JP2009179185A - Diagnostic device and method of steer-by-wire system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent unnatural feeling from being imparted to a driver when diagnosing a steer-by-wire system. <P>SOLUTION: A connection command means 22 gives a connection command to a backup clutch 5. A torque generation command means 23 makes a current flow to a turning motor 7 and a steering reaction force motor 3 so that the torque of the same magnitude may be generated in opposite directions when the connection command means 22 gives the connection command. A change determination means 24 determines whether or not a turning angle detected by a turning angle sensor 8 and a steering angle detected by a steering angle sensor 4 are changed when the torque generation command means 23 makes current flow to the turning motor 7 and the steering reaction force motor 3. A clutch abnormality decision means 25 decides whether the backup clutch 5 is normal or abnormal based on the determination of the change determination means 24. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a steer-by-wire system diagnosis apparatus and a steer-by-wire system diagnosis method for diagnosing mechanical interrupting means of a steer-by-wire system.

  The steer-by-wire system is a system that enables steering using an electrical mechanism instead of the mechanical mechanism between the conventional steering wheel and the steered wheel, that is, the steering shaft. Therefore, it has mechanical interrupting means.

In a conventional steer-by-wire system diagnostic device, whether the angle of the other motor changes when one of the steering motor and steering reaction motor is operated with a connection command issued to the mechanical intermittent means I was deciding whether or not.
JP 2006-335209 A

  However, in such a diagnosis apparatus for the steer-by-wire system, the steering wheel moves to the left and right regardless of the driver's intention at the time of diagnosis, giving the driver a sense of incongruity.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a steer-by-wire system diagnosis apparatus and a steer-by-wire system diagnosis method that does not give the driver a sense of incongruity at the time of diagnosis.

  In order to achieve this object, in the present invention, a connection command for mechanically connecting the steered wheels and the operating means is issued to the mechanical interrupting means, and the reaction force generating means generates a predetermined driving force and the turning force. Based on the movement of the operation means or the steered wheels when the predetermined force is generated in the opposite direction by the generating means, and the reaction force generating means and the turning force generating means generate the driving force. The abnormality of the automatic interruption means is determined.

  In the present invention, in a state where the reaction force generating means and the turning force generating means are mechanically connected, a predetermined driving force is generated in the reaction force generating means and the turning force generating means so as to be in opposite directions. By adopting a configuration for judging the abnormality, if the reaction force generating means and the turning force generating means are normal, the driving force generated by both of them is balanced and the operating means hardly moves. Does not make any unrelated movements and does not give a sense of incongruity.

  FIG. 1 is a schematic perspective view showing a steer-by-wire system to which the steer-by-wire system diagnosis apparatus and steer-by-wire system diagnosis method according to the present invention is applied. As shown in the figure, a steering reaction force motor 3 that applies a steering reaction force to the steering wheel 1 is provided. A torque sensor 2 is provided between the steering wheel 1 and the steering reaction force motor 3. A steering angle sensor 4 for detecting the steering angle of the steering wheel 1 is provided. A steered motor 7 that provides a steered force to the steered wheels 12 is provided. A turning angle sensor 8 for detecting the turning angle of the turning wheel 12 is provided. A backup device 6 that mechanically connects the steering wheel 1 and the steered wheel 12 and changes the steered angle of the steered wheel 12 in accordance with the steering angle of the steering wheel 1 is provided. The backup device 6 has a backup cable. A backup clutch 5 for mechanically connecting and disconnecting the steering wheel 1 and the backup device 6 is provided. The backup device 6 and the backup clutch 5 constitute mechanical interrupting means for mechanically connecting and disconnecting the steered wheels 12 and the steering wheel 1. A steering reaction force ECU 9 for calculating a steering reaction force according to the steering angle detected by the steering angle sensor 4 is provided. The steering reaction force ECU 9 controls the steering reaction force motor 3 based on the calculated steering reaction force. A steered ECU 10 is provided that calculates a steered force for applying to the steered wheels 12 a steered amount corresponding to the steered angle detected by the steering angle sensor 4. The turning ECU 10 controls the turning motor 7 based on the calculated turning force. The steering reaction force ECU 9 and the steering ECU 10 input the output of the vehicle speed sensor 11.

