JP5175115B2 - Booster steering device - Google Patents

Description

  The present invention relates to a booster steering device (also referred to as a “power steering device”) that assists the steering force of a driver who drives a vehicle, and includes a fail-safe mechanism.

  The boost steering device assists the driver's steering force, but if the control mechanism breaks down, the driver will perform steering assistance not desired. Many have a fail-safe mechanism that monitors the cause of failure of the control mechanism and releases the steering assist.

  Patent Document 1 proposes an example of such a fail-safe mechanism (referred to as “fail-safe control mechanism” in Patent Document 1). The thing of this patent document 1 is called the fail safe mechanism A.

  The fail-safe mechanism A includes a risk level table that specifies a risk level based on signals from the steering torque sensor and the vehicle speed sensor, and sets a threshold value for determining an abnormality according to the risk level of the risk level table. When the absolute value of the difference between the assist signal output to the driving means for applying the steering assist force and the feedback signal from the driving means driven by the assist signal exceeds the threshold, the steering is determined to be abnormal. The assistance is canceled.

  With such a configuration, according to the fail-safe mechanism A, the threshold value is made variable according to the conditions, so that appropriate fail-safe control according to the actual situation can be performed (paragraph [0032 of Patent Document 1] ]).

  However, this fail-safe mechanism A does not have a serious cause of failure, and when the steering assist is released, rather, the steering return force of the vehicle feels strange to the driver through the steering wheel (steering wheel) or changes in steering performance There was no description of how to deal with cases that would make you feel.

  Patent Document 2 proposes an abnormality detection device for sensors constituting a fail-safe mechanism. Although this abnormality detection device is not explicitly described, it can also be applied to a boost steering device for a vehicle, and uses two sensors, a main sensor and a sub sensor that operate in the same manner as a steering torque sensor, A voltage of opposite polarity is applied to both, and the abnormality of the sensor is judged when the difference between the absolute values of the outputs of both sensors exceeds a predetermined value.

  With this configuration, the abnormality detection device can accurately determine not only when one of the sensors fails, but also when the resistance of each part of the circuit changes, and between the sensors. Even when a short circuit occurs, it can be correctly identified (page 3, right column, line 30 to line 36 of Patent Document 2).

However, even in this abnormality detection device, the cause of the failure is not serious, and when the steering assist is canceled, the steering return force of the vehicle rather makes the driver feel uncomfortable or change in steering performance through the steering wheel. There was no description of how to deal with such cases.
JP 2004-299616 A (FIGS. 1, 2, and 3) Japanese Patent No. 2572878 (FIG. 1)

  The present invention is intended to improve the above-described problem. For general causes of failure, the failure cause is not serious while achieving general fail-safe control. It is an object of the present invention to provide a booster steering device capable of avoiding that the return force causes the driver to feel uncomfortable or change the steering performance through the steering wheel.

The boost steering device of the present invention has a small steering force of a driver while simultaneously monitoring a control mechanism and a plurality of failure causes including a general failure cause and other specific failure causes. The risk level is set to be large so that the release of the steering assist is performed earlier, and the risk level is set to be large so that the steering assist is released for a smaller steering force as the vehicle speed increases. a booster steering system and a fail-safe mechanism used to correspond the table to each failure cause,
The fail-safe mechanism further includes a main torque sensor that detects a driver's steering force, and a sub-torque sensor that is provided so as to be replaceable with the main torque sensor and similarly detects the driver's steering force,
The failure cause of the control mechanism is not the release of the direct steering assistance among the plurality of failure causes, but the steering return force of the vehicle affects the steering performance of the driver when the steering assistance is released. When the main sub difference is a difference in steering force detected by the main torque sensor and the sub torque sensor, the risk level is higher than the risk level table set for the general cause of failure. A risk table set for the main sub-difference, which is more relaxed, is used .

According to the boost steering device of the present invention , the steering force of the driver is monitored while the control mechanism and the control mechanism are simultaneously monitored for a plurality of failure causes including a general failure cause and other specific failure causes. The smaller the is, the higher the risk level is so that the steering assist is released earlier, and the higher the vehicle speed is, the higher the danger level is set so that the steering assist is released for a smaller steering force. a booster steering system and a fail-safe mechanism used to correspond the risk table to individual failure cause,
The fail-safe mechanism further includes a main torque sensor that detects a driver's steering force, and a sub-torque sensor that is provided so as to be replaceable with the main torque sensor and similarly detects the driver's steering force,
The failure cause of the control mechanism is not the release of the direct steering assistance among the plurality of failure causes, but the steering return force of the vehicle affects the steering performance of the driver when the steering assistance is released. When the main sub difference is a difference in steering force detected by the main torque sensor and the sub torque sensor, the risk level is higher than the risk level table set for the general cause of failure. Since the risk table set for the main sub-difference that is more relaxed is used , a general fail-safe function is ensured, and in the case of a specific failure cause, steering assist is maintained, It is possible to eliminate the uncomfortable feeling of the driver's steering performance due to the steering return force of the vehicle, and to improve the safety.

