JP2002104211A - Failure sensing device for steering angle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an abnormality sensing device for the steering angle capable of judging any abnormality in the signal concerning the steering angle when the steering angle is to be sensed or calculated under any conditions and of preventing erroneous operation of a control device which works with the steering angle. SOLUTION: The failure sensing device for the steering angle is fed with a sensing signal concerning the steering angle given from a steering angle sensor 17 and a sensing signal concerning the motor rotating angle θ given from a motor rotating angle sensor 18 and its CPU 21 senses or calculates (presumes) the steering angle θ and its presumptive value θs on the basis of their respective sensing signals. The CPU 21 judges that the steering angle θ involves failure if the deviation Δθ of the sensed steering angle θ from the presumed value θs exceeds the specified value (threshold for failure judgement θ1 plus θ0). This allows judging wire severance in the steering angle sensor 17 and other failures.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering angle abnormality detecting device capable of detecting a steering angle of a vehicle and an abnormality of a signal relating to the steering angle.

[0002]

2. Description of the Related Art Vehicle power steering control devices,
In controlling the suspension, a steering angle sensor is used. For example, in a power steering device, various controls such as assist control are performed based on a signal detected by a steering angle sensor.

However, when a failure or abnormality occurs in a circuit or the like for inputting a signal detected by the steering angle sensor, there is a problem that the power steering device cannot perform normal control. For this reason, conventionally, when an abnormality has occurred in an input circuit or the like of a signal detected by a steering angle sensor, an apparatus for detecting the abnormality has been proposed.

According to the technology described in Japanese Patent No. 2515492, if the steering angle signal from the steering angle sensor is within a certain range for a certain period of time while the vehicle speed is maintained at a certain level or more, it is determined that the steering angle is normal. If the time is out of the certain range, it is determined that the steering angle sensor is abnormal (first related art).

Further, the technique described in Japanese Patent No. 2987945 is provided with a neutral position sensor for detecting a neutral position of a steering wheel based on a sensor signal indicating that the steering wheel is within a predetermined steering angle range set as a neutral region. I have. Then, the neutral position sensor sets a neutral position steering angle range based on the steering angle range for detecting the neutral position, and when the steering angle from the steering angle sensor is not the neutral position steering angle range, the neutral position sensor sets the neutral position sensor to the neutral position. Is determined, the steering angle sensor is determined to be abnormal (second prior art).

[0006]

However, in the first prior art, there is a problem that a normal judgment cannot be made unless the vehicle speed is maintained above a certain level.

In the second prior art, if the steering angle sensor is disconnected at a position within the neutral position steering angle range, the disconnection cannot be detected. As described above, in any of the prior arts, under certain conditions, an abnormality of the steering angle sensor may not be detected in some cases, and therefore, there is a possibility that a device that performs control using a detection signal of the steering angle sensor may perform an abnormal operation.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems. When detecting or calculating a steering angle under any conditions, an abnormality in the steering angle or a signal related to the steering angle is required. It is an object of the present invention to provide a steering angle abnormality detection device that can determine the steering angle and can prevent an abnormal operation of the control device using the steering angle.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a first aspect of the present invention provides a steering angle for detecting or calculating a steering angle or a value related to a steering angle based on an input parameter. A steering angle abnormality detection device comprising a plurality of detection means, and abnormality determination means for determining that the steering angle is abnormal when a deviation of a value detected or calculated by each steering angle detection means exceeds a predetermined value. It is the gist.

According to a second aspect of the present invention, in the first aspect, at least one of the plurality of steering angle detecting means detects a steering angle based on a signal from a steering angle sensor provided on a steering shaft. Or at least one of which is based on a steering angle abnormality detection device that detects or calculates a steering angle based on a signal from a rotation angle sensor of an actuator mounted on a vehicle. .

According to a third aspect of the present invention, in the first aspect, at least one of the plurality of steering angle detecting means differentiates a signal from a steering angle sensor provided on a steering shaft to obtain a steering angular velocity. The gist is a steering angle abnormality detecting device that differentiates a signal from a rotation angle sensor of an actuator mounted on a vehicle and estimates a steering angular velocity based on the value. is there.

