Steering control device and electrically powered vehicle

• US 9,221,495 B2
• Filed: 12/12/2006
• Issued: 12/29/2015
• Est. Priority Date: 12/16/2005
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Mizutani, Ryoji, Tsuchida, Michitaka, Tahara, Yasuaki, Tojima, Yuki, Isogai, Shigetaka
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): Sood, Anshul
• Application Number:
  US12/097,393
• Publication Number:
  US 20090093931A1
• Time in Patent Office: 3,304 Days
• Field of Search: 701/41, 701/42, 116/31, 180/6.2, 180/6.5, 180/6.6, 180408-412
• US Class Current: 1/1
• CPC Class Codes: B60K 17/046 with planetary gearing having orbital motion
• CPC Class Codes: B60K 2007/0038 the motor moving together with the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 3/0092 with use of redundant elements for safety purposes
• CPC Class Codes: B62D 5/003 Backup systems, e.g. for manual steering B62D5/30 takes precedence
• CPC Class Codes: B62D 9/002 combined with means for differentially distributing power on the deflectable wheels during cornering
• CPC Class Codes: B62D 9/005 Emergency systems using brakes for steering
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

Motor-generators are incorporated in front wheels and drive the front wheels, respectively. An ECU determines whether or not a steering apparatus including a steering actuator, a tie rod and a steering angle sensor has failed, based on an operation angle of a steering wheel from a steering wheel angle sensor and a steering angle of the front wheels from the steering angle sensor. When the ECU determines that the steering apparatus has failed, the ECU provides torque difference for a torque instruction for the motor-generators in accordance with the operation angle of the steering wheel.

Claims

1. A steering control device for steering a vehicle upon failure of a steering apparatus, comprising:

a steering wheel;

first and second motors driving left and right front wheels respectively;

a failure determination means for determining whether the steering apparatus providing a steering angle to said front wheels in accordance with an operation angle of said steering wheel has failed, upon detecting a failure the failure determination means sends a failure signal to a control means, and upon detecting no failure the failure determination means produces a steering signal based on the operation angle of the steering wheel; and

the control means for receiving the failure signal and for producing a torque difference between an output torque of the first motor and an output torque of the second motor based upon the operation angle of said steering wheel when said failure determination means determines that said steering apparatus has failed, the vehicle being steered according to the torque difference and not according to the steering signal, and

wherein the left front wheel being driven based on a left torque instruction and the right front wheel being driven based on a right torque instruction, the left torque instruction being increased or decreased by a torque increase/decrease rate for said first motor and the right torque instruction being increased or decreased by a torque increase/decrease rate for said second motor only upon a determination that the steering apparatus has failed,

wherein said control means calculates, when it is determined that said steering apparatus has failed, the torque increase/decrease rate for said first motor and the torque increase/decrease rate for said second motor based on the operation angle of said steering wheel, an amount of operation of an accelerator pedal, and respective rotation speeds of said first and second motors, using a relational expression or a map in which the respective torque increase/decrease rates for said first and second motors in accordance with the operation angle of said steering wheel are predetermined for each amount of operation of said accelerator pedal and for each rotation speed of said first and second motors,

wherein the first and second motors each have a rotation angle sensor for determining a rotation angle of the first and second motors, respectively, and

wherein the control means calculates the left torque instruction and the right torque instructions based on a signal of the rotation angle from each rotation angle sensor.

2. The steering control device according to claim 1, wherein

said steering apparatus adopts a steer-by-wire system in which said steering wheel and said front wheels are mechanically separate.

3. The steering control device according to claim 1, further comprising a steering angle sensor detecting a steering angle of said front wheels, wherein

said failure determination means is configured to calculate at least one of a calculated steering angle of said front wheels based on the operation angle of said steering wheel and a calculated operation angle of said steering wheel based on the steering angle of said front wheels, is configured to compare at least one of the calculated steering angle with the steering angle and the calculated operation angle with the operation angle, and is configured to determine whether said steering apparatus has failed if a difference between at least one of the calculated steering angle and the steering angle, and the calculated operation angle and the operation angle exceeds a threshold value.

4. A steering control device for steering a vehicle upon failure of a steering apparatus, comprising:

a steering wheel;

first and second motors driving left and right front wheels respectively; and

a control unit determining whether the steering apparatus providing a steering angle to said front wheels in accordance with an operation angle of said steering wheel has failed, upon detecting a failure the control unit produces a failure signal, and upon detecting no failure the control unit produces a steering signal based on the operation angle of the steering wheel,

wherein as a result of detecting the failure the vehicle is steered according to a torque difference between an output torque of the first motor and an output torque of the second motor based upon the operation angle of said steering wheel and not according to the steering signal, and

wherein the left front wheel being driven based on a left torque instruction and the right front wheel being driven based on a right torque instruction, the left torque instruction being increased or decreased by a torque increase/decrease rate for said first motor and the right torque instruction being increased or decreased by a torque increase/decrease rate for said second motor only upon a determination that the steering apparatus has failed,

wherein said control unit calculates, when it is determined that said steering apparatus has failed, the torque increase/decrease rate for said first motor and the torque increase/decrease rate for said second motor based on the operation angle of said steering wheel, an amount of operation of an accelerator pedal, and respective rotation speeds of said first and second motors, using a relational expression or a map in which the respective torque increase/decrease rates for said first and second motors in accordance with the operation angle of said steering wheel are predetermined for each amount of operation of said accelerator pedal and for each rotation speed of said first and second motors,

wherein the first and second motors each have a rotation angle sensor for determining a rotation angle of the first and second motors, respectively, and

wherein the control unit calculates the left torque instruction and the right torque instructions based on a signal of the rotation angle from each rotation angle sensor.

