WO2020170654A1 - Dispositif de commande pour équipement embarqué dans un véhicule - Google Patents

Dispositif de commande pour équipement embarqué dans un véhicule Download PDF

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Publication number
WO2020170654A1
WO2020170654A1 PCT/JP2020/000847 JP2020000847W WO2020170654A1 WO 2020170654 A1 WO2020170654 A1 WO 2020170654A1 JP 2020000847 W JP2020000847 W JP 2020000847W WO 2020170654 A1 WO2020170654 A1 WO 2020170654A1
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WIPO (PCT)
Prior art keywords
sensor
group
signal
sub
main
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PCT/JP2020/000847
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English (en)
Japanese (ja)
Inventor
一俊 木村
伸樹 佐藤
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日立オートモティブシステムズ株式会社
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Publication of WO2020170654A1 publication Critical patent/WO2020170654A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing 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
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • 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

Definitions

  • the present invention relates to a control device for a vehicle-mounted device mounted in a vehicle such as an automobile, and more particularly to a control device for a vehicle-mounted device equipped with an abnormality diagnosis function of a sensor that detects a physical quantity that represents a driving state of the vehicle. is there.
  • a driver detects a turning direction and a turning torque of a steering shaft that is turned by operating a steering wheel. Then, based on the detected torque value, the electric motor is driven so as to rotate in the same direction as the rotation direction of the steering shaft, and the steering assist torque is generated.
  • Patent Document 1 Japanese Unexamined Patent Application Publication No. 2009-74858
  • an intermediate value abnormality in which the value of the sensor signal of the torque sensor falls within a predetermined range (for example, an abnormality in which the value of the sensor signal of the torque sensor is fixed to an intermediate value)
  • the deviation between the generated sensor signals is obtained, and when the deviation is larger than a preset set value, it is possible to estimate and detect that one of the torque sensors is abnormal.
  • An object of the present invention is to accurately identify which of the two systems sensors is truly normal or abnormal, and to safely control the vehicle-mounted device based on the detection value of the sensor on the side identified as normal. It is to provide a control device for a new vehicle-mounted device that can continue.
  • a sensor unit including a first sensor group and a second sensor group
  • the first sensor group includes a first main sensor and a first sub sensor
  • the second sensor group includes a second main sensor and a second sub sensor
  • the first main sensor detects a physical quantity representing a driving state of the vehicle and outputs a first main sensor signal
  • the first sub sensor detects a physical quantity representing a driving state of the vehicle and outputs a first sub sensor signal.
  • the second main sensor detects a physical quantity representing a driving state of the vehicle and outputs a second main sensor signal
  • the second sub sensor detects a physical quantity representing a driving state of the vehicle and outputs a second sub sensor signal.
  • a first microprocessor which includes a first same-group abnormality determination signal generation unit, a first same-group abnormality determination unit, a first different group signal comparison unit, a first different group abnormality determination unit, and a first microcomputer Including a communication unit and a first command signal generation unit,
  • the first same group abnormality determination signal generation unit generates an abnormality determination signal for determining an abnormal state from the first main sensor signal and the first sub sensor signal,
  • the first same-group abnormality determination unit determines whether there is an abnormality in the first sensor group based on the abnormality determination signal from the first same-group abnormality determination signal generation unit
  • the first inter-microcomputer communication section obtains the second main sensor signal or the second sub-sensor signal of the second sensor group from the second inter-microcomputer communication section of the second microprocessor,
  • the first different group signal comparison unit determines that the first main group sensor signal and the first sub sensor signal of the first sensor group are present when the first same group abnormality determination unit determines that the sensor of the first sensor group is abnormal.
  • the first different group abnormality determination unit determines whether the first main sensor signal and the first sub sensor signal of the first sensor group are compared with the second main sensor signal or the second sub sensor signal of the second sensor group. Determine which sensor in one sensor group is operating normally,
  • the first command signal generation unit is a first command signal for driving and controlling the actuator based on the sensor signal of the sensor determined to be operating normally by the sensor of the first sensor group in the first different group abnormality determination unit.
  • a first microprocessor for generating A second microprocessor which includes a second same-group abnormality determination signal generation unit, a second same-group abnormality determination unit, a second different-group signal comparison unit, a second different-group abnormality determination unit, and a second microcomputer.
  • the second same group abnormality determination signal generation unit generates an abnormality determination signal for determining an abnormal state from the second main sensor signal and the second sub sensor signal
  • the second same-group abnormality determination unit determines whether there is an abnormality in the second sensor group based on the abnormality determination signal from the second same-group abnormality determination signal generation unit
  • the second inter-microcomputer communication unit obtains the first main sensor signal or the first sub-sensor signal of the first sensor group from the first inter-microcomputer communication unit of the first microprocessor,
  • the second different group signal comparing unit determines that the sensor of the second sensor group is abnormal
  • the second different group signal comparing unit compares the second main sensor signal and the second sub sensor signal of the second sensor group with the second main sensor signal.
  • the second different group abnormality determining unit determines whether the second main sensor signal and the second sub sensor signal of the second sensor group are compared with the first main sensor signal or the first sub sensor signal of the first sensor group. Determine which sensor of the two sensor group is operating normally,
  • the second command signal generation unit is a second command signal for controlling the drive of the actuator based on the sensor signal of the sensor determined to be operating normally by the sensor of the second sensor group in the second different group abnormality determination unit.
  • a second microprocessor for generating.
  • the main sensor signal of one sensor group and the sub sensor when it is determined that one of the sensor groups has an abnormality from the main sensor signal and the sub sensor signal of one sensor group, the main sensor signal of one sensor group and the sub sensor The signal is compared with the main sensor signal or the sub sensor signal of the other sensor group, and within the sensors of the one sensor group, the sensor signal that matches the main sensor signal or the sub sensor signal of the other sensor group is detected. Since the output sensor is specified as a sensor that is operating normally, the reliability of the abnormality diagnosis function can be improved.
  • FIG. 3 is a functional block diagram showing an embodiment of the present invention implemented by the microprocessor shown in FIG. 2.
  • 4 is an explanatory diagram illustrating a relationship between a sensor signal acquisition timing and a sensor detection timing by an inter-microcomputer communication unit of the functional block of FIG. 3.
  • FIG. 4 is a flowchart of a control flow executed by a microprocessor to execute the functional blocks shown in FIG. 3.
  • 6 is a flowchart showing a first example of a specific control flow of step S40 in FIG. 6 is a flowchart showing a second example of a specific control flow of step S40 in FIG.
  • FIG. 1 shows a configuration of a steering device including an electric power steering device as a vehicle-mounted device to which the present invention is applied.
  • the steering device 10 steers the front wheels 11, 11 as the steering wheel 15 rotates, and has a rack-and-pinion type steering gear 12.
  • the pinion gear 13 of the steering gear 12 is connected to the steering wheel 15 via the steering shaft 14, and the rack gear 16 of the steering gear 12 is provided on the rack shaft 17.
  • Both ends of the rack shaft 17 are connected to the front wheels 11, 11 via tie rods 18, 18.
  • An electric motor 20 is connected to the steering shaft 14 via a speed reduction mechanism 19, and the speed reduction mechanism 19 includes a worm 21 and a worm wheel 22.
  • the worm 21 is provided integrally with the motor shaft 23 of the electric motor 20.
  • the rotation torque from the motor shaft 23 is transmitted to the steering shaft 14 via the speed reduction mechanism 19.
  • the steering shaft 14 is provided with a torque sensor 24 that detects a steering torque.