According to a fourth aspect of the present invention, in the first aspect, at least one of the plurality of steering angle detecting means detects a steering angle based on a signal from a steering angle sensor provided on a steering shaft. Or at least one of the other is a steering angle abnormality detection device that calculates and integrates a motor angular velocity from a terminal voltage and a motor current of a motor that is an actuator mounted on a vehicle, and estimates a steering angle. It is the gist.

According to a fifth aspect of the present invention, in the first aspect, at least one of the plurality of steering angle detecting means differentiates a signal from a steering angle sensor provided on a steering shaft to obtain a steering angular velocity. At least one of which calculates a motor angular velocity from a voltage between terminals of a motor which is an actuator mounted on a vehicle and a motor current, and estimates a steering angular velocity based on the motor angular velocity. The gist of the device is as follows.

(Operation) According to the first aspect of the present invention,
The plurality of steering angle detection means detects or calculates a steering angle or a value related to the steering angle based on the input parameters.

In this embodiment, calculating based on a signal (detection signal) obtained by directly measuring the steering angle is called detection. The abnormality determining means calculates a deviation between the values detected or calculated by the respective steering angle detecting means, and determines that the steering angle is abnormal when the deviation exceeds a predetermined value. That is, it is determined that the steering angle obtained by at least one of the plurality of steering angle detecting means is abnormal.

According to the second aspect of the present invention, at least one of the plurality of steering angle detecting means detects or calculates a steering angle based on a signal from a steering angle sensor provided on the steering shaft. At least one other detects or calculates a steering angle based on a signal from a rotation angle sensor of an actuator mounted on the vehicle. Each of the calculated steering angle deviations is calculated, and the abnormality determining means determines abnormality based on the magnitude of the deviation.

According to the third aspect of the present invention, at least one of the plurality of steering angle detecting means calculates a steering angular velocity by differentiating a signal from a steering angle sensor provided on a steering shaft. At least one other differentiates a signal from a rotation angle sensor of an actuator mounted on a vehicle, and estimates a steering angular velocity based on the value.

Each of them calculates or calculates a deviation of the estimated steering angular velocity, and the abnormality determining means determines abnormality based on the magnitude of the deviation. According to the fourth aspect of the present invention, at least one of the plurality of steering angle detecting means detects or calculates a steering angle based on a signal from a steering angle sensor provided on the steering shaft.

Further, at least one of them calculates a motor angular velocity from a voltage between terminals of a motor which is an actuator mounted on a vehicle and a motor current, integrates the motor angular velocity, and estimates a steering angle. Each calculates a deviation of the calculated or estimated steering angle, and the abnormality determining means determines abnormality based on the magnitude of the deviation.

According to the fifth aspect of the present invention, at least one of the plurality of steering angle detecting means calculates a steering angular velocity by differentiating a signal from a steering angle sensor provided on a steering shaft. Further, at least one of them calculates a motor angular velocity from a voltage between terminals of a motor which is an actuator mounted on a vehicle and a motor current, and estimates a steering angular velocity based on the motor angular velocity.

Each of them calculates a deviation of the calculated or estimated steering angular velocity, and the abnormality determining means determines abnormality based on the magnitude of the deviation.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) FIGS. 1 to 3 show an embodiment in which the present invention is embodied in a control device 20 of an electric power steering device mounted on an automobile (vehicle).
It will be described according to.

FIG. 1 schematically shows an electric power steering device and a control device 20 thereof. A steering shaft 2 as a steering shaft connected to the steering wheel 1 is provided with a torsion bar 3. A torque sensor 4 is mounted on the torsion bar 3. When the steering shaft 2 rotates and a force is applied to the torsion bar 3, the torsion bar 3 is twisted in accordance with the applied force, and the torsion bar 3, that is, the turning torque T applied to the steering wheel 1 is detected by the torque sensor 4. ing.

