WO2017130648A1 - 操舵制御装置 - Google Patents
操舵制御装置 Download PDFInfo
- Publication number
- WO2017130648A1 WO2017130648A1 PCT/JP2017/000098 JP2017000098W WO2017130648A1 WO 2017130648 A1 WO2017130648 A1 WO 2017130648A1 JP 2017000098 W JP2017000098 W JP 2017000098W WO 2017130648 A1 WO2017130648 A1 WO 2017130648A1
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- WO
- WIPO (PCT)
- Prior art keywords
- control device
- evaluation level
- steering control
- assist
- determination unit
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/063—Pump driven by vehicle engine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Definitions
- the present invention relates to a steering control device including an electric motor including a motor driving unit, a motor control unit, and a winding set for applying a steering force to a steering mechanism for steering a steering wheel of a vehicle.
- Patent Document 1 As a steering control device that assists and controls steering operation by a driver, one having an electric motor driving device described in Japanese Patent Application Laid-Open No. 2012-025374 (Patent Document 1) is known.
- the electric motor drive device of Patent Document 1 includes two inverters and two winding sets, and is configured by two systems (see the summary). In this motor drive device, when any one of the two systems of inverter (motor drive unit) or winding set is detected to be faulty, the power relay of the faulty system is cut off and the power supply to the faulty system is stopped. To do.
- the maximum current limit value which is the upper limit value of the current supply limit value of the normal system, is set to a value equivalent to the maximum current limit value before failure detection, and power supply to the normal system is continued. Thereafter, when the vehicle speed detection value is less than a predetermined threshold value, the maximum current limit value of the normal system is set to zero, and the drive of the electric motor is stopped to create a state where no steering assist torque is generated. Thereby, the electric motor drive device of patent document 1 can make a driver aware of the occurrence of a failure without fail.
- An object of the present invention is that an abnormality has occurred in a steering control device including an electric motor having a plurality of winding sets and a plurality of assist current output units that output motor drive currents flowing through the plurality of winding sets. This is to make the driver aware of the state as soon as possible and to suppress a decrease in maneuverability in a state where an abnormality has occurred.
- the steering control device of the present invention provides: An electric motor having a plurality of winding sets and generating an assist torque for assisting a driver's steering operation; A plurality of assist current output units for outputting a motor drive current to be passed through the winding set in order to drive the electric motor, Detecting an abnormal state of the plurality of winding sets and the plurality of assist current output units, and including an evaluation level determination unit that determines an evaluation level of the abnormal state based on the abnormal state; The magnitude of the assist torque generated by the electric motor is changed based on the evaluation level.
- the driver by changing the magnitude of the assist torque generated by the electric motor based on the evaluation level, the driver can quickly notice the state in which the abnormality has occurred, and in the state in which the abnormality has occurred. It is possible to suppress a decrease in maneuverability. Thereby, the safety
- Other configurations, operations, and effects of the present invention will be described in detail in the following examples.
- FIG. 1 is a control block diagram of a steering control device according to a first embodiment of the present invention. It is an example of the assist map figure of the steering control apparatus which concerns on 1st Example of this invention. It is a flowchart figure which concerns on the 1st Example of this invention. It is a flowchart figure of the risk level calculation which concerns on 1st Example of this invention. It is an example of the assist map figure of the steering control apparatus which concerns on 1st Example of this invention. It is an example of the icet map figure of the steering control apparatus which concerns on 1st Example of this invention.
- FIG. 10 is a schematic diagram illustrating a configuration of a vehicle including a steering control device according to any one of the first to third embodiments according to a fourth embodiment of the present invention.
- FIG. 1 shows a schematic diagram of a configuration of a steering control device according to a first embodiment of the present invention.
- the steering control device 1 includes a control device 2 and a steering mechanism 3.
- the steering mechanism 3 includes a steering wheel 4, a steering shaft 5, a pinion shaft 6, a rack shaft 7, a speed reduction mechanism 9, and an electric motor 10, and the electric motor 10 is connected to the rack shaft 7 via the speed reduction mechanism 8.