  • the steering (turning) torque of the steering shaft 14 is one of the physical quantities that represent the driving state of the vehicle, and the torque sensor 24 functions as a sensor that detects the physical quantity that represents the driving state of the vehicle.
  • a steering angle sensor that detects the steering angle of the front wheels can be used instead of the torque sensor 24 of the steering shaft 14.
  • the electric motor 20 is integrally provided with an electronic control unit (ECU) 25 and a rotation angle sensor 26 for detecting the rotation angle of the motor shaft 23.
  • the rotation angle sensor 26 detects the rotation angle of the electric motor 20 (motor rotation angle).
  • a current sensor for detecting the current flowing through the stator winding may be provided.
  • the rotation angle of the motor shaft 23 and the current flowing through the stator winding are also one of the physical quantities that represent the operating state of the vehicle, and the rotation angle sensor 26 and the current sensor detect the physical quantity that represents the operating state of the vehicle. Functions as a sensor.
  • the electronic control unit 25 controls the drive current of the electric motor 20 based on the steering torque signal, the rotation angle signal, the current signal, and the vehicle speed signal detected by the vehicle speed sensor 27 to reduce the rotation torque of the electric motor 20 to a deceleration mechanism.
  • the steering assist torque is applied by applying the steering assist torque to the steering shaft 14 via 19.
  • FIG. 2 shows the configuration of the electronic control unit 25 that controls the electric motor 20.
  • the electronic control unit 25 is configured in a redundant form including a dual control system.
  • FIG. 2 shows a configuration in which the torque sensor 24 and the electronic control unit 25 are connected to each other. ) Is a dual-system three-phase motor.
  • the double system winding is wound around the stator core, and the rotating torque is applied to the rotor in accordance with the electric power supplied to each winding. Therefore, when both control systems of the dual system are normal, rotational torque is applied to each winding, and when an abnormality occurs in one control system, rotational torque is applied only to the winding of the other control system. ..
  • the electronic control unit 25 is configured by a dual system, one first control system supplies a drive current to the first winding group, and the other second control system supplies a drive current to the second winding group. Supply.
  • a part corresponding to the first control system is appended with “a” at the end of the reference numeral, and a part corresponding to the second control system is added at the end of the reference numeral with “b”. Will be additionally described.
  • the electronic control unit 25 has a control system board 28 and a power system board 29.
  • the control system board 28 is a printed wiring board using a non-metal base material such as a glass epoxy resin base material, and has control system electronic components such as a microprocessor (MCU) 30 and a pre-driver (Pre-Driver) 31 on both sides. It is implemented.
  • the power system board 29 uses a metal circuit board having an excellent heat transfer property, and an inverter 32 including a switching element such as a MOSFET is mounted on one surface of the power system board 29.
  • a glass epoxy circuit board may be used instead of the metal circuit board.
  • the torque sensor signal of the torque sensor 24, the rotation angle sensor signal of the rotation angle sensor 26, and the vehicle speed signal are input to the microprocessor 30. Further, a current signal from a current sensor that monitors the three-phase current and overcurrent is also input. The microprocessor 30 calculates the target assist torque based on each signal and outputs the calculated value to the pre-driver 31.
  • the microprocessor 30 is supplied with power from a power supply IC 33 provided on the control system board 28.
  • the power supply IC 33 is connected to the low power side battery or an ignition line. The same applies to the other power supply ICs 34 and 35 described later.
  • An inter-microcomputer communication line 36 for transmitting and receiving information such as mutual control status and sensor signals is provided between the first microprocessor 30a and the second microprocessor 30b forming the dual system.
  • each of the microprocessors 30a and 30b has a watchdog timer function, and monitors the operating state of the control program of each of the microprocessors 30a and 30b. Then, when the monitoring information is exchanged through the inter-microcomputer communication line 36 and an abnormality occurs in one of the microprocessors, the normal microprocessor that receives the abnormality signal executes the control corresponding to the abnormality.
  • the sensors of each control system are provided exclusively for each control system, and the sensor signal of one control system is It is not directly input to the microprocessor of the other control system. In the present embodiment, only when one of the microprocessors requires it, the other sensor signal is taken in from the other microprocessor via the inter-microcomputer communication line 36.
  • the first microprocessor 30a acquires the torque sensor signal of the second torque sensor group 24b
  • the first inter-microcomputer communication unit of the first microprocessor 30a and the second microcomputer of the second microprocessor 30b can be obtained by using the intercommunication unit.
  • the first microprocessor 30a does not need to have an input port for directly fetching the torque sensor signal from the second torque sensor group 24b, and the increase of the input port in the first microprocessor 30a can be suppressed. it can.
  • the first microprocessor 30a is completely excluded from having the input port for directly obtaining the torque sensor signal from the second torque sensor group 24b. Not a thing. It may have an input port for directly acquiring the torque sensor signal from the second torque sensor group 24b as necessary.
  • the second microprocessor 30b has the same configuration.
  • the torque sensor 24 is, for example, a magnetostrictive type, and is supplied with power from a power supply IC 34 provided on the control system board 28.
  • the torque sensor 24 has a first torque sensor group 24a and a second torque sensor group 24b, and the torque sensors 24 constituting the first torque sensor group 24a and the second torque sensor group 24b have two Hall ICs, respectively. Equipped with. In this way, the first torque sensor group 24a and the second torque sensor group 24b detect the same physical quantity, here, the steering (turning) torque of the steering shaft 14.
  • the first torque sensor group 24a is composed of two (main and sub) torque sensors of the same detection method, and the torque sensor signals from the first main torque sensor 24am and the first sub torque sensor 24as are sent to the first microprocessor 30a. Output.
  • the second torque sensor group 24b includes two (main and sub) torque sensors of the same detection method, and outputs torque sensor signals from the second main torque sensor 24bm and the second sub torque sensor 24bs to the second micro sensor. Output to the processor 30b.
  • each of the first torque sensor group 24a and the second torque sensor group 24b detects the steering torque of the steering shaft 14 by the same detection method. Therefore, the first main torque sensor 24am, the first sub torque sensor 24as, the second main torque sensor 24bm, and the second sub torque sensor 24bs are magnetostrictive torque sensors.
  • the first pre-driver 31a and the second pre-driver 31b output a drive command signal according to the target assist torque to the gates of the MOSFETs forming the first inverter 32a and the second inverter 32b.
  • the 1st inverter 32a and the 2nd inverter 32b control the electric current to each winding group according to a drive command signal.
  • the first inverter 32a and the second inverter 32b are supplied with power from the high-power battery 37.
  • the rotation angle sensor 26 has a first rotation angle sensor group 26a and a second rotation angle sensor group 26b, and detects the same physical quantity, here, the rotation angle of the motor shaft 23.
  • the rotation angle sensors forming the first rotation angle sensor group 26a and the second rotation angle sensor group 26b each include two magnetic detection elements.
  • the rotation angle sensor 26 having a magnetic detection element detects the rotation angle of the motor shaft 23 by detecting a rotating magnetic field generated by rotation of a magnet provided on the motor shaft 23.
  • the first rotation angle sensor group 26a includes two (main and sub) rotation angle sensors of the same detection method, and outputs the rotation angle sensor signals from the first main rotation angle sensor and the first sub rotation angle sensor to the first micro. Output to the processor 30a.
  • the second rotation angle sensor group 26b includes two (main and sub) rotation angle sensors of the same detection method, and outputs the rotation angle sensor signals from the second main rotation angle sensor and the second sub rotation angle sensor. Output to the second microprocessor 30b.
  • first rotation angle sensor group 26a and the second rotation angle sensor group 26b each detect the rotation angle of the motor shaft 23 by the same detection method (detection by a magnetic detection element).