  In other words, according to this boost steering device, the general cause of failure is achieved with general fail-safe control, while the cause of failure is not serious. When the steering assist is released, the steering return force of the vehicle is rather increased. It can be avoided that the driver feels uncomfortable or changes in steering performance through the steering wheel.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1A is a diagram showing an example of a boost steering device having a fail-safe mechanism according to the present invention, and FIG. 1B is a block diagram showing a control mechanism of FIG.

  FIG. 2 illustrates a risk table for each cause of failure used by the fail-safe mechanism of FIG. 1, (a) is a diagram showing a risk table used for general failure causes, and (b) is a specific failure cause. The figure which shows the risk level table used in the case of an example, (c) is a figure which shows the risk level table used in the case of the other example of a specific failure cause.

  The boost steering device 20 includes a steering wheel (steering wheel) 1 for steering by a driver, a steering shaft 2 that transmits a steering force of the steering wheel 1, and an input shaft 3 that receives a steering force from the steering shaft 2. And an output shaft 4 that receives the steering force from the input shaft 3, a pinion 5 provided at the tip of the output shaft 4, and a rack 6 that meshes with the pinion 5, and the rotational steering force is converted into a linear steering force. And a steering rack shaft 7 for steering the wheel S (changing the direction).

  The boost steering device 20 also includes a torque sensor 9 that detects torque between the input shaft 3 and the output shaft 4, a vehicle speed sensor 10 that detects the speed of the vehicle including the boost steering device 20, and On the basis of the outputs of these sensors 9, 10, there is provided a steering assist drive means 8 for assisting the output shaft 4 to generate a steering assist force.

  The torque sensor 9 includes a main torque sensor 9A that detects the steering force of the driver, and a sub-torque sensor 9B that is provided so as to be able to replace the main torque sensor 9A and similarly detects the steering force of the driver. Yes. The point that the two main and sub torque sensors 9A and 9B are provided is the same as in Patent Document 2, and the sensor circuit is duplicated to increase the safety of torque detection.

  The boost steering device 20 receives a detection signal from the torque sensor 9, the vehicle speed sensor 10, etc., and controls the control unit 11 </ b> A that drives and controls the steering assist drive unit 8, the sensors 9, 10, and various sensors. Are provided with a fail-safe mechanism 11 including a failure detection unit 11B that detects the cause of the failure by receiving the detection signals C1, C2, and the like.

  In addition, the boost steering device 20 includes a relay 12 that connects and disconnects the power source (battery) 13 to the steering assist drive unit 8 based on a control signal from the control unit 11A. The power source 13 is used for assisting steering, but also serves as a power source for each part of the vehicle including the fail safe mechanism 11 including the fail safe mechanism 11.

  In such a configuration, the booster steering device 20 includes the above-described contents, as shown in FIGS. 2 (a), 2 (b), and 2 (c). While the 20 control mechanisms are monitored in parallel for a plurality of causes of failure, the risk is set to be larger so that the steering assist is released earlier as the driver's steering force is smaller, and smaller as the vehicle speed increases. One feature is that risk level tables T0, T1, and T2, which set a high level of risk level so as to release the steering assist with respect to the steering force, are used corresponding to each cause of failure.

  That is, since the case where the mitigated risk tables T1 and T2 as described later are used and the case where the general risk table T0 is used are monitored in parallel, the mitigation risk tables T1 and T2 are Even if it is used, in the case of a serious failure, it is possible to immediately release the steering assist and exert a general fail-safe function.

  The risk level table T0 in FIG. 2A is used in the case of a general cause of failure. The horizontal axis corresponds to the torque signal from the torque sensor 9, and the vertical axis corresponds to the vehicle speed signal from the vehicle speed sensor 10. As the driver's steering force decreases, the degree of danger increases so that the steering assist is released earlier, and as the vehicle speed increases, the degree of danger increases so that the steering assist is released for smaller steering forces. This is a table having a risk level set in 5 levels from 1 to 5.

  This risk level table T0 is basically the same as that shown in FIG. 3 of Patent Document 1, and in the case of the risk level 5, the threshold value is reduced and as soon as possible when a failure occurs. Then, the steering assist is released, that is, the power supply 13 to the steering assist driving means 8 is turned off.

