque sensors, it is not possible to identify which torque sensor has an abnormality depending on the abnormality mode. There is.

For example, with respect to an abnormality due to a ground fault, a ceiling fault, a power supply abnormality, etc., the value of the sensor signal of the torque sensor fluctuates greatly like the upper limit value or the lower limit value, so that the abnormality can be detected independently for each system. It is possible to identify which torque sensor has an abnormality.

On the other hand, an intermediate value abnormality in which the value of the sensor signal of the torque sensor falls within a predetermined range (for example, an abnormality in which the value of the sensor signal of the torque sensor is fixed to a certain intermediate value) is detected by two torque sensors. The deviation between the sensor signals is obtained, and if the deviation is larger than the preset value, it can be estimated that one of the torque sensors is abnormal and detected.

However, in the case of an abnormality in the intermediate value, it is not possible to specify which system of the sensor has a failure even if the deviation between the outputs of the two systems is obtained. Therefore, it is not possible to accurately identify which torque sensor is truly normal or abnormal, which poses a problem in the reliability of the abnormality diagnosis function. It should be noted that this problem is not limited to the electric power steering device, and other vehicle-mounted devices mounted on the vehicle also have the same problem.

An object of the present invention is to deal with the above problem, and it is possible to accurately identify which of the two sensors is truly normal or abnormal, and to detect the sensor on the side identified as normal. The purpose of the present invention is to provide a new control device for vehicle-mounted equipment that can safely continue to control vehicle-mounted equipment based on the value.

In the control device for the vehicle-mounted device of the present invention,
It is a sensor unit and includes a first sensor group and a second sensor group.
The first sensor group includes the first primary sensor and the first secondary sensor.
The second sensor group includes the second primary sensor and the second secondary sensor.
The first main sensor detects a physical quantity representing the driving state of the vehicle and outputs a first main sensor signal, and the first sub sensor detects a physical quantity representing the driving state of the vehicle and outputs a first sub sensor signal. And
The second main sensor detects a physical quantity representing the driving state of the vehicle and outputs a second main sensor signal, and the second sub sensor detects a physical quantity representing the driving state of the vehicle and outputs a second sub sensor signal. And
In the first microprocessor, between the first group abnormality determination signal generation unit, the first group abnormality determination unit, the first different group signal comparison unit, the first different group abnormality determination unit, and the first microcomputer. Including the communication unit and the first command signal generation unit
The first group abnormality determination signal generation unit has a function of generating an abnormality determination signal for determining an abnormality state from the first main sensor signal and the first sub-sensor signal.
The first group abnormality determination unit has a function of determining the presence or absence of an abnormality in the first sensor group based on the abnormality determination signal from the first group abnormality determination signal generation unit.
The first inter-microcomputer communication unit has a function of obtaining a second main sensor signal or a second sub-sensor signal of the second sensor group from the second inter-microcomputer communication unit of the second microprocessor.
When the first different group signal comparison unit determines that there is an abnormality in the sensor of the first sensor group by the first group abnormality determination unit, the first main and sub sensor signals of the first sensor group and the second sensor group Has a function to compare with the second main sensor signal or the second sub sensor signal of
The first different group abnormality determination unit of the first sensor group is based on the comparison result of the first main and sub sensor signals of the first sensor group and the second main sensor signal of the second sensor group or the second sub sensor signal. It has a function to judge which sensor is operating normally,
The first command signal generation unit drives and controls the actuator based on the sensor signal of the sensor determined to be operating normally by the sensor of the first sensor group in the first different group abnormality determination unit. With the function of generating
In the second microprocessor, between the second group abnormality determination signal generation unit, the second group abnormality determination unit, the second different group signal comparison unit, the second different group abnormality determination unit, and the second microcomputer. Including the communication unit and the second command signal generation unit
The second group abnormality determination signal generation unit has a function of generating an abnormality determination signal for determining an abnormality state from the second main sensor signal and the second sub-sensor signal.
The second group abnormality determination unit has a function of determining the presence or absence of an abnormality in the second sensor group based on the abnormality determination signal from the second group abnormality determination signal generation unit.
The second inter-microcomputer communication unit has a function of obtaining the first main sensor signal or the first sub-sensor signal of the first sensor group from the first inter-microcomputer communication unit of the first microprocessor.
When the second different group signal comparison unit determines that there is an abnormality in the sensor of the second sensor group by the second group abnormality determination unit, the second main and sub sensor signals of the second sensor group and the first sensor group Has a function of comparing with the first main sensor signal or the first sub sensor signal of
The second different group abnormality determination unit is based on the comparison result between the second main sensor signal of the second sensor group and the first main sensor signal of the first sensor group, or the first sub sensor signal of the second sensor group. It has a function to judge which sensor is operating normally,
The second command signal generation unit drives and controls the actuator based on the sensor signal of the sensor determined to be operating normally by the sensor of the second sensor group in the second different group abnormality determination unit. It is characterized by having a function of generating.

According to the present invention, when it is determined from the main sensor signal and the sub sensor signal of one sensor group that one of the sensors has an abnormality, the main sensor signal and the sub sensor signal of one sensor group and the other sensor group are used. A sensor that compares the main sensor signal or the sub sensor signal of the sensor group of the above and outputs a sensor signal that matches the main sensor signal or the sub sensor signal of the other sensor group among the sensors of one sensor group. Since it is identified as a normally operating sensor, the reliability of the abnormality diagnosis function can be improved.

It is a block diagram which shows the structure of the steering apparatus to which this invention is applied. It is a block diagram which shows the specific structure of the control device which controls the electric power steering device shown in FIG. It is a functional block diagram which shows the embodiment of this invention which is carried out by the microprocessor shown in FIG. It is explanatory drawing explaining the relationship between the acquisition timing of a sensor signal by the communication part between microcomputers of the functional block of FIG. 3 and the detection timing of a sensor. 6 is a flowchart of a control flow executed by a microprocessor in order to execute the functional block shown in FIG. It is a flowchart which shows 1st example of the specific control flow of step S40 in FIG. It is a flowchart which shows the 2nd example of the specific control flow of the step S40 in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to the following embodiments, and various modifications and applications are included in the technical concept of the present invention. Is also included in that range.

Before explaining a specific embodiment of the present invention, a configuration of a steering device including an electric power steering device to which the present invention is applied will be described.

FIG. 1 shows a configuration of a steering device including an electric power steering device as a vehicle-mounted device to which the present invention is applied.

The steering device 10 steers the front wheels 11 and 11 as the steering wheel 15 rotates, and has a rack and pinion type steering gear 12. The pinion gear 13 of the steering gear 12 is connected to the steering wheel 15 via the steering shaft 14, and the rack gear 16 of the steering gear 12 is provided on the rack shaft 17.

Both ends of the rack shaft 17 are connected to the front wheels 11 and 11 via tie rods 18 and 18. An electric motor 20 is connected to the steering shaft 14 via a speed reduction mechanism 19, and the speed reduction mechanism 19 is composed of a worm 21 and a worm wheel 22. The worm 21 is provided integrally with the motor shaft 23 of the electric motor 20.

The rotational torque from the motor shaft 23 is transmitted to the steering shaft 14 via the reduction mechanism 19. The steering shaft 14 is provided with a torque sensor 24 that detects steering torque. The steering (rotation) torque of the steering shaft 14 is one of the physical quantities representing the driving state of the vehicle, and the torque sensor 24 functions as a sensor for detecting the physical quantity representing the driving state of the vehicle.

Instead of the torque sensor 24 of the steering shaft 14, a steering angle sensor that detects the steering angle of the front wheels can also be used.

Further, the electric motor 20 is integrally provided with an electronic control unit (ECU) 25 and a rotation angle sensor 26 for detecting the rotation angle of the motor shaft 23. The rotation angle sensor 26 detects the rotation angle (motor rotation angle) of the electric motor 20. Further, a current sensor for detecting the current flowing through the stator winding may be provided.

The rotation angle of the motor shaft 23 and the current flowing through the stator winding are also one of the physical quantities representing the operating state of the vehicle, and the rotation angle sensor 26 and the current sensor detect the physical quantity representing the operating state of the vehicle. Functions as a sensor.

The electronic control unit 25 controls the drive current of the electric motor 20 based on the steering torque signal, the rotation angle signal, the current signal, and the vehicle speed signal detected by the vehicle speed sensor 27, and reduces the rotation torque of the electric motor 20 by a reduction mechanism. The steering assist torque is applied by applying the steering assist torque to the steering shaft 14 via 19.

FIG. 2 shows the configuration of the electronic control unit 25 that controls the electric motor 20. The electronic control unit 25 is configured in a redundant format including a dual system control system.

FIG. 2 shows a configuration in which the torque sensor 24 and the electronic control unit 25 are connected, and the electric motor 20 has two sets of stators (first winding set and second winding set) composed of three-phase windings. ) It is a dual system three-phase motor.

That is, the windings of the dual system are wound around the stator core, and rotational torque is applied to the rotor corresponding to the electric power supplied to each winding. Therefore, if both control systems of the dual system are normal, rotational torque is applied to each winding, and if an abnormality occurs in one control system, rotational torque is applied only to the winding of the other control system. ..

The electronic control unit 25 is composed of a dual system, one first control system supplies a drive current to the first winding set, and the other second control system supplies a drive current to the second winding set. Supply. In the following description, when distinguishing between the two systems, "a" is added to the end of the code for the part corresponding to the first control system, and "b" is added to the end of the code for the part corresponding to the second control system. Will be added and explained.

The electronic control unit 25 has a control system board 28 and a power system board 29. The control system board 28 is composed of a printed wiring board using a non-metal base material such as a glass epoxy resin base material, and control system electronic components such as a microprocessor (MCU) 30 and a pre-driver (Pre-Driver) 31 are placed on both sides. It is implemented. The power system board 29 uses a metal circuit board having excellent heat transfer properties, and an inverter 32 made of a switching element such as a MOSFET is mounted on one side thereof. A glass epoxy circuit board can be used instead of the metal circuit board.