  • the first rotation angle sensor 26a is supplied with power from a power supply IC 35a provided on the control system board 28.
  • the second rotation angle sensor 26b is supplied with power from the power supply IC 35b.
  • the sensor signal of each rotation angle sensor group 26a, 26b is received by each of the corresponding first microprocessor 30a and second microprocessor 30b.
  • the deviation of the values of the sensor signals detected by the two systems of torque sensors 24am and 24as is obtained, and the deviation is previously calculated.
  • it can be estimated that one of the torque sensors 24am and 24as is abnormal.
  • the deviation of the outputs of the two systems is obtained in this way, it is not possible to identify which system is out of order, and as described above, there is a problem in the reliability of the abnormality diagnosis function. That's right.
  • the present embodiment proposes a control device that can accurately identify which sensor of the two systems is truly normal or abnormal, the details of which will be described below.
  • the abnormality determination is executed by a control program stored in each of the microprocessors 30a and 30b. Since this control program can be regarded as a control function, it will be described below as a functional block.
  • FIG. 3 shows functional blocks of control functions executed by the microprocessor according to the present embodiment.
  • FIG. 3 shows an example in which the torque sensor 24 is used as the sensor, the same applies to the case of other sensors, and the description of the other sensors will be omitted.
  • the torque sensor signal of the first torque sensor group 24a is input to the first microprocessor 30a via the input port.
  • the first torque sensor group 24a includes a first main torque sensor 24am and a first sub torque sensor 24as.
  • the sensor signals of the torque sensors 24am and 24as are input to the signal processing circuits 38am and 38as, AD-converted by the AD converters of the signal processing circuits 38am and 38as, and input to the first microprocessor 30a. ..
  • the AD converter may be provided in the first microprocessor 30a, and in this case, the sensor signals of the torque sensors 24am and 24as are directly input to the first microprocessor 30a. ..
  • the signal processing circuits 38am and 38as can have a self-diagnosis function, and can output self-diagnosis information when an abnormality occurs in each of the torque sensors 24am and 24as. The use of self-diagnosis information will be described later.
  • the first microprocessor 30a can execute various control functions by a control program.
  • the abnormality diagnosis function of the sensor which is the subject of the present invention, will be described.
  • the first microprocessor 30a includes at least a first inter-microcomputer communication unit 39a, a first same-group abnormality determination signal generation unit 40a, a first same-group abnormality determination unit 41a, a first different-group signal comparison unit 42a, and It is provided with a first different group abnormality determination unit 43a and a first command signal generation unit 44a.
  • the first same group abnormality determination signal generation unit (CMPA-1) 40a includes a first main torque sensor signal of the first main torque sensor 24am and a first sub torque sensor 24as of the first sub torque sensor 24as, which form the first torque sensor group 24a. It has a function of comparing one auxiliary torque sensor signal. Further, the comparison result in the first same-group abnormality determination signal generation unit 40a is used as an "abnormality determination signal" for the abnormality determination executed by the first same-group abnormality determination unit (EMGA-1) 41a in the subsequent stage. However, it can take various forms.
  • the first main and sub torque sensors 24am and 24as can be specified by, for example, the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the AD conversion data of this internal data register is used to determine the first main, the first main from the sub torque sensors 24am, 24as, The value of the sub torque sensor signal is read.
  • the AD converter is provided in the signal processing circuits 38am and 38as, but it may be provided in the input circuit of the first microprocessor 30a.
  • a deviation between the values of the first main torque sensor 24am and the first main torque sensor 24as and the auxiliary torque sensor signals can be output as an "abnormality determination signal".
  • This deviation includes information on whether or not there is an abnormality in either the first main torque sensor 24am or the first sub torque sensor 24as.
  • the comparison result (deviation) of the first same-group abnormality determination signal generation unit 40a is sent to the first same-group abnormality determination unit 41a, and any one of the torque sensors 24am and 24as of the first torque sensor group 24a has an abnormality. A determination is made whether there is.
  • the first same-group abnormality determination unit 41a determines which torque sensor 24am the deviation of the first main/sub torque sensor signals sent from the first same-group abnormality determination signal generation unit 40a is, for example, a predetermined value or less. , 24as are also judged to be normal.
  • the abnormal state is determined from the magnitude of the deviation, so this example will be described below.
  • the first same group abnormality determination unit 41a When the values of the first main torque sensor 24am and the first main torque sensor auxiliary signal from the first auxiliary torque sensor 24as match (the deviation is smaller than a predetermined value), the first same group abnormality determination unit 41a , And outputs a command for calculating a control signal to the first winding set to the first command signal generator (CNTA) 44a, which is regarded as normal.
  • CNTA first command signal generator
  • the first command signal generating unit 44a preferentially uses the first main torque sensor signal from the first main torque sensor 24am to calculate the control signal.
  • the control signal calculated by the first command signal generator 44a is sent to the first pre-driver 31a shown in FIG. 2, and the first pre-driver 31a further controls the first inverter 32a to control the first winding group. Drive the windings.
  • the first same group abnormality determination unit 41a when the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as do not match (the deviation is larger than a predetermined value). Is determined to be abnormal in one of the torque sensors 24am and 24as of the first torque sensor group 24a. When it is determined that one of the torque sensors 24am and 24as of the first torque sensor group 24a is abnormal, the determination result is sent to the first different group signal comparison unit (CMPA-2) 42a.
  • CMPA-2 first different group signal comparison unit
  • the first main and sub torque sensor signals from the torque sensors 24am, 24as of the first torque sensor group 24a and the second main torque sensor 24bm of the second torque sensor group 24b are detected.
  • the comparison with the two main torque sensor signals or the second sub torque sensor signal from the second sub torque sensor 24bs is performed. That is, the first different group signal comparison unit 42a compares the values of at least three sensor signals.
  • the second main torque sensor signal from the second main torque sensor 24bm of the second torque sensor group 24b is captured, so the second main torque sensor signal will be described below.
  • the second auxiliary torque sensor signal from the second auxiliary torque sensor 24bs may be used.
  • both the second main and sub torque sensor signals from the torque sensors 24bm, 24bs of the second torque sensor group 24b can be taken in as needed.
  • the acquisition of the second main torque sensor signal from the second main torque sensor 24bm is executed on the assumption that the second main torque sensor 24bm is normal.
  • the second sub torque sensor signal from the second sub torque sensor 24bs is used, it is executed on the assumption that the second sub torque sensor 24bs is normal.
  • the second microprocessor 30b causes the second main group abnormality determination unit 41b to determine whether the second main unit abnormality determination unit 41b determines that the respective torque sensors 24am and 24as of the second torque sensor group 24b are normal.
  • a gate unit 45b is provided for sending the second main torque sensor signal from the torque sensor 24bm or the second sub torque sensor signal from the second sub torque sensor 24bs to the second inter-microcomputer communication unit 39b.
  • the first microprocessor 30a also includes the first main torque sensor 24am only when the first same-group abnormality determination unit 41a determines that the respective torque sensors 24am and 24as of the first torque sensor group 24a are normal. There is provided a gate section 45a for sending the first main torque sensor signal from the first sub torque sensor 24as or the first sub torque sensor signal from the first sub torque sensor 24as to the first inter-microcomputer communication section 39a.
  • the acquisition timing of the second main torque sensor signal is when the first different group signal comparison unit 42a is operated, and the second main torque sensor signal from the second main torque sensor 24bm is fetched at a timing other than this acquisition timing. Not not. As a result, the communication capacities of the respective inter-microcomputer communication units 39a and 39b can be kept low.