  In this steer-by-wire system, when the driver operates the steering wheel 1 while the steering wheel 1 and the backup device 6 are mechanically disconnected by the backup clutch 5, the steering angle sensor 4 determines the steering angle of the steering wheel 1. To detect. Then, the turning ECU 10 calculates a turning force for giving a turning amount corresponding to the steering angle detected by the steering angle sensor 4 to the turning wheel 12, and turns based on the turning force calculated by the turning ECU 10. The motor 7 is controlled. For this reason, the turning angle of the steered wheels 12 changes corresponding to the steering angle of the steering wheel 1. Further, the steering reaction force ECU 9 calculates a steering reaction force according to the steering angle detected by the steering angle sensor 4, and controls the steering reaction force motor 3 based on the steering reaction force calculated by the steering reaction force ECU 9. For this reason, a steering reaction force corresponding to the steering angle is applied to the steering wheel 1. When an abnormality occurs in the steering reaction force ECU 9, the steering ECU 10, etc., the backup clutch 5 connects the steering wheel 1 and the backup device 6. In this case, when the driver operates the steering wheel 1, the backup device 6 changes the turning angle of the steered wheels 12 according to the steering angle of the steering wheel 1.

(First embodiment)
FIG. 2 is a block diagram showing a diagnostic apparatus for a steer-by-wire system according to the present invention. As shown in the figure, the diagnostic device 21 has a connection command means 22, a torque generation command means 23, a change judgment means 24, and a clutch abnormality judgment means 25. When the connection command means 22 is turned on and the diagnosis results of the initial diagnosis of the steering reaction force ECU 9 and the steering ECU 10 and the initial diagnosis of the steering reaction force motor 3 and the steering motor 7 are both normal, the connection command means 22 Issue a connection command. When the connection command means 22 issues a connection command, the torque generation command means 23 sends a current to the steering motor 7 and the steering reaction force motor 3 so that the same magnitude of torque is generated in the reverse direction. Here, for example, the motor torque constants of the steering motor 7 and the steering reaction force motor 3 are 0.01 and 0.20, respectively, and the gear ratio between the steering motor 7 and the steering reaction force motor 3 is 20: In the case of 1, as shown in the following equation, when a current of 5 A is passed through the steering motor 7 and the steering reaction force motor 3 in the opposite direction, the steering motor 7 and the steering reaction force motor 3 are each 10 N · A torque of m is generated.

また、電流を流し始めるタイミングは、転舵モータ７と操舵反力モータ３で同時にトルクが発生するようにする。変化判断手段２４は、トルク発生指令手段２３が転舵モータ７、操舵反力モータ３に電流を流したとき、転舵角センサ８によって検出された転舵角および操舵角センサ４によって検出された操舵角が変化するか否かを判断する。クラッチ異常判定手段２５は、変化判断手段２４が転舵角および操舵角が変化しないと判断したとき、バックアップクラッチ５が正常であると判定する。一方、変化判断手段２４が転舵角、操舵角の少なくとも一方が変化したと判断したときとき、クラッチ異常判定手段２５はバックアップクラッチ５が異常であると判定する。

The timing at which the current starts to flow is such that torque is generated simultaneously by the steering motor 7 and the steering reaction force motor 3. The change determination means 24 is detected by the steering angle sensor 4 detected by the steering angle sensor 8 and the steering angle sensor 4 when the torque generation command means 23 supplies current to the steering motor 7 and the steering reaction force motor 3. It is determined whether or not the steering angle changes. The clutch abnormality determining unit 25 determines that the backup clutch 5 is normal when the change determining unit 24 determines that the turning angle and the steering angle do not change. On the other hand, when the change determining unit 24 determines that at least one of the turning angle and the steering angle has changed, the clutch abnormality determining unit 25 determines that the backup clutch 5 is abnormal.