The torque sensor signal of the torque sensor 24, the rotation angle sensor signal of the rotation angle sensor 26, and the vehicle speed signal are input to the microprocessor 30. In addition, current signals from a current sensor that monitors three-phase current and overcurrent are also input. The microprocessor 30 calculates a target assist torque based on each signal or the like, and outputs the calculated value to the pre-driver 31.

Power is supplied to the microprocessor 30 from the power supply IC 33 provided on the control system board 28. The power supply IC 33 is connected to the low electric side battery or the ignition line. The same applies to the other power supply ICs 34 and 35 described later.

An inter-microcomputer communication line 36 for transmitting and receiving information such as mutual control status and sensor signals is provided between the first microprocessor 30a and the second microprocessor 30b forming the dual system.

For example, each of the microprocessors 30a and 30b is provided with a watchdog timer function, and monitors the operating state of the control program of each of the microprocessors 30a and 30b. Then, this monitoring information is exchanged on the communication line 36 between the microcomputers, and when an abnormality occurs in either microprocessor, the normal microprocessor that receives the abnormality signal executes the control corresponding to the abnormality.

Further, in the present embodiment, the sensors of each control system (torque sensor, rotation angle sensor, current sensor, etc.) are provided exclusively for each control system, and the sensor signal of one control system is used. It is not directly input to the microprocessor of the other control system. In this embodiment, only when one microprocessor needs it, it operates so as to capture the other sensor signal from the other microprocessor via the inter-microcomputer communication line 36.

As a result, for example, when the first microprocessor 30a acquires the torque sensor signal of the second torque sensor group 24b, the communication unit between the first microcomputers of the first microprocessor 30a and the second microcomputer of the second microprocessor 30b. The torque sensor signal of the second torque sensor group 24b can be obtained by using the intercommunication unit.

As a result, the first microprocessor 30a does not need to have an input port for directly taking in the torque sensor signal from the second torque sensor group 24b, and the increase of the input port in the first microprocessor 30a can be suppressed. it can. Of course, the same applies to the second microprocessor 30b.

In the present embodiment, although the configuration is as described above, it is completely excluded that the first microprocessor 30a has an input port for directly acquiring the torque sensor signal from the second torque sensor group 24b. It's not a thing. If necessary, it may have an input port for directly acquiring the torque sensor signal from the second torque sensor group 24b. Of course, the second microprocessor 30b has the same configuration.

The torque sensor 24 is, for example, a magnetostrictive type, and power is supplied from a power supply IC 34 provided on the control system board 28. The torque sensor 24 has a first torque sensor group 24a and a second torque sensor group 24b, and each of the torque sensors 24 constituting the first torque sensor group 24a and the second torque sensor group 24b has two Hall ICs. It has. As described above, the first torque sensor group 24a and the second torque sensor group 24b detect the same physical quantity, here, the steering (rotation) torque of the steering shaft 14.

The first torque sensor group 24a consists of two (main and sub) torque sensors of the same detection method, and the torque sensor signals from the first main torque sensor 24am and the first sub torque sensor 24as are transmitted to the first microprocessor 30a. Output. Similarly, the second torque sensor group 24b consists of two (main and sub) torque sensors of the same detection method, and the torque sensor signals from the second main torque sensor 24 bm and the second sub torque sensor 24 bs are transmitted to the second micro. Output to the processor 30b.

Further, each of the first torque sensor group 24a and the second torque sensor group 24b detects the steering torque of the steering shaft 14 by the same detection method. Therefore, the first main torque sensor 24am, the first sub-torque sensor 24as, the second main torque sensor 24bm, and the second sub-torque sensor 24bs are magnetostrictive torque sensors.

The first pre-driver 31a and the second pre-driver 31b output a drive command signal corresponding to the target assist torque to the gates of the MOSFETs constituting the first inverter 32a and the second inverter 32b. The first inverter 32a and the second inverter 32b control the current to each winding set according to the drive command signal. Here, the first inverter 32a and the second inverter 32b are supplied with electric power from the high-power side battery 37.

Further, the rotation angle sensor 26 has a first rotation angle sensor group 26a and a second rotation angle sensor group 26b, and detects the same physical quantity, here, the rotation angle of the motor shaft 23. The rotation angle sensors constituting the first rotation angle sensor group 26a and the second rotation angle sensor group 26b each include two magnetic detection elements. The rotation angle sensor 26 having a magnetic detection element detects the rotation angle of the motor shaft 23 by detecting the rotating magnetic field generated by the rotation of the magnet provided on the motor shaft 23.

The first rotation angle sensor group 26a is composed of two (main and sub) rotation angle sensors of the same detection method, and the rotation angle sensor signals from the first main rotation angle sensor and the first sub rotation angle sensor are transmitted to the first micro. Output to the processor 30a. Similarly, the second rotation angle sensor group 26b consists of two (main and sub) rotation angle sensors of the same detection method, and receives rotation angle sensor signals from the second main rotation angle sensor and the second secondary rotation angle sensor. Output to the second microprocessor 30b.

Further, each of the first rotation angle sensor group 26a and the second rotation angle sensor group 26b detects the rotation angle of the motor shaft 23 by the same detection method (detection by the magnetic detection element).

The first rotation angle sensor 26a is supplied with electric power from the power supply IC 35a provided on the control system board 28. Further, the second rotation angle sensor 26b is supplied with electric power from the power supply IC 35b. The sensor signals of the rotation angle sensor groups 26a and 26b are received by the corresponding first microprocessor 30a and the second microprocessor 30b, respectively.

As described above, for an intermediate value abnormality in which the value of the sensor signal of the torque sensor 24 falls within a predetermined range, the deviation of the value of the sensor signal detected by the two torque sensors 24am and 24as is obtained, and the deviation is determined in advance. If it is larger than the set value, it can be estimated that one of the torque sensors 24am and 24as is abnormal. However, even if the deviation between the outputs of the two systems is obtained in this way, it is not possible to identify which system is out of order, so that there is a problem in the reliability of the abnormality diagnosis function. That's right.

In this embodiment, we propose a control device that can accurately identify which of the two sensors is truly normal or abnormal, and the details will be described below.

Next, a method of determining an abnormality of each sensor group executed by the microprocessors 30a and 30b will be described. Here, the abnormality determination is executed by the control programs stored in the microprocessors 30a and 30b, respectively, but since this control program can be regarded as a control function, it will be described below as a functional block.

FIG. 3 shows a functional block of a control function executed by the microprocessor according to the present embodiment. Although FIG. 3 shows an example in which the torque sensor 24 is used as the sensor, the same applies to the case of other sensors, so the description of the other sensors will be omitted.

The torque sensor signal of the first torque sensor group 24a is input to the first microprocessor 30a via the input port. The first torque sensor group 24a includes a first main torque sensor 24am and a first secondary torque sensor 24as. Here, the first main torque sensor 24am and the first secondary torque sensor 24as use torque sensors of the same detection method as described above. The sensor signals of these torque sensors 24am and 24as are signal processing circuits 38am, respectively. , 38as, AD-converted by the AD converter of the signal processing circuits 38am, 38as, and input to the first microprocessor 30a. Here, the AD converter may be provided in the first microprocessor 30a, and in this case, the sensor signals of the torque sensors 24am and 24as are directly input to the first microprocessor 30a. ..

The signal processing circuits 38am and 38as can be provided with a self-diagnosis function, and when an abnormality occurs in the respective torque sensors 24am and 24as, self-diagnosis information can be output. The use of self-diagnosis information will be described later.

The first microprocessor 30a can execute various control functions by a control program, and here, the abnormality diagnosis function of the sensor, which is the object of the present invention, will be described.

The first microprocessor 30a includes at least the first microcomputer-to-microcomputer communication unit 39a, the first group abnormality determination signal generation unit 40a, the first group abnormality determination unit 41a, the first different group signal comparison unit 42a, and the first. A different group abnormality determination unit 43a and a first command signal generation unit 44a are provided.

The first group abnormality determination signal generation unit (CMPA-1) 40a includes the first main torque sensor signal of the first main torque sensor 24am and the first secondary torque sensor 24as constituting the first torque sensor group 24a. 1 It has a function to compare the secondary torque sensor signals. Further, the comparison result in the first group abnormality determination signal generation unit 40a is used as an "abnormality determination signal" for the abnormality determination executed by the first group abnormality determination unit (EMGA-1) 41a in the subsequent stage. However, it can take various forms.

Here, the first main and sub torque sensors 24am and 24as can be specified, for example, from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the first main, the secondary torque sensor 24am, and the first main from 24as can be obtained from the AD conversion data of the internal data register. The value of the secondary torque sensor signal is read.

It should be noted that this is shown as an example, and can be realized by other configurations. Further, as described above, the AD converter is provided in the signal processing circuits 38am and 38as, but can also be provided in the input circuit of the first microprocessor 30a.

Then, for example, the deviation between the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as can be output as an "abnormality determination signal". This deviation includes information on whether or not an abnormality has occurred in either the first primary torque sensor 24am or the first secondary torque sensor 24as.

Next, the comparison result (deviation) of the first group abnormality determination signal generation unit 40a is sent to the first group abnormality determination unit 41a, and the torque sensors 24am and 24as of any of the first torque sensor groups 24a have an abnormality. A judgment is made as to whether or not there is.

The first group abnormality determination unit 41a is, for example, any torque sensor 24am if the deviation of the first primary and sub torque sensor signals sent from the first group abnormality determination signal generation unit 40a is equal to or less than a predetermined value. , 24as is also judged to be normal.

On the other hand, if the deviation of the first primary and secondary torque sensor signals is equal to or greater than a predetermined value, it can be determined that any of the torque sensors 24am and 24as is abnormal. Since the abnormal state is determined from the magnitude of the deviation in the present embodiment, this example will be described below.

