JP2021120239A - Steering controller - Google Patents

Abstract

To provide a steering controller capable of facilitating the stability of a steering section.SOLUTION: A steering controller includes: an output section 12 which outputs a steering command value corresponding to a target steering amount to drive a drive section 4a; a steering amount sensor 9 which detects the steering amount of a steering section 3 steered by the output section 12; an abnormality detection section 14 which detects an abnormal operation of a vehicle changing a steering amount of the steering section 3 in excess of a prescribed threshold value; and a convergence control section 13 which acquires a state quantity of a state space model of the steering section 3 on the basis of the steering amount detected by the steering amount sensor 9 and calculates a command value for convergence converging an operation of the steering section 3 on the basis of the state quantity of the steering section 3. The output section 12, when the abnormality detection section 14 detects an abnormal operation of a vehicle, outputs the command value for convergence calculated by the convergence control section 13 to control the drive section 4a.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a steering control device.

Conventionally, a steering control device in which a drive unit such as a motor is connected to a steering unit of a vehicle and the drive unit is controlled to steer the steering unit has been put into practical use. Here, the steering control device is required to accurately control the steering unit.

Therefore, as a technique for accurately controlling the steering unit, for example, Patent Document 1 discloses a steering control device that suppresses deflection of a vehicle. This steering control device can accurately control the steering unit by performing angle feedback control so that the rotation angle of the steering unit follows the target steering corresponding angle.

Japanese Unexamined Patent Publication No. 2019-131015

However, for example, when an abnormality occurs in the operation control of the vehicle and the movement of the steering portion diverges without converging, the steering control device of Patent Document 1 stabilizes the steering of the steering portion. It was difficult to get it done.

An object of the present disclosure is to provide a steering control device that easily stabilizes the steering of a steering unit.

The steering control device according to the present disclosure is a steering control device that controls a drive unit connected to a vehicle steering unit to steer the steering unit, and outputs a steering command value corresponding to a target steering amount to drive the steering unit. An output unit that drives the unit, a steering amount sensor that detects the steering amount of the steering unit steered by the output unit, and an abnormality detection that detects an abnormal operation of the vehicle that changes the steering amount of the steering unit beyond a predetermined threshold. Based on the steering amount detected by the steering unit and the steering amount sensor, the state amount of the state space model of the steering unit is acquired, and the convergence command value for converging the movement of the steering unit is calculated based on the state amount of the steering unit. It is provided with a convergence control unit, and the output unit controls the drive unit by outputting a convergence command value calculated by the convergence control unit when an abnormal operation of the vehicle is detected by the abnormality detection unit.

According to the present disclosure, it is possible to easily stabilize the steering of the steering portion.

It is a figure which shows the structure of the vehicle provided with the steering control device which concerns on embodiment of this disclosure. It is a figure which shows the structure of the steering part and the steering control device. It is a figure which shows the structure of the command part. It is a flowchart which shows the control of a command part.

Hereinafter, embodiments according to the present disclosure will be described with reference to the accompanying drawings.

FIG. 1 shows a configuration of a vehicle provided with a steering control device according to an embodiment of the present disclosure. The vehicle includes a vehicle body 1, wheels 2, a steering unit 3, two drive units 4a and 4b, an acquisition unit 5a, an automatic driving sensor 5b, and a steering control device 6. Examples of vehicles include commercial vehicles such as trucks.

The vehicle body 1 supports each part of the vehicle, and a cab is arranged at the front portion and a mounting portion is arranged behind the cab.
The wheel 2 is connected to the drive unit 4b via the wheel shaft 2a.

The steering portion 3 has a steering wheel 3a for the driver to grip, and is formed so as to extend downward from the steering wheel 3a. The steering unit 3 is connected to the wheel shaft 2a via the drive units 4a and 4b, and the direction of the wheel 2 is changed according to the steering of the steering unit 3.

The drive units 4a and 4b steer the steering unit 3 by rotating it, and are connected to the steering unit 3. The drive unit 4a is composed of an electric motor, and the drive unit 4b is composed of a hydraulic circuit.