  • the first same-group abnormality determination unit 41a determines a deviation between the first main sensor torque signal of the first main torque sensor 24am and the first sub torque sensor signal of the first sub torque sensor 24as. When the deviation is larger than a predetermined value, it is determined that one of the torque sensors 24am and 24as has an abnormality.
  • the second main torque sensor signal from the second main torque sensor 24bm is fetched via the first inter-microcomputer communication unit 39a, and then the first main torque sensor 24am The values are compared with the values of one main torque sensor signal and the first sub torque sensor signal of the first sub torque sensor 24as.
  • the values of the three torque sensor signals of the second main torque sensor signal of the sensor 24bm are compared.
  • This comparison result is sent to the first different group abnormality determination unit (EMGA-2) 43a, and it is determined which of the torque sensors 24am and 24as of the first torque sensor group 24a is operating normally. In other words, the torque sensors 24am and 24as in which the abnormality has occurred are specified.
  • the value of the first main torque sensor signal of the first main torque sensor 24am and the value of the second main torque sensor signal of the second main torque sensor 24bm If they match, the first main torque sensor 24am is determined to be in a normal state. On the contrary, the value of the first sub torque sensor signal of the first sub torque sensor 24as does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, so the first sub torque sensor 24as is abnormal. It is judged as a state.
  • the first sub torque sensor 24as is in the normal state. Is judged. On the contrary, since the value of the first main torque sensor signal of the first main torque sensor 24am does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, the first main torque sensor 24am is abnormal. It is judged as a state.
  • match means that the values of the respective torque sensor signals completely match, and that the values of the respective torque sensor signals are within the predetermined allowable range.
  • the first torque sensor group 24a is determined to be the first torque sensor group 24a based on the matching state with the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b. It is possible to specify which of the main torque sensor 24am and the first sub torque sensor 24as has an abnormality.
  • the first command signal generation unit 44a determines that the state is in the normal state. Based on the torque sensor signal of the torque sensor, a command for calculating a control signal to the first winding group is output.
  • the first command signal generation unit 44a calculates the control signal using the torque sensor signal of the torque sensor determined to be in the normal state.
  • the control signal calculated by the first command signal generation unit 44a is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set. To do.
  • the operation of the second microprocessor 30b will be described. Basically, the same operation as that of the first microprocessor 30a is performed, but the operations of the respective microprocessors are not synchronized, and they are operated independently.
  • the torque sensor signal of the second torque sensor group 24b is input to the second microprocessor 30b via the input port.
  • the second torque sensor group 24b includes a second main torque sensor 24bm and a second sub torque sensor 24bs.
  • the sensor signals of the torque sensors 24bm and 24bs are input to the signal processing circuits 38bm and 38bs, AD-converted by the AD converters of the signal processing circuits 38bm and 38bs, and input to the second microprocessor 30b. ..
  • the AD converter may be provided in the second microprocessor 30b, and in this case, the sensor signals of the torque sensors 24bm and 24bs are directly input to the second microprocessor 30b. ..
  • the signal processing circuits 38bm and 38bs can also have the self-diagnosis function as described above, and can output self-diagnosis information when an abnormality occurs in each of the torque sensors 24bm and 24bs.
  • the second microprocessor 30b includes at least a second inter-microcomputer communication unit 39b, a second same-group abnormality determination signal generation unit 40b, a second same-group abnormality determination unit 41b, and a second The different group signal comparison part 42b, the 2nd different group abnormality determination part 43b, and the 2nd command signal generation part 44b are provided.
  • the second same group abnormality determination signal generation unit (CMPB-1) 40b configures the second torque sensor group 24b, and the second main torque sensor signal of the second main torque sensor 24bm and the second main torque sensor signal of the second sub torque sensor 24bs. It has a function of comparing two sub torque sensor signals. Further, the comparison result in the second same group abnormality judgment signal generation unit 40b is used as an "abnormality judgment signal" of the abnormality judgment executed by the second same group abnormality judgment unit (EMGB-1) 41b in the subsequent stage. However, it can take various forms.
  • the specification of the second main and sub torque sensors 24bm, 24bs can be specified, for example, from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, from the AD conversion data of this internal data register, the second main, the second main from the sub torque sensors 24bm, 24bs, The value of the sub torque sensor signal is read.
  • the AD converter is provided in the signal processing circuits 38bm and 38bs, but it may be provided in the input circuit of the second microprocessor 30b.
  • the deviation between the values of the second main and sub torque sensor signals of the second main torque sensor 24bm and the second sub torque sensor 24bs can be output as an "abnormality judgment signal".
  • This deviation also includes information as to whether or not there is an abnormality in either the second main torque sensor 24bm or the second sub torque sensor 24bs.
  • the comparison result (deviation) of the second same group abnormality determination signal generation unit 40b is sent to the second same group abnormality determination unit 41b, and any one of the torque sensors 24bm and 24bs of the second torque sensor group 24b has an abnormality. A determination is made whether there is.
  • the second same-group abnormality determination unit 41b determines which torque sensor 24bm the deviation between the second main and sub torque sensor signals sent from the second same-group abnormality determination signal generation unit 40b is equal to or less than a predetermined value. , 24bs are also normal. On the other hand, if the deviation between the second main and sub torque sensor signals is greater than or equal to a predetermined value, it can be determined that one of the torque sensors 24bm and 24bs is abnormal. In the present embodiment, the abnormal state is determined from the magnitude of the deviation, so this example will be described below.
  • the second same group abnormality determination unit 41b determines that the values of the second main torque sensor 24bm and the second main torque sensor signals from the second auxiliary torque sensor 24bs match (the deviation is smaller than a predetermined value). , And outputs a command for calculating a control signal to the second winding set to the second command signal generation unit (CNTB) 44b, which is regarded as normal.
  • the second command signal generator 44b preferentially uses the second main torque sensor signal from the second main torque sensor 24bm to calculate the control signal.
  • the control signal calculated by the second command signal generator 44b is sent to the second pre-driver 31b shown in FIG. 2, and the second pre-driver 31b further controls the second inverter 32b to control the second winding group. Drive the windings.
  • the second different group signal comparison unit 42b the second main and sub torque sensor signals from the torque sensors 24bm and 24bs of the second torque sensor group 24b, and the second main torque sensor 24am from the first torque sensor group 24a of the first torque sensor group 24a.
  • the comparison with the one main torque sensor signal or the first sub torque sensor signal from the first sub torque sensor 24as is performed. That is, the second different group signal comparison unit 42b compares the values of at least three sensor signals.
  • the first main torque sensor signal from the first main torque sensor 24am of the first torque sensor group 24a is fetched, so the first main torque sensor signal will be described below.
  • the first sub torque sensor signal from the first sub torque sensor 24as may be used.
  • the second different group signal comparing section 42b from the first inter-microcomputer communication section 39a of the first microprocessor 30a to the first main torque sensor 24am of the first torque sensor group 24a via the second inter-microcomputer communication section 39b.
  • the first main torque sensor signal of is acquired. Note that both the first main and sub torque sensor signals from the torque sensors 24am and 24as of the first torque sensor group 24a can be taken in as needed.
  • the acquisition of the first main torque sensor signal from the first main torque sensor 24am is executed on the assumption that the first main torque sensor 24am is normal.
  • the first sub torque sensor signal from the first sub torque sensor 24as is used, it is executed on the assumption that the first sub torque sensor 24as is normal.
  • the first microprocessor 30a causes the first same-group abnormality determination unit 41a to perform the first determination only when the torque sensors 24am and 24as of the first torque sensor group 24a are determined to be normal.
