JP2022026837A - Driver torque estimation device and steering device - Google Patents

Abstract

To estimate a driver torque corresponding to an operating state of an operation member.SOLUTION: A driver torque estimation device 130 is applied to a steering device 100 for turning a turning wheel 210 in response to an operation of an operation member 200 held to be operable by a combination of a plurality of mechanical elements. The driver torque estimation device 130 includes: a torque acquisition unit 131 that acquires the torque generated in the mechanical elements; a driver torque estimation unit 132 that, based on non-linear calculation, estimates driver torque, which is a force to be applied to the operation member 200 by a driver, by using the torque acquired from the torque acquisition unit 131; an operating-state specifying unit 133 that, based on movement information indicating a movement of the operation member 200, specifies a driver's operating state of the operation member; and an update unit 134 that, based on a specifying result of the operating-state specifying unit 133, updates a parameter value to be applied to the non-linear calculation that is used by the driver torque estimation unit 132.SELECTED DRAWING: Figure 2

Description

The present invention relates to a driver torque estimation device that estimates a driver torque applied to an operating member by a driver, and a steering device including a driver torque estimation device.

In a steering device in which an operating member and a steering wheel are connected by connecting a plurality of mechanical elements, a torsion bar may be connected in order to sense torque generated in the steering device. The torque derived based on the torsion amount of the torsion bar includes the driver torque generated by the driver operating the operating member, the assist torque input from the assist motor, the road surface reaction force torque input from the steering wheel, and the like. Is included.

Conventionally, various methods have been proposed for estimating the assist torque from the sensed torque (for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2002-154450

However, since the operating state of the driver who operates the operating member such as the steering wheel attached to the steering device varies, the driver torque indicating the force applied to the operating member by the driver is estimated with high accuracy under various situations. It's difficult to do.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a driver torque estimation device and a steering device that can stably estimate driver torque even in various situations.

In order to achieve the above object, the driver torque estimation device, which is one of the present inventions, is a steering device that steers the steering wheel according to the operation of the operating member that is operably held by the combination of a plurality of mechanical elements. It is an applied driver torque estimation device, and uses a torque acquisition unit that acquires the torque generated in the mechanical element and a torque that acquires the driver torque, which is the force applied by the driver to the operation member, from the torque acquisition unit. The driver torque estimation unit that estimates based on the non-linear calculation, the operation state specification unit that specifies the operation state of the driver's operation member based on the operation information indicating the operation of the operation member, and the identification result of the operation state specification unit. Based on the above, the driver torque estimation unit includes an update unit for updating the parameter value applied to the non-linear calculation.

Further, in order to achieve the above object, the steering device, which is another one of the present invention, has a steering mechanism for steering the steering wheel and a transmission for transmitting the operation of the operating member by the driver to the steering mechanism. The driver torque estimation device includes a mechanism and a driver torque estimation device, and the driver torque estimation device obtains a torque acquisition unit for acquiring torque generated in the mechanical element and a driver torque which is a force applied by a driver to the operation member. The driver torque estimation unit that estimates based on non-linear calculation using the torque acquired from the acquisition unit, the operation state specification unit that specifies the operation state of the driver's operation member based on the operation information indicating the operation of the operation member, and the above. An update unit for updating a parameter value applied to the non-linear calculation used in the driver torque estimation unit based on a specific result of the operation state specifying unit is provided.

According to the present invention, the driver torque can be stably estimated by switching the parameter value for estimating the driver torque according to the state in which the driver operates the operating member.

It is a figure which shows the steering apparatus which concerns on Embodiment 1. FIG. It is a block diagram which shows the functional structure of the driver torque estimation apparatus which concerns on Embodiment 1. FIG. It is a block diagram which shows the functional structure of the operation state specifying part which concerns on Embodiment 1. FIG. It is a block diagram which shows the functional structure of the noise state specifying part which concerns on Embodiment 1. FIG. It is a flowchart which shows the flow of processing in one cycle of the driver torque estimation apparatus which concerns on Embodiment 1. FIG. It is a figure which shows the steering apparatus which concerns on Embodiment 2. It is a block diagram which shows the functional structure of the driver torque estimation apparatus which concerns on Embodiment 2. FIG. It is a flowchart which shows the flow of the system noise update process of the update part which concerns on Embodiment 2. It is a flowchart which shows the flow of the update process of the observation noise of the update part which concerns on Embodiment 2.