The acquisition unit 5a acquires information on the shape of the road on which the vehicle travels, and is arranged at the front portion of the vehicle. The acquisition unit 5a can be composed of, for example, a camera or the like.
The automatic driving sensor 5b detects information used in automatic driving, and detects, for example, the surrounding conditions of the vehicle, the position of the vehicle, the operation of the vehicle, and the like. Examples of the automatic driving sensor 5b include a millimeter wave radar, a laser radar, an ultrasonic sensor, a vehicle position sensor, an acceleration sensor, and an angular acceleration sensor.

The steering control device 6 is connected to the acquisition unit 5a, the automatic driving sensor 5b, and the drive unit 4a, and controls the drive unit 4a based on the acquisition information acquired by the acquisition unit 5a and the automatic driving sensor 5b.

Next, the configurations of the steering unit 3 and the steering control device 6 will be described in detail.

As shown in FIG. 2, the steering unit 3 has steering shafts 3b and 3c, torsion bars 3d and 3e, and a worm wheel 3f. One end of the steering shaft 3b is connected to the steering wheel 3a, and the other end is sequentially connected to the torsion bar 3d, the steering shaft 3c, and the torsion bar 3e. Then, the end portion of the torsion bar 3e is connected to the drive unit 4b. A worm wheel 3f is fixed to the steering shaft 3c, and a drive unit 4a is connected to the worm wheel 3f.

By rotating the worm wheel 3f according to the driving force of the driving unit 4a, the torsion bar 3d and the steering shaft 3b connected to one end of the steering shaft 3c rotate, and are connected to the other end of the steering shaft 3c. The torsion bar 3e will be twisted.
The drive unit 4b rotates a cylinder (not shown) to which hydraulic oil pressurized by a hydraulic pump (not shown), a piston (not shown) that linearly moves by the pressure of the hydraulic oil, and a linear motion of the piston. It has a sector shaft 3g that converts the motion into motion and transmits the rotational motion to the steering unit 3.

On the other hand, the steering control device 6 has a target steering amount calculation unit 7 connected to the acquisition unit 5a and the automatic driving sensor 5b, and the target steering amount calculation unit 7 is connected to the drive unit 4a via the command unit 8. Has been done. Further, the steering amount sensor 9 is connected to the command unit 8.

The target steering amount calculation unit 7 calculates the traveling direction of the vehicle with respect to the road based on the acquired information acquired by the acquisition unit 5a and the automatic driving sensor 5b, and sets the target steering amount so that the vehicle travels along the road. calculate.

The steering amount sensor 9 detects the steering amount of the steering unit 3 steered by the command unit 8 via the drive units 4a and 4b, and has a steering angle sensor 9a and a torque sensor 9b. Here, the steering amount changes according to steering, and examples thereof include steering angle, steering torque, and steering speed.

The steering angle sensor 9a detects the steering angle of the steering unit 3, and can detect, for example, the rotation angle of the steering shaft 3b to detect the steering angle.
The torque sensor 9b detects the steering torque of the steering unit 3, and can detect the steering torque by detecting, for example, the amount of twist of the torsion bar 3d. Further, the steering angle may be calculated from the rotation angle of the electric motor and the detection value of the torque sensor 9b without using the steering angle sensor 9a.

The command unit 8 calculates a steering command value of the drive unit 4a corresponding to the target steering amount calculated by the target steering amount calculation unit 7, outputs the steering command value, and drives the drive unit 4a. be. As shown in FIG. 3, the command unit 8 has an output feedback compensation unit 10 connected to the target steering amount calculation unit 7, and the output feedback compensation unit 10 is driven via the switching unit 11 and the output unit 12. It is connected to 4a. The output feedback compensation unit 10 is also connected to the steering amount sensor 9. Further, the convergence control unit 13 connected to the steering amount sensor 9 and the output unit 12 is connected to the output unit 12 via the switching unit 11. Further, the abnormality detection unit 14 connected to the target steering amount calculation unit 7, the steering amount sensor 9, and the output unit 12 is connected to the switching unit 11.