  Next, the operation of the diagnosis apparatus for the steer-by-wire system shown in FIG. 2, that is, the diagnosis method for the steer-by-wire system according to the present invention will be described with reference to FIG. First, when the power is turned on and the diagnosis results of the initial diagnosis of the steering reaction force ECU 9 and the steering ECU 10 and the initial diagnosis of the steering reaction force motor 3 and the steering motor 7 are both normal, the connection command means 22 is connected to the backup clutch 5. A connection command is issued (S1). At this time, if the backup clutch 5 is normal, the backup clutch 5 mechanically connects the steering wheel 1 and the backup device 6. If there is any abnormality in the backup clutch 5, the backup clutch 5 does not mechanically connect the steering wheel 1 and the backup device 6 even if a connection command is received. Next, the torque generation command means 23 supplies current to the steering motor 7 and the steering reaction motor 3 so that the same magnitude of torque is generated in the reverse direction (S2). Then, the steering motor 7 and the steering reaction force motor 3 generate a torque of 10 N · m in opposite directions. Next, the change determination means 24 determines whether the turning angle detected by the turning angle sensor 8 and the steering angle detected by the steering angle sensor 4 change (S3). Here, if the backup clutch 5 is normal, the backup clutch 5 mechanically connects the steering wheel 1 and the backup device 6, so that the turning motor 7 and the steering reaction force motor 3 are opposite to each other by 10 N · When the torque m is generated, the torque is balanced between the steering reaction force motor 3 and the steered motor 7, and the steering wheel 1 and steered wheel 12 do not operate, and are apparently stopped. On the other hand, if there is any abnormality in the backup clutch 5, the backup clutch 5 does not mechanically connect the steering wheel 1 and the backup device 6 even if a connection command is received. When torque of 10 N · m is generated in the opposite direction, the torque is not balanced between the steering reaction force motor 3 and the steered motor 7, and the steering wheel 1 and the steered wheel 12 are in opposite directions. To work. Therefore, when the change determining unit 24 determines that the turning angle and the steering angle do not change, the clutch abnormality determining unit 25 determines that the backup clutch 5 is normal (S4). On the other hand, when the change determining unit 24 determines that at least one of the turning angle and the steering angle has changed, the clutch abnormality determining unit 25 determines that the backup clutch 5 is abnormal (S5).

  The above description is a case where the steered wheel 12 and the steering wheel 1 are free. However, even when the steered wheels 12 are free and the driver fixes the steering wheel 1, when the backup clutch 5 is normal, the steered angle and steering angle do not change. Determines that the backup clutch 5 is normal. On the other hand, if there is any abnormality in the backup clutch 5, the turning angle changes, so the clutch abnormality determination means 25 determines that the backup clutch 5 is abnormal. Even when the steering wheel 1 is free and the steered wheel 12 is fixed by hitting a curb or fitting into a groove, the steering angle and the steering angle change when the backup clutch 5 is normal. Therefore, the clutch abnormality determining means 25 determines that the backup clutch 5 is normal. On the other hand, if there is any abnormality in the backup clutch 5, the steering angle changes, so the clutch abnormality determination means 25 determines that the backup clutch 5 is abnormal.

  In such a steer-by-wire system diagnosis apparatus and steer-by-wire system diagnosis method, it is not necessary to add special connection confirmation means for the diagnosis of the steer-by-wire system, so that the cost can be reduced. . Further, when the backup clutch 5 is normal, the steering wheel 1 and the steered wheels 12 do not operate. For this reason, the steering wheel 1 does not move left and right regardless of the driver's intention during diagnosis, and the driver does not feel uncomfortable. Further, when the backup clutch 5 is abnormal, the steering wheel 1 operates, and it is possible to notify the driver of the abnormality of the backup clutch 5. Further, when the driver is fixing the steering wheel 1, it is determined whether or not the backup clutch 5 is normal even when the steered wheel 12 is fixed by hitting a curb or fitting into a groove. can do.

