JP2019064354A - Abnormality detection device and abnormality detection method - Google Patents

Abstract

To provide an abnormality detection device and an abnormality detection method capable of preventing information related to deviation from being stored excessively while notifying a driver of the deviation appropriately.SOLUTION: The abnormality detection device related to this embodiment mode includes a deviation detection part, an abnormality detection part, a notification part, and a storage processing part. The deviation detection part detects the deviation between a calculated steering angle that is calculated from the steering operation and an actual steering angle that is an actual steering angle of a steering wheel with respect to a vehicle whose steering wheels are steered by outputting a steering signal corresponding to the steering operation of a driver for a steering member to a steering device. The abnormality detection part detects an abnormality of the steering device. The notification part notifies the driver of the deviation when the deviation is detected by the deviation detection part. The storage processing part stores deviation information indicating the deviation in a storage part when the deviation is detected by the deviation detection part and the abnormality is detected by the abnormality detection part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an abnormality detection apparatus and an abnormality detection method.

  Conventionally, in a vehicle having a steer-by-wire mechanism in which the steering and the steering device for steering the steered wheels are mechanically separated, the calculated steered angle calculated from the rotation angle of the steering and the actual steered angle of the steered wheels An abnormality detection device is known which detects a deviation from the When the abnormality detection device detects a deviation, the abnormality detection device notifies the driver and stores information on the deviation (for example, see Patent Document 1).

Unexamined-Japanese-Patent No. 2006-15911

  However, in the prior art, for example, in the case where the steered wheels get stuck in the groove and the calculated turning angle temporarily deviates from the actual turning angle although the turning device is not broken. Even if there is, information on divergence is stored. On the other hand, if the calculated turning angle deviates from the actual turning angle, the driver's safety may be reduced, so the occurrence of the deviation should be given to the driver regardless of the presence or absence of a failure in the turning device. It is preferable to notify.

  The present invention has been made in view of the above, and provides an abnormality detection device and an abnormality detection method capable of preventing the information about the deviation from being excessively stored while notifying the driver appropriately of the deviation. With the goal.

  In order to solve the problems described above and achieve the object, the abnormality detection device according to the present invention includes a divergence detection unit, an abnormality detection unit, a notification unit, and a storage processing unit. In the vehicle in which the steered wheels are steered by outputting the steering signal according to the driver's steering operation to the steering member, the deviation detection unit calculates the steering angle calculated from the steering operation. Deviation from the actual turning angle, which is the actual turning angle, of the turning wheels is detected. The abnormality detection unit detects an abnormality in the steering device. The notification unit notifies the driver of the deviation when the deviation is detected by the deviation detection unit. The storage processing unit stores divergence information indicating the divergence in the storage unit when the divergence is detected by the divergence detection unit and the abnormality is detected by the abnormality detection unit.

  According to the present invention, it is possible to prevent the information on the deviation from being stored excessively while notifying the driver of the deviation appropriately.

FIG. 1A is a diagram showing an outline of an abnormality detection method according to the embodiment. FIG. 1B is a diagram showing an outline of an abnormality detection method according to the embodiment. FIG. 2 is a block diagram showing the configuration of the vehicle control system according to the embodiment. FIG. 3 is a block diagram showing the configuration of the abnormality detection device according to the embodiment. FIG. 4 is an explanatory diagram of the divergence information. FIG. 5A is a diagram showing the notification content of the notification unit. FIG. 5B is a diagram showing the notification content of the notification unit. FIG. 6 is a flowchart showing a processing procedure of processing performed by the abnormality detection device according to the embodiment.

  Hereinafter, embodiments of the anomaly detection apparatus and the anomaly detection method disclosed in the present application will be described in detail with reference to the attached drawings. Note that the present invention is not limited by the embodiments described below. In the following, an electric car in which the drive wheel is rotated by a motor is described as an example of the vehicle C, but the vehicle C may be a hybrid car or the like.