When the values of the first main and sub torque sensor signals from the first main torque sensor 24am and the first sub torque sensor 24as are the same (the deviation is smaller than the predetermined value), the first group abnormality determination unit 41a is used. , It is regarded as normal, and a command for calculating a control signal to the first winding set is output to the first command signal generation unit (CNTA) 44a.

At this time, depending on the setting of the control logic, the first command signal generation unit 44a preferentially uses the first main torque sensor signal from the first main torque sensor 24am to calculate the control signal. The control signal calculated by the first command signal generation unit 44a is sent to the first predriver 31a shown in FIG. 2, and further controls the first inverter 32a by the first predriver 31a to form the first winding set. Drive the winding.

On the other hand, when the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as do not match in the first group abnormality determination unit 41a (the deviation is larger than the predetermined value). Is determined to have an abnormality in either of the torque sensors 24am and 24as of the first torque sensor group 24a. When it is determined that one of the torque sensors 24am and 24as of the first torque sensor group 24a has an abnormality, the determination result is sent to the first different group signal comparison unit (CMPA-2) 42a.

In the first different group signal comparison unit 42a, the torque sensor 24am of the first torque sensor group 24a, the first main and sub torque sensor signals from 24as, and the second main torque sensor 24bm of the second torque sensor group 24b. A comparison is made with the two main torque sensor signals or the second sub torque sensor signals from the second sub torque sensor 24bs. That is, in the first different group signal comparison unit 42a, the values of at least three sensor signals are compared.

Here, in the present embodiment, since the second main torque sensor signal from the second main torque sensor 24bm of the second torque sensor group 24b is taken in, the second main torque sensor signal will be described below. Needless to say, the second sub-torque sensor signal from the second sub-torque sensor 24bs may be used.

In the first different group signal comparison unit 42a, from the second inter-microcomputer communication unit 39b of the second microprocessor 30b via the first inter-microcomputer communication unit 39a, from the second main torque sensor 24bm of the second torque sensor group 24b. The second main torque sensor signal of is taken in. If necessary, both the second main torque sensor signals and the second main torque sensor signals from the torque sensors 24bm and 24bs of the second torque sensor group 24b can be taken in.

Here, the acquisition of the second main torque sensor signal from the second main torque sensor 24 bm is executed on the premise that the second main torque sensor 24 bm is normal. Similarly, when the second sub-torque sensor signal from the second sub-torque sensor 24bs is used, it is executed on the premise that the second sub-torque sensor 24bs is normal.

Further, more preferably, in the second microprocessor 30b, only when the torque sensors 24am and 24as of the second torque sensor group 24b are determined to be normal by the second group abnormality determination unit 41b, the second main unit is used. A gate portion 45b for sending a second main torque sensor signal from the torque sensor 24bm or a second sub-torque sensor signal from the second sub-torque sensor 24bs to the second inter-microcomputer communication unit 39b is provided.

Similarly, in the first microprocessor 30a, only when the torque sensors 24am and 24as of the first torque sensor group 24a are determined to be normal by the first group abnormality determination unit 41a, the first main torque sensor 24am A gate portion 45a for sending a first main torque sensor signal from the above or a first sub-torque sensor signal from the first sub-torque sensor 24as to the first inter-microcomputer communication unit 39a is provided.

The acquisition timing of the second main torque sensor signal is when the first different group signal comparison unit 42a is operated, and other than this acquisition timing, the second main torque sensor signal from the second main torque sensor 24bm is captured. Not. As a result, the communication capacity of the inter-microcomputer communication units 39a and 39b can be kept low.

As described above, the deviation between the first main sensor torque signal of the first main torque sensor 24am and the first sub torque sensor signal of the first sub torque sensor 24as is determined by the first group abnormality determination unit 41a. When compared with the value and the deviation is larger than the predetermined value, it is determined that there is an abnormality in any of the torque sensors 24am and 24as.

Therefore, the first different group signal comparison unit 42a captures the second main torque sensor signal from the second main torque sensor 24bm via the first inter-microcomputer communication unit 39a, and then takes in the second main torque sensor signal of the first main torque sensor 24am. It is compared with the values of the 1 main torque sensor signal and the 1st sub torque sensor signal of the 1st sub torque sensor 24as.

That is, the first main torque sensor signal of the first main torque sensor 24am of the first torque sensor group 24a, the first sub torque sensor signal of the first sub torque sensor 24as, and the second main torque of the second torque sensor group 24b. The values of the three torque sensor signals of the second main torque sensor signal of the sensor 24 bm are compared.

This comparison result is sent to the first different group abnormality determination unit (EMGA-2) 43a, and it is determined which torque sensor 24am or 24as of the first torque sensor group 24a is operating normally. In other words, the torque sensors 24am and 24as in which the abnormality has occurred are identified.

In the first different group abnormality determination unit 43a, among the three sensor signals, the value of the first main torque sensor signal of the first main torque sensor 24am and the value of the second main torque sensor signal of the second main torque sensor 24bm. If they match, the first main torque sensor 24am is determined to be in a normal state. On the contrary, the value of the first sub-torque sensor signal of the first sub-torque sensor 24as does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, so that the first sub-torque sensor 24as is abnormal. It is judged to be in a state.

On the other hand, if the value of the first sub-torque sensor signal of the first sub-torque sensor 24as and the value of the second main torque sensor signal of the second main torque sensor 24bs match, the first sub-torque sensor 24as is in a normal state. Is judged. On the contrary, the value of the first main torque sensor signal of the first main torque sensor 24am does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, so that the first main torque sensor 24am is abnormal. It is judged to be in a state.

Here, "matching" means that the values of the respective torque sensor signals are completely matched, and that the values of the respective torque sensor signals are within a predetermined allowable range.

As described above, in the first different group abnormality determination unit 43a, the first torque sensor group 24a first from the state of matching with the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b. It is possible to identify whether the main torque sensor 24am or the first secondary torque sensor 24as has an abnormality.

When either the first main torque sensor 24am or the first sub-torque sensor 24as is determined to be in the normal state by the first different group abnormality determination unit 43a, the first command signal generation unit 44a determines that it is in the normal state. Based on the torque sensor signal of the torque sensor, a command for calculating a control signal to the first winding set is output.

Then, the first command signal generation unit 44a calculates the control signal by using the torque sensor signal of the torque sensor determined to be in the normal state. The control signal calculated by the first command signal generation unit 44a is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set. To do.

Next, the operation of the second microprocessor 30b will be described. Basically, the same operation as that of the first microprocessor 30a is performed, but the operations of the respective microprocessors are not synchronized and each is operated independently.

The torque sensor signal of the second torque sensor group 24b is input to the second microprocessor 30b via the input port. The second torque sensor group 24b includes a second main torque sensor 24bm and a second secondary torque sensor 24bs. Here, the second main torque sensor 24 bm and the second secondary torque sensor 24 bs use the same detection type torque sensor as described above. The sensor signals of these torque sensors 24 bm and 24 bs are signal processing circuits 38 bm, respectively. , 38bs, AD-converted by the AD converter of the signal processing circuits 38bm and 38bs, and input to the second microprocessor 30b. Here, the AD converter may be provided in the second microprocessor 30b, and in this case, the sensor signals of the torque sensors 24bm and 24bs are directly input to the second microprocessor 30b. ..

The signal processing circuits 38 bm and 38 bs can also be provided with a self-diagnosis function as described above, and can output self-diagnosis information when an abnormality occurs in the respective torque sensors 24 bm and 24 bs.

Similar to the first microprocessor 30a, the second microprocessor 30b has at least the second inter-microcomputer communication unit 39b, the second group abnormality determination signal generation unit 40b, the second group abnormality determination unit 41b, and the second. It includes a different group signal comparison unit 42b, a second different group abnormality determination unit 43b, and a second command signal generation unit 44b.

The second group abnormality determination signal generation unit (CMPB-1) 40b comprises the second main torque sensor signal of the second main torque sensor 24bm and the second secondary torque sensor 24bs constituting the second torque sensor group 24b. 2 It has a function to compare the secondary torque sensor signals. Further, the comparison result in the second group abnormality determination signal generation unit 40b is used as an "abnormality determination signal" for the abnormality determination executed by the second group abnormality determination unit (EMGB-1) 41b in the subsequent stage. However, it can take various forms.

Here, too, the second main and sub torque sensors 24bm and 24bs can be specified, for example, from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the second main, the secondary torque sensor 24bm, and the second main from 24bs can be obtained from the AD conversion data of the internal data register. The value of the secondary torque sensor signal is read.

It should be noted that this is shown as an example, and can be realized by other configurations, in short, it is sufficient if the sensor signal value of each torque sensor can be obtained. Further, as described above, the AD converter is provided in the signal processing circuits 38bm and 38bs, but can also be provided in the input circuit of the second microprocessor 30b.

Then, for example, the deviation between the values of the second main and sub torque sensor signals of the second main torque sensor 24 bm and the second sub torque sensor 24 bs can be output as an "abnormality determination signal". This deviation also includes information on whether or not an abnormality has occurred in either the second main torque sensor 24 bm or the second sub torque sensor 24 bs.

Next, the comparison result (deviation) of the second group abnormality determination signal generation unit 40b is sent to the second group abnormality determination unit 41b, and the torque sensors 24bm and 24bs of any of the second torque sensor groups 24b are abnormal. A judgment is made as to whether or not there is.

The second group abnormality determination unit 41b is, for example, any torque sensor 24bm if the deviation of the second main and sub torque sensor signals sent from the second group abnormality determination signal generation unit 40b is equal to or less than a predetermined value. , 24bs is also judged to be normal. On the other hand, if the deviation of the second main and sub torque sensor signals is equal to or greater than a predetermined value, it can be determined that any of the torque sensors 24bm and 24bs is abnormal. In the present embodiment, since the abnormal state is determined from the magnitude of the deviation, this example will be described below.