- the steering wheel 4 When the steering wheel 4 is operated by the driver, the steering mechanism 3 is transmitted to the pinion shaft 6 via the steering shaft 5.
- the rotational motion of the pinion shaft 6 is converted into the linear motion of the rack shaft 7, and the left and right steering wheels 8a, 8b connected to both ends of the rack shaft 7 are steered.
- the rack shaft 7 is formed with rack teeth 7a that mesh with the pinion shaft 8, and the rotational motion of the pinion shaft 6 is converted into a linear motion by a rack and pinion mechanism.
- a torque sensor 20 (21, 22) and a steering angle sensor 30 (31, 32) are provided between the steering shaft 5 and the pinion shaft 6.
- the torque sensor 20 arranges a torsion bar (not shown) at the connection between the steering shaft 5 and the pinion shaft 6 and outputs a steering torque based on the torsion angle of the torsion bar.
- the speed reduction mechanism 9 connected to the electric motor 10 uses, for example, a ball screw driven by a belt / pulley attached to the output shaft of the motor in FIG. With this configuration, the driving torque of the electric motor 10 is converted into a translational direction force of the rack shaft 7.
- the speed reduction mechanism 9 may use a configuration using a rack and pinion as in the input of the steering wheel 4 or a configuration in which a nut of a ball screw is directly driven by a hollow motor or the like.
- FIG. 2 is a control block diagram of the steering control device according to the first embodiment of the present invention.
- the outline of the structure of the control apparatus 2 comprised from two systems and the electric motor 10 is shown.
- system means motor control units 81 and 82, motor drive units 91 and 92, and assist current calculation units 71 and 72 respectively corresponding to the two winding sets 11 and 12 configured in the electric motor 10. Refers to a combination unit.
- control apparatus 2 comprised from two systems is shown here, the number of systems may be more than two systems.
- a system composed of the winding set 11, the motor control unit 81, the motor drive unit 91, and the assist current calculation unit 71 is referred to as a first system, and the winding set 12, the motor control unit 82, and the motor drive unit.
- a system constituted by 92 and the assist current calculation unit 72 will be referred to as a second system for explanation.
- the torque sensor 20, the steering angle sensor 30, and the vehicle speed sensor 40 are provided with separate sensors for the first system and the second system, respectively, but a common sensor is provided for the first system and the second system. May be.
- the control device 2 is configured integrally with the electric motor 10, has a function of storing and executing various control processes, and includes control information such as the torque sensor 20, the steering angle sensor 30, and the vehicle speed sensor 40 (41, 42). Based on this, the electric motor 10 that applies steering assist torque to the steering mechanism 3 is drive-controlled. A specific control configuration of the control device 2 will be described in detail below.
- the control device 2 includes assist current command units 51 and 52 and a risk determination unit (evaluation level determination unit) 60.
- the assist current command units 51 and 52 drive current that drives the electric motor 10 based on a steering torque value detected by the torque sensor 20 or a vehicle speed value detected by, for example, a vehicle speed sensor 40 installed in a differential gear (not shown). Is output to the electric motor 10 side.
- the danger determination unit 60 detects an abnormality such as a torque sensor value and controls the assist current command units 51 and 52.
- the assist current command units 51 and 52 include assist current calculation units 71 and 72, motor control units 81 and 82, and motor drive units 91 and 92, and drive the electric motor 10 to the winding sets 11 and 12.
- An assist current output unit that outputs a motor drive current is configured.
- the assist current calculation units 71 and 72 are motor command currents (current command values) for driving and controlling the electric motor 10 based on the steering torque values and the vehicle speed values detected by the torque sensors 21 and 22 and the vehicle speed sensors 41 and 42. Is calculated.
- the motor control units 81 and 82 generate a motor drive signal for the electric motor 10 based on the motor command current.