  FIG. 1A and FIG. 1B are diagrams showing an outline of an abnormality detection method according to an embodiment. Vehicle C shown in FIG. 1A is disposed on the left and right sides of the vehicle body, and includes two front wheels FW serving as driving wheels and one rear wheel RW disposed at the center of the vehicle body in the vehicle width direction that is the Y-axis direction. One-wheeled three-wheeled mobility with The rear wheel RW is a steered wheel whose steering is controlled by a steering device (not shown) (corresponding to a steer ECU 3 and a steer ACT 13 described later).

  In addition, the vehicle C outputs the steering signal according to the rotation operation (an example of the steering operation) on the steering ST (an example of the steering member) by the driver D to the steering device by turning wheels (rear wheel RW). It is a vehicle having a so-called steer-by-wire (hereinafter SBW) mechanism for turning. Specifically, the turning device calculates the turning angle based on the steering signal, and turns the turning wheels at the calculated turning angle.

  In addition, although the steering ST was mentioned as an example of a steering member, it is not limited to this, For example, a steering signal is output by the stick type which outputs a steering signal by tilting operation to a rod-like member It may be a trackball type steering member that outputs.

  Also, the vehicle C may be, for example, a four-wheeled vehicle having one front wheel FW and two rear wheels RW, or two front wheels FW and two rear wheels RW. . Although the front wheel FW is a drive wheel, and the rear wheel RW is a driven wheel, for example, the front wheel FW may be a driven wheel and the rear wheel RW may be a drive wheel, or both the front wheel FW and the rear wheel RW may be drive wheels. Although the rear wheel RW is a steered wheel, the front wheel FW may be a steered wheel.

  In addition, the vehicle C has a lean actuator that tilts the vehicle body in the Y-axis direction, which is the vehicle width direction. For example, when turning, the lean actuator is driven to turn while tilting the vehicle body. Further, in the vehicle C, a motor (so-called in-wheel motor: IWM) is provided for each of the two front wheels FW to rotate each of the front wheels FW. Further, since the two front wheels FW are not coupled by a hard mechanism such as a drive shaft, acceleration / deceleration of the vehicle C is performed by driving each IWM independently.

  Further, FIG. 1B illustrates a top view of the vehicle C. In FIG. 1B, it is assumed that the vehicle C is at a stop, and the rear wheel RW which is a steered wheel is in a state fixed facing the right side, for example, by being caught in a groove. Further, in this state, it is assumed that the driver D rotates the steering ST counterclockwise.

  In this case, due to the characteristics of the vehicle C having the SBW mechanism, the calculated traveling direction 110 based on the turning angle (hereinafter, calculated turning angle) calculated from the rotation operation of the steering ST and the actual turning angle of the rear wheel RW A deviation from the actual traveling direction 100 based on (hereinafter, the actual turning angle) will occur.

  Here, a conventional abnormality detection device will be described. The conventional abnormality detection apparatus detects the situation as shown in FIG. 1B, that is, the deviation between the calculated turning angle and the actual turning angle as an abnormality, notifies the driver of the abnormality, and stores deviation information indicating the deviation. By performing the processing, for example, analysis of failure diagnosis can be performed later.

  However, the deviation between the calculated turning angle and the actual turning angle occurs temporarily because the turning device is normal but the rear wheels are fixed, when the turning device is at fault and the turning device is normal. There is a case. Then, when the cause of the deviation is the latter, the deviation information is stored excessively because the turning device is not broken.

  On the other hand, if the calculated turning angle and the actual turning angle diverge, the driver's safety may be reduced. Therefore, the deviation occurs to the driver regardless of the presence or absence of a failure in the steering apparatus. It is preferable to notify.

  Therefore, in the abnormality detection method according to the embodiment, notification of the abnormality to the steering device and the occurrence of both deviations between the calculated turning angle and the actual turning angle is the condition for storing the deviation information, and notification to the driver D is made. In the case of the above, only the occurrence of divergence was regarded as the condition.