  On the other hand, when the degree of risk is 1, the threshold value is increased, and even if a failure occurs, the steering assistance is maintained as much as possible, and the steering assistance is not released immediately.

  This general risk level table T0 includes, for example, a circuit failure of the torque sensor 9, a connector failure, or a harness failure, or a resolver (motor rotation speed detection means) when the steering assist drive means 8 is an electric motor. Used when failure is caused by detection failure, circuit failure, or ignition of electric motor.

  On the other hand, the fail-safe mechanism 11 monitors a plurality of causes of failure while sharing time in real time. For example, if the cause of failure does not directly cancel steering assistance, 2 (b) and 2 (c) show the risk levels of the specific failure cause risk tables T1 and T2 in the case of the specific failure cause that affects the steering performance of the driver. In addition, it is characterized by being more relaxed.

  The risk table T1 in FIG. 2B indicates that the cause of the specific failure is a difference in steering force detected by the main torque sensor 9A and the sub torque sensor 9B provided in parallel with the torque sensor 9 (“main sub difference”). The risk level (outlined number) when the torque signal is medium and large at high speed of the table T1 is smaller than that of the table T0, and the risk level is (especially). It is alleviated (in the case of large torque).

  In other words, during high speed traveling, the vehicle bends greatly even with a small amount of steering. However, the steering assist force when entering the steering assist cancellation due to the main / sub difference is not so large. Conversely, when the steering assist cancellation is performed immediately, the steering wheel is driven by the steering return force (self-aligning torque) of the vehicle. It is because it will be in a dangerous state if 1 is returned.

  This is because the steering assist has been released from what has been able to be steered with a small force until now, so that it is necessary to steer with a large force against the steering return force of the vehicle. This is because it seems to be taken by the vehicle and affects the steering performance. Maintaining the steering assist in this manner gives the driver a more comfortable steering performance and higher safety.

  The risk level table T2 in FIG. 2C is used when the cause of the specific failure is the relay contact voltage of the relay 12 that connects and disconnects the power supply 13 that provides the steering assist driving force to the steering assist drive means 8. The risk level (white numbers) for the medium and medium torques of the table T2 and the small, medium, and large torque signals at high speeds is smaller than that of the table T0, and the risk level (particularly at high speeds). The torque is moderated (larger in case of large).

  When the relay contact voltage of the relay 12 becomes abnormal (within a certain voltage range that is not normal), the current of the electric motor 8 has been gradually decreased at a constant rate. In this case, when the steering assist is gradually released due to this gradual decrease, the steering return force of the vehicle acts on the steered wheels 1 more and gives the driver an uncomfortable feeling.

  That is, the higher the vehicle speed signal and the larger the torque signal, the greater the steering return force of the vehicle. At that time, if the electric current of the electric motor 8 is gradually reduced or turned off, it is felt that the steering wheel 1 is returned, and the steering is returned and the vehicle tries to travel in a straight line. Deviate from. Therefore, the risk level is alleviated so that such a situation does not occur.

  In summary, the concept of the failsafe mechanism 11 of the present invention is that when assistance is released, the steering is finally changed to manual steering (manual handling), which does not contradict the driver's intention. If the steering return force is large, it is better to maintain the current status as much as possible, that is, to maintain steering assistance, in the case of a specific failure cause other than a serious failure cause (large self-steering, ignition). It will be safe and secure.

  After all, according to the booster steering device 20 of the present invention, since the fail-safe mechanism 11 as described above is provided, the cause of the failure is significant while achieving the general fail-safe control as to the cause of the general failure. Rather, when the steering assist is canceled, it is possible to avoid that the steering return force of the vehicle causes the driver to feel uncomfortable or change the steering performance through the steering wheel.

  Here, the specific example which determines the specific failure cause called the above-mentioned main sub difference is demonstrated in detail. FIG. 3 shows an example of a specific configuration for determining the main sub difference of the specific failure cause. (A) is a block diagram thereof, (b) is a circuit diagram thereof, and (c) is a diagram of both of (b). It is an output characteristic figure of a sensor.

  In this configuration, the dual structure of the variable resistance sensor described in Patent Document 2 is applied to the present invention. As shown in FIGS. 3 (a) and 3 (b), the basic configuration is both The torque sensors 9A and 9B are assumed to operate in the same manner with variable resistance, and the main torque sensor 9A and the sub torque sensor 9B are alternately wired from a common power source 13 and applied with a reverse polarity voltage. One feature is that the application means 11a is provided.

