JP7380446B2 - Steering device, drive source control method, and drive source control program - Google Patents

Description

The present invention relates to a steering device in which the position of an operating member is changed electrically, a drive source control method, and a drive source control program.

In the state of automatic driving level 4 or higher, where the system is fully responsible for the automatic driving of the vehicle, the driver does not need to be responsible for operating the vehicle and does not need to hold operating members such as a steering wheel. Therefore, if the steering wheel moves during automatic driving to ensure a wide space in front of the driver, the driver's comfort can be improved. Therefore, a technique has been proposed in which the steering wheel is moved to a retreat location on the front side of the vehicle during automatic driving (for example, see Patent Document 1).

JP 2017-206153 Publication

Conventionally, when moving an operating member in the axial direction, the position of the operating member is detected by a sensor, and feedback control is performed so that the actual position of the operating member becomes a target position. However, when an abnormality occurs in the sensor, feedback control cannot be continued and the operating member cannot reach the target position.

The present invention has been made in view of the above problems, and aims to provide a steering device, a drive source control method, and a drive source control program that can position an operating member at a target position without depending on a sensor. .

In order to achieve the above object, a steering device according to one aspect of the present invention includes: a displacement mechanism that changes the position of an operating member operated by a driver; and an operating device that includes an electric drive source that operates the displacement mechanism; an information integrating unit that integrates drive information that is information regarding electric power for operating the electric drive source to generate integrated drive information; and a position model that calculates an estimated position of the operating member by the displacement mechanism based on the integrated drive information. The apparatus includes a position estimation section and an operation control section that controls the electric drive source based on the estimated position calculated by the position estimation section.

Another aspect of the present invention is a drive source control method, in which a steering device includes a displacement mechanism that changes the position of an operating member operated by a driver, and an electric drive source that operates the displacement mechanism. A drive source control method for controlling the electric drive source, wherein an information integration unit generates accumulated drive information by accumulating drive information that is information regarding electric power for operating the electric drive source, and based on the accumulated drive information. A position estimation unit calculates an estimated position of the operating member by the displacement mechanism using a position model, and an operation control unit controls the electric drive source based on the estimated position calculated by the position estimation unit.

According to the present invention, the operating member can be placed at the target position by controlling the electric drive source regardless of the output of the detection means that detects the position of the operating member.

FIG. 1 is a block diagram showing the functional configuration of the steering device according to the first embodiment together with the mechanical configuration. FIG. 2 is a diagram showing each stage of the moving operating member separately. FIG. 3 is a block diagram showing a second example of controlling the flow of information in the control according to the first embodiment. FIG. 4 is a block diagram showing the functional configuration of the steering device according to the second embodiment together with the mechanical configuration. FIG. 5 is a graph showing a state in which it is determined that an abnormality has occurred in the displacement mechanism. FIG. 6 is a block diagram showing the flow of information according to the second embodiment. FIG. 7 is a flowchart showing the flow of updating the location model.

Embodiments of a steering device, a drive source control method, and a drive source control program according to the present invention will be described below with reference to the drawings. Note that the numerical values, shapes, materials, components, positional relationships of the components, connection states, steps, order of steps, etc. shown in the following embodiments are merely examples, and do not limit the present invention. In addition, although multiple inventions may be described below as one embodiment, constituent elements not stated in a claim will be explained as arbitrary constituent elements with respect to the claimed invention. ing. Further, the drawings are schematic diagrams with appropriate emphasis, omission, and ratio adjustment for explaining the present invention, and may differ from the actual shapes, positional relationships, and ratios.

(Embodiment 1)
FIG. 1 is a block diagram showing the functional configuration of the steering device according to the first embodiment together with the mechanical configuration. The steering device 100 is a device that can move an operating member 200 for steering wheels of a vehicle mounted thereon relative to a driver 210, and includes an operating device, an information integration unit 170, and a position estimation unit. section 180 and an operation control section 160. In the case of the first embodiment, the steering device 100 includes a first operating device 110, a second operating device 120, a third operating device 130, and a fourth operating device 140 as operating devices.