When the values of the second main torque sensor signals from the second main torque sensor 24 bm and the values of the second main and sub torque sensor signals from the second sub torque sensor 24 bs are the same (the deviation is smaller than the predetermined value), the second main torque sensor unit 41b , It is regarded as normal, and a command for calculating a control signal to the second winding set is output to the second command signal generation unit (CNTB) 44b.

At this time, depending on the setting of the control logic, the second command signal generation unit 44b preferentially uses the second main torque sensor signal from the second main torque sensor 24bm to calculate the control signal. The control signal calculated by the second command signal generation unit 44b is sent to the second predriver 31b shown in FIG. 2, and the second predriver 31b further controls the second inverter 32b to form the second winding set. Drive the winding.

On the other hand, when the values of the second main and sub torque sensor signals of the second main torque sensor 24 bm and the second sub torque sensor 24 bs do not match in the second group abnormality determination unit 41b (deviation is larger than the predetermined value). Is determined to have an abnormality in either the torque sensors 24bm or 24bs of the second torque sensor group 24b. When it is determined that one of the torque sensors 24bm and 24bs of the second torque sensor group 24b has an abnormality, this determination result is sent to the second different group signal comparison unit (CMPB-2) 42b.

In the second different group signal comparison unit 42b, the torque sensors 24bm of the second torque sensor group 24b, the second main and sub torque sensor signals from 24bs, and the first main torque sensor 24am from the first torque sensor group 24a Comparison with the 1 main torque sensor signal or the 1st sub torque sensor signal from the 1st sub torque sensor 24as is performed. That is, in the second different group signal comparison unit 42b, the values of at least three sensor signals are compared.

Here, too, in the present embodiment, the first main torque sensor signal from the first main torque sensor 24am of the first torque sensor group 24a is taken in, so the first main torque sensor signal will be described below. Needless to say, the first sub-torque sensor signal from the first sub-torque sensor 24as may be used.

In the second different group signal comparison unit 42b, from the first inter-microcomputer communication unit 39a of the first microprocessor 30a via the second inter-microcomputer communication unit 39b, from the first main torque sensor 24am of the first torque sensor group 24a. The first main torque sensor signal of is taken in. If necessary, both the primary and secondary torque sensor signals from the torque sensors 24am and 24as of the first torque sensor group 24a can be captured.

Here, the acquisition of the first main torque sensor signal from the first main torque sensor 24am is executed on the premise that the first main torque sensor 24am is normal. Similarly, when the first sub-torque sensor signal from the first sub-torque sensor 24as is used, it is executed on the premise that the first sub-torque sensor 24as is normal.

Further, as described above, in the first microprocessor 30a, the first torque sensor 24am and 24as of the first torque sensor group 24a are determined to be normal only when the first group abnormality determination unit 41a determines that the torque sensors 24am and 24as are normal. A gate portion 45a for sending a first main torque sensor signal from the main torque sensor 24am or a first sub-torque sensor signal from the first sub-torque sensor 24as to the first inter-microcomputer communication unit 39a is provided.

The acquisition timing of the first main torque sensor signal is when the second different group signal comparison unit 42b is operated, and other than this acquisition timing, the first main torque sensor signal from the first main torque sensor 24am is captured. Not. As a result, the communication capacity of the inter-microcomputer communication units 39a and 39b can be kept low.

As described above, the deviation between the second main sensor torque signal of the second main torque sensor 24 bm and the second sub torque sensor signal of the second sub torque sensor 24 bs is determined by the second group abnormality determination unit 41b. When compared with the value and the deviation is larger than the predetermined value, it is determined that there is an abnormality in any of the torque sensors 24 bm and 24 bs.

Therefore, the second different group signal comparison unit 42b captures the first main torque sensor signal from the first main torque sensor 24am of the first torque sensor group 24a via the second inter-microcomputer communication unit 39b, and then the second torque sensor group 24a. The second main torque sensor signal from the two main torque sensor 24 bm and the second sub torque sensor signal of the second sub torque sensor 24 bs are compared.

That is, the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b, the second sub torque sensor signal of the second sub torque sensor 24bs, and the first main torque of the first torque sensor group 24a. The values of the three torque sensor signals of the first main torque sensor signal of the sensor 24am are compared.

This comparison result is sent to the second different group abnormality determination unit (EMGB-2) 43b, and it is determined which torque sensor 24bm or 24bs of the second torque sensor group 24b is operating normally. In other words, the torque sensors 24bm and 24bs in which the abnormality has occurred are identified.

In the second different group abnormality determination unit 43b, among the three sensor signals, the value of the second main torque sensor signal of the second main torque sensor 24bm and the value of the first main torque sensor signal of the first main torque sensor 24am. If they match, the second main torque sensor 24bm is determined to be in a normal state. On the contrary, the value of the second sub-torque sensor signal of the second sub-torque sensor 24bs does not match the value of the first main torque sensor signal of the first main torque sensor 24am, so that the second sub-torque sensor 24bs is abnormal. It is judged to be in a state.

On the other hand, if the value of the second sub-torque sensor signal of the second sub-torque sensor 24bs and the value of the first main torque sensor signal of the first main torque sensor 24as match, the second sub-torque sensor 24bs is in a normal state. Is judged. On the contrary, since the value of the second main torque sensor signal of the second main torque sensor 24bm does not match the value of the first main torque sensor signal of the first main torque sensor 24am, the second main torque sensor 24bm is abnormal. It is judged to be in a state.

Again, "matching" means that the values of the respective torque sensor signals are completely matched and that the values of the respective torque sensor signals are within a predetermined allowable range.

As described above, in the second different group abnormality determination unit 43b, the second torque sensor group 24b second from the matching state with the first main torque sensor signal of the first main torque sensor 24am of the first torque sensor group 24a. It is possible to identify whether the main torque sensor 24 bm or the second sub torque sensor 24 bs has an abnormality.

When the second different group abnormality determination unit 43b determines that either the second main torque sensor 24bm or the second sub torque sensor 24bs is in the normal state, the second command signal generation unit 44b determines that the normal state is present. Based on the torque sensor signal of the torque sensor, a command for calculating a control signal to the second winding set is output.

Then, the second command signal generation unit 44b calculates the control signal by using the torque sensor signal of the torque sensor determined to be in the normal state. The control signal calculated by the second command signal generation unit 44b is sent to the second predriver 31b, and the second predriver 31b further controls the second inverter 32b to drive the windings of the second winding set. To do.

Although the torque sensor 24 is described in this embodiment, it goes without saying that the rotation angle sensor 26 and the current sensor other than the torque sensor 24 can have the same configuration.

According to the present embodiment, when it is determined from the main sensor signal and the sub sensor signal of one sensor group that one of the sensors has an abnormality, the main sensor signal and the sub sensor signal of the one sensor group and the sub sensor signal are displayed. A sensor that compares the main sensor signal or sub sensor signal of the other sensor group and outputs a sensor signal that matches the main sensor signal or sub sensor signal of the other sensor group among the sensors of one sensor group. Is specified as a normally operating sensor, so that the reliability of the abnormality diagnosis function can be improved.

The above is the basic configuration and operation of the control device of the vehicle-mounted device in the present embodiment, and in addition to this, a characteristic configuration will be described below.

When the first group abnormality determination unit 41a determines that the first torque sensor group 24a has an abnormality, the first inter-microcomputer communication unit 39a of the first microprocessor 30a refers to the second microprocessor 30b. 2 It has a function of transmitting a sensor signal request command requesting transmission of the second main torque sensor signal of the second main torque sensor 24bm of the torque sensor group 24b or the second sub torque sensor signal of the second sub torque sensor 24bs. ing.

Similarly, the second inter-microcomputer communication unit 39b of the second microprocessor 30b also causes the first microprocessor 30a when the second group abnormality determination unit 41b determines that the second torque sensor group 24b has an abnormality. On the other hand, a function of transmitting a sensor signal request command requesting transmission of the first main torque sensor signal of the first main torque sensor 24am of the first torque sensor group 24a or the first sub torque sensor signal of the first sub torque sensor 24as. have.

As a result, the torque sensor signals of the respective sensor groups 24a and 24b are not always transmitted, but the torque sensor signals are transmitted when the sensor signal request command from the respective microcontrollers is received, so that the first and first torque sensor signals are transmitted. It is possible to suppress an increase in communication capacity in the communication units 39a and 39b between two microcomputers.

Further, the first different group signal comparison unit 42a detects based on the "elapsed time" between the detection timing and the acquisition timing of the second main torque sensor signal acquired via the first inter-microcomputer communication unit 39a. The first detection timing of the first primary and secondary torque sensor signals to be power is sought. This makes it possible to obtain the first primary and sub torque sensor signals detected at the first detection timing that is close in time to the detection timing obtained based on the "elapsed time". The first main and sub torque sensor signals are sequentially stored and erased, and the data for a predetermined number of detections is stored and held while being updated in a new order.

As shown in FIG. 4, the sensor signal of the torque sensor is detected at a predetermined detection timing with the passage of time, and the first detection timing (T1mt) of the first main torque sensor 24am and the second main torque sensor 24bm. It is generated out of synchronization with the second detection timing (T2mt) of. However, the detection interval (interval) is the same time, and the first main torque sensor signal (Sam) of the first main torque sensor 24am is detected at predetermined time intervals, and the second main torque sensor of the second main torque sensor 24bm is detected. The signal (Sbm) has been detected.

In this state, when the acquisition timing (Tst) for capturing the second main torque sensor signal (Sbm) occurs via the first inter-microcomputer communication unit 39a, the second detection timing generated immediately before this acquisition timing (Tst) occurs. The second main torque sensor signal (Sbm) of the above is taken in as the second main torque sensor signal (Sbm ′). At this time, the "elapsed time" of the time when the acquisition timing (Tst) occurs and the time of the second detection timing immediately before is calculated, and this is also taken in at the same time.