The abnormality detection unit 14 detects an abnormal operation of the vehicle that changes the steering amount of the steering unit 3 beyond a predetermined threshold value based on the operation information of the vehicle. For example, the abnormality detection unit 14 has a steering command value output from the output unit 12 to the drive unit 4a, a steering amount of the steering unit 3 detected by the steering amount sensor 9, and a target calculated by the target steering amount calculation unit 7. The steering amount and the error signal from the target steering amount calculation unit 7 are monitored. Then, when the value to be monitored exceeds a predetermined normal range, the abnormality detection unit 14 determines that an abnormal operation of the vehicle that changes the steering amount of the steering unit 3 beyond a predetermined threshold value has occurred. Examples of the change exceeding a predetermined threshold value of the steering amount of the steering unit 3 include a change in which the movement of the steering unit 3 does not converge, and for example, a change in which the movement of the steering unit 3 diverges or continues. ..

Then, when the abnormality detection unit 14 does not detect the abnormal operation of the vehicle, the abnormality detection unit 14 switches the switching unit 11 so as to connect the output feedback compensation unit 10 and the output unit 12. Further, when the abnormality detection unit 14 detects an abnormal operation of the vehicle, the abnormality detection unit 14 switches the switching unit 11 so as to connect the convergence control unit 13 and the output unit 12.

Under the control of the abnormality detection unit 14, the switching unit 11 switches the connection to the output unit 12 between the output feedback compensation unit 10 and the convergence control unit 13.

The output feedback compensation unit 10 calculates a steering command value corresponding to the target steering amount calculated by the target steering amount calculation unit 7, and based on the steering command value detected by the steering amount sensor 9. Compensate. The output feedback compensation unit 10 can compensate the steering command value by, for example, PID control (Proportional Integral Differential control). That is, the output feedback compensation unit 10 feeds back the steering amount detected by the steering amount sensor 9 and performs PID control of the steering command value to compensate so that the actual steering amount approaches the target steering amount.

The convergence control unit 13 acquires the state amount of the state space model of the steering unit 3 represented by the following equation (1) based on the steering amount detected by the steering amount sensor 9. Then, the convergence control unit 13 calculates a convergence command value for converging the movement of the steering unit 3 based on the acquired state quantity of the steering unit 3.

dx / dt = Ax + Bu ... (1)
Here, x is the state quantity of the steering unit 3, t is the time, u is the command value for convergence, A is the state matrix, B is the n-dimensional vector, and n is the number of state variables (steering detected by the steering amount sensor 9). The number of quantities).

Specifically, the convergence control unit 13 has a state estimation unit 13a connected to the steering amount sensor 9 and the output unit 12, and the state estimation unit 13a is connected to the switching unit 11 via the state feedback control unit 13b. Has been done.

The state estimation unit 13a estimates the state amount of the steering unit 3 based on the steering amount detected by the steering amount sensor 9. Here, examples of the steering amount detected by the steering amount sensor 9 include the steering angle of the steering unit 3, the disturbance of the steering unit 3, the torque of the steering unit 3, and the like. Further, the state estimation unit 13a can estimate the state amount of the steering unit 3 by using the command value output from the output unit 12 in addition to the steering amount. That is, the state estimation unit 13a estimates the state quantity of the steering unit 3 based on a plurality of physical quantities acting on the steering unit 3 including the steering amount.

The state feedback control unit 13b converges by performing state feedback control on the state amount of the steering unit 3 estimated by the state estimation unit 13a based on the gain (state feedback gain) preset from the following equation (2). Calculate the command value. At this time, the gain is set so that the state quantity x of the steering portion converges in the equation (2).
dx / dt = (A + Bk) x ... (2)
Here, x is the state quantity of the steering unit 3, t is the time, k is the gain, A is the state matrix, B is the n-dimensional vector, and n is the number of state variables.

The output feedback compensation unit 10 and the convergence control unit 13 are not limited to those that process the calculation of the steering command value and the convergence command value as an algebraic equation of a continuous system, and the CPU discretely performs control calculations. Therefore, it can be expressed as a difference equation of a discrete system.