  Further, in this configuration, the output of both the sensors 9A and 9B changes due to the fluctuation of the applied voltage or the resistance fluctuation between the power source 13 and the main torque sensor 9A and the sub torque sensor 9B. Another feature is that an abnormality determination unit 11b that determines abnormality of the sensor when the difference is equal to or greater than a predetermined value is provided.

  The voltage applying unit 11a and the abnormality determining unit 11b are included in the fail safe mechanism 11 in FIG. Further, the other part of the circuit diagram of FIG. 3 (b) is the same as the prior art described in Patent Document 2, and therefore detailed description thereof is omitted.

  According to Patent Document 2, according to such a double-structured main / sub differential fault detection circuit H, as shown in FIG. 3 (c), the sensor output corresponds to the sensor stroke (corresponding to the steering torque of the steering wheel) in the normal state. Correspondingly, one is increased and the other is decreased with respect to the neutral point, and the absolute values of the outputs of both sensors are equal.

  On the other hand, even if the sensor stroke does not change, if there is an abnormality such as a fluctuation in circuit resistance (abnormalities of symbols C, D, E, and F in FIG. 3B), the sensor output is equivalent to the voltage change. Change. Since this voltage change appears as an output change in the same direction, the absolute values of the outputs of both sensors are different.

  Thereby, even when the sensor output changes for reasons other than the fluctuation of the sensor stroke, a difference appears in the difference between the absolute values of the outputs of both sensors, and it can be determined that an abnormality has occurred.

  Also, the output changes instantaneously to the neutral position (zero point) when the two sensors are short-circuited (symbol G in FIG. 3B). This change occurs when the normal sensor stroke returns to the neutral position. It is much faster than the speed, so the range of change per unit time is also large.

  Moreover, normally, when the sensor stroke changes quickly toward the neutral position, the sensor output fluctuates from the neutral position without stopping at the neutral position due to inertia or the like. Since there is no change at all, it is possible to accurately determine the occurrence of an abnormality due to a short circuit between both sensors.

  Hereinafter, the main-sub differential fault detection circuit H will be described in more detail based on Patent Document 2 with reference to FIGS. 3B and 3C.

  In FIG. 3B, the main torque sensor 9A and the sub torque sensor 9B are connected to the common power source 13 so as to have opposite polarities although they are in parallel. In other words, the operating directions of the sensors 9A and 9B are the same, but the output characteristics of the sensors 9A and 9B depend on the sensor stroke from the neutral position (zero point), for example, as shown in FIG. While the output increases linearly (positive output voltage) (A ′ → B ′), the output of the sub torque sensor 9B decreases from the zero point to linear (negative output voltage) (A ″ → B ″) as shown in FIG.

  The sensor part and the amplifiers AMP1 and AMP2 are duplicated, and the other parts are constituted by a common circuit.

  Therefore, in this dual circuit, the outputs of the main torque sensor 9A and the sub torque sensor 9B are output in accordance with the strokes, with the directions of increase and decrease being opposite to each other as shown in FIG. 3C. The difference between the two changes proportionally (increases or decreases). When the sensor output is actually used, the output of the sub torque sensor 9B can be matched with the output of the main torque sensor 9A by inverting the output of the sub torque sensor 9B by an inverter or the like (takes an absolute value).

  The abnormality judging means 11b for judging the abnormality of the duplex circuit from the sensor output is configured as a part of the function of the fail safe mechanism 11 constituted by a microcomputer or the like, and specifically, an arithmetic operation based on a certain procedure. Determine whether it is normal or abnormal. This calculation operation is repeatedly executed every predetermined unit time.

  In other words, when normal, the sensor output changes so that one increases and the other decreases according to the sensor stroke, and the absolute values of the outputs of both sensors are always equal, but for example, there is an abnormality such as fluctuations in circuit resistance. The sensor output changes by the voltage change, and this voltage change appears as an output change in the same direction, so that the difference between the absolute values of the outputs of both sensors changes.

  Therefore, when the sensor output changes and there is a difference between the absolute values of the outputs of both sensors, it is determined that an abnormality has occurred.

  More specifically, in steps, first, in steps S1 and S2, the main sensor output value Vm (n) and the sub sensor output value Vs (n) are read, and each previous output value Vm (n−1) is read. Read Vs (n-1).

  Then, in step S3, it is determined whether or not there is a change in each sensor output value between the previous time and this time, and when the output value changes, in step S4, the current absolute values of Vm and Vs are set. It is determined whether or not a difference of a predetermined value α or more has occurred (in other words, whether or not the difference is zero).