  Specifically, the abnormality detection device 1 according to the embodiment first calculates the steering angle calculated from the steering operation (rotation operation to the steering ST) and the actual steering angle at the steered wheels (rear wheels RW). Deviation from a certain actual turning angle is detected (step S1). Subsequently, the abnormality detection device 1 according to the embodiment detects an abnormality in the steering device.

  When the abnormality detection device 1 according to the embodiment does not detect any abnormality in the turning device as a result of the abnormality detection, that is, the turning device is normal (step S2-1), the driver D is notified of the deviation. (Step S3-1).

  On the other hand, when abnormality of the steering device is detected as a result of abnormality detection (step S2-2), the abnormality detection device 1 according to the embodiment notifies the driver D of the deviation and indicates the deviation. The divergence information is stored (step S3-2). The deviation information here includes, for example, information of a calculated turning angle and an actual turning angle when the deviation occurs, and the details of the deviation information will be described later with reference to FIG.

  That is, when a deviation between the calculated turning angle and the actual turning angle occurs, the abnormality detection device 1 according to the embodiment notifies the driver D of the deviation if the turning device is abnormal. The deviation information is stored, and if the turning device is normal, the driver D is notified of the deviation and the deviation information is not stored. Therefore, it is possible to prevent the excessive storage of the deviation information while appropriately notifying the driver D of the deviation.

  In the abnormality detection device 1 according to the embodiment, the calculated turning direction, which is the change direction of the calculated turning angle, and the actual turning direction, which indicates the changing direction of the actual turning angle, are opposite to each other across the straight direction of the vehicle C. In the case of the orientation, the divergence can be detected, which will be described later with reference to FIGS. 5A and 5B.

  Next, a vehicle control system S including the abnormality detection device 1 according to the embodiment will be described. FIG. 2 is a block diagram showing the configuration of a vehicle control system S according to the embodiment. In FIG. 2, only components necessary to explain the features of the present embodiment are represented by functional blocks, and descriptions of general components are omitted.

  The vehicle control system S includes two control systems duplicated in the systems A and B. The vehicle control system S also includes a power supply ECU 50 that controls the power supply of both systems A and B.

  The system A includes an integrated ECU 1a, a lean ECU 2a, a steer ECU 3a, a battery ECU 4a, and an IWM ECU 5a. The integrated ECU 1a corresponds to the abnormality detection device 1 in FIG. 1B.

  The integrated ECU 1a controls the entire system A. The integrated ECU 1a is a host ECU, and the lean ECU 2a, the steer ECU 3a, the battery ECU 4a and the IWM ECU 5a are lower ECUs.

  The integrated ECU 1a is communicably connected to the ECUs via a vehicle-mounted network such as a controller area network (CAN). The integrated ECU 1a is communicably connected to the lean ECU 2b, the steer ECU 3b, the battery ECU 4b, and the IWM ECU 5b of the system B through CAN or the like.

  Further, the lean ECU 2a, the steer ECU 3a, the battery ECU 4a, and the IWM ECU 5a are connected to the integrated ECU 1b of the system B so as to be mutually communicable with each other through a CAN or the like. A detailed functional block of the integrated ECU 1a will be described later.

  The battery ECU 4a monitors the deterioration of the battery 14a. The lean ECU 2a controls the lean actuator (lean ACT) 12a to tilt the vehicle body in the lateral direction, which is the vehicle width direction, in accordance with the turning acceleration in order to facilitate turning of the vehicle C (see FIG. 1A). At the same time, the left and right direction of the vehicle body is properly maintained so that the vehicle C does not fall down.

  The steer ECU 3a controls the steer actuator (steer ACT) 13a so that the vehicle C travels in response to the steering operation of the driver D.

  The IWM ECU 5a controls an in-wheel motor (IWM) 15a provided on the left front wheel FW of the vehicle C so that the vehicle C is accelerated or braked in response to an accelerator operation or a brake operation of the driver D.