Hereinafter, embodiments of the driver torque estimation device and the steering device according to the present invention will be described with reference to the drawings. The numerical values, shapes, materials, components, positional relationships of the components, connection states, steps, the order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. Further, in the following, a plurality of inventions may be described as one embodiment, but the components not described in the claims will be described as arbitrary components with respect to the claimed invention. ing. Further, the drawings are schematic views in which emphasis, omission, and ratio adjustment are appropriately performed in order to explain the present invention, and may differ from the actual shape, positional relationship, and ratio.

(Embodiment 1)
FIG. 1 is a diagram showing a steering device according to the first embodiment. The steering device 100 is a device that steers the steering wheel 210 in response to the operation of the operating member 200, and includes a steering mechanism 110, a transmission mechanism 120, and a driver torque estimation device 130. In the case of the first embodiment, the steering device 100 is a so-called electric power steering device, and further includes an assist mechanism 140.

The steering mechanism 110 is a mechanism for steering the steering wheel 210, and in the case of the first embodiment, the steering mechanism 110 includes a rack shaft 111 and a tie rod 112.

The rack shaft 111 is arranged so as to extend linearly along the left-right direction of the vehicle. A rack 113 that meshes with the pinion 124 provided at the tip of the pinion shaft 121 that is a part of the transmission mechanism 120 is formed on a part of the peripheral surface of the rack shaft 111, and the rotation of the pinion shaft 121 rotates the rack shaft. A rack and pinion mechanism that is converted into an axial movement of 111 is configured. By moving the rack shaft 111 in the axial direction, the steering wheel 210 can be steered via a tie rod 112, a knuckle arm (not shown), and the like.

The transmission mechanism 120 is a mechanism that transmits the operation of the operation member 200 by the driver to the steering mechanism 110. In the case of the first embodiment, the transmission mechanism 120 includes a pinion shaft 121 connected via a universal joint 125, an intermediate shaft 122, and a column shaft 123.

The steering device 100 includes an operation amount sensor 151 and a torque sensor 152 attached to the transmission mechanism 120.

The operation amount sensor 151 is a sensor that acquires the operation amount of the operation member 200. In the case of the first embodiment, the operation member 200 is an annular steering wheel, and the operation of the operation member 200 is performed by rotation. The operation amount sensor 151 is a rotation angle sensor that acquires the rotation amount of the column shaft 123 that rotates with the rotation of the operation member 200 as the operation amount. The rotation angle acquired by the operation amount sensor 151 is grasped as the rotation angle on the input shaft side of the torque sensor 152.

The torque sensor 152 acquires the torque generated in the transmission mechanism 120 composed of a combination of a plurality of mechanical elements as information. The mounting position of the torque sensor 152 is not particularly limited, but in the case of the first embodiment, the torque sensor 152 is mounted on the pinion shaft 121. The type of the torque sensor 152 is not particularly limited, but in the case of the first embodiment, the torque is acquired based on the twist amount of the torsion bar 153 interposed above the pinion shaft 121. The operation member 200 side of the torsion bar 153 is an input shaft, and the end portion of the torsion bar 153 on the pinion 124 side is an output shaft. Since both the input shaft and the output shaft rotate, the torque sensor 152 acquires torque based on the difference between the rotation amount of the input shaft and the rotation amount of the output shaft.

When the operating member 200 is operated (rotated), this rotation is transmitted to the pinion shaft 121 via the column shaft 123 and the intermediate shaft 122. Then, the rotation of the pinion shaft 121 is converted into the axial movement of the rack shaft 111 by the engagement between the pinion 124 and the rack 113. As a result, the steering wheel 210 is steered.