(Second Embodiment)
FIG. 4 is a block diagram showing a diagnostic apparatus for another steer-by-wire system according to the present invention. As shown in the figure, the diagnostic device 31 includes a connection command means 32, a first angle difference storage means 33, a torque generation command means 34, a change determination means 35, a second angle difference storage means 36, an angle difference determination means 37, A clutch abnormality determining means 38 is provided. When the connection command means 32 is turned on and the diagnosis results of the initial diagnosis of the steering reaction force ECU 9 and the steering ECU 10 and the initial diagnosis of the steering reaction force motor 3 and the steering motor 7 are both normal, the connection command means 32 is connected to the backup clutch 5. Issue a connection command. The first angle difference storage unit 33 stores the angle difference Δθ1 between the steering angle and the turning angle when the connection command unit 32 issues a connection command. The torque generation command means 34 sends a current to the steering motor 7 and the steering reaction motor 3 so that the same magnitude of torque is generated in the opposite direction when the angle difference storage means 33 stores the angle difference Δθ1. As a result, torque of 10 N · m is generated in the opposite direction to the steering motor 7 and the steering reaction force motor 3. The change determining means 35 is detected by the steering angle sensor 4 detected by the steering angle sensor 8 and the steering angle sensor 4 when the torque generation command means 34 supplies current to the steering motor 7 and the steering reaction force motor 3. It is determined whether or not the steering angle changes. The second angle difference storing unit 36 stores the angle difference Δθ2 between the steering angle and the turning angle when the change determining unit 35 determines that at least one of the turning angle and the steering angle has changed. The angle difference determining means 37 determines whether or not the angle difference Δθ1 is equal to the angle difference Δθ2. The clutch abnormality determination means 38 determines when the change determination means 35 determines that the turning angle and the steering angle do not change and when the angle difference determination means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are equal. Is determined to be normal. On the other hand, when the angle difference determination means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are not equal, the clutch abnormality determination means 38 determines that the backup clutch 5 is abnormal.

  Next, the operation of the diagnosis apparatus for the steer-by-wire system shown in FIG. 4, that is, the diagnosis method for another steer-by-wire system according to the present invention will be described with reference to FIG. First, when the power is turned on and the diagnosis results of the initial diagnosis of the steering reaction force ECU 9 and the steering ECU 10 and the initial diagnosis of the steering reaction force motor 3 and the steering motor 7 are both normal, the connection command means 32 is connected to the backup clutch 5. A connection command is issued (S1). Next, the angle difference storage means 33 stores the angle difference Δθ1 (S2). Next, the torque generation command means 34 supplies a current to the steering motor 7 and the steering reaction motor 3 so that the same magnitude of torque is generated in the opposite direction (S3). Then, the steering motor 7 and the steering reaction force motor 3 generate a torque of 10 N · m in opposite directions. Next, the change determination means 35 determines whether or not the turning angle detected by the turning angle sensor 8 and the steering angle detected by the steering angle sensor 4 change (S4). When the change determination unit 35 determines that at least one of the turning angle and the steering angle has changed, the second angle difference storage unit 36 stores the angle difference Δθ2 (S5). Next, the angle difference determining means 37 determines whether or not the angle difference Δθ1 is equal to the angle difference Δθ2 (S6). When the change determination means 35 determines that the turning angle and the steering angle do not change, and when the angle difference determination means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are equal, the clutch abnormality determination means 38 detects the backup clutch. 5 is determined to be normal (S7). On the other hand, when the angle difference determination means 37 determines that the angle difference Δθ1 is not equal to the angle difference Δθ2, the clutch abnormality determination means 38 determines that the backup clutch 5 is abnormal (S8).