The steering shaft 2 has a speed reducer 5
Is fixed. A gear 7 attached to a rotating shaft of an electric motor (hereinafter referred to as a motor) 6 is engaged with the speed reducer 5. Further, a pinion shaft 8 is fixed to the speed reducer 5. A pinion 9 is fixed to the tip of the pinion shaft 8, and the pinion 9 meshes with a rack 10. A tie rod 12 is fixedly provided at both ends of the rack 10, and a knuckle 13 is rotatably connected to a tip end of the tie rod 12. A front wheel 14 as a tire is fixed to the knuckle 13. One end of the knuckle 13 is rotatably connected to the cross member 15.

Therefore, when the motor 6 rotates, the rotation speed is reduced by the speed reducer 5 and transmitted to the pinion shaft 8, and the rack 1 is rotated via the pinion and rack mechanism 11.
0 is transmitted. And the rack 10 is a tie rod 1
2, the direction of the front wheels 14 provided on the knuckle 13 can be changed to change the traveling direction of the vehicle.

The front wheel 14 is provided with a vehicle speed sensor 16. Next, an electrical configuration of the control device 20 of the electric power steering device will be described. The vehicle speed sensor 16
A detection signal corresponding to the vehicle speed V at that time and the rotation speed of the front wheels 14 is output to the control device 20. The torque sensor 4 outputs a signal indicating the steering torque Th of the steering wheel 1 to the control device 20.

The steering angle sensor 17 outputs a signal indicating the steering angle θ of the steering shaft 2 to the control device 20. The motor rotation angle sensor 18 is the rotation angle of the motor 6.
A signal indicating (motor rotation angle) θm is output to the control device 20.

The control device 20 includes a central processing unit (CPU) 21 as control means, a read-only memory (ROM).
22 and a read-only and write-only memory (RAM) 23 for temporarily storing data. This ROM 22
Stored are various known control programs such as assist control, steering wheel return control, damper control, torque inertia compensation control, and the like, which are executed by the CPU 21, and a steering angle abnormality detection program. The RAM 23 temporarily stores the results of the arithmetic processing when the CPU 21 performs the arithmetic processing.

The CPU 21 receives detection signals from the various sensors and executes a motor based on the detection signals in the processing of various known control programs such as assist control, steering wheel return control, damper control, and torque inertia compensation control. The command current value is calculated and output to the motor driving device 24, and the driving of the motor 6 is controlled via the motor driving device 24.

In this embodiment, the CPU 21 corresponds to a plurality of steering angle detecting means and abnormality determining means. (Operation of the First Embodiment) Next, the operation of the control device 20 of the electric power steering apparatus configured as described above, that is, the processing operation of the steering angle abnormality detection program of the CPU 21 will be described with reference to the flowchart of FIG.

First, the CPU 21 reads a detection signal from the steering angle sensor 17 in step (hereinafter, step is referred to as S) 1 and calculates a steering angle θ. In S2,
The detection signal from the motor rotation angle sensor 18 is read, and the motor rotation angle θm is calculated.

The detection signal input for calculating the steering angle θ and the detection signal input for calculating the motor rotation angle θm correspond to parameters. In S3, the estimated steering angle θs is calculated (estimated) by dividing the motor rotation angle θm by the reduction ratio G of the speed reducer 5.

At S4, the deviation Δθ = | θ−θs |
Is calculated. Further, in S5, the following determination is made. Δθ−θ0 ≧ θ1 Note that θ0 is an offset value. That is, the steering angle θs estimated from the motor rotation angle sensor 18 is not always the steering wheel 1 at the neutral position, and the absolute angle is unknown. Therefore, when the control device 20 is first turned on, the estimated steering angle is set to 0, and the steering angle θ0 detected by the steering angle sensor 17 at that time is used as an offset value in the RAM.
23.

Θ1 is an abnormality determination threshold value,
It is stored in the OM 22. In S5, Δθ−θ0
If ≧ θ1, the steering angle θ detected by the steering angle sensor 17 is determined to be not an abnormal value, and “NO” is determined, and the routine exits.