The assist mechanism 140 includes an electric motor 141 for generating an assist force and a speed reducer 142 for amplifying the output torque of the electric motor 141 and transmitting it to the steering mechanism 110. In the first embodiment, the electric motor 141 is a three-phase brushless motor, and the amount of rotation of the output shaft is output by a motor angle sensor 144 (see FIG. 2) such as a resolver. The speed reducer 142 is a worm speed reducer including a worm gear connected to the output shaft of the electric motor 141 and a worm wheel that meshes with the worm gear. A second pinion shaft 143 is attached to the worm wheel, and the second pinion shaft 143 meshes with the second rack 114 provided on the rack shaft 111.

The electric motor 141 is driven according to the operating state of the driver, and assist torque is applied to the rack shaft 111 via the speed reducer 142 and the second pinion shaft 143. As a result, the steering wheel 210 is steered based on the driver torque applied from the operating member 200 and the assist torque from the electric motor 141, so that the steering wheel 210 can be steered with a small driver torque.

FIG. 2 is a block diagram showing a functional configuration of the driver torque estimation device according to the first embodiment.

The driver torque estimation device 130 steers the steering wheel 210 in response to the operation of the operating member 200 that is operably held by the combination of the pinion shaft 121, the column shaft 123, and the mechanical elements such as the bearing that holds the pinion shaft 121. It is a device applied to the device 100 and estimates the driver torque input to the operating member 200 by the driver. The driver torque estimation device 130 includes a torque acquisition unit 131, a driver torque estimation unit 132, an operation state specifying unit 133, and an update unit 134 as processing units realized by executing a program on a computer. .. In the case of the first embodiment, the driver torque estimation device 130 further includes an output shaft angle acquisition unit 136 and a noise state specifying unit 135.

The torque acquisition unit 131 acquires the torque generated in the mechanical element that connects the operating member 200 and the steering wheel 210. In the case of the first embodiment, the torque acquisition unit 131 acquires the torque generated in the pinion shaft 121, which is one of the mechanical elements, from the torque sensor 152. The torque acquired from the torque sensor 152 includes a driver torque generated by the driver operating the operating member 200, an assist torque input from the electric motor 141 of the assist mechanism 140, and a road surface reaction force input from the steering wheel 210. Includes torque and more.

In the case of the first embodiment, the torque acquisition unit 131 acquires torque as one value from the torque sensor 152 for each cycle of the driver torque estimation device 130.

The output shaft angle acquisition unit 136 acquires the angle on the output shaft side of the torque sensor 152 as an input variable to be input to the driver torque estimation unit. In the case of the first embodiment, the output shaft angle acquisition unit 136 acquires the angle of the output shaft of the electric motor 141 from the motor angle sensor 144, and the gear ratio of the speed reducer 142, the second pinion shaft 143 and the second rack 114. The output shaft angle is calculated based on the gear ratio of the pinion shaft 121, the gear ratio of the pinion shaft 121 and the rack 113, and the like.

The driver torque estimation unit 132 estimates the driver torque based on the nonlinear calculation using the torque acquired by the torque acquisition unit 131. Non-linear operations that can be adopted by the driver torque estimation unit 132 can be exemplified by, for example, a non-linear observer, a particle filter, a Moving Horizon estimator, and the like. In the case of the first embodiment, the driver torque estimation unit 132 calculates and processes the torque acquired by the torque acquisition unit 131 and the information acquired by the output shaft angle acquisition unit 136 from the motor angle sensor 144 to acquire the output shaft angle. Is used as an input, and the driver torque is estimated using a non-linear Kalman filter.

The following model is established for the column shaft 123.

The model of Equation 1 above is represented by a state transition equation and discretized by the Euler method (or Runge-Kutta method).

The driver torque Td (k) in the third line of the equation 2 is a random walk model.

Here, the covariance matrix Q (k) of the system noise in the nonlinear Kalman filter is expressed by the following equation 3.