Next, the first different group signal comparison unit 42a calculates a time (detection timing) retroactively from the captured "elapsed time" from the time when the acquisition timing (Tst) occurs, and the first different group signal comparison unit 42a is close to the retroactive time. The first main and sub torque sensor signals detected at one detection timing are obtained. The flow is indicated by a dashed arrow.

Therefore, the second detection timing of the second main torque sensor signal of the second main torque sensor 24bm and the first detection timing of the first main torque sensor signal of the first main torque sensor 24am are close in time. .. Therefore, the first different group signal comparison unit 42a includes the first main torque sensor 24am, the first main and sub torque sensor signals of the first sub torque sensor 24as, and the second main torque sensor whose detection timings are close in time. It can be compared with the second main torque sensor signal of 24 bm.

Similarly, the second different group signal comparison unit 42b also obtains the second main and sub torque sensor signals by the same method. Therefore, the detection timing of the first main torque sensor signal of the first main torque sensor 24am and the detection timing of the second main torque sensor signal of the second main torque sensor 24bm are close in time. Therefore, even in the second different group signal comparison unit 42b, the second main torque sensor 24bm and the second main torque sensor 24bs whose detection timings are close in time, the second main torque sensor signal, and the first main torque sensor It can be compared with the first main torque sensor signal of the sensor 24am.

Since the values of the torque sensor signals of the two torque sensor groups 24a and 24b change from moment to moment depending on the detection timing, the values of the torque sensor signals of the torque sensor groups 24a and 24b differ depending on the detection timing. .. Considering the transmission time of the torque sensor signal from the torque sensor groups 24a and 24b to the microprocessors 30a and 30b, and the communication cycle between the microcomputer-to-microcomputer communication units 39a and 39b, the microprocessors 30a and 30b have their respective torques. Depending on the acquisition timing of acquiring the torque sensor signals of the sensor groups 24a and 24b, the detection timings of the torque sensor groups 24a and 24b may be time-shifted.

Therefore, by comparing the detection timing of the torque sensor signal of the first torque sensor group 24a with the torque sensor signal of the second torque sensor group 24b detected at a detection timing close to the detection timing in terms of time, it is timely. It is possible to compare torque sensor signals with close detection timings, and it is possible to perform highly accurate abnormality judgment.

As the detection timing, for example, in the detection cycle of the torque sensor 4 (or the acquisition cycle of the torque sensor signal), the torque sensor signal closest in time may be selected, or the torque sensor signal before the closest one may be selected. You may choose.

Further, the physical quantities detected as the driving state of the vehicle are the same physical quantities as each other, and in the case of the steering shaft 14, the first main torque sensor 24am, the first secondary torque sensor 24as, the second main torque sensor 24bm, and the second main torque sensor 24bm. The steering (rotation) torque of the steering shaft 14 is detected by the secondary torque sensor 24bs.

Similarly, in the case of the motor shaft 23, the rotation angle of the motor shaft 23 is detected by the first main rotation angle sensor, the first sub rotation angle sensor, the second main rotation angle sensor, and the second sub rotation angle sensor. Similarly, in the case of the winding of the stator, the current flowing through the winding of the stator is detected by the first main current sensor, the first sub-current sensor, the second main current sensor, and the second sub-current sensor.

According to this, since the same detected physical quantities are compared with each other, it is possible to perform highly accurate abnormality determination. Further, the processing circuit of the sensor can be shared by the same processing circuit, and the operation of the control program can be simplified.

Further, the first torque sensor group 24a (first main torque sensor 24am and first secondary torque sensor 24as) has the same detection method as each other, and the second torque sensor group 24b (second main torque sensor 24bm and second secondary torque sensor) 24bs) may have the same detection method, and the torque sensors of the first torque sensor group 24a and the second torque sensor group 24b may detect the steering (rotation) torque of the steering shaft by different detection methods. ..

There are magnetostrictive type, strain gauge type, piezoelectric type, optical type, capacitance type and the like for detecting torque, and these can be appropriately selected and combined. Needless to say, the rotation angle sensor and the current sensor can also adopt different detection methods for the first control system and the second control system.

Since it is necessary to align the types of torque sensor signals when performing the comparison operation, it is possible to align the types of torque sensor signals by using the conversion map. For example, when the torque sensor of the first sensor group 24a is a magnetostrictive type and the torque sensor of the second sensor group 24b is a strain gauge type, the magnetostrictive type sensor data and the strain gauge type sensor data are converted into a map. You should keep it.

Therefore, when comparing with the first different group comparison unit 42a of the first microprocessor 30a, the strain gauge type sensor data of the second sensor group 24b is converted into the magnetic strain type sensor data of the first sensor group 24a. When compared and compared by the second different group comparison unit 42b of the second microprocessor 30b, the magnetic strain type sensor data of the first sensor group 24a is converted into the strain type sensor data of the second sensor group 24b. Will be compared.

According to this, by making the detection method different between the first sensor group and the second sensor group, it is possible to increase the survival rate of the sensor against failures based on a common cause, which is systematically strong. Can be.

Further, the electric motor is a steering actuator that steers the front wheels of the vehicle, and the steering actuator is required to have high reliability of the torque sensor. Therefore, an abnormality is determined from the sensor signals of the torque sensors of the first torque sensor group 24a and the second torque sensor group 24b, and in addition, the abnormality state is compared with the sensor signals of the other torque sensor groups. Since the sensor of the above is specified, it is possible to perform highly reliable steering actuator control.

Although the steering actuator is shown to steer the front wheels, it may steer the rear wheels. Further, the steering wheel may be mechanically connected to the steering wheel, or the steering wheel may be driven only by an electric motor instead of being mechanically connected.

Further, the electric motor includes a stator winding, a motor rotor, a motor rotation angle sensor that detects the rotation position of the motor rotor, and a current sensor that detects the current flowing through the stator winding, and includes a first main sensor and a first sub sensor. As the second main sensor and the second sub sensor, either one or both of the motor rotation angle sensor and the current sensor is used.

According to this, in the abnormality judgment of the detection signal (motor rotation angle, winding current) of the electric motor, not only the comparison within the same sensor group but also the signal of the other sensor group can be compared to obtain reliability. High motor control and, by extension, highly reliable steering control can be performed.

Further, as shown in FIG. 3, the first microprocessor 30a includes the first auxiliary microcomputer communication unit 39a-A in addition to the first microcomputer-to-microcomputer communication unit 39a, and the second microprocessor 30b is between the second microcomputers. In addition to the communication unit 39b, a second auxiliary microcomputer communication unit 39b-A can be provided. Then, the first auxiliary microcomputer communication unit 39a-A inputs the torque sensor signal of the second sensor group 24b from the second auxiliary microcomputer communication unit 39b-A, and the second auxiliary microcomputer communication unit 39b-A receives. , The torque sensor signal of the first sensor group 24a can be input from the first auxiliary microcomputer communication unit 39a-A.

According to this, communication between microcomputers is performed not only between the first inter-microcomputer communication unit 39a and the second inter-microcomputer communication unit 39b, but also between the first auxiliary microcomputer communication unit 39a-A and the second auxiliary microcomputer. It can also be performed between the communication units 39b-A, and the reliability of communication between microcomputers can be improved.

Next, the control flow of the microprocessor 30 that executes the above-mentioned functional block will be described with reference to FIG. Since the first microprocessor 30a and the second microprocessor 30b perform substantially the same operation, the first microprocessor 30a will be described below.

≪Step S10≫
In step S10, the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as constituting the first torque sensor group 24a are taken in. The capture of the first main and sub torque sensor signals is captured in an execution cycle at predetermined time intervals, and may be synchronized with the execution cycle of this control flow, or may be another execution cycle. When the acquisition of the first main and sub torque sensor signals is completed, the process proceeds to step S11.

Here, the first main and sub torque sensors 24am and 24as are specified from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the first main and sub torque sensor 24am from the internal data register and the first main and sub torque sensor signals from 24as are stored. The value of is read.

<< Step S40 >>
In step S40, the control step is indicated by a broken line, which indicates the case where the control flow of FIGS. 6 and 7 is interposed, which will be described with reference to FIGS. 6 and 7. Since the present embodiment corresponds to the abnormality of the intermediate value, it can be omitted when it is not necessary to intervene the control flow of FIGS. 6 and 7.

<< Step S11 >>
In step S11, the first main torque sensor signal of the first main torque sensor 24am and the first sub torque sensor signal of the first sub torque sensor 24as are compared. In step S11, the torque sensor signals of the first main torque sensor 24am and the first secondary torque sensor 24as are output as deviations, and if the deviations of the torque sensor signals are equal to or less than a predetermined value, any torque sensors 24am or 24as If the deviation of the torque sensor signal is equal to or greater than a predetermined value, it is determined that any of the torque sensors 24am and 24as is abnormal.

Therefore, in step S11, when the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as match (the deviation is smaller than the predetermined value), the first torque sensor Both the torque sensors 24am and 24as of the group 24a are regarded as normal, and the process proceeds to step S12.

On the other hand, when the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as do not match (the deviation is larger than the predetermined value), the torque of the first torque sensor group 24a It is determined that an abnormality has occurred in either the sensor 24am or 24as, and the process proceeds to step S13.

This step S11 corresponds to the functional blocks of the first group abnormality determination signal generation unit 40a and the first group abnormality determination unit 41a of FIG.

≪Step S12≫
In step S12, since the first torque sensor group 24a is in a normal state, normal control is executed. In this case, the first main torque sensor signal of the first main torque sensor 24am is preferentially used depending on the setting of the control logic.