In the case of the first embodiment, the steering device 100 has a so-called steer-by-wire system in which the operating member 200 and the steered wheels of the vehicle are not mechanically connected, and the steered wheels are steered based on a signal indicating the amount of operation of the operating member 200. (SBW) system. The motion control section 160, the information integration section 170, and the position estimation section 180 are realized by causing the drive source control device 151, which is a computer, to execute a program.

The operating member 200 is a member that is operated by the driver 210 to steer the steered wheels of the vehicle in which the steering device 100 is mounted. The shape of the operating member 200 is not particularly limited. In the first embodiment, an annular member called a steering wheel is used as the operating member 200, but the operating member 200 may also be shaped like a rectangular ring or a rod.

The first operating device 110 is a device that changes the position of the operating member 200 operated by the driver 210 in one predetermined direction (the Y-axis direction in the figure), and includes a first displacement mechanism 111 and a first electric drive source 112. It is equipped with.

The first displacement mechanism 111, which is one of the displacement mechanisms, is one of the mechanisms that changes the position of the operating member 200 operated by the driver 210. In the case of the first embodiment, the first displacement mechanism 111 moves the operating member 200 to the front (Y+ side in the figure) or the rear (Y- side in the figure) of the vehicle, as shown in FIGS. 1 and 2. It is an egress and retraction mechanism that allows the user to move the robot, and is equipped with a multi-stage expansion and contraction mechanism. Specifically, the first displacement mechanism 111 includes a base rail 113 that is fixed to the vehicle, an intermediate moving body 114 that is guided by the base rail 113 and moves in the longitudinal direction of the vehicle, and a base rail 114 that is guided by the intermediate moving body 114 and moves the vehicle. It includes a distal end moving body 115 that moves in the front-back direction. The first displacement mechanism 111 can advance the operating member 200 toward the driver 210 and retreat toward the dashboard 220 of the vehicle. The vehicle in which the steering device 100 is mounted is an automatic driving vehicle that can be operated entirely by the system at a specific location, and the first displacement mechanism 111 is equipped with an operating member 200, as shown in step c of FIG. can be retracted into the dashboard 220. Further, the first displacement mechanism 111 itself can also be retracted into the dashboard 220.

The first electric drive source 112, which is one of the electric drive sources, is a device that generates a driving force that operates the first displacement mechanism 111. In the case of the first embodiment, the first electric drive source 112 is a three-phase brushless motor, and is an electric motor rotated by pulsed power supplied from an inverter. The first electric drive source 112 is attached to the intermediate moving body 114. The first electric drive source 112 generates a propulsive force of the intermediate moving body 114 with respect to the base rail 113 and generates a propulsive force of the tip moving body 115 with respect to the intermediate moving body 114. Note that the position where the first electric drive source 112 is attached is not particularly limited. Alternatively, a plurality of first electric drive sources 112 may be provided, and the intermediate moving body 114 and the distal end moving body 115 may be driven separately.

The second operating device 120 is a device that changes the position of the operating member 200 in a direction different from that of the first operating device 110, and includes a second displacement mechanism 121 and a second electric drive source 122.

The second displacement mechanism 121, which is one of the displacement mechanisms, is a mechanism that changes the position of the operating member 200 in a direction different from that of the first displacement mechanism 111. In the case of the first embodiment, the second displacement mechanism 121 moves the tip moving body 115 relative to the intermediate moving body 114 around a first rotating shaft 123 extending in the width direction of the vehicle (X-axis direction in the figure). This is a so-called tilt mechanism that rotates and moves the operating member 200 up and down with respect to the driver 210.

The second electric drive source 122, which is one of the electric drive sources, is a device that generates a driving force that operates the second displacement mechanism 121. In the case of the first embodiment, the second electric drive source 122 is a three-phase brushless motor. The second electric drive source 122 is attached to the distal end moving body 115. Note that the second electric drive source 122 may be attached to the intermediate moving body 114.