The variance of the angle of the input shaft and the variance of the angular velocity of the input shaft are predetermined constant values. Specifically, the dispersion of the input shaft angle and the dispersion of the input shaft angular velocity are tuned in advance by testing, simulation, etc. so that the driver torque can be estimated without problems even in situations where the angle and angular velocity are changing sharply. ing. The driver torque distribution is updated by the update unit 134.

The operation state specifying unit 133 specifies the operation state of the driver's operation member based on the operation information indicating the operation of the operation member 200. In the case of the first embodiment, the operation state specifying unit 133 includes a low-pass filter unit 161 and a first statistical processing unit 162, as shown in FIG.

The low-pass filter unit 161 acquires the torque acquired from the torque acquisition unit 131 as operation information, and extracts the torque in the operation frequency band. The cutoff frequency of the low-pass filter unit 161 that determines the operating frequency band is not particularly limited, but a few Hz may be adopted as the cutoff frequency in consideration of the cycle in which the driver operates the operating member 200. preferable. That is, the operating frequency band is several Hz or less.

The first statistical processing unit 162 performs motion statistical processing on the operation information that has passed through the low-pass filter unit 161 within a predetermined first period, and determines the degree to which the driver has steeply operated the operating member 200 (the degree to which the operating member 200 has been slowly operated). Derive the value shown. In the case of the first embodiment, the first statistical processing unit 162 acquires the movement variance of the torque in the operation frequency band extracted by the low-pass filter unit 161 by calculation. The window size when calculating the movement variance is not particularly limited. In the case of the first embodiment, since one torque is obtained for each processing cycle of the driver torque estimation device 130, the window size is set to a predetermined number (for example, 10). As a result, it is possible to suppress the load on the memory of the driver torque estimation device 130 and improve the specific real-time performance of the operation state specifying unit 133.

The noise state specifying unit 135 specifies a noise state due to the electromagnetic environment of the vehicle on which the steering device 100 is mounted, based on the same operation information as the operation information acquired by the operation state specifying unit 133. In the case of the first embodiment, the noise state specifying unit 135 includes a high-pass filter unit 164 and a second statistical processing unit 165, as shown in FIG.

The high-pass filter unit 164 acquires the torque acquired from the torque acquisition unit 131 as operation information, and extracts the sensor noise in the high frequency band. The cutoff frequency of the high-pass filter unit 164 is not particularly limited, but is about several hundred Hz in consideration of the frequency of noise input from an ECU (Electronic Control Unit) or the like provided in the vehicle equipped with the steering device 100. Is preferably adopted as the cutoff frequency.

The second statistical processing unit 165 performs motion statistical processing on the operation information that has passed through the high-pass filter unit 164 within a predetermined second period, and derives an index for specifying the observed noise. In the case of the first embodiment, the second statistical processing unit 165 acquires the movement dispersion of the sensor noise in the high frequency band extracted by the high-pass filter unit 164 by calculation. The window size when calculating the movement variance is not particularly limited. In the case of the first embodiment, the window size is set to the same number (for example, 10) as that of the first statistical processing unit 162. As a result, it is possible to suppress the load on the memory of the driver torque estimation device 130 and improve the specific real-time performance of the operation state specifying unit 133.

The update unit 134 updates the parameter value applied to the nonlinear calculation used in the driver torque estimation unit 132 based on the specific result of the operation state specifying unit 133. In the case of the first embodiment, the update unit 134 acquires the torque distribution in the operation frequency band derived by the operation state specifying unit 133, and the acquired torque distribution is used as the driver torque dispersion in the covariance matrix Q (k). Input to the driver torque estimation unit 132.

Further, in the case of the first embodiment, the updating unit 134 updates the parameter value applied to the nonlinear calculation used in the driver torque estimation unit 132 based on the specific result of the noise state specifying unit 135. The update unit 134 acquires the torque dispersion in the high frequency band derived by the noise state specifying unit 135, and inputs the acquired torque dispersion to the driver torque estimation unit 132 as the observed noise dispersion.