  Here, when the driver steers the steering wheel 1 with the backup clutch 5 connected, the turning angle and the steering angle change. However, when the steering wheel 1 and the steered wheel 12 are connected, the steered angle and the steered angle change equally, so the angle difference Δθ1 and the angle difference Δθ2 are equal. On the other hand, when the driver steers the steering wheel 1 with the backup clutch 5 not connected, since the steering wheel 1 and the steered wheel 12 are not coupled, the amount of change between the steered angle and the steered angle is equal. Therefore, the angle difference Δθ1 and the angle difference Δθ2 are not equal. Therefore, even if the driver steers the steering wheel 1 during the diagnosis, whether or not the backup clutch 5 is normal is determined by determining whether or not the angle difference Δθ1 is equal to the angle difference Δθ2 by the angle difference determination means 37. It can be determined whether or not.

  In such a steer-by-wire system diagnosis apparatus and steer-by-wire system diagnosis method, it is determined whether the backup clutch 5 is normal without adding detection means for mechanically detecting that the backup clutch 5 is normal. Can be detected. Further, since the steering wheel 1 does not operate when the backup clutch 5 is normal, the steering wheel 1 does not move left and right regardless of the driver's intention during diagnosis, and the driver does not feel uncomfortable. . Further, when the backup clutch 5 is abnormal, the steering wheel 1 operates, and it is possible to notify the driver of the abnormality of the backup clutch 5. Further, when the driver is fixing the steering wheel 1, it is determined whether or not the backup clutch 5 is normal even when the steered wheel 12 is fixed by hitting a curb or fitting into a groove. can do. Even if the driver steers the steering wheel 1 during diagnosis, it can be determined whether or not the backup clutch 5 is normal.

(Third embodiment)
FIG. 6 is a block diagram showing a diagnostic apparatus for another steer-by-wire system according to the present invention. As shown in the figure, the diagnosis device 41 includes a connection command means 32, a first angle difference storage means 33, a torque generation command means 34, a change determination means 35, a second angle difference storage means 36, an angle difference determination means 37, Torque value determining means 42 and clutch abnormality determining means 43 are provided. The torque value determining means 42 determines whether or not the detected torque value detected by the torque sensor 2 is less than the threshold T (= 10 N · m) when the change determining means 37 determines that the turning angle and the steering angle do not change. Judging. The clutch abnormality determining means 43 is a backup clutch when the torque value determining means 42 determines that the detected torque value is less than the threshold T and when the angle difference determining means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are equal. 5 is determined to be normal. On the other hand, when the torque value determining means 42 determines that the detected torque value is greater than or equal to the threshold T and when the angle difference determining means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are not equal, the clutch abnormality determining means 43 It is determined that the backup clutch 5 is abnormal.

  Next, the operation of the diagnosis apparatus for the steer-by-wire system shown in FIG. 6, that is, the diagnosis method for another steer-by-wire system according to the present invention will be described with reference to FIG. First, when the power is turned on and the diagnosis results of the initial diagnosis of the steering reaction force ECU 9 and the steering ECU 10 and the initial diagnosis of the steering reaction force motor 3 and the steering motor 7 are both normal, the connection command means 32 is connected to the backup clutch 5. A connection command is issued (S1). Next, the angle difference storage means 33 stores the angle difference Δθ1 (S2). Next, the torque generation command means 34 supplies a current to the steering motor 7 and the steering reaction motor 3 so that the same magnitude of torque is generated in the opposite direction (S3). Then, the steering motor 7 and the steering reaction force motor 3 generate a torque of 10 N · m in opposite directions. Next, the change determination means 35 determines whether or not the turning angle detected by the turning angle sensor 8 and the steering angle detected by the steering angle sensor 4 change (S4). When the change determination unit 35 determines that at least one of the turning angle and the steering angle has changed, the second angle difference storage unit 36 stores the angle difference Δθ2 (S5). Next, the angle difference determining means 37 determines whether or not the angle difference Δθ1 is equal to the angle difference Δθ2 (S6). When the change determining means 35 determines that the turning angle and the steering angle do not change, the torque value determining means 42 determines whether or not the detected torque value is less than the threshold value T (S7). When the torque value determining means 42 determines that the detected torque value is less than the threshold T and when the angle difference determining means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are equal, the clutch abnormality determining means 43 is backed up. It is determined that the clutch 5 is normal (S8). On the other hand, when the torque value determining means 42 determines that the detected torque value is greater than or equal to the threshold T and when the angle difference determining means 37 determines that the angle difference Δθ1 and the angle difference Δθ2 are not equal, the clutch abnormality determining means 43 It is determined that the backup clutch 5 is abnormal (S9).