The third operating device 130 is a device that changes the position of the operating member 200 in a direction different from that of the first operating device 110 and the second operating device 120, and includes a third displacement mechanism 131 and a third electric drive source 132. , is equipped with.

The third displacement mechanism 131, which is one of the displacement mechanisms, is a mechanism that changes the position of the operating member 200 in a direction different from that of the first displacement mechanism 111 and the second displacement mechanism 121. In the case of the first embodiment, the third displacement mechanism 131 is configured such that the third displacement mechanism 131 has a first displacement mechanism centered on a rotation axis that intersects with the rotation direction of the operating member 200 and extends in the width direction of the vehicle (X-axis direction in the figure). This is a mechanism that rotates the operating member 200 with respect to the distal end moving body 115 of the displacement mechanism 111 and changes the position of the operating member 200 to a position where it can be easily accommodated within the dashboard 220.

The third electric drive source 132, which is one of the electric drive sources, is a device that generates a driving force that operates the third displacement mechanism 131. In the case of the first embodiment, the third electric drive source 132 is a three-phase brushless motor.

The fourth operating device 140 is a device that changes the position (attitude) of the operating member 200 in a direction different from that of the first operating device 110, the second operating device 120, and the third operating device 130, and the fourth displacement mechanism ( (not shown) and a fourth electric drive source 142.

The fourth displacement mechanism, which is one of the displacement mechanisms, includes a rotating shaft that rotatably connects the operating member 200 to the fourth electric drive source 142, a bearing that rotatably holds the rotating shaft, and the like. Note that since the operating member 200 is annular, the fourth displacement mechanism is a mechanism that changes the position of the operating member 200 and the attitude of the operating member 200, that is, the rotation angle of the operating member 200 around the rotating shaft body.

The fourth electric drive source 142, which is one of the electric drive sources, is a so-called reaction force motor that generates a driving force that causes the operating member 200 to rotate in a direction around the rotating shaft. In the case of the first embodiment, the fourth electric drive source 142 is a three-phase brushless motor. The fourth electric drive source 142 generates a torque that reproduces the sensation obtained by mechanical steering, contrary to the operating torque that the driver 210 applies to the operating member 200, for example. Further, the fourth electric drive source 142 rotates the operating member 200 so that it assumes a posture suitable for storage.

The information integration unit 170 is a processing unit that integrates drive information, which is information regarding the electric power for operating the electric drive source, and generates integrated drive information. In the case of the first embodiment, control of the first electric drive source 112 will be exemplified as control of the electric drive source. Note that the control of the electric drive source is not limited to the control of the first electric drive source 112, and may be any control of at least one of the electric drive sources included in the steering device 100.

The first drive information, which is one of the drive information, includes, for example, a first command value to a first inverter that supplies power to the first electric drive source 112, and a first actual power that is supplied to the first electric drive source 112. Contains at least one of the values. Further, the first actual power value is expressed, for example, using at least one of an actual current value, an actual voltage value, and a duty ratio supplied to the first electric drive source 112.

The first integrated drive information, which is one of the integrated drive information, is obtained by integrating the first drive information from a state in which the operating member 200 is placed at a predetermined reference position, for example. The integration method is not particularly limited; for example, the first drive information may be accumulated using an integrator. In the case of the first embodiment, the information integration section 170 generates the first integrated drive information by time-integrating at least one of the first current command value and the first actual current value.

The position estimation unit 180 calculates the estimated position of the operating member 200 by the displacement mechanism based on the integrated drive information using a position model. The model for estimating the position of the operating member 200 is not particularly limited, but examples include, for example, a transfer function that models the first displacement mechanism 111, artificial intelligence that includes a neural network, and the like. Further, the position estimating unit 180 may include a plurality of position models having mutually different types, parameter values, and the like. For example, the position estimating unit 180 uses a first position model that is used to estimate the position when moving the operating member 200 closer to the driver 210 and a second position model that is used to estimate the position when reversing to move the operating member 200 closer to the driver 210. The position of the operating member 200 may be estimated.