  The lean ACT 12a tilts the vehicle body in the left and right direction based on an instruction from the lean ECU 2a, that is, an instruction signal, and changes the posture of the vehicle body, for example, when the vehicle C turns. Further, the lean ACT 12a changes the posture of the vehicle body according to the unevenness of the traveling road surface or the inclination. The steer ACT 13a changes the turning angle of the rear wheel RW based on an instruction (instruction signal) from the steer ECU 3a.

  The IWM 15a rotates the left front wheel FW based on an instruction (instruction signal) from the IWM ECU 5a to control the number of rotations of the left front wheel FW. The battery 14a is a storage battery, for example, a lithium ion battery.

  Similarly to the system A, the system B includes an integrated ECU 1b, a lean ECU 2b, a steer ECU 3b, a battery ECU 4b, and an IWM ECU 5b. The integrated ECU 1 b corresponds to the abnormality detection device 1 in FIG. 1B.

  Each configuration of the system B is the same as each configuration of the system A, so the description thereof is omitted here. The IWM ECU 5b controls an in-wheel motor (IWM) 15b provided on the right front wheel FW of the vehicle C so that the vehicle C is accelerated or braked in response to an accelerator operation or a brake operation of the driver D.

  Further, since the configurations of lean ACT 12b, steer ACT 13b and battery 14b controlled by system B are similar to the configurations of lean ACT 12a, steer ACT 13a and battery 14a controlled by system A, the description here is omitted. Do. The IWM 15 b rotates the right front wheel FW based on an instruction (instruction signal) from the IWM ECU 5 b to control the number of rotations of the right front wheel FW.

  In addition, vehicle control system S is dualized by system A and system B as described above based on, for example, fault tolerant design. For example, electronic control of vehicle C is 50% each based on the fault tolerant design. Can share in

  Specifically, for example, the lean ECUs 2a and 2b receive 50% of the output of each of the lean ACTs 12a and 12b, and control the lean ACTs 12a and 12b so that the outputs of both systems A and B become 100%.

  Also, for example, even if an abnormality occurs in one of the integrated ECUs 1a and 1b, the other integrated ECU 1a and 1b can move the vehicle C to a safe place, for example, until it can be retracted to a safe place.

  In the following, when the systems A and B are not distinguished from one another, the symbols “a” and “b” are omitted. For example, the integrated ECU 1a and the integrated ECU 1b are collectively described as an integrated ECU 1, and the lean ACT 12a and the lean ACT 12b are collectively described as a lean ACT 12.

  Next, the abnormality detection device 1 corresponding to the integrated ECU 1 will be described with reference to FIG. FIG. 3 is a block diagram showing the configuration of the abnormality detection device 1 according to the embodiment. As shown in FIG. 3, the abnormality detection device 1 according to the embodiment is connected to the steering angle sensor 40, the turning angle sensor 41, the turning device 42, and the output device 43.

  The steering angle sensor 40 detects a steering operation of the driver D on the steering member. For example, the steering angle sensor 40 detects the rotational direction and the rotational angle of the steering ST as a steering operation. The turning angle sensor 41 detects the actual turning angle of the turning wheel (rear wheel RW).

  The steering device 42 is, for example, a device including a steer ECU 3 and a steer ACT 13. The steering device 42 steers the steered wheels at a steering angle determined based on the steering operation detected by the steering angle sensor 40, for example.

  Further, the steering device 42 detects an abnormality in the steer ECU 3 or the steer ACT 13 and outputs the abnormality to the abnormality detection device 1. Such abnormality includes, for example, a failure of a circuit board of the steer ECU 3, a malfunction of the steer ACT 13, a communication interruption of a communication line connected to the steer ECU 3 or the steer ACT 13, and the like.

  The output device 43 is, for example, a speaker or a display, and notifies the driver D of information output from the abnormality detection device 1 by voice output or screen display.

  Next, the abnormality detection device 1 according to the embodiment will be described. The abnormality detection device 1 includes a control unit 20 and a storage unit 30. The control unit 20 includes a divergence detection unit 21, an abnormality detection unit 22, a notification unit 23, and a storage processing unit 24. The storage unit 30 stores the divergence information 31.