  Here, when the connection command means 32 issues a connection command to the backup clutch 5, the steered wheels 12 are fixed and the driver steers the steering wheel while the backup clutch 5 is abnormal and the backup clutch 5 is not connected. When the wheel 1 is fixed, the turning angle and the steering angle do not change even if the torque generation command means 34 passes a current through the steering motor 7 and the steering reaction force motor 3. However, if the driver fixes the steering wheel 1 in a state where the backup clutch 5 is not connected and the torque generation command means 34 supplies current to the steering motor 7 and the steering reaction force motor 3, the steering reaction is reversed. Torque is balanced between the force motor 3 and the steering wheel 1 fixed by the driver. Therefore, even when the steered wheel 12 is fixed and the driver fixes the steering wheel 1, the backup clutch is determined by determining whether or not the detected torque value detected by the torque sensor 2 is less than the threshold value T. Whether or not 5 is normal can be determined.

  In such a steer-by-wire system diagnosis apparatus and steer-by-wire system diagnosis method, it is determined whether the backup clutch 5 is normal without adding detection means for mechanically detecting that the backup clutch 5 is normal. Can be detected. Further, since the steering wheel 1 does not operate when the backup clutch 5 is normal, the steering wheel 1 does not move left and right regardless of the driver's intention during diagnosis, and the driver does not feel uncomfortable. . Further, when the backup clutch 5 is abnormal, the steering wheel 1 operates, and it is possible to notify the driver of the abnormality of the backup clutch 5. Further, when the driver is fixing the steering wheel 1, it is determined whether or not the backup clutch 5 is normal even when the steered wheel 12 is fixed by hitting a curb or fitting into a groove. can do. Even if the driver steers the steering wheel 1 during diagnosis, it can be determined whether or not the backup clutch 5 is normal. Even when the steered wheels 12 are fixed and the driver fixes the steering wheel 1, it can be determined whether or not the backup clutch 5 is normal.

  In the above embodiment, the steering wheel 1 corresponds to an operation means for inputting the turning amount of the steered wheels. The steering angle sensor 4 corresponds to an operation amount detection unit that detects an operation amount of the operation unit. The steering reaction force ECU 9 corresponds to an operation reaction force calculation unit that calculates an operation reaction force corresponding to the operation amount detected by the operation amount detection unit. Further, the steering reaction force motor 3 corresponds to a reaction force generation unit that applies an operation reaction force to the operation unit. Further, the turning ECU 10 corresponds to a turning force calculating means for calculating a turning force for giving a turning amount corresponding to the operation amount detected by the operation amount detecting means to the turning wheels. Further, the steered motor 7 corresponds to a steered force generating unit that gives the steered wheels the steered force calculated by the steered force calculating unit. Further, the backup clutch 5 and the backup device 6 correspond to mechanical interrupting means for mechanically connecting or disconnecting the steered wheels and the operating means.