The operation control unit 160 controls the electric drive source based on the estimated position calculated by the position estimation unit 180. The control method of the operation control unit 160 is not limited, and for example, control example 1 of the operation control unit 160 turns off the electric drive source when the estimated position acquired from the position estimation unit 180 reaches the target position. It can be shown as

FIG. 3 is a block diagram showing a second example of controlling the flow of information in the control according to the first embodiment. In the case of control example 2, the operation control unit 160 performs so-called feedback control to control the electric drive source so that the estimated position estimated by the position estimation unit 180 based on the integrated drive information follows the target position.

According to the steering device 100 according to the first embodiment, the operating member 200 can be placed at the target position without providing the steering device 100 with a detection means.

(Embodiment 2)
A second embodiment of the steering device 100 will be described. Note that parts (portions) having the same functions, functions, shapes, mechanisms, and structures as those of the first embodiment are designated by the same reference numerals, and the description thereof may be omitted. Further, in the following, points different from Embodiment 1 will be mainly explained, and explanations of the same contents may be omitted.

FIG. 4 is a block diagram showing the functional configuration of the steering device according to the second embodiment together with the mechanical configuration. In addition to the configuration of the steering device 100 of Embodiment 1, the steering device 100 according to the second embodiment includes a first detection means (not shown), a second detection means (not shown), and a third detection means. It includes a detection means (not shown), a fourth detection means (not shown), and a determination section 150.

The first detection means, which is one of the detection means, is a device that detects actual position information indicating the position of the operating member 200 by the first displacement mechanism 111. Although the type of the first detection means is not particularly limited, in the case of the first embodiment, a rotary encoder or the like is provided in the first electric drive source 112 and detects the rotation angle of the first electric drive source 112. This is a rotation angle detection device such as a resolver. Note that the first detection means may be a linear encoder attached to the first displacement mechanism 111 or the like. Note that when a plurality of first electric drive sources 112 exist, the first detection means acquires the positions of the intermediate moving body 114 and the tip moving body 115, respectively, and uses these detection results as a first detection means indicating the position of the operating member 200. It may be detected as one location information.

The second detection means, which is one of the detection means, is a device that detects second actual position information indicating the position of the operating member 200 by the second displacement mechanism 121. Although the type of the second detection means is not particularly limited, in the case of the first embodiment, the type of the second detection means is the same as the first detection means.

The third detection means, which is one of the detection means, is a device that detects third actual position information indicating the position of the operating member 200 by the third displacement mechanism 131. Although the type of the third detection means is not particularly limited, in the case of the first embodiment, the type of the third detection means is the same as the first detection means.

The fourth detection means, which is one of the detection means, is a device that detects fourth actual position information indicating the position (orientation) of the operating member 200 by the fourth displacement mechanism. The type of the fourth detection means is not particularly limited, but includes a rotation angle detection device that detects the rotation angle of the fourth electric drive source 142, a rotation angle detection device that detects the rotation angle of the operation member 200, and an operation member. 200 may also include at least one torque sensor input to 200.

The determining unit 150 determines whether or not there is an abnormality in the detection means. Although the judgment method of the judgment unit 150 is not particularly limited, in the case of the second embodiment, the state in which the actual position information obtained from the detection means is within a predetermined range continues for a predetermined period, and the operation of the operating device is If the drive information for operating the electric drive source included in the information is not abnormal, it is determined that an abnormality has occurred in the detection means.

Although the specific determination method of the determination unit 150 is not particularly limited, for example, the determination unit 150 determines that the actual position information remains within a predetermined range for a predetermined period, and the If the first drive information is not abnormal, it may be determined that an abnormality has occurred in the first detection means. The case where the first drive information is not abnormal means, for example, that the first electric drive information is not abnormal even though the first command value (instruction current value) is given to the first inverter that supplies electric power to the first electric drive source 112. This is the case, for example, when the first actual power value (actual current value) supplied to the source 112 does not follow the first command value. Specifically, the difference between the first command value and the first actual power value is obtained, a threshold value is determined based on the second threshold value, and if the difference exceeds a predetermined value, an abnormality occurs in the first detection means. , it is determined that the information is not an abnormality and that an abnormality has occurred in the first detection means. Furthermore, as shown by the broken line in FIG. If the first threshold value determined for one actual power value is exceeded, it is determined that there is an abnormality in the operation of the first operating device 110.