  • a gate unit 45a is provided for sending the first main torque sensor signal from the main torque sensor 24am or the first sub torque sensor signal from the first sub torque sensor 24as to the first inter-microcomputer communication unit 39a.
  • the acquisition timing of the first main torque sensor signal is when the second different group signal comparison unit 42b is operated, and at other times than this acquisition timing, the first main torque sensor signal from the first main torque sensor 24am is fetched. Not not. As a result, the communication capacities of the respective inter-microcomputer communication units 39a and 39b can be kept low.
  • the second same-group abnormality determining unit 41b causes the deviation between the second main sensor torque signal of the second main torque sensor 24bm and the second sub torque sensor signal of the second sub torque sensor 24bs to be predetermined.
  • the deviation is larger than a predetermined value, it is determined that one of the torque sensors 24bm and 24bs has an abnormality.
  • the second different group signal comparison unit 42b takes in the first main torque sensor signal from the first main torque sensor 24am of the first torque sensor group 24a via the second inter-microcomputer communication unit 39b, and then the The second main torque sensor signal from the second main torque sensor 24bm and the second sub torque sensor signal from the second sub torque sensor 24bs are compared.
  • the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b, the second sub torque sensor signal of the second sub torque sensor 24bs, and the first main torque of the first torque sensor group 24a are compared.
  • the comparison result is sent to the second different group abnormality determination unit (EMGB-2) 43b, and it is determined which of the torque sensors 24bm and 24bs of the second torque sensor group 24b is operating normally. In other words, the torque sensors 24bm and 24bs in which the abnormality has occurred are specified.
  • the second different group abnormality determination unit 43b of the three sensor signals, the value of the second main torque sensor signal of the second main torque sensor 24bm and the value of the first main torque sensor signal of the first main torque sensor 24am. If they match, the second main torque sensor 24bm is determined to be in a normal state. On the contrary, since the value of the second auxiliary torque sensor signal of the second auxiliary torque sensor 24bs does not match the value of the first main torque sensor signal of the first main torque sensor 24am, the second auxiliary torque sensor 24bs is abnormal. It is judged as a state.
  • the second sub torque sensor 24bs is in the normal state. Is judged. On the contrary, since the value of the second main torque sensor signal of the second main torque sensor 24bm does not match the value of the first main torque sensor signal of the first main torque sensor 24am, the second main torque sensor 24bm is abnormal. It is judged as a state.
  • match means that the values of the respective torque sensor signals completely match, and that the values of the respective torque sensor signals are within the predetermined allowable range.
  • the second torque sensor group 24b is changed from the second torque sensor group 24b to the second torque sensor group 24b based on the matching state with the first main torque sensor signal of the first main torque sensor 24am of the first torque sensor group 24a. It is possible to specify which of the main torque sensor 24bm and the second sub torque sensor 24bs has an abnormality.
  • the second command signal generation unit 44b determines that the state is in the normal state. Based on the torque sensor signal of the torque sensor, a command for calculating a control signal to the second winding group is output.
  • the second command signal generation unit 44b uses the torque sensor signal of the torque sensor determined to be in the normal state to calculate the control signal.
  • the control signal calculated by the second command signal generator 44b is sent to the second pre-driver 31b, and the second pre-driver 31b further controls the second inverter 32b to drive the windings of the second winding set. To do.
  • the torque sensor 24 has been described in the present embodiment, but it goes without saying that the rotation angle sensor 26 and the current sensor other than this can have the same configuration.
  • a sensor that compares the main sensor signal or the sub sensor signal of the other sensor group and outputs the sensor signal that matches the main sensor signal or the sub sensor signal of the other sensor group among the sensors of the one sensor group. Is specified as a sensor that is operating normally, the reliability of the abnormality diagnosis function can be improved.
  • the first inter-microcomputer communication unit 39a of the first microprocessor 30a notifies the second microprocessor 30b of the first abnormality.
  • the second main torque sensor 24bm of the two-torque sensor group 24b has a function of transmitting a second main torque sensor signal or a sensor signal request command for requesting transmission of the second sub torque sensor signal of the second sub torque sensor 24bs. ing.
  • the second microprocessor communication unit 39b causes the first microprocessor 30a to operate.
  • a function of transmitting a sensor signal request command that requests transmission of the first main torque sensor signal of the first main torque sensor 24am of the first torque sensor group 24a or the first sub torque sensor signal of the first sub torque sensor 24as. have.
  • the torque sensor signals of the respective sensor groups 24a and 24b are not always transmitted, but the torque sensor signals are transmitted when the sensor signal request command is received from the respective microprocessors. It is possible to suppress an increase in communication capacity in the two-microcomputer communication units 39a and 39b.
  • the first different group signal comparison unit 42a detects the second main torque sensor signal based on the "elapsed time” between the detection timing and the acquisition timing of the second main torque sensor signal acquired via the first inter-microcomputer communication unit 39a.
  • the first detection timing of the first main and sub torque sensor signals to be obtained is obtained.
  • the first main and sub torque sensor signals detected at the first detection timing that is close in time to the detection timing obtained based on the "elapsed time” can be obtained.
  • the first main and sub torque sensor signals are sequentially stored and erased, and the data for a predetermined number of times of detection are stored and held while being updated in a new order.
  • the sensor signal of the torque sensor is detected at a predetermined detection timing with the passage of time, and the first detection timing (T1mt) of the first main torque sensor 24am and the second main torque sensor 24bm are detected. It is generated without being synchronized with the second detection timing (T2mt). However, the detection intervals (intervals) are the same time, the first main torque sensor signal (Sam) of the first main torque sensor 24am is detected every predetermined time, and the second main torque sensor 24bm of the second main torque sensor 24bm is detected. The signal (Sbm) is detected.
  • the first different group signal comparison unit 42a calculates a time (detection timing) retroactive to the captured “elapsed time” from the time when the acquisition timing (Tst) occurred, and the first time is close to the retroactive time.
  • the first main and sub torque sensor signals detected at one detection timing are obtained. The flow is indicated by a dashed arrow.
  • the second detection timing of the second main torque sensor signal of the second main torque sensor 24bm and the first detection timing of the first main torque sensor signal of the first main torque sensor 24am are close in time. .. Therefore, the first different group signal comparison unit 42a uses the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as whose detection timings are close in time, and the second main torque sensor. The 24 bm second main torque sensor signal can be compared.
  • the second different group signal comparison unit 42b also obtains the second main and sub torque sensor signals by the same method. Therefore, the detection timing of the first main torque sensor signal of the first main torque sensor 24am and the detection timing of the second main torque sensor signal of the second main torque sensor 24bm are close in time. Therefore, also in the second different group signal comparison unit 42b, the second main torque sensor 24bm and the second main torque sensor signal and the second main torque sensor signal of the second auxiliary torque sensor 24bs whose detection timings are close to each other in time, and the first main torque. The first main torque sensor signal of the sensor 24am can be compared.
  • the values of the torque sensor signals of the two systems of torque sensor groups 24a and 24b change from moment to moment depending on the detection timing. Therefore, if the detection timing is different, the values of the torque sensor signals of the torque sensor groups 24a and 24b are different. .. Considering the transmission time of the torque sensor signal from the torque sensor groups 24a and 24b to the microprocessors 30a and 30b, and further the communication cycle in the inter-microcomputer communication units 39a and 39b, the microprocessors 30a and 30b are able to calculate the torque Due to the acquisition timing of acquiring the torque sensor signals of the sensor groups 24a and 24b, there is a time lag in the detection timing of the torque sensor groups 24a and 24b.