When the abnormality detection unit 14 does not detect the abnormal operation of the vehicle, the output unit 12 is connected to the output feedback compensation unit 10 via the switching unit 11 and outputs a steering command value corresponding to the target steering amount. Drives the drive unit 4a. At this time, the output unit 12 outputs the steering command value compensated by the output feedback compensation unit 10 to drive the drive unit 4a. On the other hand, when the abnormality detection unit 14 detects an abnormal operation of the vehicle, the output unit 12 is connected to the convergence control unit 13 via the switching unit 11, and the convergence command calculated by the convergence control unit 13 The value is output to control the drive unit 4a.

The functions of the target steering amount calculation unit 7, the output feedback compensation unit 10, the convergence control unit 13, and the abnormality detection unit 14 can also be realized by a computer program. For example, a computer reading device reads and stores the program from a recording medium that records a program for realizing the functions of the target steering amount calculation unit 7, the output feedback compensation unit 10, the convergence control unit 13, and the abnormality detection unit 14. Store in the device. Then, the CPU copies the program stored in the storage device to the RAM, sequentially reads the instructions included in the program from the RAM, and executes the program to execute the target steering amount calculation unit 7, the output feedback compensation unit 10, and the convergence control. The functions of the unit 13 and the abnormality detection unit 14 can be realized.

Next, the operation of this embodiment will be described.

First, as shown in FIG. 1, the steering control device 6 drives the drive unit 4a based on the acquired information acquired from the acquisition unit 5a and the automatic driving sensor 5b, so that the vehicle is automatically driven.

Specifically, as shown in FIG. 2, the target steering amount calculation unit 7 calculates the target steering amount based on the acquired information acquired from the acquisition unit 5a and the automatic driving sensor 5b, and causes the command unit 8 to calculate the target steering amount. Output.

At this time, as shown in FIG. 3, the command unit 8 is input with vehicle operation information from the target steering amount calculation unit 7, the steering amount sensor 9, and the output unit 12 to the abnormality detection unit 14. As shown in FIG. 4, the abnormality detection unit 14 has an abnormal operation of the vehicle in which the steering amount of the steering unit 3 changes beyond a predetermined threshold value based on the vehicle operation information in step S1, that is, the steering unit. It is determined whether or not an abnormal operation of the vehicle such that 3 becomes unsteerable is detected.

When the abnormality detection unit 14 does not detect the abnormal operation of the vehicle, the abnormality detection unit 14 switches the switching unit 11 so as to connect the output feedback compensation unit 10 to the output unit 12. The target steering amount calculated by the target steering amount calculation unit 7 is input to the output feedback compensation unit 10, and the output feedback compensation unit 10 calculates the steering command value corresponding to the target steering amount in step S2. do. At this time, the output feedback compensation unit 10 feeds back the steering amount detected by the steering amount sensor 9, for example, the steering angle detected by the steering angle sensor 9a, and sequentially compensates the steering command value by PID control.
As a result, the output feedback compensation unit 10 can calculate a steering command value so that the actual steering amount approaches the target steering amount. The output feedback compensation unit 10 outputs the calculated steering command value to the output unit 12 via the switching unit 11.

In this way, the steering command value corresponding to the target steering angle is input to the drive unit 4a, and the drive unit 4a rotates the steering unit 3 via the worm wheel 3f. At this time, the torsion bar 3e is twisted and the power piston of the drive unit 4b corresponding to the twisting direction is driven, so that the direction of the wheel 2 is changed via the sector shaft 3g and the wheel shaft 2a.

In this way, since the drive unit 4a is driven based on the steering command value controlled by the output feedback compensation unit 10, the steering unit 3 can be steered with high accuracy. Further, since the drive unit 4b assists the steering unit 3 to be steered by the drive unit 4a, the steering unit 3 can be easily steered even in a commercial vehicle having large wheels 2 such as a truck.