  When the sensors 9A and 9B are operating normally, the output changes according to the sensor stroke, and the output difference between the two sensors also changes linearly according to the stroke. For example, C in FIG. Even if the sensor stroke does not change, as shown in FIG. 3C, such as when the resistance of the portion increases due to a failure, the main sensor output is A ′ → B ′ by the voltage value corresponding to the resistance increase. The sub-sensor output also increases by the same voltage value and changes from A ″ to C ″.

  Since both of these appear as an increase in voltage in the same direction, the absolute values of the outputs of both sensors do not match as in a normal stroke, and a difference between the two occurs. Therefore, if the difference between the absolute values of the outputs remains greater than or equal to the predetermined value in step S5 and this continues for N times, the abnormality determining means 11b determines that an abnormality has occurred in the sensor duplex circuit, and the failure signal is It outputs to the detection part 11B.

  Such an abnormality in the circuit can be detected in the same way for the D, E, and F portions other than the C portion, and of course, either the main torque sensor 9A or the sub torque sensor 9B is broken. Even when an abnormal output value is generated due to the occurrence of the error, it is possible to accurately detect the abnormality by determining the difference between the absolute values of both sensor outputs.

  The boost steering device of the present invention is not limited to the above-described embodiment, and various modifications and combinations are possible within the scope described in the claims and the scope of the embodiments. Combinations are also included in the scope of their rights.

  The boost steering device of the present invention achieves general fail-safe control for a general cause of failure, but the cause of the failure is not serious. When the steering assist is released, the steering return force of the vehicle is rather passed through the steering wheel. The present invention can be used in industrial fields where it is required to avoid making the driver feel uncomfortable or change the steering performance.

(A) is a figure which shows an example of the boost steering apparatus provided with the fail safe mechanism of this invention, (b) is a block diagram which shows the control mechanism of (a) FIG. 1 illustrates a risk table for each cause of failure used by the fail-safe mechanism of FIG. 1, (a) is a diagram showing a risk table used for general cause of failure, and (b) is an example of specific cause of failure. The figure which shows the danger level table to be used, (c) is a figure which shows the danger level table used in the case of other examples of specific failure causes An example of the specific structure which determines the main sub difference of a specific failure cause is shown, (a) is the block diagram, (b) is the circuit diagram, (c) is the output characteristic of both sensors of (b). Figure

Explanation of symbols

1 Steering wheel (handle)
2 Steering shaft 3 Output shaft 4 Input shaft 5 Pinion 6 Rack 7 Steering rack shaft 8 Steering auxiliary drive means (electric motor, fluid pressure drive means)
DESCRIPTION OF SYMBOLS 9 Torque sensor 9A Main torque sensor 9B Sub torque sensor 10 Vehicle speed sensor 11 Fail safe mechanism 11A Control part 11B Failure detection part 11a Voltage application means 11b Abnormality determination means 12 Relay 13 Power supply (battery)
20 Booster steering device H Main-sub differential fault detection circuit

Claims (2)

While monitoring the control mechanism and a plurality of failure causes including a general failure cause and other specific failure causes in parallel, the smaller the driver's steering force, the faster the steering assist is released. In order to deal with each cause of failure, a plurality of risk tables with a high risk level are set so that the steering assist is released for a smaller steering force as the vehicle speed increases. a booster steering system and a fail-safe mechanism used Te,
The fail-safe mechanism further includes a main torque sensor that detects a driver's steering force, and a sub-torque sensor that is provided so as to be replaceable with the main torque sensor and similarly detects the driver's steering force,
The failure cause of the control mechanism is not the release of the direct steering assistance among the plurality of failure causes, but the steering return force of the vehicle affects the steering performance of the driver when the steering assistance is released. When the main sub difference is a difference in steering force detected by the main torque sensor and the sub torque sensor, the risk level is higher than the risk level table set for the general cause of failure. A booster steering apparatus using a risk level table set for the main sub-difference that is more relaxed. While monitoring the control mechanism and a plurality of failure causes including a general failure cause and other specific failure causes in parallel, the smaller the driver's steering force, the faster the steering assist is released. In order to deal with each cause of failure, a plurality of risk tables with a high risk level are set so that the steering assist is released for a smaller steering force as the vehicle speed increases. A booster steering device having a fail-safe mechanism to be used ,
In the fail-safe mechanism, the failure cause of the control mechanism does not directly cancel the steering assist among the plurality of failure causes. When the steering assist is released, the steering return force of the vehicle affects the steering performance of the driver. If the specific failure cause is a relay contact voltage for connecting / disconnecting a power supply for providing steering assist driving force to the steering assist drive means, the risk is more dangerous than the risk table set for the general cause of failure. A booster apparatus using a risk degree table set for the relay contact voltage, the degree of which is further relaxed.

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