  • the torque sensor signal that is closest in time may be selected, or the closest torque sensor signal may be selected. You may choose.
  • the physical quantities detected as the driving state of the vehicle are the same physical quantities, and in the case of the steering shaft 14, the first main torque sensor 24am, the first sub torque sensor 24as, the second main torque sensor 24bm, and the second main torque sensor 24as.
  • the steering (rotation) torque of the steering shaft 14 is detected by the sub torque sensor 24bs.
  • the rotation angle of the motor shaft 23 is detected by the first main rotation angle sensor, the first sub rotation angle sensor, the second main rotation angle sensor, and the second sub rotation angle sensor.
  • the current flowing through the stator winding is detected by the first main current sensor, the first sub-current sensor, the second main current sensor, and the second sub-current sensor.
  • the processing circuit of the sensor can be shared by the same processing circuit, and further, the calculation of the control program can be simplified.
  • the first torque sensor group 24a (the first main torque sensor 24am and the first sub torque sensor 24as) uses the same detection method as each other, and the second torque sensor group 24b (the second main torque sensor 24bm and the second sub torque sensor 24bm). 24bs) may have the same detection method, and the torque sensors of the first torque sensor group 24a and the second torque sensor group 24b may detect the steering (rotation) torque of the steering shaft by different detection methods. ..
  • the torque sensor of the first sensor group 24a is a magnetostrictive type and the torque sensor of the second sensor group 24b is a strain gauge type
  • the magnetostrictive type sensor data and the strain gauge type sensor data are converted into maps. You can leave it.
  • the strain gauge type sensor data of the second sensor group 24b is converted into the magnetostrictive type sensor data of the first sensor group 24a.
  • the magnetostrictive sensor data of the first sensor group 24a is converted into the strain sensor data of the second sensor group 24b. Be compared.
  • the electric motor is a steering actuator that steers the front wheels of the vehicle, and the steering actuator requires high reliability of the torque sensor. Therefore, the abnormality determination is performed from the sensor signals of the respective torque sensors of the first torque sensor group 24a and the second torque sensor group 24b, and in addition to this, the abnormality signal is compared with the sensor signals of the other torque sensor groups. Since the sensor is specified, it is possible to perform highly reliable steering actuator control.
  • the steering actuator is shown to steer the front wheels, but it may be the one to steer the rear wheels. Further, the steered wheels may be mechanically connected to the steering wheel, or the steered wheels may be driven only by an electric motor instead of being mechanically connected.
  • the electric motor includes a stator winding, a motor rotor, a motor rotation angle sensor that detects a rotational position of the motor rotor, and a current sensor that detects a current flowing through the stator winding.
  • a stator winding a stator winding
  • a motor rotor a motor rotation angle sensor that detects a rotational position of the motor rotor
  • a current sensor that detects a current flowing through the stator winding.
  • the second main sensor and the second sub sensor either one or both of the motor rotation angle sensor and the current sensor are used.
  • the first microprocessor 30a includes a first inter-microcomputer communication section 39a and a first auxiliary inter-microcomputer communication section 39a-A
  • a second microprocessor 30b includes a second inter-microcomputer communication section 39a.
  • a second auxiliary microcomputer communication unit 39b-A can be provided.
  • the first auxiliary microcomputer communication unit 39a-A receives the torque sensor signal of the second sensor group 24b from the second auxiliary microcomputer communication unit 39b-A, and the second auxiliary microcomputer communication unit 39b-A
  • the torque sensor signal of the first sensor group 24a can be input from the first inter-microcomputer communication unit 39a-A.
  • the communication between the microcomputers is performed not only between the first inter-microcomputer communication section 39a and the second inter-microcomputer communication section 39b, but also between the first sub-microcomputer communication section 39a-A and the second sub-microcomputer communication. This can also be performed between the communication units 39b-A, and the reliability of inter-microcomputer communication can be improved.
  • step S10 the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as forming the first torque sensor group 24a are fetched.
  • the acquisition of the first main and auxiliary torque sensor signals is carried out at the execution cycle of every predetermined time, and may be synchronized with the execution cycle of this control flow or may be another execution cycle.
  • the process proceeds to step S11.
  • the specification of the first main and sub torque sensors 24am and 24as is specified by the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the first main and sub torque sensor signals from the first main and sub torque sensors 24am and 24as are stored from this internal data register. The value of is read.
  • Step S40 the control step is indicated by a broken line, but this shows the case where the control flow of FIGS. 6 and 7 is interposed, which will be described with reference to FIGS. 6 and 7. Since this embodiment deals with an intermediate value abnormality, it can be omitted if it is not necessary to intervene the control flows of FIGS. 6 and 7.
  • step S11 the first main torque sensor signal of the first main torque sensor 24am and the first sub torque sensor signal of the first sub torque sensor 24as are compared. In this step S11, it outputs as the deviation of the torque sensor signal of the first main torque sensor 24am and the first sub torque sensor 24as. If the deviation of the torque sensor signal is less than a predetermined value, which torque sensor 24am, 24as Is also normal, and if the deviation of the torque sensor signal is a predetermined value or more, it is determined that one of the torque sensors 24am and 24as is abnormal.
  • step S11 when the values of the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as match (the deviation is smaller than the predetermined value), the first torque sensor Both the torque sensors 24am and 24as of the group 24a are considered to be normal, and the process proceeds to step S12.
  • This step S11 corresponds to the functional blocks of the first same-group abnormality judgment signal generation unit 40a and the first same-group abnormality judgment unit 41a in FIG.
  • step S12 since the first torque sensor group 24a is in a normal state, normal control is executed.
  • the first main torque sensor signal of the first main torque sensor 24am is preferentially used according to the setting of the control logic.
  • step S13 the second main torque sensor signal of the second main torque sensor 24bm of the second torque sensor group 24b or the second sub torque sensor of the second torque sensor group 24b is output from the inter-microcomputer communication unit 39b of the second microprocessor 30b.
  • the second auxiliary torque sensor signal is fetched by the inter-microcomputer communication unit 39a of the first microprocessor 30a.
  • the second main torque sensor signal is captured, the following description will also be based on this.
  • step 11 the second main torque sensor 24bm takes in the second main torque sensor signal.
  • step 11 the values of the first main torque sensor signal and the first auxiliary torque sensor signal of the first main torque sensor 24am match. Only when it is determined that the second main torque sensor signal is not acquired, the second main torque sensor signal of the second main torque sensor 24bm is not fetched.
  • the torque sensor signal of the second sensor group 24b is not always transmitted, but the torque sensor signal is transmitted when the sensor signal request command from the first microprocessor 30a is received. It is possible to suppress an increase in communication capacity in the two-microcomputer communication units 39a and 39b.
  • the process proceeds to step S14.
  • step S14 the first main torque sensor 24am of the first torque sensor group 24a and the first main and sub torque sensor signals of the first sub torque sensor 24as, and the second main captured in step S13. A comparison of the three torque sensor signals of the second main torque sensor signal of the torque sensor 24bm is made.
  • the second main torque sensor signal of the normal second main torque sensor 24bm of the second torque sensor group 24b is fetched from the second inter-microcomputer communication section 39b via the first inter-microcomputer communication section 39a. I'm out.
  • the first main torque sensor 24am if the value of the first main torque sensor signal of the first main torque sensor 24am matches the value of the second main torque sensor signal of the second main torque sensor 24bm, the first main torque sensor 24am is in the normal state. Is judged. Then, as a reverse of this, since the value of the first auxiliary torque sensor signal of the first auxiliary torque sensor 24as does not match the value of the second main torque sensor signal of the second main torque sensor 24bm, the first auxiliary torque sensor 24as Is judged to be abnormal.