  Here, the abnormality detection device 1 may be, for example, a computer having a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), an input / output port, and various circuits. including.

  The CPU of the computer functions as, for example, the difference detection unit 21, the abnormality detection unit 22, the notification unit 23, and the storage processing unit 24 of the control unit 20 by reading and executing a program stored in the ROM.

  In addition, at least one or all of the separation detection unit 21, the abnormality detection unit 22, the notification unit 23, and the storage processing unit 24 of the control unit 20 may be an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). It can also be configured by hardware.

  The storage unit 30 corresponds to, for example, a RAM or an HDD. The RAM and the HDD can store the divergence information 31, information of various programs, and the like. The abnormality detection apparatus 1 may acquire the above-described program and various information via another computer or a portable recording medium connected by a wired or wireless network.

  The deviation information 31 is information indicating the deviation between the calculated turning angle and the turning angle, and is stored and updated by the storage processing unit 24 described later. Here, the deviation information 31 will be described with reference to FIG.

  FIG. 4 is an explanatory diagram of the divergence information 31. As shown in FIG. As shown in FIG. 4, the deviation information 31 includes items such as “deviation ID”, “date and time”, “deviation value”, “calculated turning angle”, and “actual turning angle”.

  The “divergence ID” is identification information that identifies the detected divergence. “Date and time” indicates the date and time when deviation was detected. The "deviation value" indicates the difference between the calculated turning angle and the actual turning angle. "Calculated turning angle" indicates a calculated turning angle detected when deviation occurs. The "actual turning angle" indicates the actual turning angle detected when a deviation occurs.

  In FIG. 4, the “calculated turning angle” and the “actual turning angle” are represented by angles with respect to the straight direction 120 (see FIG. 5A) of the vehicle C, and the directions of change are represented by positive and negative signs. For example, "+" indicates that the direction of change from the straight direction 120 is the left direction, and "-" indicates that the direction of change from the straight direction 120 is the right direction. That is, "+" and "-" indicate that they are in opposite directions with respect to the straight direction 120, respectively.

  In the example shown in FIG. 4, the deviation ID “1” is the deviation that occurred on “2017/9/5”, the deviation value at that time is “16 °”, and the calculated turning angle is in the straight direction 120 with respect to the straight direction It indicates that the actual turning angle is directed to the right direction with respect to the straight advance direction 120 by 6 degrees.

  The deviation information 31 is an example, and may include, for example, the traveling speed of the vehicle C at the time of occurrence of deviation, the position information of the vehicle C, and the like in addition to the above.

  The control unit 20 of the abnormality detection device 1 detects a deviation between the calculated turning angle and the actual turning angle, and detects the presence or absence of abnormality in the turning device 42, and based on the result of abnormality detection, to the driver D. Notification of divergence and storage processing of divergence information 31 are performed.

  The deviation detection unit 21 detects a deviation between the calculated turning angle and the actual turning angle. Specifically, the deviation detection unit 21 first calculates a calculated turning angle based on the steering operation detected by the steering angle sensor 40.

  For example, the deviation detection unit 21 calculates the calculated turning angle based on the rotation angle of the steering ST. Then, when the relationship between the calculated turning angle calculated and the actual turning angle actually detected by the turning angle sensor 41 satisfies a predetermined deviation condition, the deviation detecting unit 21 detects the deviation.

  For example, in the divergence detection unit 21, the calculated turning direction indicating the changing direction of the calculated turning angle and the actual turning direction indicating the changing direction of the actual turning angle are opposite to each other with the straight direction 120 (see FIG. 5A) interposed therebetween. If it is, it is determined that the divergence condition is satisfied, and the divergence is detected.

  That is, the deviation is detected when the direction in which the driver D tries to turn the vehicle C and the actual turning direction of the vehicle C are reverse. As a result, when the notification unit 23 described later notifies the driver D of such deviation, it is possible to alleviate the confusion of the driver D due to the difference in the turning direction.