- the motor driving units 91 and 92 include a device (inverter) that converts electric power from a DC power source into an AC power source, and energizes the electric motor 10 with a motor driving current according to a motor driving signal.
- the risk determination unit 60 includes output signals from the assist current calculation units 71 and 72, output signals from the motor control units 81 and 82, output signals from the motor drive units 91 and 92, signals from the winding sets 11 and 12 of the electric motor 10,
- the abnormality of each signal can be detected from the torque sensor value signal of the torque sensor 20, the steering angle sensor value signal of the steering angle sensor 30, and the vehicle speed sensor value signal of the vehicle speed sensor 40. That is, each signal includes abnormal information (abnormal signal) indicating an abnormal state of the unit or sensor that outputs the signal, and the risk determination unit 60 inputs the abnormal information of each unit or each sensor from each signal. Alternatively, an abnormality of each sensor is detected. Further, the risk determination unit 60 determines a risk level (evaluation level) from each abnormality signal, and transmits a signal to the assist current calculation units 71 and 72 based on the determination.
- FIG. 3 shows an assist map for obtaining a target current value to be supplied to the electric motor 10 calculated by the assist current calculation units 71 and 72.
- the assist map is a reference map for setting a target current value to be supplied to the electric motor 10 based on the vehicle speed value and the torque sensor value, and is stored in the memories of the assist current calculation units 71 and 72.
- the assist current calculation units 71 and 72 calculate a target current value, that is, a current command value to be given to the motor control units 81 and 82, using the assist map.
- the assist map has a relationship with the target current value so that the assist torque value by the electric motor 10 increases as the torque sensor value increases.
- FIG. 3 shows assist maps for four vehicle speeds indicated by a, b, c, and d.
- the relationship between the torque sensor value and the target current value is set for each vehicle speed, and is set such that the target current value with respect to the torque sensor value increases as the vehicle speed decreases.
- the vehicle speed decreases in the order of d, c, b, and a.
- an upper limit value is set for the target current value, and a target current value equal to or higher than a predetermined torque sensor value is set constant for each vehicle speed a, b, c, d.
- the predetermined torque sensor value at which the target current value is constant is the same torque sensor value at each vehicle speed a, b, c, d.
- the risk determination unit 60 calculates the risk level.
- the calculation process of the risk determination unit 60 is shown in the flowchart of FIG.
- the risk determination unit 60 captures signals from the winding sets 11 and 12, motor control units 81 and 82, motor drive units 91 and 92, torque sensors 21 and 22, steering angle sensors 31 and 32, and vehicle speed sensors 41 and 42. (Step S101). It is determined from the captured signal whether each component is normal (step S102). If all the components are normal, the process returns to the start. When an abnormal state is detected, a risk level is calculated (step S103), and the assist map is changed according to the risk level (step S104). After changing the assist map, return to the start and continue monitoring for further abnormal conditions.
- the risk determination unit (evaluation level determination unit) 60 is a processing unit that calculates a risk level (evaluation level), and is a risk level calculation unit (evaluation level calculation unit) or a risk level determination unit (evaluation level determination unit). You may call it.
- the coefficient kp is calculated from all the failed parts and the specified cause of abnormality or location (step S201).
- the risk level is set depending on the cause of the abnormality or the location of the abnormality.
- the kp value is high.
- the coefficient ks is calculated from the presence / absence of a substitute for the abnormal part (step S202).
- the risk level becomes small, and the coefficient ks is set to a small value.
- the risk level becomes high and the coefficient ks is set to a large value.
- the coefficient ks changes the risk level depending on whether or not there is a substitute, and also increases the risk level when performing backup control using a substitute compared to when performing normal control.
- backup control there is backup control that is executed using an alternative torque sensor signal when the torque sensor 20 fails.
- the risk level determination unit 60 determines that the risk level has increased.
- the progress determination coefficient kc is a coefficient used for determining an increase in the degree of risk after a component failure.
- the elapsed determination coefficient kc is the elapsed time after it is determined that there is a component in an abnormal state, or the number of ignition on / off times, and the value of the coefficient kc increases as the elapsed time or the number of ignition on / off increases.