In S5, when Δθ−θ0 ≧ θ1, that is, when the steering angle θ detected by the steering angle sensor 17,
Is determined to be an abnormal value, the determination is "YES", and in S6, the CPU 21 performs a fail process, and ends this routine. The fail processing is performed, for example, by a CPU
There is a fail-safe process for stopping various controls such as the assist control, the steering wheel return control, the damper control, and the torque inertia compensation control performed by the control unit 21.

FIG. 2 is a control block diagram showing functions executed by the steering angle abnormality detection program in the CPU 21. Each part shown in the control block diagram does not show independent hardware, but is a CPU.
21 shows a function executed.

The steering angle calculating section 31 calculates the steering angle θ based on the detection signal input from the steering angle sensor 17 and outputs the result to the comparing section 34. On the other hand, the motor rotation angle calculation unit 32
Based on a detection signal input from the motor rotation angle sensor 18, the motor rotation angle θm is calculated and output to the steering angle estimation unit 33. The steering angle estimating unit 33 calculates the estimated steering angle θs by dividing the motor rotation angle θm by the reduction ratio G of the speed reducer 5, and outputs the calculated steering angle θs to the comparing unit 34.

The comparing unit 34 calculates a deviation Δθ between the steering angle θ input from the steering angle calculating unit 31 and the estimated steering angle θs calculated by the steering angle estimating unit 33, and calculates Δθ−θ0. The calculated value determines the magnitude relationship with the abnormality determination threshold value θ1, and when Δθ−θ0 ≧ θ1, the steering angle θ is determined to be an abnormal value, and otherwise, it is determined to be normal.

According to the control device 20 of the electric power steering device of the above embodiment, the following effects can be obtained. (1) In the present embodiment, a detection signal related to the steering angle from the steering angle sensor 17 and a detection signal related to the motor rotation angle θm (a value related to the steering angle) from the motor rotation angle sensor 18 are input respectively. The CPU 21 detects or calculates (estimates) the steering angle θ and the estimated steering angle θs based on the respective detection signals. When the deviation Δθ between the detected steering angle θ and the estimated estimated steering angle θs exceeds a predetermined value (abnormality determination threshold θ1 + θ0), the CPU 21 determines that the abnormality has been detected in the steering angle θ.

As a result, disconnection of the steering angle sensor 17 and other failures can be determined. (Second Embodiment) Next, a second embodiment will be described with reference to FIG.

In the following embodiments including this embodiment, the same or corresponding components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted, and different portions will be mainly described. The electric power steering apparatus according to the present embodiment has the same hardware configuration as that of the first embodiment.

FIG. 4 shows the electrical configuration of the CPU 21 constituting the control device 20 of the present embodiment, and the internal configuration of the CPU 21 shows functions executed by programs. For example, the differentiators 40 and 41 are not independent hardware but show a differentiation process executed inside the CPU 21.

In this embodiment, the steering angle θ is calculated by the steering angle calculator 31 based on the detection signal from the steering angle sensor 17, and then differentiated by the differentiator 40 to obtain the steering angular velocity dθ / d.
t is calculated, and the steering angular velocity dθ / dt is output to the comparison unit 43.

On the other hand, based on the detection signal of the motor rotation angle sensor 18, the motor rotation angle
, And then differentiated by the differentiator 41 to calculate the motor angular velocity dθm / dt.

Also in this embodiment, the detection signal input for calculating the steering angle θ and the detection signal input for calculating the motor rotation angle θm correspond to parameters.
Next, the steering angular velocity estimating unit 42 calculates the motor angular velocity dθm.
By dividing / dt by the reduction ratio G of the speed reducer 5, an estimated steering angular velocity dθs / dt is calculated and output to the comparison unit 43.

The comparing unit 43 calculates a deviation Δ (dθ / d) between the steering angular velocity dθ / dt input from the differentiator 40 and the estimated steering angular velocity dθs / dt calculated by the steering angular velocity estimating unit 42.
t) is calculated, and the magnitude of the deviation Δ (dθ / dt) with the abnormality determination threshold θ2 is determined. Then, Δ (dθ / d
When t) ≧ θ2, the steering angle θ is determined to be an abnormal value, and otherwise, it is determined to be normal. Note that the abnormality determination threshold θ2 is stored in the ROM 22 in advance.