  Further, for example, when the variation detection unit 21 determines that the change direction of each of the calculated turning angle and the actual turning angle is the same (that is, the “difference value” in FIG. 4) exceeds a predetermined threshold value. , May be detected. Such a threshold may be a predetermined value, and the driver D may set an arbitrary value. Alternatively, the threshold may be changed according to the traveling speed of the vehicle C.

  For example, the difference detection unit 21 reduces the threshold as the traveling speed of the vehicle C increases, and increases the threshold as the traveling speed decreases. That is, the higher the traveling speed, the more the driver D's margin is. Therefore, when the notification of the divergence is given by reducing the threshold value, the response to the divergence with the driving operation (the steering operation in consideration of the divergence) becomes easy. .

  On the other hand, the slower the traveling speed, the more room for the driver D. Therefore, even if the threshold value is increased, it is possible to easily cope with the divergence, and it is bothersome to the notification by minimizing the divergence notification. Can be reduced.

  When the change directions of the calculated turning angle and the actual turning angle are opposite to each other, the deviation detection unit 21 preferably does not set the above-described threshold value. That is, the deviation detecting unit 21 detects the deviation when the directions of change of the calculated turning angle and the actual turning angle slightly reverse, and the notification unit 23 notifies the driver D of confusion. Can be reduced.

  Further, the divergence detection unit 21 may calculate the calculated turning angle by itself based on the steering angle sensor 40, or may obtain the calculated turning angle calculated by the turning device 42.

  The abnormality detection unit 22 detects an abnormality in the steering device 42. For example, the abnormality detection unit 22 detects a failure of a circuit board of the steer ECU 3, a malfunction of the steer ACT 13, a communication interruption of a communication line connected to the steer ECU 3 or the steer ACT 13, and the like as an abnormality of the steering device 42.

  The notification unit 23 notifies the driver D of the divergence when the divergence is detected by the divergence detection unit 21. For example, the notification unit 23 performs a notification indicating the occurrence of a divergence such as “a divergence has occurred”.

  Further, the notification unit 23 may notify different contents when the abnormality is detected by the abnormality detection unit 22 and when the abnormality is not detected when the divergence is detected. Will be described later with reference to FIGS. 5A and 5B.

  The storage processing unit 24 stores information indicating the divergence detected by the divergence detection unit 21 as the divergence information 31 in the storage unit 30. Specifically, when the divergence is detected by the divergence detection unit 21 and the abnormality is detected by the abnormality detection unit 22, the storage processing unit 24 stores the information of the abnormal part and the divergence information 31 in the storage unit 30. Do.

  For example, the storage processing unit 24 stores, in the storage unit 30, the deviation information 31 including the "deviation value", the "calculated turning angle", the "actual turning angle" and the like in addition to the information on the abnormal part. Thus, for example, a person in charge of repairing the steering device 42 can easily recognize how much deviation occurs due to a failure. The memory processing unit 24 can store at least the “calculated turning angle” and the “actual turning angle” as the deviation information 31 among the “deviation value”, the “calculated turning angle” and the “actual turning angle”. Good. That is, the “deviation value” may be calculated by using the “computed turning angle” and the “actual turning angle” by the operator who has read out the deviation information 31.

  Next, the notification content of the notification unit 23 will be described using FIGS. 5A and 5B. FIG. 5A and FIG. 5B are diagrams showing the notification content of the notification unit 23. In FIGS. 5A and 5B, it is assumed that the vehicle C is at a stop.

  Moreover, in FIG. 5A, when deviation is detected, the notification content in case the steering apparatus 42 is normal is shown, and, in FIG. 5B, when deviation is detected, the notification content in case the steering apparatus 42 is abnormal Indicates In FIGS. 5A and 5B, it is assumed that the deviation detection unit 21 calculates the traveling direction 110 based on the calculated turning angle and the actual traveling direction 100 based on the actual turning angle in opposite directions with respect to the straight direction 120. It shows.