  The connection command means 22 and 32 correspond to connection command means for issuing a connection command for mechanically connecting the steered wheels and the operation means to the mechanical interrupting means. The torque generation command means 23 and 34 correspond to drive force generation command means for causing the reaction force generation means to generate a predetermined drive force and causing the steered force generation means to generate the predetermined drive force in the opposite direction. Further, the change determination means 24, 35 and the clutch abnormality determination means 25, 38, 43 are based on the movement of the operation means or the steered wheels when the reaction force generation means and the turning force generation means generate the driving force. This corresponds to an abnormality determination means for determining an abnormality of the automatic interruption means. The change determination unit 24 corresponds to a change determination unit that determines whether the operation amount and the turning amount change when the reaction force generation unit generates a driving force. Further, the first angle difference storing means 33 corresponds to a first difference storing means for storing a first difference between the steering amount and the turning amount when the connection command means issues a connection command. When the second angle difference storage unit 36 determines that at least one of the operation amount and the steering amount has changed, the second difference difference storage unit 36 stores a second difference between the steering amount and the steering amount. Corresponds to storage means. Further, the angle difference determination means 37 corresponds to a difference determination means for determining whether or not the first difference and the second difference are equal. Further, when the torque value determining means 42 determines that the operation amount and the turning amount do not change, the detected torque value detected by the torque sensor provided between the operating means and the reaction force generating means is a predetermined torque value. This corresponds to torque value determining means for determining whether the value is less than the value.

  Step S1 in FIGS. 3, 5, and 7 corresponds to a connection command step in which the diagnostic device issues a connection command for mechanically connecting the steered wheels and the operating means to the mechanical interrupting means. Further, step S2 in FIG. 3, step S3 in FIG. 5, and FIG. 7 cause the diagnostic device to generate a predetermined driving force in the reaction force generating means and generate the predetermined driving force in the opposite direction to the turning force generating means. This corresponds to the driving force generation command step. Also, steps S3 to S5 in FIG. 3, steps S4, S7, and S8 in FIG. 5 and steps S4, S8, and S9 in FIG. 7 cause the diagnostic device to generate reaction force and the turning force generation means to generate driving force. This corresponds to an abnormality determination step for determining an abnormality of the mechanical intermittent means based on the movement of the operating means or the steered wheels.

  The connection command means 22, the torque generation command means 23, etc. may be provided in the steering reaction force ECU 9 and the steering ECU 10.

1 is a schematic perspective view showing a steer-by-wire system to which a steer-by-wire system diagnosis apparatus and a steer-by-wire system diagnosis method according to the present invention should be applied. It is a block diagram which shows the diagnostic apparatus of the steer-by-wire system which concerns on this invention. It is explanatory drawing of the diagnostic method of the steer-by-wire system which concerns on this invention. It is a block diagram which shows the diagnostic apparatus of the other steer-by-wire system which concerns on this invention. It is explanatory drawing of the diagnostic method of the other steer-by-wire system which concerns on this invention. It is a block diagram which shows the diagnostic apparatus of the other steer-by-wire system which concerns on this invention. It is explanatory drawing of the diagnostic method of the other steer-by-wire system which concerns on this invention.

Explanation of symbols

1 ... Steering wheel (operating means)
2 ... Torque sensor 3 ... Steering reaction force motor (reaction force generating means)
4. Steering angle sensor (operation amount detecting means)
5. Backup clutch (mechanical interrupting device)
6 ... Backup device (mechanical interrupting device)
7. Steering motor (steering force generating means)
8 ... Steering angle sensor 9 ... Steering reaction force ECU (operation reaction force calculation means)
10 ... Steering ECU (steering force calculation means)
DESCRIPTION OF SYMBOLS 12 ... Steering wheel 21 ... Diagnostic apparatus 22 ... Connection command means 23 ... Torque generation command means (driving force generation command means)
24 ... change judgment means 25 ... clutch abnormality judgment means (abnormality judgment means)
DESCRIPTION OF SYMBOLS 31 ... Diagnostic apparatus 32 ... Connection command means 33 ... 1st angle difference preservation | save means (1st difference preservation | save means)
34 ... Torque generation command means (driving force generation command means)
35 ... change determination means 36 ... second angle difference storage means (second difference storage means)
37. Angle difference judging means (difference judging means)
38 ... Clutch abnormality determining means (abnormality determining means)
DESCRIPTION OF SYMBOLS 41 ... Diagnosis apparatus 42 ... Torque value determination means 43 ... Clutch abnormality determination means (abnormality determination means)