For example, when the estimated steering angular velocity dθs / dt is a certain value or more and the steering angular velocity dθ / dt is almost 0, the detection signal of the steering angle sensor 17 is determined to be broken. Can be determined.

According to the control device 20 of the electric power steering apparatus of the above embodiment, the following effects can be obtained. (1) In the present embodiment, the CPU 21 calculates the steering angular velocity dθ / dt by differentiating the signal from the steering angle sensor 17 provided on the steering shaft 2 (steering shaft). The CPU 21 is provided with a motor rotation angle sensor 18 for the motor 6 (actuator) mounted on the vehicle.
(Rotational angle sensor), a motor angular velocity dθm / dt is calculated based on the differential value of the detection signal.
The PU 21 estimates the estimated steering angular velocity dθs / dt by dividing by the reduction ratio G of the speed reducer 5. Further, a deviation Δ (dθ / dt) between the steering angular velocity dθ / dt and the estimated steering angular velocity dθs / dt is calculated, and the deviation Δ (dθ / d) is calculated.
By determining the magnitude relationship between t) and the abnormality determination threshold θ2, it is determined whether or not the steering angle sensor 17 is abnormal.

As a result, according to the present embodiment, the abnormality of the steering angle sensor 17 can be detected without restriction of various conditions such as the vehicle speed condition, and the abnormal operation of the control device 20 which controls using the detection signal of the steering angle sensor 17 can be prevented. it can.

(Third Embodiment) Next, a third embodiment will be described with reference to FIG.
This will be described with reference to FIG. The electric power steering apparatus according to the present embodiment has the same hardware configuration as that of the first embodiment, except that the motor rotation angle sensor 18 is omitted. And, instead, as shown in FIG.
It is configured such that the motor terminal voltage Vm of the motor 6 is input and the motor current Im of the motor 6 is input.

In this embodiment, the detection signal, the motor terminal voltage Vm, and the motor current Im input for calculating the steering angle θ correspond to parameters. FIG. 6 shows the electrical configuration of the CPU 21 that constitutes the control device 20 of the present embodiment, and the internal configuration of the CPU 21 shows functions executed by programs. For example, the integrator 54 is not independent hardware, but indicates an integration process executed inside the CPU 21.

In FIG. 6, the calculation of the steering angle θ based on the detection signal from the steering angle sensor 17 is the same as in the first embodiment. In the present embodiment, the estimated steering angle θs is obtained from the motor terminal voltage Vm and the motor current Im.

That is, when a voltage is applied between the terminals of the motor 6, the motor 6 rotates, but when the motor 6 rotates, a back electromotive force is generated in proportion to the number of rotations, and is added to the motor terminal voltage Vm. Is done. The relationship between the motor terminal voltage Vm and the back electromotive force of the motor 6 can be expressed by the following equation.

Vm = (Ls + R) · Im + Ke · ω (1) where, Vm: voltage between motor terminals, L: inductance of motor 6, s: Laplace operator, R: resistance between terminals of motor 6, Im: Motor current, Ke: Back electromotive force constant of motor 6, ω: Estimated motor angular velocity.

Therefore, when the above equation (1) is solved with ω (estimated motor angular velocity), the following equation (2) is obtained. ω = {Vm− (Ls + R) · Im} / Ke Then, the first arithmetic unit 50 shown in FIG. 6 multiplies the motor current Im by (Ls + R) and outputs the result to the subtractor 51.
The subtracter 51 subtracts the value calculated by the first calculator 50 from the input motor terminal voltage Vm, and the second calculator 52
Output to The second calculation unit 52 calculates the estimated motor angular velocity ω by dividing the value input from the subtractor 51 by the back electromotive force constant Ke, and outputs the result to the steering angular velocity estimation unit 53.

Next, the steering angular velocity estimating unit 53 calculates the estimated steering angular velocity dθs / dt by dividing the estimated motor angular velocity ω by the reduction ratio G of the speed reducer 5, and outputs it to the integrator 54.
The integrator 54 calculates the estimated steering angle θs by integrating the estimated steering angular velocity dθs / dt, and outputs the result to the comparison unit 34.