  As shown in FIGS. 5A and 5B, the notification unit 23 detects an abnormality when the abnormality is detected by the abnormality detection unit 22 (FIG. 5A) or when no abnormality is detected (FIG. 5B). And notify different contents.

  Specifically, as shown in FIG. 5A, when the deviation is detected and the steering device 42 is normal, the notification unit 23 instructs generation notification indicating occurrence of the deviation and cancellation of the deviation. Notify the contents including instruction notice.

  For example, in FIG. 5A, the notification unit 23 indicates that “the wheel and the steering do not match (notice of occurrence) via the output device 43. Turn the steering clockwise to match (cancel indication notification) The contents such as “.” Are output by voice (or by screen display).

  Note that the cancellation instruction notification may include, for example, a content such as how much the deviation is, and a content such as how much the steering ST is rotated and dissolved.

  Moreover, in FIG. 5A, although the notification part 23 showed the content of the notification in, when the vehicle C is stopping, you may notify the notification of deviation also while driving | running | working. For example, when the vehicle C is traveling, the notification unit 23 performs a stop instruction notification such as "Please stop the vehicle on the road shoulder", and performs the above-described cancellation instruction notification after the vehicle C stops.

  In addition, as shown in FIG. 5B, when the deviation is detected and the turning device 42 is abnormal, the notification unit 23 indicates a generation notification indicating the occurrence of the deviation and a prohibition instruction to prohibit the driving operation of the vehicle C. Inform content including notification.

  For example, in FIG. 5B, the notification unit 23 indicates that “the wheels and the steering do not match (notice of occurrence) via the output device 43. Since the device may be broken, do not start the vehicle. Please output the contents such as "Please give notice of prohibition" by voice etc.

  In addition, in FIG. 5B, although the notification part 23 showed the content of the notification in, when the vehicle C is stopping, you may notify the notification of deviation also while driving | running | working. For example, the notification unit 23 performs a communication instruction notification such as "Please stop the vehicle on the road shoulder and contact the person in charge of malfunction of the company ○. The telephone number is ...".

  In addition, when deviation is not detected but the abnormality of the steering apparatus 42 is detected, the notification part 23 turns on the warning lamp etc. which are not illustrated, for example, and steers the driver D with respect to the driver D. Inform 42 abnormalities.

  As shown in FIGS. 5A and 5B, the notification unit 23 can appropriately notify the driver D by changing the notification content depending on the presence or absence of an abnormality in the steering device 42 when the deviation occurs. .

  Next, with reference to FIG. 6, a processing procedure of processing performed by the abnormality detection device 1 according to the embodiment will be described. FIG. 6 is a flowchart showing a processing procedure of processing performed by the abnormality detection device 1 according to the embodiment.

  As shown in FIG. 6, first, the divergence detection unit 21 acquires a calculated turning angle calculated based on the detection value of the steering angle sensor 40 (step S101). Subsequently, the deviation detection unit 21 acquires an actual turning angle which is an actual turning angle of the turning wheel (rear wheel RW) from the turning angle sensor 41 (step S102). The processing order of steps S101 and S102 may be reversed.

  Subsequently, the deviation detection unit 21 determines whether or not there is a deviation between the calculated turning angle and the actual turning angle (step S103). When the deviation is detected by the deviation detecting unit 21 (Yes in step S103), the abnormality detecting unit 22 determines whether the steering device 42 is abnormal (step S104).

  When the abnormality detection unit 22 detects an abnormality in the steering device 42 (step S104, Yes), the notification unit 23 notifies the driver D of deviation, and the storage processing unit 24 stores the deviation information 31 in the storage unit 30. It memorizes (Step S105), and ends processing.

  On the other hand, in step S103, when there is no deviation between the calculated turning angle and the actual turning angle (step S103, No), the divergence detecting unit 21 shifts the processing to step S101. Further, in step S104, when the abnormality detection unit 22 does not detect an abnormality in the steering device 42, that is, when the steering device 42 is normal (No in step S104), notification of deviation to the driver D is given ( Step S106), the process ends.