The driver torque estimation unit 132 estimates the driver torque based on the parameter value updated by the update unit 134, and actively controls the operation member to steer the vehicle, for example, whether or not the driver is touching the operation member 200. The estimated driver torque is provided to the operation state determination device 220 or the like for determining whether or not the 200 is touched.

FIG. 5 is a flowchart showing a processing flow in one cycle of the driver torque estimation device.

The driver torque estimation device 130 repeats the estimation of the driver torque at a predetermined cycle. In one cycle of processing of the driver torque estimation device 130, the torque acquisition unit 131, the output shaft angle acquisition unit 136, and the like acquire measured values from each sensor (S101). The operation state specifying unit 133 specifies the distribution of torque, which is one of the parameter values, based on the measured value of the torque sensor 152. Further, the noise state specifying unit 135 specifies the variance of the observed noise, which is one of the other parameter values (S102).

The update unit 134 acquires the torque distribution as the driver torque distribution from the operation state specifying unit 133, outputs the acquired driver torque distribution to the driver torque estimation unit 132, and updates the driver torque distribution. Further, the variance of the noise is acquired from the noise state specifying unit 135 as the variance of the observed noise, and the variance of the acquired observed noise is output to the driver torque estimation unit 132 to update the variance of the observed noise (S103).

The driver torque estimation unit 132 calculates the nonlinear Kalman filter based on the parameter values updated based on the torque acquired by the torque acquisition unit 131 and the output shaft angle acquired by the output shaft angle acquisition unit 136, and estimates the driver torque (S104). ).

The driver torque estimation unit 132 outputs the estimated driver torque to, for example, the operation state determination device 220 (S105).

(Embodiment 2)
Subsequently, another embodiment of the driver torque estimation device and the steering device will be described. In addition, the same reference numerals may be given to those having the same functions and functions as those in the first embodiment, and the same shapes, mechanisms and structures, and the description thereof may be omitted. Further, in the following, the points different from those of the first embodiment will be mainly described, and the same contents may be omitted.

FIG. 6 is a diagram showing a steering device according to the second embodiment. As shown in the figure, the steering device 100 according to the second embodiment does not include the torque sensor 152.

FIG. 7 is a block diagram showing a functional configuration of the driver torque estimation device according to the second embodiment. The driver torque estimation device 130 includes an operation amount acquisition unit 137, a torque acquisition unit 131, a driver torque estimation unit 132, an operation state specification unit 133, an update unit 134, an output shaft angle acquisition unit 136, and a noise state specification. It has a part 135.

The operation amount acquisition unit 137 acquires the operation amount of the operation member 200 from the operation amount sensor 151. In the case of the second embodiment, the operation amount acquisition unit 137 acquires the rotation amount (rotation angle) of the column shaft 123 that rotates with the rotation of the operation member 200 as the input shaft angle.

The torque acquisition unit 131 calculates and acquires the torque based on the output shaft angle acquired by the output shaft angle acquisition unit 136 and the input shaft angle acquired by the operation amount acquisition unit 137. The method for calculating the torque is not particularly limited, and either linear calculation or non-linear calculation may be used. In the case of the second embodiment, the torque acquisition unit 131 calculates the torque based on the linear torsion bar model. Specifically, the torque is calculated by multiplying the difference between the input shaft angle and the output shaft angle by a coefficient.

The update unit 134 provides a stepwise threshold value including a first threshold value for the torque dispersion calculated by the first statistical processing unit 162 of the operation state specifying unit 133, and different drivers are provided for each of the regions separated by the adjacent threshold values. It has a system noise distribution map with torque distribution set. The system noise dispersion map is a driver that gradually increases in response to the driver torque estimation unit 132 for each region where the torque dispersion, which is the first statistical information, is equal to or greater than the first threshold value. Torque distribution is set. On the other hand, for each region where the torque distribution is less than the first threshold value, the driver torque distribution that is gradually reduced is set so that the responsiveness of the driver torque estimation unit 132 becomes low.