On the other hand, when the abnormality detection unit 14 determines in step S1 that the abnormal operation of the vehicle is detected, the switching unit 11 is switched so as to connect the convergence control unit 13 to the output unit 12.
For example, the abnormality detection unit 14 is calculated by the steering command value output from the output unit 12 to the drive unit 4a, the steering amount of the steering unit 3 detected by the steering amount sensor 9, and the target steering amount calculation unit 7. When the target steering amount changes beyond the normal range, it is determined that an abnormal operation of the vehicle such that the steering unit 3 becomes unsteerable has been detected. The abnormality detection unit 14 determines, for example, whether or not the following equations (3) to (5) are satisfied, and determines the change speed of the target steering angle, the change speed of the steering command value, and the change speed of the steering angle. When any of them exceeds a predetermined threshold value, it can be determined that an abnormal operation of the vehicle has been detected. At this time, it is preferable that the abnormality detection unit 14 determines that the abnormal operation of the vehicle has been detected when these change speeds continuously exceed a predetermined threshold value for a predetermined time or longer.

| Θ _r (m) -θ _r (m-1) |> a ... (3)
| T (m) -T (m-1) |> b ... (4)
| Θ _h (m) -θ _h (m-1) |> c ... (5)
Here, θ _r is the target steering angle, T is the steering command value, θ _h is the steering angle, m is the number of times input to the abnormality detection unit 14, a is the threshold value of the target steering angle, and b is the steering command value. The threshold value and c are the threshold values of the steering angle.

Further, the abnormality detection unit 14 can determine that an abnormal operation of the vehicle has been detected when an error signal is input from the target steering amount calculation unit 7. For example, the target steering amount calculation unit 7 outputs an error signal to the abnormality detection unit 14 when a control abnormality such as a failure of the acquisition unit 5a and the automatic driving sensor 5b or a calculation abnormality of the target steering angle is detected. Then, the abnormality detection unit 14 determines that an abnormal operation of the vehicle such that the steering unit 3 cannot be steered has been detected based on the error signal output from the target steering amount calculation unit 7.

In this way, the abnormality detection unit 14 detects an abnormal operation of the vehicle that the steering unit 3 cannot steer, that is, the output feedback compensation unit 10 cannot control. Examples of such a state in which the steering unit 3 cannot be steered include a state in which the movement of the steering unit 3 does not converge, and examples thereof include a state in which the movement of the steering unit 3 diverges or continues.

Generally, when an abnormal operation of the vehicle that makes the steering unit 3 unsteerable is detected, when the drive unit 4a is suddenly stopped, the resonance characteristic of the steering unit 3 is excited and the steering unit 3 vibrates. There is a risk of Further, if the drive unit 4a is stopped while the steering unit 3 vibrates, the vibration of the steering unit 3 may continue.
Therefore, when the abnormality detection unit 14 detects an abnormal operation of the vehicle, the switching unit 11 is switched so as to connect the convergence control unit 13 to the output unit 12.

Then, the state estimation unit 13a of the convergence control unit 13 estimates the state amount of the steering unit 3 based on a plurality of physical quantities acting on the steering unit 3 including the steering amount of the steering unit 3 detected by the steering amount sensor 9. do. The state estimation unit 13a can estimate the state quantity of the steering unit 3 based on the following equation (6) by, for example, a linear observer. State estimating unit 13a outputs the estimated state quantities x _e of the steering unit 3 in the state feedback controller 13b.

dx _e / dt = Ax _e + Bu + L (y-y _e ) ... (6)
Here, x _e is an estimated value of the state quantity, t is the time, u is the command value for convergence, y is the steering amount detected by the steering amount sensor 9, y _e is the estimated value of the steering amount, and A is the state matrix. B is an n-dimensional vector, n is the number of state variables, and L is an observer gain.

As a result, the state estimation unit 13a does not acquire all the state quantities of the steering unit 3 required for the state feedback control, but only acquires a part of them, for example, the steering angle and the steering command value. The state quantity x _{e of} 3 can be estimated. Here, examples of the state amount of the steering unit 3 required for the state feedback control include the steering angular velocity of the steering unit 3, the steering angular acceleration of the steering unit 3, the torque of the steering unit 3, and the angle of the drive unit 4b. .. Further, the state quantity of the steering unit 3 may include an equivalent disturbance generated on the input side.