- a comprehensive risk level is calculated from the product of the above coefficients kp, ks, kc (step S204).
- the risk level is calculated for each part, and the sum of the levels is the risk level value.
- the assist map is changed in step S104 in FIG.
- the assist torque generated by the electric motor 10 is reduced by changing the assist map in accordance with the increase in the risk level determined by the risk determination unit 60.
- the assist map is selected so that the upper limit value of the target current value (current command value) is reduced in accordance with the increase in the risk level determined by the risk determination unit 60.
- FIG. 6 shows an example of an assist map diagram of the steering control device according to the first embodiment of the present invention.
- FIG. 6 shows an example of an assist map for obtaining a motor current value supplied to the electric motor 10 according to the risk level.
- the target current value supplied to the electric motor 10 is set for the torque sensor value for each vehicle speed value. That is, in the assist map, the relationship between the torque sensor value and the target current value supplied to the electric motor 10 is set.
- FIG. 6 a plurality of assist maps e, f, g, h in which upper limit values are set at a plurality of levels are shown for one characteristic curve showing the relationship between the torque sensor value and the target current value. .
- the torque sensor value reaching the upper limit value decreases in the order of e ⁇ f ⁇ g ⁇ h
- the assist map e reaches the upper limit value with the largest torque sensor value
- the assist map h has the smallest torque sensor value with the upper limit value.
- a target current value is calculated from a curve having an upper limit value e.
- the target current value for the torque sensor value is calculated using a curve in which the upper limit value of the target current value is reduced as f ⁇ g ⁇ h as the risk level increases.
- the assist torque when the torque sensor value is low and the steering torque required by the driver is low and the vehicle is traveling at high speed is the curve of e during normal operation. The same. In this way, the assist torque is not reduced during high-speed driving and in high-risk driving conditions that cause great damage in the event of an accident.
- the steering torque required during traveling is low, it is difficult for the driver to notice an abnormal state by reducing the assist torque. Therefore, safety is ensured by performing the same assist control as in the normal state.
- an assist map curves f, g, h in which the target current value decreases due to an increase in the danger level is used.
- FIG. 7 shows another example of an icet map of the steering control device according to the first embodiment of the present invention.
- the assist map reduction range due to the increase of the danger level by the danger determination unit 60 is changed.
- the curve of the target current value supplied to the electric motor 10 with respect to the torque sensor value according to the increase in the risk level is composed of curves i, j, k, and l compressed at a constant ratio in the axial direction of the target current value.
- the assist map upper limit value with respect to the increase in the risk level is set to an assist map that gradually increases as L1, L2, and L3.
- assist torque is set to zero when safety is ensured when the vehicle speed is zero or the ignition key is off.
- the danger level refers to a state in which the probability of a component failure is increased in the operation by the driver and a state in which the probability that the safety of vehicle traveling is lost due to the failure of the component is increased. Further, the risk level is determined based on the magnitude of damage assumed depending on the driving state such as the vehicle speed at that time.
- the method for calculating the progress determination coefficient kc in step S203 in the flowchart of FIG. 5 can be changed as follows.
- the elapsed determination coefficient kc is a coefficient used to determine an increase in the degree of risk after a component failure.
- the elapsed time after determining that there is a component in an abnormal state, or the ignition key ON / OFF The coefficient kc increases as the elapsed time or the number of ignition on / off increases.
- the value of the elapsed determination coefficient kc may be calculated from the cumulative energization amount of the current supplied to the winding sets 11 and 12 of the electric motor 10 or the increase in the accumulated energization time. In this case, the elapsed determination coefficient kc is increased as the accumulated energization amount increases or the accumulated energization time increases.
- the progress determination coefficient kc may be calculated from the travel distance of the vehicle. In this case, the progress determination coefficient kc is increased as the travel distance of the vehicle increases.