FIG. 8 is a flowchart showing the flow of the system noise update process of the update unit according to the second embodiment. In the case of the second embodiment, the update unit 134 gradually increases the first system noise and the second system noise in each of the three regions separated by the first threshold value and the third threshold value larger than the first threshold value. It has a system noise distribution map with a third system noise set.

When the update unit 134 acquires the torque dispersion from the operation state specifying unit 133 (S201), it compares the torque distribution with the system noise distribution map, and when the torque distribution is less than the first threshold value (S202: YES), the first system noise is generated. Determine (S203). When the torque dispersion is equal to or greater than the first threshold value and less than the third threshold value (S204: YES), the second system noise is determined (S205). When the torque dispersion is equal to or greater than the third threshold value (S204: No), the third system noise is determined (S205). The update unit 134 updates the parameter value of the driver torque estimation unit 132 using the determined system noise (S207).

Further, the update unit 134 provides a stepwise threshold value including a second threshold value for the noise dispersion calculated by the second statistical processing unit 165 of the noise state specifying unit 135, and is different for each of the regions delimited by the adjacent threshold values. It is equipped with an observation noise dispersion map in which the variance of the observation noise is set. The observation noise variance map is an observation that the driver torque estimation unit 132 gradually increases in response to each region where the noise variance, which is the second statistical information, is equal to or higher than the second threshold value. Noise distribution is set. On the other hand, for each region where the noise dispersion is less than the second threshold value, the observation noise dispersion that is gradually reduced is set so that the responsiveness of the driver torque estimation unit 132 becomes high.

FIG. 9 is a flowchart showing the flow of the observation noise update process of the update unit according to the second embodiment. In the case of the second embodiment, the update unit 134 gradually increases the first observation noise and the second observation noise in each of the three regions separated by the second threshold value and the fourth threshold value larger than the second threshold value. It is equipped with an observation noise distribution map in which the third observation noise is set.

When the update unit 134 acquires the noise variance from the noise state specifying unit 135 (S301), it compares it with the observed noise dispersion map, and when the noise variance is less than the second threshold value (S302: YES), the first observed noise is obtained. Determine (S303). When the noise dispersion is equal to or greater than the second threshold value and less than the fourth threshold value (S304: YES), the second observed noise is determined (S305). When the noise dispersion is equal to or greater than the fourth threshold value (S304: No), the third observed noise is determined (S305). The update unit 134 updates the parameter value of the driver torque estimation unit 132 using the determined observation noise (S307).

According to the driver torque estimation device 130 and the steering device 100 including the driver torque estimation device 130 according to the above embodiment, a state in which the driver operates the operating member, for example, a state in which the operating member is steeply operated. And the state of slow operation can be detected appropriately. Then, the parameter values included in the system noise covariance matrix applied to the nonlinear Kalman filter are updated according to the detected operation state to adjust the responsiveness. As a result, the driver torque can be estimated with high accuracy in a stable state.

Further, the observed noise is extracted from the information input for estimating the driver torque, and the parameter value is updated based on the observed noise to adjust the responsiveness of the driver torque estimation unit 132. As a result, the driver torque can be estimated with high accuracy in response to changes in the electrical and magnetic environment of the vehicle. Further, since it is possible to absorb individual differences of the sensor, it is possible to improve the versatility and reliability of the driver torque estimation device 130.

The present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in the present specification and excluding some of the components may be an embodiment of the present invention. The present invention also includes modifications obtained by making various modifications that can be conceived by those skilled in the art within the scope of the gist of the present invention, that is, the meaning indicated by the wording described in the claims, with respect to the above-described embodiment. Will be.

For example, the operation state specifying unit 133 acquires the torque obtained from the torque sensor 152 or the rotation angle of the operation member 200 as operation information to specify the operation state, but specifies the operation state by using other operation information. It doesn't matter. Further, the operation state may be specified by combining a plurality of operation information obtained from each of the plurality of sensors.

Further, when the update unit 134 includes a map in which the operation state and the parameter value are associated with each other, such as a system noise distribution map, the operation state specifying unit 133 uses a squared average or the like as a value indicating the operation state. The statistical result may be derived as an operation state.