Subsequently, the state feedback control unit 13b calculates the convergence command value in step S3. Specifically, the state feedback control unit 13b is the state of the steering unit 3 estimated by the state estimation unit 13a based on the gain preset so that the state amount of the steering unit 3 converges in the equation (2). By controlling the state feedback of the quantity x _e , a convergence command value for converging the movement of the steering unit 3 is calculated.

For example, state feedback control unit 13b, based on the following equation (7), relative to the state amount x _e of the steering unit 3, which is estimated by the state estimation unit 13a, a converging by multiplying a preset gain The command value can be calculated.
u = kx ・ ・ ・ (7)
Here, u is a command value for convergence, k is a gain, and x is a state quantity of the steering unit 3.

In this way, the state feedback control unit 13b can easily calculate the convergence command value based on the state feedback control.

The state feedback control unit 13b outputs the calculated convergence command value to the output unit 12 via the switching unit 11. Then, the output unit 12 outputs a convergence command value to control the drive unit 4a, so that the steering amount of the steering unit 3 exceeds a predetermined threshold value due to the abnormal operation of the vehicle, that is, the steering is impossible. The steering angle of the steering unit 3 can be converged to a constant value, for example, zero. As a result, the steering of the steering unit 3 can be easily stabilized without suddenly stopping the drive unit 4a. At this time, the state feedback control unit 13b can easily adjust the vibration and the convergence speed of the steering unit 3 by changing the gain.

Here, the steering unit 3 is steered by two drive units 4a and 4b. Therefore, the movement of the steering unit 3 may be complicated as compared with the case where the steering unit 3 is steered only by the drive unit 4a. In particular, the dynamic characteristics of the hydraulic circuit of the drive unit 4b may fluctuate significantly. Therefore, the state feedback control unit 13b can reliably converge the complicated movement of the steering unit 3 by calculating the convergence command value based on the state feedback control.

In this way, when the steering of the steering unit 3 becomes stable, the driving of the vehicle is switched from the automatic driving to the manual driving, and the driver can steer the stable steering unit 3 to safely stop the vehicle, for example. can.

According to the present embodiment, when the abnormality detection unit 14 detects an abnormal operation of the vehicle, the output unit 12 outputs a convergence command value calculated by the convergence control unit 13 to control the drive unit. Therefore, the steering of the steering unit 3 can be easily stabilized.

In the above embodiment, the convergence control unit 13 calculates the convergence command value by controlling the state feedback of the steering unit 3, but the convergence command value is based on the state amount of the steering unit 3. It is only necessary to be able to calculate, and the present invention is not limited to this. For example, the convergence control unit 13 can calculate the convergence command value by controlling H∞ based on the state quantity of the steering unit 3. Further, the convergence control unit 13 can also calculate a convergence command value by controlling the sliding mode based on the state quantity of the steering unit 3.

Further, in the above embodiment, the state feedback control unit 13b calculates the convergence command value based on the state amount of the steering unit 3 estimated by the state estimation unit 13a, but is based on the state amount of the steering unit 3. The command value for convergence may be calculated, and the present invention is not limited to this. For example, the state feedback control unit 13b can acquire all the state quantities of the steering unit 3 required for the state feedback control from the steering amount sensor 9 and calculate the convergence command value. As a result, the state estimation unit 13a can be removed.

Further, in the above embodiment, the output feedback compensating unit 10 compensates for the steering command value by PID control, but it suffices if the steering command value can be compensated based on the steering amount of the steering unit 3, and the PID It is not limited to control. Further, the output feedback compensation unit 10 can also compensate the steering command value by, for example, differential preceding PID control, proportional differential leading PID control, speed type PID control, PI control, PD control and the like.

Further, in the above embodiment, the drive unit 4a is composed of an electric motor, but the present invention is not limited to this as long as the steering unit 3 can be steered. The drive unit 4a may be composed of, for example, a hydraulic circuit.
Further, in the above embodiment, the drive unit 4b is composed of a hydraulic circuit, but the present invention is not limited to this as long as the steering unit 3 can be steered. Further, the drive unit 4b may be removed.