  • the first main torque sensor 24am is abnormal. Is judged.
  • the first sub torque sensor signal of the first sub torque sensor 24as matches the value of the second main torque sensor signal of the second main torque sensor 24bm, the first sub torque The sensor 24as is determined to be in a normal state.
  • the match determination is determined as “match” when the deviation of the three torque sensor signals of the respective torque sensor sensors 24am, 24as, 24bm is smaller than a predetermined value, and conversely, the torque sensor sensors 24am, 24as, When the deviation of the three torque sensor signals of 24 bm is larger than a predetermined value, it is determined as "mismatch".
  • step S15 When the first main torque sensor signal of the first main torque sensor 24am matches the second main torque sensor signal of the second main torque sensor 24bm and the normal state is determined, the process proceeds to step S15, and the second main torque sensor If it is determined that the first main torque sensor 24am does not match the second main torque sensor signal of 24bm and is in an abnormal state, the process proceeds to step S16.
  • step S14 since the torque sensor in which the intermediate value abnormality has occurred is specified in step S14, an abnormality code corresponding to this can be created and stored in the flash ROM or the like. By reading the abnormality code stored in the flash ROM, it is possible to recognize which torque sensor has the intermediate value abnormality.
  • This control step S14 corresponds to the functional blocks of the first different group signal comparing section 42a and the first different group abnormality judging section 43a in FIG.
  • step S15 since the first main torque sensor 24am is determined to be in the normal state, it is set to use the first main torque sensor signal of the first main torque sensor 24am determined to be in the normal state. To do. When the setting using the torque sensor signal of the first main torque sensor 24am is completed, the process proceeds to step S17. Step S17 will be described later.
  • step S16 since the first sub torque sensor 24as is determined to be in the normal state, it is set to use the first sub torque sensor signal of the first sub torque sensor 24as determined to be in the normal state. To do. When the setting using the first sub torque sensor signal of the first sub torque sensor 24as is completed, the process proceeds to step S17.
  • step S17 when it is determined that the first main torque sensor 24am or the first auxiliary torque sensor 24as is in the normal state, the first based on the torque sensor signal of the torque sensor determined to be in the normal state. Calculate the control signal to the winding set.
  • control signal calculated in step S17 is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set.
  • This control step S17 corresponds to the functional block of the first command signal generator 44a in FIG.
  • the main sensor of the one sensor group when it is determined that one of the sensor groups has an abnormality from the main sensor signal and the sub sensor signal of the one sensor group, the main sensor of the one sensor group The signal and the sub sensor signal are compared with the main sensor signal or the sub sensor signal of the other sensor group, and within the sensors of the one sensor group, the main sensor signal or the sub sensor signal of the other sensor group Since the sensor that outputs the matched sensor signal is specified as the sensor that is operating normally, the reliability of the abnormality diagnosis function can be improved.
  • Step S40 relates to abnormality diagnosis such as ground fault, power fault, and power supply abnormality, and shows an example in which the value of the sensor signal of the torque sensor fluctuates greatly like the upper limit value or the lower limit value.
  • step S10 the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as forming the first torque sensor group 24a are fetched. In this case, even if the torque sensor signal is not output due to the power supply abnormality or the disconnection of the signal line described above, the loading operation is executed.
  • step S20 the process proceeds to step S20.
  • step S10 functions as a first same-group input state signal generation unit.
  • step S20 it is determined whether or not the first main torque sensor 24am inputs the first main torque sensor signal.
  • the first main torque sensor 24am can be specified from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the input state of the first main torque sensor signal of the first main torque sensor 24am is calculated from the AD conversion data of this internal data register. Can be determined.
  • step S20 When it is determined that the normal first main torque sensor signal is input from the first main torque sensor 24am in step S20, the process proceeds to step S21, and the torque sensor signal is not input from the first main torque sensor 24am. If it is determined, the process proceeds to step S24.
  • the first sub torque sensor 24as can also be specified from the port number of the input port. Further, since the AD conversion data of the torque sensor signal is stored in the internal data register corresponding to the port number, the input state of the first sub torque sensor signal of the first sub torque sensor 24as is calculated from the AD conversion data of this internal data register. Can be determined.
  • step S21 when it is determined that the first auxiliary torque sensor signal is normally input from the first auxiliary torque sensor 24as, the process proceeds to step S22, and the first auxiliary torque sensor signal is input from the first auxiliary torque sensor 24ab. If it is determined that there is not, the process proceeds to step S23.
  • Step S22 the first main torque sensor 24am and the first sub torque sensor 24as input the first main and sub torque sensor signals, so the first main torque sensor 24am and the first sub torque are input. Both sensors are determined to be in the input state.
  • the process proceeds to step S11, and thereafter, the control step relating to the subsequent intermediate value abnormality shown in FIG. 3 is executed.
  • steps S20 to S22 function as a first same-group input state abnormality determination unit.
  • steps S21 and S23 function as a first same-group input state abnormality determination unit.
  • Step S24 Since it is determined in step S20 that the first main torque sensor 24am does not input the first main torque sensor signal, in step S24, the first sub torque sensor 24as outputs the first sub torque sensor signal. Performs a determination of whether there is input. In the same manner as in step S21, the first sub torque sensor 24as can be specified from the port number of the input port, and the first sub torque sensor 24as of the first sub torque sensor 24as can be determined from the AD conversion data of the internal data register corresponding to the port number. The input state of the signal can be judged.
  • step S24 When it is determined in step S24 that the first auxiliary torque sensor signal is input from the first auxiliary torque sensor 24as, the process proceeds to step S25, and the first auxiliary torque sensor signal is not input from the first auxiliary torque sensor 24ab. If it is determined that, the process proceeds to step S26.
  • step S20 it is determined that the first main torque sensor 24am does not input the first main torque signal, and in step S24, it is determined that the first sub torque sensor 24as inputs the first sub torque signal. Therefore, in step S25, the first main torque sensor 24am is determined to be in an abnormal state, and the first sub torque sensor 24as is determined to be in a normal state. After this, the process proceeds to step S16, and thereafter, the subsequent step S17 shown in FIG. 3 is executed.
  • steps S20, S24, and S25 function as a first same-group input state abnormality determination unit.
  • step S20 it is determined that the first main torque sensor 24am does not input the first main torque sensor signal, and in step S24, it is determined that the first sub torque sensor 24as does not input the first sub torque sensor signal. Therefore, in step S26, it is determined that both the first main torque sensor 24am and the first sub torque sensor are in an abnormal state. After this, the process proceeds to step S27.
  • steps S24 and S26 function as a first same-group input state abnormality determination unit.
  • Step S27 Abnormality processing is executed in Step S27.
  • the abnormality processing stops the driving of the windings of the first winding set by the first microprocessor 30a, or outputs the torque sensor signal of the second torque sensor group 24b from the first inter-microcomputer communication unit 39a to the first microprocessor. Captured in the processor 30a.
  • the process goes to the end, but when the torque sensor signal of the second torque sensor group 24b is used, the process proceeds to step S17.
  • step S17 the control signal to the first winding group is calculated based on the second main torque sensor signal from the second main torque sensor 24bm. Then, the control signal calculated in step S17 is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set.
  • the input states of the respective torque sensors are monitored.
  • the signal processing circuits 38am and 38as have a self-diagnosis function
  • abnormality occurs in the respective torque sensors 24am and 24as
  • the self-diagnosis information can be output.