Further, the determination unit 150 determines that the state in which the first actual position information is within a predetermined range continues for a predetermined period and that the operation information of an operation device other than the first operation device 110 that is the determination target is abnormal. In this case, the first detection means may be determined to be normal. This means that if it is determined that there is an abnormality in other operating devices, it can be assumed that the driver 210 or the like is interfering with and applying force to the operating member 200, and that there is an abnormality in the first detection means. This is because it is considered that it has not occurred.

The determining unit 150 can also determine the presence or absence of an abnormality with respect to the second detecting means, the third detecting means, and the fourth detecting means using a similar determination method. Note that the threshold values for determining the presence or absence of an abnormality in each operating device are different.

FIG. 6 is a block diagram showing the flow of information according to the second embodiment. When the determining unit 150 determines that there is an abnormality in the detecting means 103 using the above method, the operation control unit 160 uses the input switch 161 to switch the information acquisition source from the detecting means 103 to the estimated position. After switching the information acquisition source, the operation control unit 160 controls the electric drive source based on the estimated position.

The position estimating unit 180 updates the position model included in the position estimating unit 180 based on the actual position information acquired from the detection means and the driving information. Further, the position estimating unit 180 suspends updating of the position model when the determining unit 150 determines that there is an abnormality in the detecting means 103.

FIG. 7 is a flowchart showing the flow of updating the location model. In the case of the second embodiment, the position model is updated after the displacement of the operating member 200 is completed (S101: Yes). That is, when the movement of the operating member 200 by the first operating device 110 is completed, the determining unit 150 determines whether information due to disturbance is added to the first operating information (S102). The disturbance is, for example, when the driver 210 applies force to the operating member 200 while it is moving.

If the determination unit 150 determines that there is a disturbance (S102: Yes), the update process ends without being executed. If the determining unit 150 determines that there is no disturbance (S102: No), the position estimating unit 180 executes an update process (S103).

The specific updating method differs depending on the position model employed and is not limited. For example, if the position model is a transfer function that models a displacement mechanism, the position estimation unit 180 updates the parameter values based on input information and output information. Furthermore, when the position model is an artificial intelligence, input information and output information are given to the artificial intelligence as input vectors, and the position model is updated through learning.

By updating the position model every time the operation of the operating device is completed, it is possible to create a position model that appropriately reflects changes in the state of the change mechanism due to changes in temperature, deterioration over time, and the like.

According to the steering device 100 according to the second embodiment, when an abnormality occurs, control based on the output of the detection means can be switched to control based on the estimated position. Therefore, without arranging a plurality of sensors for redundancy, it is possible to guarantee the detection means in the event of an abnormality based on the estimated position.

Furthermore, since the determination of whether an abnormality has occurred is made based on the drive information used to displace the operating member 200 to a specified position and the position information, an increase in the number of parts can be suppressed.

Note that the present invention is not limited to the above embodiments. For example, the embodiments of the present invention may be realized by arbitrarily combining the components described in this specification or by excluding some of the components. The present invention also includes modifications obtained by making various modifications to the above-described embodiments that a person skilled in the art can conceive without departing from the gist of the present invention, that is, the meaning of the words written in the claims. It will be done.