The comparison unit 34 calculates a deviation Δθ between the steering angle θ and the estimated steering angle θs, and calculates Δθ−θ0 in the same manner as in the first embodiment. Is determined, and when Δθ−θ0 ≧ θ1, the steering angle θ is determined to be an abnormal value, and otherwise, it is determined to be normal.

According to the control device 20 for the electric power steering apparatus of the above embodiment, the following effects can be obtained. (1) In the present embodiment, the CPU 21 detects the steering angle θ based on a detection signal from the steering angle sensor 17 provided on the steering shaft 2. or,
The CPU 21 calculates the estimated motor angular velocity ω from the motor terminal voltage Vm (terminal voltage) of the motor 6 mounted on the vehicle and the motor current Im, divides the estimated motor angular velocity ω by the reduction ratio G of the speed reducer 5, and obtains the estimated steering angular velocity dθs / dt is calculated and integrated to estimate the estimated steering angle θs.

When the deviation Δθ between the detected steering angle θ and the estimated steering angle θs exceeds a predetermined value (abnormality determination threshold θ1 + θ0), the CPU 21 determines that the steering angle θ is abnormal.

As a result, the abnormality of the steering angle sensor can be detected under any conditions, and the abnormal operation of the control device using the detection signal of the steering angle sensor can be prevented. (Fourth Embodiment) Next, a fourth embodiment will be described with reference to FIG.

In the present embodiment, in the configuration of the third embodiment,
The integrator 54 is omitted, and the steering angular velocity estimating unit 53 differs in that the estimated steering angular velocity dθs / dt is output to the comparing unit 43, and the steering angle calculating unit 31 includes a differentiator 41.
And the differentiator 41 outputs the steering angular velocity dθ / d
The difference is that t is output to the comparison unit 43. Then, the comparing unit 43 performs the same processing as in the second embodiment. That is, a deviation Δ (dθ / dt) between the steering angular velocity dθ / dt and the estimated steering angular velocity dθs / dt is calculated, and a magnitude relationship between the deviation Δ (dθ / dt) and the abnormality determination threshold θ2 is determined. When Δ (dθ / dt) ≧ θ2, the steering angle θ is determined to be an abnormal value, and otherwise, it is determined to be normal.

Also in the present embodiment, the detection signal input to calculate the steering angle θ and the motor terminal voltage Vm,
The motor current Im corresponds to a parameter. According to the control device 20 of the electric power steering device of the above embodiment, the following effects can be obtained.

(1) In this embodiment, the CPU 21
Calculates the steering angular velocity dθ / dt by differentiating the detection signal from the steering angle sensor 17 provided on the steering shaft 2. Further, the CPU 21 calculates an estimated motor angular velocity ω from the motor terminal voltage Vm (terminal voltage) of the motor 6 mounted on the vehicle and the motor current Im, and based on the estimated motor angular velocity ω, the estimated steering angular velocity dθs / d.
t was estimated.

Further, the CPU 21 calculates the steering angular velocity dθ / d
t and the deviation Δ (dθ / d) between the estimated steering angular velocity dθs / dt.
dt), and the magnitude of the deviation Δ (dθ / dt) and the abnormality determination threshold θ2 are determined to determine whether the steering angle sensor 17 is abnormal.

As a result, in this embodiment, similarly to the second embodiment, abnormality of the steering angle sensor 17 can be detected without restriction of various conditions such as vehicle speed conditions, and control is performed using a detection signal of the steering angle sensor 17. Abnormal operation of the control device 20 can be prevented.

The embodiment of the present invention may be modified as follows. In the first and second embodiments, the CPU 21
Is a steering angle sensor 17 provided on the steering shaft 2.
The steering angle θ, the estimated steering angle θs, or the steering angular velocity dθ / dt, and the estimated steering angular velocity dθs / dt are obtained based on the detection signal of the motor rotation angle sensor 18 and at least one pair of the steering angle sensors 17. The abnormality determination may be performed by comparing the steering angles based on the detection of.