  • the self-diagnosis function determines whether or not the first main and sub torque sensor signals from the first main torque sensor 24am and the first sub torque sensor 24as include self-diagnosis information. It is possible to judge the abnormality of the sensor.
  • step S10 the first main and sub torque sensor signals of the first main torque sensor 24am and the first sub torque sensor 24as forming the first torque sensor group 24a are fetched.
  • the first main torque sensor 24am and the signal processing circuits 38am and 38as of the first sub torque sensor 24as have a self-diagnosis function, when abnormality is detected and self-diagnosis information is output, This self-diagnosis information is stored in the self-diagnosis memory of the signal processing circuits 38am and 38as.
  • step S10 functions as a first self-diagnosis signal generator of the same group.
  • step S30 it is determined whether or not the self-diagnosis information is added to the first main torque sensor signal from the first main torque sensor 24am.
  • the first main torque sensor 24am can be specified from the port number of the input port.
  • the self-diagnosis information is added to the data frame of the torque sensor signal, it is determined from this data frame whether the self-diagnosis information is added to the first main torque sensor signal from the first main torque sensor 24am. You can
  • step S30 if it is determined that the first main torque sensor signal from the first main torque sensor 24am does not include self-diagnosis information, the process proceeds to step S31, and the first main torque sensor signal from the first main torque sensor 24am. If it is determined that the self-diagnosis information has been added to, the process proceeds to step S34.
  • the first sub torque sensor 24as can also be specified from the port number of the input port.
  • the self-diagnosis information is added to the data frame of the torque sensor signal, it is determined from this data frame whether the self-diagnosis information is added to the first sub torque sensor signal from the first sub torque sensor 24as. You can
  • step S31 When it is determined in step S31 that the first sub-torque sensor signal from the first sub-torque sensor 24as has no self-diagnosis information, the process proceeds to step S32, and the first sub-torque sensor signal from the first sub-torque sensor 24ab is detected. If it is determined that there is self-diagnosis information in step S33, the process proceeds to step S33.
  • step S32 the first main torque sensor 24am and the first main torque sensor 24am from the first sub torque sensor 24as have no self-diagnosis information. Both the 1st sub torque sensor are considered to be in a normal state.
  • step S11 the control step relating to the subsequent intermediate value abnormality shown in FIG. 3 is executed.
  • steps S30 to S32 function as a first same-group self-diagnosis abnormality determination unit.
  • Step S30 it is determined that the first main torque signal from the first main torque sensor 24am has no self-diagnosis information, and in step S31, the self-diagnosis information is included in the first sub-torque signal from the first sub-torque sensor 24as. Since it has been determined that the first auxiliary torque sensor 24am is added, the first main torque sensor 24am is determined to be in the normal state and the first auxiliary torque sensor 24as is determined to be in the abnormal state in step S33. After this, the process proceeds to step S15, and thereafter, the subsequent step S17 shown in FIG. 3 is executed.
  • steps S31 and S33 function as a first self-diagnosis abnormality determination unit of the same group.
  • the first sub-torque sensor 24as can be identified from the port number of the input port, and the self-diagnosis information is added to the data frame of the torque sensor signal. It is possible to judge whether the self-diagnosis information is added to the torque sensor signal of the sub torque sensor 24as.
  • step S34 When it is determined in step S34 that the first sub torque sensor signal from the first sub torque sensor 24as has no self-diagnosis information, the process proceeds to step S35, and the first sub torque sensor signal from the first sub torque sensor 24ab. If it is determined that there is self-diagnosis information in step S36, the process proceeds to step S36.
  • steps S30, S34, and S35 function as a first same-group self-diagnosis abnormality determination unit.
  • Step S30 it is determined that the self-diagnosis information is added to the first main torque signal from the first main torque sensor 24am, and in step S31, the first sub-torque signal from the first sub-torque sensor 24as is self-diagnostic. Since it is determined that the diagnostic information is added, it is determined in step S36 that both the first main torque sensor 24am and the first sub torque sensor are in an abnormal state. After this, the process proceeds to step S37.
  • steps S34 and S36 function as a first self-diagnosis abnormality determination unit of the same group.
  • Step S37>> Abnormality processing is executed in step S37.
  • the abnormality processing stops the driving of the windings of the first winding set by the first microprocessor 30a, or outputs the torque sensor signal of the second torque sensor group 24b from the first inter-microcomputer communication unit 39a to the first microprocessor. Captured in the processor 30a.
  • the process goes to the end, but when the torque sensor signal of the second torque sensor group 24b is used, the process proceeds to step S17.
  • step S17 a command for calculating a control signal to the first winding group is output based on the second main torque sensor signal from the second main torque sensor 24bm. Then, the control signal calculated in step S17 is sent to the first pre-driver 31a, and the first pre-driver 31a further controls the first inverter 32a to drive the windings of the first winding set.
  • the main sensor signal of one sensor group or the sub sensor signal is compared with the main sensor signal and the sub sensor signal of the other sensor group, and the sensor of one sensor group does not match the main sensor signal and the sub sensor signal of the other sensor group. Since the sensor that outputs the sensor signal is specified as the sensor in which the abnormality has occurred, the reliability of the abnormality diagnosis function can be improved.
  • the present invention is not limited to the above-described embodiment, and various modifications are included.
  • the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.
  • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Power Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Selon la présente invention, quand un premier signal de capteur principal et un premier sous-signal de capteur d'un premier groupe de capteurs sont comparés et qu'il est déterminé qu'il y a une anomalie dans l'un des capteurs, le premier signal de capteur principal et le premier sous-signal de capteur du premier groupe de capteurs sont comparés à un second signal de capteur principal ou à un second sous-signal de capteur d'un second groupe de capteurs, et un capteur, parmi les capteurs du premier groupe de capteurs, qui a émis un signal de capteur correspondant au second signal de capteur principal ou au second sous-signal de capteur, est identifié comme capteur fonctionnant normalement. Il est par conséquent possible d'améliorer la fiabilité d'une fonction de diagnostic d'anomalie.
PCT/JP2020/000847 2019-02-18 2020-01-14 Dispositif de commande pour équipement embarqué dans un véhicule WO2020170654A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11427246B2 (en) * 2018-12-21 2022-08-30 Jtekt Corporation Steering system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015125617A1 (fr) * 2014-02-24 2015-08-27 日立オートモティブシステムズステアリング株式会社 Dispositif de commande de dispositif embarqué et dispositif de direction assistée
WO2018051550A1 (fr) * 2016-09-15 2018-03-22 日立オートモティブシステムズ株式会社 Actionneur de dispositif monté sur véhicule et dispositif de direction assistée
WO2018055802A1 (fr) * 2016-09-20 2018-03-29 日立オートモティブシステムズ株式会社 Dispositif capteur
JP2018184021A (ja) * 2017-04-24 2018-11-22 日立オートモティブシステムズ株式会社 車両の電子制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015125617A1 (fr) * 2014-02-24 2015-08-27 日立オートモティブシステムズステアリング株式会社 Dispositif de commande de dispositif embarqué et dispositif de direction assistée
WO2018051550A1 (fr) * 2016-09-15 2018-03-22 日立オートモティブシステムズ株式会社 Actionneur de dispositif monté sur véhicule et dispositif de direction assistée
WO2018055802A1 (fr) * 2016-09-20 2018-03-29 日立オートモティブシステムズ株式会社 Dispositif capteur
JP2018184021A (ja) * 2017-04-24 2018-11-22 日立オートモティブシステムズ株式会社 車両の電子制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11427246B2 (en) * 2018-12-21 2022-08-30 Jtekt Corporation Steering system

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