For example, when the determining unit 150 determines that there is an abnormality in the operation of the first operating device 110, the operation control unit 160 controls at least one of the second operating device 120, the third operating device 130, and the fourth operating device 140. A predetermined operation may be performed. For example, the operation control unit 160 causes the second operating device 120 to perform an operation such as operating when the second operating device 120 is stopped or vibrating with a predetermined stroke as a predetermined operation. Thereby, the determination unit 150 acquires the second operation information of the second operation device 120 that has been caused to perform a predetermined operation by the operation control unit 160, determines whether or not there is an abnormality in the second operation device 120, and determines whether or not there is an abnormality in the second operation device 120. It becomes possible to determine the state of one operating device 110 in detail.

Moreover, the steering device 100 may be used for steering in which steered wheels and the operating member 200 are mechanically connected, instead of steer-by-wire. For example, the steering device 100 may change the position of the operating member 200 according to the physique of the driver 210 using the driving force of an electric motor.

Further, although the case has been described in which the operating member 200 is rotated and stored around the rotation axis extending in the width direction of the vehicle and intersecting the moving direction, the attitude of the operating member 200 is changed without providing the fourth operating device 140. The storage state of the operation member 200 is not limited, such as when the operation member 200 is buried in the dashboard 220 while being maintained.

INDUSTRIAL APPLICABILITY The present invention can be used in a steering device that can electrically change the position of an operating member.

DESCRIPTION OF SYMBOLS 100... Steering device, 103... Detection means, 110... First operating device, 111... First displacement mechanism, 112... First electric drive source, 120... Second operating device, 121... Second displacement mechanism, 122... Second Electric drive source, 130... Third operating device, 131... Third displacement mechanism, 132... Third electric drive source, 140... Fourth operating device, 142... Fourth electric drive source, 150... Judgment unit, 151... Drive source Control device, 160... Operation control unit, 161... Instrument, 170... Information integration unit, 180... Position estimation unit, 200... Operation member, 210... Driver, 220... Dashboard

Claims (9)

an operating device including a displacement mechanism that changes the position of an operating member operated by a driver; and an electric drive source that operates the displacement mechanism;
an information integration unit that integrates drive information that is information regarding electric power for operating the electric drive source and generates integrated drive information;
a position estimating unit that calculates an estimated position of the operating member by the displacement mechanism based on the integrated drive information using a position model;
an operation control unit that controls the electric drive source based on the estimated position calculated by the position estimation unit;
A steering device comprising: The operation control section includes:
The steering device according to claim 1, wherein an electric drive source is controlled so that the estimated position follows a target position. detection means for detecting actual position information indicating the position of the operating member by the displacement mechanism;
a determination unit that determines whether or not there is an abnormality in the detection means,
The operation control section includes:
The steering device according to claim 1 or 2, wherein when the determination unit determines that there is an abnormality in the detection means, the electric drive source is controlled based on the estimated position. The judgment unit is
If the state in which the actual position information is within a predetermined range continues for a predetermined period and the drive information for operating the electric drive source included in the operation information that is information regarding the operation of the operating device is not abnormal, the detection means The steering device according to claim 3, wherein it is determined that an abnormality has occurred in the steering device. In the case where a plurality of operating devices are provided,
The judgment unit is
4. The detection means determines that the detection means is normal when the actual position information continues to be within a predetermined range for a predetermined period and the operation information of an operation device other than the determination target is abnormal. Steering device. The position estimating unit is
The steering device according to any one of claims 3 to 5, wherein the position model is updated based on the actual position information and the drive information. The position estimating unit is
The steering device according to any one of claims 3 to 6, wherein when the determination unit determines that there is an abnormality in the detection means, updating of the position model is interrupted. In a steering device, a drive source control method for controlling an electric drive source of an operating device including a displacement mechanism that changes the position of an operating member operated by a driver, and an electric drive source that operates the displacement mechanism, the method comprising:
An information integration unit generates integrated drive information by integrating drive information that is information regarding electric power for operating the electric drive source,
A position estimation unit calculates an estimated position of the operating member by the displacement mechanism based on the integrated drive information, using a position model;
A drive source control method, wherein an operation control section controls the electric drive source based on an estimated position calculated by the position estimating section. A drive source control program that causes a computer to implement the drive source control method according to claim 8.

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