- the progress determination coefficient kc may be calculated from the cumulative number of steering wheel operations or the number of steering wheel switching times. In this case, the progress determination coefficient kc is increased in accordance with an increase in the cumulative number of operations of the steering wheel, the cumulative number of rotations, or the number of steering wheel switching.
- temperature sensors 23, 24a, and 24b are provided in the electric motor 10 and the motor driving units 91 and 92, respectively (see FIG. 2), and the risk determination unit 60 is provided with the temperature sensors 23, 24a, and 24b.
- the danger level may be determined on the basis of the temperature history detected by.
- FIG. 8 shows a flowchart of risk level calculation according to the third embodiment of the present invention.
- Step S601 Each signal of the winding sets 11 and 12, the motor control units 81 and 82, the motor drive units 91 and 92, the torque sensors 21 and 22, the steering angle sensors 31 and 32, and the vehicle speed sensors 41 and 42 is taken into the risk determination unit 60 ( Step S601). It is determined from the captured signal whether each component is normal (step S602). If all the components are normal, the process returns to the start. When an abnormal state is detected, a risk level is calculated (step S603), and the assist map is changed according to the risk level (step S604). Further, the warning level is changed by the warning device (warning means) according to the risk level (step S605). After changing the warning level, return to the start and continue monitoring for further abnormal conditions.
- the warning device is a device that informs the driver of the abnormal state, and for example, a buzzer or the like can be used as the warning device.
- An increase in the warning level is notified to the driver by changing the sound volume, sound pressure and frequency.
- Other warning devices may be performed by turning on the indicator lamp, applying vibration to the steering wheel, or changing the engine starting performance by the ignition key.
- a third embodiment according to the present invention will be described with reference to FIG.
- a vehicle equipped with a steering control device will be described.
- any of the steering control devices 1 described in the first embodiment or the second embodiment may be used as the steering control device provided in the vehicle.
- FIG. 12 shows a schematic diagram of a vehicle 601 equipped with the steering control device 1 of the present invention.
- This vehicle 601 includes an engine 602 as a power source.
- the power source is not limited to the engine, but may be one using an electric motor alone or a combination of an electric motor and an engine.
- the rotation of the engine 602 drives the steered wheels 8a and 8b via the speed reducer 603.
- the front wheels 8a and 8b are drive wheels and the rear wheels 8c and 8d are driven wheels, but the configuration of the wheels is not limited to this.
- the vehicle 601 includes the steering control device 1 and the control device 2, the brake device 605 and the control device 606 of the brake device, the vehicle-mounted map information presentation device 607, the GPS 608, and at least one of a camera, sonar, or laser radar.
- a sensor 609 including a longitudinal acceleration sensor, a lateral acceleration sensor, and a yaw rate sensor, and vehicle speed sensors 41 and 42.
- the vehicle 601 also includes a vehicle integrated control device 620 that performs integrated control by inputting the status (signals) of the devices, actuators, sensors, and devices mounted on the vehicle 601 described above, and signals are transmitted through an in-vehicle LAN such as CAN. Can be exchanged.
- a vehicle integrated control device 620 that performs integrated control by inputting the status (signals) of the devices, actuators, sensors, and devices mounted on the vehicle 601 described above, and signals are transmitted through an in-vehicle LAN such as CAN. Can be exchanged.
- the vehicle integrated control device 602 receives device statuses from the engine control device 604, the brake control device 606, the control device 2 of the steering control device 1, and the like.
- the vehicle integrated control device 602 is provided with a danger determination unit 621, and the failure of each control device and failure information are sent.
- the risk level of the vehicle is determined based on the failure information, and the information is output to the control device 2. Therefore, also when a failure of the vehicle 601 other than the abnormal state of the electric motor 10 of the steering control device 1 is detected, the danger level increases similarly, and the assist torque is reduced according to the danger level. Alternatively, the warning level by the warning device is changed.