Further, in the above embodiment, the output feedback compensation unit 10 calculates the steering command value in the automatic driving, but it is sufficient to calculate the steering command value corresponding to the target steering amount, which is limited to the automatic driving. is not it. Similarly, the convergence control unit 13 has calculated the convergence command value in the automatic operation, but it is sufficient to calculate the convergence command value for converging the movement of the steering unit, and the present invention is not limited to the automatic operation.
For example, the output feedback compensation unit 10 and the convergence control unit 13 can calculate the steering command value and the convergence command value of the driving support that support the manual operation of the driver by the drive unit 4a, respectively.

Further, in the above embodiment, in the present disclosure, the steering wheel 3a is mechanically attached to the wheel 2 via the steering shaft 3b, the torsion bar 3d, the steering shaft 3c, the torsion bar 3e, the sector shaft 3g and the wheel shaft 2a. Although applied to a vehicle to be connected, the present invention is not limited to this, and the application is also applicable to, for example, a vehicle using a by-wire in which the steering wheel 3a and the wheel 2 are not mechanically connected.

In addition, the above embodiments are merely examples of embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner by these. be. That is, the present invention can be implemented in various forms without departing from its gist or its main features. For example, the disclosure of the shape, number, and the like of each part described in the above embodiment is merely an example, and can be appropriately modified and implemented.

The steering control device according to the present disclosure can be used as a device for steering the steering unit by controlling the drive unit connected to the steering unit of the vehicle.

1 Body 2 Wheels 2a Wheel shaft 3 Steering part 3a Steering wheel 3b, 3c Steering shaft 3d, 3e Torsion bar 3f Warm wheel 3g Sector shaft 4a, 4b Drive part 5a Acquisition part 5b Automatic driving sensor 6 Steering control device 7 Target steering amount Calculation unit 8 Command unit 9 Steering amount sensor 9a Steering angle sensor 9b Torque sensor 10 Output feedback compensation unit 11 Switching unit 12 Output unit 13 Convergence control unit 13a State estimation unit 13b State feedback control unit 14 Abnormality detection unit

Claims (4)

A steering control device that controls a drive unit connected to a vehicle steering unit to steer the steering unit.
An output unit that outputs a steering command value corresponding to the target steering amount to drive the drive unit,
A steering amount sensor that detects the steering amount of the steering unit steered by the output unit, and
An abnormality detection unit that detects an abnormal operation of the vehicle that changes the steering amount of the steering unit beyond a predetermined threshold value, and an abnormality detection unit.
The state amount of the state space model of the steering unit is acquired based on the steering amount detected by the steering amount sensor, and the convergence command value for converging the movement of the steering unit is calculated based on the state amount of the steering unit. Equipped with a convergence control unit
The output unit is a steering control device that controls the drive unit by outputting the convergence command value calculated by the convergence control unit when the abnormality detection unit detects an abnormal operation of the vehicle. Further, it has an output feedback compensating unit that compensates the steering command value based on the steering amount detected by the steering amount sensor.
The first aspect of claim 1 is that the output unit outputs the steering command value compensated by the output feedback compensation unit to control the drive unit when the abnormality detection unit does not detect an abnormal operation of the vehicle. Steering control device. A claim having a state feedback control unit that calculates a convergence command value by controlling the state feedback of the steering unit based on a gain preset from the following equation (1). Item 2. The steering control device according to item 1 or 2.
dx / dt = (A + Bk) x ... (1)
Here, x is the state quantity of the steering unit, t is the time, k is the gain, A is the state matrix, B is the n-dimensional vector, and n is the number of state variables. The convergence control unit has a state estimation unit that estimates the state amount of the steering unit based on the steering amount detected by the steering amount sensor.
The steering control device according to claim 3, wherein the state feedback control unit calculates the convergence command value by performing state feedback control on the state amount of the steering unit estimated by the state estimation unit.

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