≪Step S13≫
In step S13, the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b or the second sub torque of the second sub torque sensor is transmitted from the inter-microcomputer communication unit 39b of the second microprocessor 30b. The sensor signal is taken into the inter-microcomputer communication unit 39a of the first microcontroller 30a. Here, since the second main torque sensor signal is taken in, the following will also be described based on this.

The second main torque sensor signal of the second main torque sensor 24bm is taken in in step 11, and the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as match. Only when it is determined that there is no such, the second main torque sensor signal of the second main and sub torque sensors 24 bm is not taken in other than this.

The capture of the second main torque sensor signal of the second main torque sensor 24 bm is executed on the premise that the value of the second main torque sensor 24 bm is normal.

As a result, instead of constantly transmitting the torque sensor signal of the second sensor group 24b, the torque sensor signal is transmitted when the sensor signal request command from the first microcontroller 30a is received, so that the first and first positions are transmitted. It is possible to suppress an increase in communication capacity in the communication units 39a and 39b between two microcomputers. When the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b is taken in from the inter-microcomputer communication unit 39b of the second microprocessor 30b, the process proceeds to step S14.

<< Step S14 >>
In step S14, the first main torque sensor 24am of the first torque sensor group 24a, the first main and sub torque sensor signals of the first sub torque sensor 24as, and the second main torque sensor 24bm captured in step S13. The three torque sensor signals of the second main torque sensor signal are compared.

Here, in step S13, the second main torque sensor signal of the normal second main torque sensor 24bm of the second torque sensor group 24b is taken in from the second inter-microcomputer communication unit 39b via the first inter-microcomputer communication unit 39a. I'm out.

Therefore, if the value of the first main torque sensor signal of the first main torque sensor 24am matches the value of the second main torque sensor signal of the second main torque sensor 24bm, the first main torque sensor 24am is in the normal state. Is judged. On the flip side of this, the value of the first sub-torque sensor signal of the first sub-torque sensor 24as does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, so that the first sub-torque sensor 24as Is judged to be abnormal.

On the contrary, if the value of the first main torque sensor signal of the first main torque sensor 24am does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, the first main torque sensor 24am is abnormal. Is judged. On the flip side of this, the value of the first sub-torque sensor signal of the first sub-torque sensor 24as matches the value of the second main torque sensor signal of the second main torque sensor 24bm, so that the first sub-torque The sensor 24as is determined to be in a normal state.

Thereby, it is possible to identify whether the first primary torque sensor 24am or the first secondary torque sensor 24as is in a normal state or an abnormal state.

Here, in the matching judgment, when the deviations of the three torque sensor signals of the respective torque sensor sensors 24am, 24as, and 24bm are smaller than the predetermined values, it is judged as "matching", and conversely, the respective torque sensor sensors 24am, 24as, When the deviations of the three torque sensor signals of 24 bm are larger than the predetermined values, it is judged as "mismatch".

When the first main torque sensor signal of the first main torque sensor 24am matches the second main torque sensor signal of the second main torque sensor 24bm and is determined to be in a normal state, the process proceeds to step S15, and the second main torque sensor If the first main torque sensor 24am is determined to be in an abnormal state without matching the 24bm second main torque sensor signal, the process proceeds to step S16.

Here, since the torque sensor in which the intermediate value abnormality has occurred is identified in step S14, an abnormality code corresponding to this can be created and stored in the flash ROM or the like. By reading the abnormality code stored in the flash ROM, it is possible to recognize which torque sensor has the intermediate value abnormality.

This control step S14 corresponds to the functional blocks of the first different group signal comparison unit 42a and the first different group abnormality determination unit 43a of FIG.

≪Step S15≫
In step S15, since the first main torque sensor 24am is determined to be in the normal state, the first main torque sensor signal of the first main torque sensor 24am determined to be in the normal state is set to be used. When the setting for using the torque sensor signal of the first main torque sensor 24am is completed, the process proceeds to step S17. Step S17 will be described later.

≪Step S16≫
In step S16, since the first sub-torque sensor 24as is determined to be in the normal state, the first sub-torque sensor signal of the first sub-torque sensor 24as determined to be in the normal state is set to be used. When the setting for using the first sub-torque sensor signal of the first sub-torque sensor 24as is completed, the process proceeds to step S17.

≪Step S17≫
In step S17, when the first main torque sensor 24am or the first sub-torque sensor 24as is determined to be in the normal state, the first winding set is set based on the torque sensor signal of the torque sensor determined to be in the normal state. Calculate the control signal of.

Then, the control signal calculated in step S17 is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set. This control step S17 corresponds to the functional block of the first command signal generation unit 44a of FIG.

As described above, according to the control flow shown in FIG. 5, when it is determined from the main sensor signal and the sub sensor signal of one sensor group that one of the sensors has an abnormality, the main sensor of one sensor group The signal and the sub-sensor signal are compared with the main sensor signal or the sub-sensor signal of the other sensor group, and among the sensors of one sensor group, the main sensor signal or the sub-sensor signal of the other sensor group is used. Since the sensor that outputs the matching sensor signal is specified as a normally operating sensor, the reliability of the abnormality diagnosis function can be improved.

Next, the above-mentioned step S40 will be described. Step S40 relates to an abnormality diagnosis such as a ground fault, a ceiling fault, and a power supply abnormality, and shows an example in which the value of the sensor signal of the torque sensor fluctuates greatly such as an upper limit value or a lower limit value.

Hereinafter, a specific determination method will be described with reference to FIG.

≪Step S10≫
In step S10, the first main torque sensor 24am constituting the first torque sensor group 24a and the first main and sub torque sensor signals of the first sub torque sensor 24as are taken in. In this case, even if the torque sensor signal is not output due to the above-mentioned power supply abnormality or disconnection of the signal line, the capture operation is executed. When the acquisition of the first main and sub torque sensor signals is completed, the process proceeds to step S20. Here, step S10 functions as the first group input state signal generation unit.

≪Step S20≫
In step S20, it is determined whether or not there is an input of the first main torque sensor signal from the first main torque sensor 24am. The first main torque sensor 24am can be specified from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the input state of the first main torque sensor signal of the first main torque sensor 24am from the AD conversion data of this internal data register. Can be judged.

If it is determined in step S20 that there is a normal input of the first main torque sensor signal from the first main torque sensor 24am, the process proceeds to step S21, and there is no input of the torque sensor signal from the first main torque sensor 24am. If it is determined, the process proceeds to step S24.

≪Step S21≫
Since it is determined in step S20 that the first main torque sensor signal is input from the first main torque sensor 24am, is there an input of the first sub torque sensor signal of the first sub torque sensor 24as in step S21? Make a decision.

The first secondary torque sensor 24as can also be specified from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the input state of the first secondary torque sensor signal of the first secondary torque sensor 24as is obtained from the AD conversion data of this internal data register. Can be judged.

If it is determined in step S21 that the first sub-torque sensor 24as has input a normal first sub-torque sensor signal, the process proceeds to step S22, and the first sub-torque sensor 24ab inputs the first sub-torque sensor signal. If it is determined that there is no such value, the process proceeds to step S23.

≪Step S22≫
In step S22, since the first main torque sensor 24am and the first sub torque sensor 24as input the first main and sub torque sensor signals, both the first main torque sensor 24am and the first sub torque sensor are input. It is judged to be in a state. After that, the process proceeds to step S11, and thereafter, the subsequent control step regarding the intermediate value abnormality shown in FIG. 3 is executed. Here, steps S20 to S22 function as the first group input state abnormality determination unit.

≪Step S23≫
Since it is determined in step S20 that the first main torque signal is input from the first main torque sensor 24am, and it is determined in step S21 that the first sub torque signal of the first sub torque sensor 24as is not input. In step S23, the first primary torque sensor 24am is determined to be in a normal state, and the first secondary torque sensor 24as is determined to be in an abnormal state. After that, the process proceeds to step S15, and thereafter, the subsequent step S17 shown in FIG. 3 is executed. Here, steps S21 and S23 function as the first group input state abnormality determination unit.

<< Step S24 >>
Since it is determined in step S20 that the first main torque sensor signal is not input from the first main torque sensor 24am, is there any input of the first sub torque sensor signal from the first sub torque sensor 24as in step S24? Make a decision. The first sub-torque sensor 24as can be identified from the port number of the input port in the same manner as in step S21, and the first sub-torque sensor of the first sub-torque sensor 24as can be identified from the AD conversion data of the internal data register corresponding to the port number. The signal input status can be determined.

If it is determined in step S24 that the first sub-torque sensor signal is input from the first sub-torque sensor 24as, the process proceeds to step S25, and there is no input of the first sub-torque sensor signal from the first sub-torque sensor 24ab. If it is determined, the process proceeds to step S26.

≪Step S25≫
Since it is determined in step S20 that the first main torque signal has not been input from the first main torque sensor 24am, and it has been determined in step S24 that the first secondary torque signal has been input from the first secondary torque sensor 24as. In step S25, the first primary torque sensor 24am is determined to be in an abnormal state, and the first secondary torque sensor 24as is determined to be in a normal state. After that, the process proceeds to step S16, and thereafter, the subsequent step S17 shown in FIG. 3 is executed. Here, steps S20, S24, and S25 function as the first group input state abnormality determination unit.

≪Step S26≫
In step S20, it is determined that there is no input of the first main torque sensor signal from the first main torque sensor 24am, and in step S24, it is determined that there is no input of the first secondary torque sensor signal from the first secondary torque sensor 24as. In step S26, it is determined that both the first main torque sensor 24am and the first secondary torque sensor are in an abnormal state. After this, the process proceeds to step S27. Here, steps S24 and S26 function as the first group input state abnormality determination unit.