- Each signal from the in-vehicle map information presentation device 607, the GPS 608, and a sensor 609 such as a camera, sonar or laser radar is input to the vehicle integrated control device 602. Therefore, information on the vehicle position, the vehicle running state, and the vehicle surroundings can be obtained from the signals described above. Based on these pieces of information, the risk determination unit 621 determines the risk level and outputs the information to the control device 2 of the steering control device 1. Therefore, the risk determination unit 621 comprehensively determines information on the vehicle position, the vehicle running state, and the surroundings of the vehicle, and changes the risk level.
- the plurality of motor drive units 91 of the steering control device 1 fail and the risk level is increased and the assist torque is reduced.
- the risk level is reduced.
- the assist torque by the electric motor is increased.
- the steering performance is improved by reducing the steering torque required by the driver.
- the risk determination unit 621 is provided in the vehicle integrated control device 620, so that the failure level of each device in the vehicle 601, the vehicle running state, and the vehicle surrounding state are comprehensively determined and the risk level is set. It can be calculated.
- the electric motor 10 changes the plurality of assist maps shown in FIGS. 3, 6, and 7 in accordance with the increase in the danger level determined by the danger determination unit 60. Reduce the generated assist torque.
- the plurality of assist maps are set so that the upper limit value of the current command value calculated by the assist current calculation units 71 and 72 decreases as the danger level determined by the risk determination unit 60 increases.
- the plurality of assist maps are set such that the current command values calculated by the assist current calculation units 71 and 72 gradually decrease in accordance with an increase in the danger level determined by the risk determination unit 60.
- this invention is not limited to each above-mentioned Example, Various modifications are included.
- the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations.
- a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
複数の巻線組を有し、運転者のハンドル操作を補助するためのアシストトルクを発生する電動モータと、
前記電動モータを駆動するために前記巻線組に流すモータ駆動電流を出力する複数のアシスト電流出力部と、を備えると共に、
前記複数の巻線組及び前記複数のアシスト電流出力部の異常状態を検出し、前記異常状態に基づいて異常状態の評価レベルを判定する評価レベル判定部を備え、
前記評価レベルに基づいて前記電動モータが発生するアシストトルクの大きさを変化させる。
Claims (20)
- 複数の巻線組を有し、運転者のハンドル操作を補助するためのアシストトルクを発生する電動モータと、
前記電動モータを駆動するために前記巻線組に流すモータ駆動電流を出力する複数のアシスト電流出力部と、を備えると共に、
前記複数の巻線組及び前記複数のアシスト電流出力部の異常状態を検出し、前記異常状態に基づいて異常状態の評価レベルを判定する評価レベル判定部を備え、
前記評価レベルに基づいて前記電動モータが発生するアシストトルクの大きさを変化させることを特徴とする操舵制御装置。 - 請求項1に記載の操舵制御装置において、
前記アシスト電流出力部は、
電流指令値を演算するアシスト電流演算部と、
前記電流指令値に基づいてモータ駆動信号を生成するモータ制御部と、
前記モータ駆動信号に基づいて前記巻線組にモータ駆動電流を出力するモータ駆動部と、