In the first embodiment and the second embodiment,
The CPU 21 determines a steering angle θ, an estimated steering angle θs, or a steering angular velocity dθ based on the detection signals of the steering angle sensor 17 and the motor rotation angle sensor 18 provided on the steering shaft 2.
/ Dt and the estimated steering angular velocity dθs / dt were obtained. At least one pair of motor rotation angle sensors 18 were provided, and the estimated steering angles calculated based on the values detected by them or the estimated steering angular velocities were compared. An abnormality determination may be performed.

In the third embodiment and the fourth embodiment,
An estimated steering angle θs and an estimated steering angular velocity dθs / dt are obtained based on the motor terminal voltage Vm and the motor current Im, and the steering angle θ and the steering angular velocity d based on the detection of the steering angle sensor 17 are obtained.
Although the comparison is made with θ / dt, the abnormality determination may be made by comparing the estimated steering angle and the estimated steering angular velocity based on the detection of the motor rotation angle sensor 18 instead of the steering angle sensor 17.

The first and second embodiments, the first and third embodiments, the first and fourth embodiments, the second and third embodiments, and the second embodiment And the fourth
The embodiment, or the third embodiment and the fourth embodiment may be combined.

[0070]

As described in detail above, according to the first to fifth aspects of the present invention, when the steering angle is detected or calculated under any conditions, the steering angle or the signal of the steering angle is calculated. An abnormality can be determined, and abnormal operation of the control device using the steering angle can be prevented.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a control device of an electric power steering device according to a first embodiment of the present invention.

FIG. 2 is a control block diagram of the CPU.

FIG. 3 is a flowchart of a steering angle abnormality detection program.

FIG. 4 is a control block diagram of a CPU according to a second embodiment.

FIG. 5 is a schematic diagram of a control device of the dynamic power steering device according to the third embodiment.

FIG. 6 is a control block diagram of the CPU.

FIG. 7 is a control block diagram of a CPU according to a fourth embodiment.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 steering wheel, 2 steering shaft (steering shaft), 4 torque sensor, 6 motor (actuator), 17 steering angle sensor, 18 motor rotation angle sensor (rotation angle sensor), 20 control device, 2
1. CPU (a plurality of steering angle detecting means and abnormality determining means).

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification FI FI Theme Court ゛ (Reference) B62D 119: 00 B62D 119: 00

Claims (5)

[Claims] A plurality of steering angle detecting means for detecting or calculating a steering angle or a value related to a steering angle based on an input parameter, wherein a deviation of a value detected or calculated by each steering angle detecting means is a predetermined value. A steering angle abnormality detection device provided with abnormality determination means for determining that the steering angle is abnormal when the value exceeds the value. 2. At least one of the plurality of steering angle detecting means detects or calculates a steering angle based on a signal from a steering angle sensor provided on a steering shaft. The steering angle abnormality detecting device according to claim 1, wherein the steering angle is detected or calculated based on a signal from a rotation angle sensor of an actuator mounted on the vehicle. 3. At least one of the plurality of steering angle detecting means calculates a steering angular velocity by differentiating a signal from a steering angle sensor provided on a steering shaft. The steering angle abnormality detection device according to claim 1, wherein a signal from a rotation angle sensor of an actuator mounted on the vehicle is differentiated, and a steering angular velocity is estimated based on the value. 4. At least one of the plurality of steering angle detecting means detects or calculates a steering angle based on a signal from a steering angle sensor provided on a steering shaft. 2. The steering angle abnormality detection device according to claim 1, wherein the motor angular velocity is calculated from a voltage between terminals of a motor as an actuator mounted on the vehicle and a motor current, and integrated to estimate a steering angle. 5. At least one of the plurality of steering angle detecting means calculates a steering angular velocity by differentiating a signal from a steering angle sensor provided on a steering shaft. The steering angle abnormality detection device according to claim 1, wherein the motor angular velocity is calculated from a voltage between terminals of a motor as an actuator mounted on the vehicle and a motor current, and the steering angular velocity is estimated based on the motor angular velocity.