Further, although the variance of the system noise and the variance of the observed noise have been described as the parameters to be updated, the dispersion of the observed noise may be a constant value tuned in the preliminary test. Further, the parameter to be updated may be selected according to the model for estimating the driver torque.

100 ... Steering device, 110 ... Steering mechanism, 111 ... Rack shaft, 112 ... Tie rod, 113 ... Rack, 114 ... Second rack, 120 ... Transmission mechanism, 121 ... Pinion shaft, 122 ... Intermediate shaft, 123 ... Column Shaft, 124 ... Pinion, 125 ... Universal joint, 130 ... Driver torque estimation device, 131 ... Torque acquisition unit, 132 ... Driver torque estimation unit, 133 ... Operation state specification unit, 134 ... Update unit, 135 ... Noise state specification unit, 136 ... Output shaft angle acquisition unit, 137 ... Operation amount acquisition unit, 140 ... Assist mechanism, 141 ... Electric motor, 142 ... Reducer, 143 ... Second pinion shaft, 144 ... Motor angle sensor, 151 ... Operation amount sensor, 152 ... Torque sensor, 153 ... Torque bar, 161 ... Low pass filter unit, 162 ... First statistical processing unit, 164 ... High pass filter unit, 165 ... Second statistical processing unit, 200 ... Operating member, 210 ... Steering wheel, 220 ... Operation Status judgment device

Claims (5)

A driver torque estimation device applied to a steering device that steers a steering wheel according to an operation of an operating member that is operably held by a combination of a plurality of mechanical elements.
A torque acquisition unit that acquires the torque generated in the machine element,
A driver torque estimation unit that estimates the driver torque, which is the force applied by the driver to the operating member, based on a non-linear calculation using the torque acquired from the torque acquisition unit.
An operation state specifying unit that specifies the operation state of the driver's operation member based on the operation information indicating the operation of the operation member, and the operation state specifying unit.
An update unit that updates the parameter value applied to the nonlinear operation used in the driver torque estimation unit based on the specific result of the operation state specifying unit, and an update unit.
A driver torque estimator equipped with. Further provided with a noise state specifying unit for specifying the noise state of the vehicle on which the steering device is mounted based on the operation information indicating the operation of the operating member.
The update part
The driver torque estimation device according to claim 1, wherein the parameter value applied to the non-linear calculation used in the driver torque estimation unit is updated based on the specific result of the noise state specifying unit. The operation state specifying unit is
It is the result of statistically processing the operation information obtained by acquiring at least one of the operation amount of the operation member and the torque acquired from the torque acquisition unit as operation information and passing the operation information through a low-pass filter within a predetermined first period. Identify the statistics and
The update part
When the first statistical information is equal to or more than the first threshold value, the parameter value applied to the nonlinear calculation is updated so that the responsiveness of the driver torque estimation unit becomes high, and the first statistical information is less than the first threshold value. The driver torque estimation device according to claim 1 or 2, wherein the parameter value applied to the non-linear calculation is updated so that the responsiveness of the driver torque estimation unit becomes low. The noise state specifying part is
It is the result of statistically processing the operation amount of the operation member and at least one of the torques acquired from the torque acquisition unit as operation information and passing the operation information through the high-pass filter within a predetermined second period. Identify the statistics and
The update part
When the second statistical information is equal to or more than the second threshold value, the parameter value applied to the nonlinear calculation is updated so that the responsiveness of the driver torque estimation unit becomes low, and the second statistical information is less than the second threshold value. The driver torque estimation device according to claim 2, wherein the parameter value applied to the non-linear calculation is updated so that the responsiveness of the driver torque estimation unit becomes high. A steering mechanism that steers the steering wheel and
A transmission mechanism that transmits the operation of the operating member by the driver to the steering mechanism, and
The driver torque estimation device according to any one of claims 1 to 4, and the driver torque estimation device.
A steering device equipped with.

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