≪Step S27≫
In step S27, an error process is executed. In the abnormality processing, the driving of the windings of the first winding set by the first microprocessor 30a is stopped, or the torque sensor signal of the second torque sensor group 24b is transmitted from the first microcomputer-to-microcomputer communication unit 39a to the first micro. It is taken into the processor 30a. When the drive of the winding of the first winding set by the first microprocessor 30a is stopped, the winding is released to the end, but when the torque sensor signal of the second torque sensor group 24b is used, the process proceeds to step S17.

In step S17, the control signal to the first winding set is calculated based on the second main torque sensor signal of the second main torque sensor 24 bm. Then, the control signal calculated in step S17 is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set.

Although the first microprocessor 30a has been described above, the same operation can be performed on the second microprocessor 30b.

In the abnormality determination method of FIG. 6, the input state of each torque sensor is monitored, but if the signal processing circuits 38am and 38as are provided with a self-diagnosis function and an abnormality occurs in the respective torque sensors 24am and 24as, Self-diagnosis information can be output.

Therefore, the self-diagnosis function determines whether or not the first main and sub-torque sensor signals from the first main torque sensor 24am and the first sub-torque sensor 24as include self-diagnosis information, and the torque is the same as in FIG. It is possible to judge the abnormality of the sensor.

Hereinafter, a specific determination method will be described with reference to FIG. 7.

≪Step S10≫
In step S10, the first main torque sensor 24am constituting the first torque sensor group 24a and the first main and sub torque sensor signals of the first sub torque sensor 24as are taken in.

In this case, since the signal processing circuits 38am and 38as of the first main torque sensor 24am and the first secondary torque sensor 24as are provided with a self-diagnosis function, when an abnormality is detected and self-diagnosis information is output, This self-diagnosis information is stored in the self-diagnosis memory of the signal processing circuits 38am and 38as.

Then, the self-diagnosis information stored in the self-diagnosis memory is added to the torque sensor signal and output. For example, the torque sensor signal and the self-diagnosis information can be assigned to the data frame and output. When the acquisition of the torque sensor signal is completed, the process proceeds to step S30. Here, step S10 functions as the first group self-diagnosis signal generation unit.

≪Step S30≫
In step S30, it is determined whether or not the self-diagnosis information is added to the first main torque sensor signal from the first main torque sensor 24am. The first main torque sensor 24am can be specified from the port number of the input port.

Further, since the self-diagnosis information is added to the data frame of the torque sensor signal, it is determined from this data frame whether or not the self-diagnosis information is added to the first main torque sensor signal from the first main torque sensor 24am. Can be done.

If it is determined in step S30 that the first main torque sensor signal from the first main torque sensor 24am does not have self-diagnosis information, the process proceeds to step S31 and the first main torque sensor signal from the first main torque sensor 24am If it is determined that the self-diagnosis information is added to, the process proceeds to step S34.

≪Step S31≫
Since it is determined in step S30 that the first main torque sensor signal from the first main torque sensor 24am does not have self-diagnosis information, in step S31, the first secondary torque sensor signal of the first secondary torque sensor 24as is self-diagnosing. Performs a determination as to whether diagnostic information has been added. The first secondary torque sensor 24as can also be specified from the port number of the input port.

Further, since the self-diagnosis information is added to the data frame of the torque sensor signal, it is determined from this data frame whether or not the self-diagnosis information is added to the first sub-torque sensor signal from the first sub-torque sensor 24as. Can be done.

If it is determined in step S31 that the first sub-torque sensor signal from the first sub-torque sensor 24as does not have self-diagnosis information, the process proceeds to step S32 and the first sub-torque sensor signal from the first sub-torque sensor 24ab If it is determined that there is self-diagnosis information in, the process proceeds to step S33.

≪Step S32≫
In step S32, since there is no self-diagnosis information in the first main and sub torque sensor signals from the first main torque sensor 24am and the first sub torque sensor 24as, the first main torque sensor 24am and the first sub torque sensor Are both considered to be in a normal state. After that, the process proceeds to step S11, and thereafter, the subsequent control step regarding the intermediate value abnormality shown in FIG. 3 is executed. Here, steps S30 to S32 function as the first group self-diagnosis abnormality determination unit.

≪Step S33≫
In step S30, it is determined that the first main torque signal from the first main torque sensor 24am does not have self-diagnosis information, and in step S31, self-diagnosis information is added to the first sub-torque signal from the first sub-torque sensor 24as. In step S33, the first primary torque sensor 24am is determined to be in a normal state, and the first secondary torque sensor 24as is determined to be in an abnormal state. After that, the process proceeds to step S15, and thereafter, the subsequent step S17 shown in FIG. 3 is executed. Here, steps S31 and S33 function as the first group self-diagnosis abnormality determination unit.

<< Step S34 >>
Since it is determined in step S30 that the self-diagnosis information is added to the first main torque signal from the first main torque sensor 24am, in step S34, the first secondary torque sensor from the first secondary torque sensor 24as Determines if self-diagnosis information is added to the signal.

Since the first sub-torque sensor 24as can be identified from the port number of the input port and the self-diagnosis information is added to the data frame of the torque sensor signal by the same method as in step S31, the first is obtained from this data frame. It is possible to determine whether or not self-diagnosis information is added to the torque sensor signal of the secondary torque sensor 24as.

If it is determined in step S34 that there is no self-diagnosis information in the first sub-torque sensor signal from the first sub-torque sensor 24as, the process proceeds to step S35 and the first sub-torque sensor signal from the first sub-torque sensor 24ab If it is determined that there is self-diagnosis information in, the process proceeds to step S36.

≪Step S35≫
In step S30, it is determined that self-diagnosis information is added to the first main torque signal from the first main torque sensor 24am, and in step S31, there is no self-diagnosis information in the first sub-torque signal from the first sub-torque sensor 24as. Therefore, in step S35, the first primary torque sensor 24am is determined to be in an abnormal state, and the first secondary torque sensor 24as is determined to be in a normal state. After that, the process proceeds to step S16, and thereafter, the subsequent step S17 shown in FIG. 3 is executed. Here, steps S30, S34, and S35 function as the first group self-diagnosis abnormality determination unit.

<< Step S36 >>
In step S30, it is determined that the self-diagnosis information is added to the first main torque signal from the first main torque sensor 24am, and in step S31, the self-diagnosis information is added to the first sub-torque signal from the first sub-torque sensor 24as. In step S36, it is determined that both the first primary torque sensor 24am and the first secondary torque sensor are in an abnormal state. After this, the process proceeds to step S37. Here, steps S34 and S36 function as the first group self-diagnosis abnormality determination unit.

≪Step S37≫
In step S37, an error process is executed. In the abnormality processing, the driving of the windings of the first winding set by the first microprocessor 30a is stopped, or the torque sensor signal of the second torque sensor group 24b is transmitted from the first microcomputer-to-microcomputer communication unit 39a to the first micro. It is taken into the processor 30a. When the drive of the winding of the first winding set by the first microprocessor 30a is stopped, the winding is released to the end, but when the torque sensor signal of the second torque sensor group 24b is used, the process proceeds to step S17.

In step S17, a command for calculating a control signal to the first winding set is output based on the second main torque sensor signal of the second main torque sensor 24 bm. Then, the control signal calculated in step S17 is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set.

Although the first microprocessor 30a has been described above, the same operation can be performed on the second microprocessor 30b.

As described above, according to the present invention, when it is determined from the main sensor signal and the sub sensor signal of one sensor group that one of the sensors has an abnormality, the main sensor signal or the sub sensor of one sensor group The sensor signal is compared with the main sensor signal and the sub sensor signal of the other sensor group, and among the sensors of one sensor group, the main sensor signal and the sub sensor signal of the other sensor group do not match. Since the sensor that outputs the sensor signal is specified as the sensor in which the abnormality has occurred, the reliability of the abnormality diagnosis function can be improved.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

20 ... Electric motor, 24a ... 1st torque sensor group, 24am ... 1st main torque sensor, 24as ... 1st sub torque sensor, 24b ... 2nd torque sensor group, 24bm ... 2nd main torque sensor, 24bs ... 2nd sub Torque sensor, 25 ... Electronic control unit, 30a ... 1st microprocessor, 30b ... 2nd microprocessor, 31a ... 1st predriver, 31b ... 2nd predriver, 32a ... 1st inverter, 32b ... 2nd inverter, 39a ... 1st inter-microcomputer communication unit, 39b ... 2nd inter-microcomputer communication unit, 40a ... 1st same group abnormality judgment signal generation unit, 40b ... 2nd same group abnormality judgment signal generation unit, 41a ... 1st same group abnormality judgment signal generation unit , 41b ... 2nd different group abnormality judgment unit, 42a ... 1st different group signal comparison unit, 42b ... 2nd different group signal comparison unit, 43a ... 1st different group abnormality judgment unit, 43b ... 2nd different group abnormality judgment unit , 44a ... 1st command signal generation unit, 44b ... 2nd command signal generation unit.