  As described above, the abnormality detection device 1 according to the embodiment includes the divergence detection unit 21, the abnormality detection unit 22, the notification unit 23, and the storage processing unit 24. The deviation detection unit 21 outputs a steering signal corresponding to the steering operation (rotation operation) of the driver D to the steering member (steering ST) to the steering device 42, thereby steering the steered vehicle in the vehicle C steered. Deviation between the calculated turning angle calculated from the operation and the actual turning angle at the turning wheels, which is the actual turning angle, is detected. The abnormality detection unit 22 detects an abnormality in the steering device 42. The notification unit 23 notifies the driver D of the divergence when the divergence is detected by the divergence detection unit 21. The storage processing unit 24 stores the divergence information 31 indicating the divergence in the storage unit 30 when the divergence is detected by the divergence detection unit 21 and the abnormality is detected by the abnormality detection unit 22. Thereby, it is possible to prevent the deviation information 31 from being excessively stored while notifying the driver D of the deviation.

  In the embodiment described above, the case where the vehicle C moves forward is shown, but the abnormality detection device 1 can apply the same process even when the vehicle C moves backward (back traveling).

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the invention are not limited to the specific details and representative embodiments represented and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1, 1a, 1b Abnormality detection device (integrated ECU)
2, 2a, 2b Lean ECU
3, 3a, 3b Steer ECU
4, 4a, 4b Battery ECU
5,5a, 5b IWMECU
12, 12a, 12b Lean ACT
13, 13a, 13b Steer ACT
14, 14a, 14b Battery 15, 15a, 15b IWM
Reference Signs List 20 control unit 21 divergence detection unit 22 abnormality detection unit 23 notification unit 24 storage processing unit 30 storage unit 31 divergence information 40 steering angle sensor 41 steering angle sensor 42 steering device 43 output device 50 power supply ECU
C Vehicle FW Front Wheel RW Rear Wheel

Claims (5)

In a vehicle in which steered wheels are steered by outputting a steering signal according to a steering operation on a steering member by a driver to a steering device, in a vehicle in which the steered wheels are steered, the calculated turning angle calculated from the steering operation and the actual steering wheel A deviation detection unit that detects deviation from the actual turning angle which is the turning angle;
An abnormality detection unit that detects an abnormality in the steering device;
A notification unit that notifies the driver of the deviation when the deviation is detected by the deviation detection unit;
A storage processing unit configured to store, in a storage unit, divergence information indicating the divergence when the divergence is detected by the divergence detection unit and the abnormality is detected by the abnormality detection unit; Abnormality detection device. The deviation detection unit is
When the calculated turning direction indicating the changing direction of the calculated turning angle and the actual turning direction indicating the changing direction of the actual turning angle are opposite to each other across the straight direction of the vehicle, the deviation The abnormality detection device according to claim 1, which detects The storage processing unit
The abnormality detection apparatus according to claim 1 or 2, wherein the deviation information including the calculated turning angle and the actual turning angle when the deviation occurs is stored in the storage unit. The notification unit
When the deviation is detected, the notification of contents different between when the abnormality is detected by the abnormality detection unit and when the abnormality is not detected is performed. The abnormality detection device according to any one of the above. In a vehicle in which steered wheels are steered by outputting a steering signal according to a steering operation on a steering member by a driver to a steering device, in a vehicle in which the steered wheels are steered, the calculated turning angle calculated from the steering operation and the actual steering wheel A deviation detection step of detecting deviation from the actual turning angle which is the turning angle;
An abnormality detection step of detecting an abnormality of the steering device;
A notification step of notifying the driver of the deviation when the deviation is detected in the deviation detection step;
And a storage processing step of storing, in a storage unit, divergence information indicating the deviation when the deviation is detected in the deviation detection step and the abnormality is detected in the abnormality detection step. Abnormality detection method.

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