5. The steering control device according to claim 4, wherein

said steering apparatus adopts a steer-by-wire system in which said steering wheel and said front wheels are mechanically separate.

6. The steering control device according to claim 4, further comprising a steering angle sensor detecting a steering angle of said front wheels, wherein

said control unit is configured to calculate at least one of a calculated steering angle of said front wheels based on the operation angle of said steering wheel and a calculated operation angle of said steering wheel based on the steering angle of said front wheels, is configured to compare at least one of the calculated steering angle with the steering angle and the calculated operation angle with the operation angle, and is configured to determine whether said steering apparatus has failed if a difference between at least one of the calculated steering angle and the steering angle, and the calculated operation angle and the operation angle exceeds a threshold value.

7. An electrically powered vehicle that can be steered upon failure of a steering apparatus, comprising:

a power storage apparatus;

first and second motors driving left and right front wheels respectively, by receiving electric power supplied from said power storage apparatus;

a steering wheel;

the steering apparatus providing a steering angle to said front wheels in accordance with an operation angle of said steering wheel;

failure determination means for determining whether said steering apparatus has failed, upon detection of a failure sending a failure signal to a control means, and upon detection of no failure producing a steering signal based on the operation angle of said steering wheel; and

the control means for receiving the failure signal and for producing a torque difference between an output torque of the first motor and an output torque of the second motor based upon the operation angle of said steering wheel when said failure determination means determines that said steering apparatus has failed, the vehicle being steered according to the torque difference and not according to the steering signal;

wherein the left front wheel being driven based on a left torque instruction and the right front wheel being driven based on a right torque instruction, the left torque instruction being increased or decreased by a torque increase/decrease rate for said first motor and the right torque instruction being increased or decreased by a torque increase/decrease rate for said second motor only upon a determination that the steering apparatus has failed,

wherein said control means calculates, when it is determined that said steering apparatus has failed, the torque increase/decrease rate for said first motor and the torque increase/decrease rate for said second motor based on the operation angle of said steering wheel, an amount of operation of an accelerator pedal, and respective rotation speeds of said first and second motors, using a relational expression or a map in which the respective torque increase/decrease rates for said first and second motors in accordance with the operation angle of said steering wheel are predetermined for each amount of operation of said accelerator pedal and for each rotation speed of said first and second motors,

wherein the first and second motors each have a rotation angle sensor for determining a rotation angle of the first and second motors, respectively, and

wherein the control means calculates the left torque instruction and the right torque instructions based on a signal of the rotation angle from each rotation angle sensor.

8. The electrically powered vehicle according to claim 7, wherein

said first motor is provided in a wheel of said right front wheel, and

said second motor is provided in a wheel of said left front wheel.

9. An electrically powered vehicle that can be steered upon failure of a steering apparatus, comprising:

a power storage apparatus;

first and second motors driving left and right front wheels respectively, by receiving electric power supplied from said power storage apparatus;

a steering wheel;

the steering apparatus providing a steering angle to said front wheels in accordance with an operation angle of said steering wheel; and

a control unit determining whether said steering apparatus has failed, upon detection of a failure sending a failure signal to the control unit, and upon detection of no failure producing a steering signal based on the operation angle of said steering wheel, as a result of determining the failure, the control unit producing a torque difference between an output torque of the first motor and an output torque of the second motor based upon the operation angle of said steering wheel when it is determined that said steering apparatus has failed, the vehicle being steered according to the torque difference and not according to the steering signal,

wherein the left front wheel being driven based on a left torque instruction and the right front wheel being driven based on a right torque instruction, the left torque instruction being increased or decreased by a torque increase/decrease rate for said first motor and the right torque instruction being increased or decreased by a torque increase/decrease rate for said second motor only upon a determination that the steering apparatus has failed,

wherein said control unit calculates, when it is determined that said steering apparatus has failed, the torque increase/decrease rate for said first motor and the torque increase/decrease rate for said second motor based on the operation angle of said steering wheel, an amount of operation of an accelerator pedal, and respective rotation speeds of said first and second motors, using a relational expression or a map in which the respective torque increase/decrease rates for said first and second motors in accordance with the operation angle of said steering wheel are predetermined for each amount of operation of said accelerator pedal and for each rotation speed of said first and second motors,

wherein the first and second motors each have a rotation angle sensor for determining a rotation angle of the first and second motors, respectively, and

wherein the control means calculates the left torque instruction and the right torque instructions based on a signal of the rotation angle from each rotation angle sensor.