Claims (14)

A control device for vehicle-mounted equipment that controls vehicle-mounted equipment including actuators.
It is a sensor unit and includes a first sensor group and a second sensor group.
The first sensor group includes a first primary sensor and a first secondary sensor.
The second sensor group includes a second primary sensor and a second secondary sensor.
The first main sensor detects a physical quantity representing the driving state of the vehicle and outputs a first main sensor signal, and the first sub-sensor detects the physical quantity representing the driving state of the vehicle and first. Outputs the secondary sensor signal and
The second main sensor detects the physical quantity representing the driving state of the vehicle and outputs a second main sensor signal, and the second sub sensor detects the physical quantity representing the driving state of the vehicle and second. 2 Output the secondary sensor signal and
In the first microprocessor, between the first group abnormality determination signal generation unit, the first group abnormality determination unit, the first different group signal comparison unit, the first different group abnormality determination unit, and the first microcomputer. Including the communication unit and the first command signal generation unit
The first group abnormality determination signal generation unit has a function of generating an abnormality determination signal for determining an abnormality state from the first main sensor signal and the first sub-sensor signal.
The first group abnormality determination unit has a function of determining the presence or absence of an abnormality in the first sensor group based on the abnormality determination signal from the first group abnormality determination signal generation unit.
The first inter-microcomputer communication unit has a function of obtaining the second main sensor signal of the second sensor group or the second sub-sensor signal from the second inter-microcomputer communication unit of the second microprocessor.
When the first different group signal comparison unit determines that the sensor of the first sensor group has an abnormality by the first group abnormality determination unit, the first main sensor and the sub sensor of the first sensor group It has a function of comparing the signal with the second main sensor signal of the second sensor group or the second sub sensor signal.
The first different group abnormality determination unit is based on a comparison result between the first main and sub sensor signals of the first sensor group and the second main sensor signal of the second sensor group or the second sub sensor signal. , Has a function of determining which sensor in the first sensor group is operating normally.
The first command signal generation unit drives the actuator based on the sensor signal of the sensor determined to be operating normally by the sensor of the first sensor group in the first different group abnormality determination unit. It has a function to generate a first command signal to be controlled and also has a function to generate a control signal.
In the second microprocessor, between the second group abnormality determination signal generation unit, the second group abnormality determination unit, the second different group signal comparison unit, the second different group abnormality determination unit, and the second microcomputer. Including the communication unit and the second command signal generation unit
The second group abnormality determination signal generation unit has a function of generating an abnormality determination signal for determining an abnormality state from the second main sensor signal and the second sub-sensor signal.
The second group abnormality determination unit has a function of determining the presence or absence of an abnormality in the second sensor group based on the abnormality determination signal from the second group abnormality determination signal generation unit.
The second inter-microcomputer communication unit has a function of obtaining the first main sensor signal of the first sensor group or the first sub-sensor signal from the first inter-microcomputer communication unit of the first microprocessor. ,
When the second different group signal comparison unit determines that the sensor of the second sensor group has an abnormality by the second group abnormality determination unit, the second main sensor and the sub sensor of the second sensor group It has a function of comparing the signal with the first main sensor signal of the first sensor group or the first sub sensor signal.
The second different group abnormality determination unit is based on a comparison result between the second main and sub sensor signals of the second sensor group and the first main sensor signal of the first sensor group or the first sub sensor signal. , Has a function of determining which sensor in the second sensor group is operating normally.
The second command signal generation unit drives the actuator based on the sensor signal of the sensor determined to be operating normally by the sensor of the second sensor group in the second different group abnormality determination unit. A control device for a vehicle-mounted device, which has a function of generating a second command signal to be controlled. The control device for the vehicle-mounted device according to claim 1.
When the first microcomputer group abnormality determination unit determines that there is an abnormality in the first sensor group, the first microcomputer-to-microcomputer communication unit refers to the second microprocessor with respect to the second sensor group. It has a function of transmitting a first sensor signal request command requesting transmission of the main sensor signal or the second sub sensor signal, and also has a function of transmitting the first sensor signal request command.
When the second sensor group abnormality determination unit determines that there is an abnormality in the second sensor group, the second microcomputer-to-microcomputer communication unit refers to the first microprocessor with respect to the first sensor group of the first sensor group. A control device for a vehicle-mounted device, which has a function of transmitting a second sensor signal request command for requesting transmission of a main sensor signal or the first sub sensor signal. The control device for the vehicle-mounted device according to claim 1.
The first different group signal comparison unit is obtained based on the first acquisition timing of the second main sensor signal of the second sensor group or the second sub sensor signal acquired via the communication unit between the first microcomputers. The first main and sub sensor signals of the first sensor group detected at the first detection timing close in time to the second detection timing of the second sensor group, and the first of the second sensor group. It has a function of comparing with the two main sensor signals or the second sub sensor signal, and also has a function of comparing.
The second different group signal comparison unit is obtained based on the second acquisition timing of the first main sensor signal of the first sensor group or the first sub sensor signal acquired via the second inter-microcomputer communication unit. The second main and sub sensor signals of the second sensor group detected at the second detection timing close in time to the first detection timing of the first sensor group, and the first sensor group of the first sensor group. 1 A control device for vehicle-mounted equipment, which has a function of comparing a main sensor signal or the first sub-sensor signal. The control device for the vehicle-mounted device according to claim 1.
The detected physical quantities as the physical quantities representing the driving state of the vehicle detected by the first main sensor, the first sub-sensor, the second main sensor, and the second sub-sensor are the same physical quantities. A control device for vehicle-mounted equipment. The control device for the vehicle-mounted device according to claim 4.
The first main sensor, the first sub-sensor, the second main sensor, and the second sub-sensor are mounted on a vehicle, characterized in that they detect the physical quantity representing the driving state of the vehicle by the same detection method. Equipment control device. The control device for the vehicle-mounted device according to claim 4.
The first main sensor and the first sub-sensor detect the physical quantity representing the driving state of the vehicle by the same detection method as each other.
The second main sensor and the second sub-sensor detect the physical quantity representing the driving state of the vehicle by the same detection method as each other.
The first main and sub sensors of the first sensor group and the second main and sub sensors of the second sensor group are characterized in that they detect the physical quantity representing the driving state of the vehicle by different detection methods. Control device for vehicle-mounted equipment. The control device for the vehicle-mounted device according to claim 1.
The first different group abnormality determination unit includes the first main sensor signal of the first sensor group, the first sub sensor signal, the second main sensor signal of the second sensor group, or the second sub sensor. The values of the sensor signals are compared, and the abnormal sensor of the first sensor group is identified from the two sensor signals having the same sensor signal value among the three sensor signals, and the abnormal sensor is identified.
The second different group abnormality determination unit includes the second main sensor signal of the second sensor group, the second sub sensor signal, the first main sensor signal of the first sensor group, or the first sub. A control device for a vehicle-mounted device, characterized in that an abnormal sensor of the second sensor group is identified from two sensor signals having the same sensor signal value among the three sensor signals by comparing with the sensor signals. The control device for the vehicle-mounted device according to claim 1.
The first group abnormality determination signal generation unit generates a first deviation obtained by comparing the first main sensor signal and the first sub-sensor signal as the abnormality determination signal.
When the first deviation is equal to or greater than a predetermined value, the first sensor group abnormality determination unit determines that any of the sensors in the first sensor group is abnormal, and at the same time,
The second group abnormality determination signal generation unit compares the second main sensor signal with the second sub-sensor signal and generates a second deviation to obtain the abnormality determination signal.
The second group abnormality determination unit is a control device for a vehicle-mounted device, which determines that any of the sensors in the second sensor group is abnormal when the second deviation is equal to or greater than a predetermined value. The control device for the vehicle-mounted device according to claim 1.
The first microprocessor has a first group input state signal generation unit and a first group input state abnormality determination unit.
The first group input state signal generation unit generates input state information of the first main sensor signal and the first sub sensor signal as an input state signal.
The first group input status abnormality determination unit determines that the sensor having no input among the first main sensor and the first sub sensor is abnormal, and also
The second microprocessor has a second group input state signal generation unit and a second group input state abnormality determination unit.
The second group input state signal generation unit generates input state information of the second main sensor signal and the second sub sensor signal as an input state signal.
The second group input state abnormality determination unit is a control device for a vehicle-mounted device, characterized in that, of the second main sensor and the second sub-sensor, a sensor having no input is determined as an abnormality. The control device for the vehicle-mounted device according to claim 1.
The first microprocessor has a first group self-diagnosis signal generation unit and a first group self-diagnosis abnormality determination unit.
The first group self-diagnosis signal generation unit generates a self-diagnosis signal based on the self-diagnosis information of the first main sensor signal and the first sub-sensor signal.
The first group self-diagnosis abnormality determination unit determines that the sensor having the self-diagnosis signal among the first main sensor and the first sub-sensor is abnormal, and also
The second microprocessor has a second group self-diagnosis signal generation unit and a second group self-diagnosis abnormality determination unit.
The second group self-diagnosis signal generation unit generates a self-diagnosis signal based on the self-diagnosis information of the second main sensor signal and the second sub-sensor signal.
The second group self-diagnosis abnormality determination unit is a control device for a vehicle-mounted device, which determines that a sensor having a self-diagnosis signal is abnormal among the second main sensor and the second sub-sensor. The control device for the vehicle-mounted device according to claim 1.
The actuator is a control device for a vehicle-mounted device, which is a steering actuator that steers the steering wheels of the vehicle. In the control device for the vehicle-mounted device according to claim 11.
The steering actuator is an electric motor and
The electric motor includes a stator winding, a motor rotor, a motor rotation angle sensor that detects the rotation position of the motor rotor, and a current sensor that detects a current flowing through the stator winding.
The vehicle-mounted vehicle, wherein the first main sensor, the first sub sensor, the second main sensor, and the second sub sensor are one or both of the motor rotation angle sensor and the current sensor. Equipment control device. In the control device for the vehicle-mounted device according to claim 11.
The vehicle-mounted equipment includes a steering shaft that transmits the steering operation of the steering wheel to the steering wheels.
The first main sensor, the first sub sensor, the second main sensor, and the second sub sensor detect a steering torque sensor that detects steering torque generated on the steering shaft, or a steering angle of the steering wheel. A control device for vehicle-mounted equipment, which is characterized by being a steering angle sensor. In the control device for the vehicle-mounted device according to claim 1,
The first microprocessor further includes a first auxiliary microcomputer-to-microcomputer communication unit.
The second microprocessor further includes a second auxiliary microcomputer-to-microcomputer communication unit.
The first auxiliary microcomputer communication unit obtains the sensor signal of the second sensor group from the second auxiliary microcomputer communication unit, and also obtains the sensor signal of the second sensor group.
The second auxiliary microcomputer communication unit is a control device for a vehicle-mounted device, characterized in that a sensor signal of the first sensor group is obtained from the first auxiliary microcomputer communication unit.

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