を備え、
前記アシスト電流演算部は、
トルクセンサにより検出される操舵トルク値及び前記評価レベル判定部で判定した前記評価レベルに基づいて、前記電動モータにより発生するアシストトルクを算出することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記アシスト電流演算部は、
前記操舵トルク値及び車速センサにより検出される車速値に基づいて、前記電動モータにより発生するアシストトルクに対応した前記電流指令値を算出する複数のアシストマップを備えると共に、
前記評価レベル判定部で判定する評価レベルの上昇に応じて、前記アシストマップを変更することで、前記電動モータにより発生するアシストトルクを低減することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記アシスト電流演算部は、前記操舵トルク値及び車速センサにより検出される車速値に基づいて、前記電動モータにより発生するアシストトルクに対応した前記電流指令値を算出する複数のアシストマップを備え、
前記複数のアシストマップは、前記評価レベル判定部で判定する評価レベルの上昇に応じて、前記電流指令値の上限値が低減するように設定されることを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記アシスト電流演算部は、前記操舵トルク値及び車速センサにより検出される車速値に基づいて、前記電動モータにより発生するアシストトルクに対応した前記電流指令値を算出する複数のアシストマップを備え、
前記複数のアシストマップは、前記評価レベル判定部で判定する評価レベルの上昇に応じて、前記電流指令値が漸減するように設定されることを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記アシスト電流演算部は、前記操舵トルク値及び車速センサにより検出される車速値に基づいて、前記電動モータにより発生するアシストトルクに対応した前記電流指令値を算出する複数のアシストマップを備え、
前記複数のアシストマップは、前記評価レベル判定部で判定する評価レベルに応じて、前記電流指令値の低減幅が変化するように設定されることを特徴とする操舵制御装置。 - 請求項6に記載の操舵制御装置において、
前記評価レベル判定部による評価レベルの上昇に応じて、前記アシストマップにおける前記電流指令値の前記低減幅が増加することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記アシスト電流出力部は、車速センサからの指令値がゼロ又はイグニッションキーがオフの場合、前記電流指令値をゼロとすることを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記評価レベル判定部は、前記モータ駆動部、前記モータ制御部、前記巻線組、前記操舵トルク値及び車速センサにより検出される車速値の異常から、危険度の上昇を判定することを特徴とする操舵制御装置。 - 請求項9に記載の操舵制御装置において、
前記評価レベル判定部は、前記評価レベル判定部で危険度有と判定されてからの経過時間又はイグニッションキーのオンオフ回数の増加で、危険度が上昇したと判定することを特徴とする操舵制御装置。 - 請求項9に記載の操舵制御装置において、
前記評価レベル判定部は、前記評価レベル判定部で危険度有と判定されてからの前記モータ駆動部から前記巻線組へ通電される前記モータ駆動電流の累積電流量及び累積通電時間の増加に伴い、危険度が上昇したと判定することを特徴とする操舵制御装置。 - 請求項9に記載の操舵制御装置において、
前記評価レベル判定部は、前記評価レベル判定部で危険度有と判断されてからの車両の走行距離の増加に伴い、危険度が上昇したと判定することを特徴とする操舵制御装置。 - 請求項9に記載の操舵制御装置において、
前記評価レベル判定部は、前記評価レベル判定部で危険度有と判断されてからのハンドルの操作回数及び累積回転数から危険度が上昇したと判定することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において,
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記トルクセンサが故障して代替トルクセンサ信号によるバックアップ制御が実行された場合に、前記評価レベル判定部は危険度が上昇したと判定することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記電動モータおよび前記モータ駆動部に温度センサを備え、
前記評価レベル判定部は、前記温度センサが検出する温度履歴に基づき、評価レベルを判定することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は前記評価レベルとして危険度を判定し、
前記評価レベル判定部は、異常原因または異常個所に応じて危険度レベルを可変することを特徴とする操舵制御装置。 - 請求項16に記載の操舵制御装置において、
前記評価レベル判定部における危険度の判定は、前記トルクセンサの異常よりも前記モータ駆動部及び前記巻線組の異常の方を、危険度が高いと判定することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は、前記評価レベルとして危険度を判定し、異常個所におけるバックアップの有無及び数に応じて、危険度を判定することを特徴とする操舵制御装置。 - 請求項2に記載の操舵制御装置において、
前記評価レベル判定部は、前記評価レベルとして危険度を判定し、危険度有と判断された場合に警告装置で警告を行うことを特徴とする操舵制御装置。 - 請求項19に記載の操舵制御装置において、
前記評価レベル判定部は、危険度に応じて警告装置による警告レベル及び警告方法を変えることを特徴とする操舵制御装置。
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DE112017000192.7T DE112017000192T5 (de) | 2016-01-25 | 2017-01-05 | Lenksteuervorrichtung |
US16/069,257 US20190016377A1 (en) | 2016-01-25 | 2017-01-05 | Steering control device |
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