Claims (5)

An operation means for inputting the turning amount of the steered wheel, an operation amount detection means for detecting the operation amount of the operation means, and an operation for calculating an operation reaction force corresponding to the operation amount detected by the operation amount detection means A reaction force calculating means; a reaction force generating means for applying the operation reaction force to the operation means; and a turning force for applying a turning amount corresponding to the operation amount detected by the operation amount detection means to the steered wheels. Steering force calculating means for calculating, steered force generating means for applying to the steered wheels the steered force calculated by the steered force calculating means, and mechanically connecting or disconnecting the steered wheels and the operating means. A steer-by-wire system diagnostic device having mechanical interrupting means,
A connection command means for issuing a connection command for mechanically connecting the steered wheel and the operation means to the mechanical interrupting means, a predetermined driving force is generated in the reaction force generating means, and the turning force generating means The driving force generation command means for generating the predetermined driving force in the opposite direction, the reaction force generation means, and the steering force generation means when the operation means or the steered wheels move when the driving force is generated. A diagnostic apparatus for a steer-by-wire system, comprising: abnormality determination means for determining abnormality of the mechanical interrupting means based on the abnormality.   The abnormality determination unit includes a reaction determination unit that determines whether or not the operation amount and the steering amount change when the driving force is generated by the reaction force generation unit and the steering force generation unit. The diagnostic apparatus for a steer-by-wire system according to claim 1. When the connection command means issues the connection command, a first difference storage means for storing a first difference between the steering amount and the steering amount, and the change determination means are the operation amount, the steering When it is determined that at least one of the amounts has changed, a second difference storing means for storing a second difference between the steering amount and the steered amount, and the first difference and the second difference are Difference determining means for determining whether or not they are equal,
The diagnosis apparatus for a steer-by-wire system according to claim 2, wherein the abnormality determination means determines an abnormality of the mechanical interrupting means based on the determination of the difference determination means. When the change determination means determines that the operation amount and the steering amount do not change, a detected torque value detected by a torque sensor provided between the operation means and the reaction force generation means is less than a predetermined value. Torque value judging means for judging whether or not,
The diagnostic apparatus for a steer-by-wire system according to claim 2 or 3, wherein the abnormality determination means determines an abnormality of the mechanical interrupting means based on the determination of the torque value determination means. An operation means for inputting the turning amount of the steered wheel, an operation amount detection means for detecting the operation amount of the operation means, and an operation for calculating an operation reaction force corresponding to the operation amount detected by the operation amount detection means A reaction force calculating means; a reaction force generating means for applying the operation reaction force to the operation means; and a turning force for applying a turning amount corresponding to the operation amount detected by the operation amount detection means to the steered wheels. Steering force calculating means for calculating, steered force generating means for applying to the steered wheels the steered force calculated by the steered force calculating means, and mechanically connecting or disconnecting the steered wheels and the operating means. A diagnostic method for a steer-by-wire system having a mechanical interrupting means,
A connection command step for issuing a connection command for mechanically connecting the steered wheels and the operating means to the mechanical interrupting means; and the diagnostic apparatus generates a predetermined driving force for the reaction force generating means. And a driving force generation command step for causing the turning force generating means to generate the predetermined driving force in the opposite direction, the diagnostic device generating the reaction force generating means, and the turning force generating means generating the driving force. A diagnosis method for a steer-by-wire system, comprising: an abnormality determination step for determining an abnormality of the mechanical intermittent means based on the movement of the operation means or the steered wheel at the time.

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