In-vehicle device controller and power steering device

• US 9,975,572 B2
• Filed: 02/05/2015
• Issued: 05/22/2018
• Est. Priority Date: 02/24/2014
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Sasaki, Mitsuo, Hisazumi, Takumi
• Primary Examiner(s): Mancho, Ronnie
• Application Number:
  US15/111,237
• Publication Number:
  US 20160332660A1
• Time in Patent Office: 1,202 Days
• Field of Search: 701 1, 701 43
• CPC Class Codes: B62D 5/046 Controlling the motor
• CPC Class Codes: B62D 5/0484 for reaction to failures, e.g. limp home
• CPC Class Codes: B62D 5/0493 detecting processor errors, e.g. plausibility of steering direction
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque

Abstract

An in-vehicle device controller has at least two redundant operating condition detection units. Under normal circumstances, the controller performs actuator drive control based on an operating condition detection signal of one of the operating condition detection units. Upon detection of an abnormality in the signal transmission state, data state or operating status of one of the at least two operating condition detection units, the controller performs actuator drive control based on an operating condition detection signal of another one of the at least two operating condition detection units in which no abnormality is present. By this control, the actuator function is preserved even in the event of the abnormality in the operating condition detection unit or operating condition detection signal.

Claims

1. An controller of an in-vehicle device with an actuator, the controller comprising:

an operating condition detection system that detects an vehicle operating condition and outputs first and second operating condition detection signals, said first and second operating condition detection signals being detected by and outputted from a plurality of respective detection elements or being detected by a common detection element and outputted through respective different electronic circuits;

a first abnormality judgment circuit that judges the presence or absence of an abnormality in the first operating condition detection signal and, upon detection of an abnormality in the first operating condition detection signal, outputs the first operating condition detection signal with abnormality data contained therein as an output signal;

a second abnormality judgment circuit that detects the presence or absence of an abnormality in the second operating condition detection signal and, upon detection of the abnormality in the second operating condition detection signal, outputs the second operating condition detection signal with abnormality data contained therein as an output signal;

an ECU that performs drive control of the actuator;

a signal abnormality detection circuit arranged in the ECU such that the signal abnormality detection circuit receives the output signals of the first and second abnormality judgment circuits and detects the presence or absence of an abnormality in the respective output signals of the first and second abnormality judgment circuits; and

an actuator control circuit arranged in the ECU such that, when the signal abnormality detection circuit judges that no abnormality data is contained in the output signals of the first and second abnormality judgment circuits, the actuator control circuit calculates and outputs a drive control signal for drive control of the actuator in accordance with at least one of the output signals of the first and second abnormality judgment circuits and such that, when the signal abnormality detection circuit judges that the abnormality data is contained in one of the output signals of the first and second abnormality judgment circuits, the actuator control circuit calculates and outputs the drive control signal in accordance with the other of the output signals of the first and second abnormality judgment circuits.

2. The controller of the in-vehicle device according to claim 1, further comprising a redundancy monitoring circuit arranged in the ECU so as to detect the abnormality in the respective output signals of the first and second abnormality judgment circuits by comparison of the output signals of the first and second abnormality judgment circuits.

3. The controller of the in-vehicle device according to claim 2,

wherein the ECU comprises an alternative signal receiver that receives an alternative signal usable as an alternative to the first and second operating condition detection signals;

and

wherein, when the redundancy monitoring circuit judges that an absolute difference between the output signals of the first and second abnormality judgment circuits is greater than or equal to a predetermined value, the actuator control circuit calculates and outputs the drive control signal in accordance with the alternative signal.

4. The controller of the in-vehicle device according to claim 2,

wherein, when the signal abnormality detection circuit judges that the abnormality data is contained in one of the output signals of the first and second abnormality judgment circuits, the actuator control circuit calculates and outputs the drive control signal in accordance with the other of the output signals of the first and second abnormality judgment circuits such that an output of the drive control signal becomes smaller than when no abnormality data is contained in the output signals of the first and second abnormality judgment circuits.

5. The controller of the in-vehicle device according to claim 1,

wherein each of the output signals of the first and second abnormality judgment circuits is in the form of a serial data signal that contains a trigger pulse indicating a start of signal transmission, an end pulse indicating an end of signal transmission and predetermined data provided between the trigger pulse and the end pulse and indicating the vehicle operating condition;

and

wherein the signal abnormality detection circuit detects the abnormality in the output signal of the first or second abnormality judgment circuit when the predetermined data is missing or is out of sequence in the output signal of the first or second abnormality judgment circuit.

6. A power steering device, comprising:

a steering system that steers steerable wheels in response to steering operation of a steering wheel;

an electric motor that applies a steering force to the steering system;

a steering condition detection system that detects a steering condition and outputs first and second steering condition detection signals, said first and second steering condition detection signals being detected by and outputted from a plurality of respective detection elements or being detected by a common detection element and outputted through respective different electronic circuits;

a first abnormality judgment circuit that judges the presence or absence of an abnormality in the first steering condition detection signal and, upon detection of an abnormality in the first steering condition detection signal, outputs the first steering condition detection signal with abnormality data contained therein as an output signal;

a second abnormality judgment circuit that detects the presence or absence of an abnormality in the second steering condition detection signal and, upon detection of the abnormality in the second steering condition detection signal, outputs the second steering condition detection signal with abnormality data contained therein as an output signal;

an ECU having a microprocessor that performs drive control of the electric motor;

a signal abnormality detection circuit arranged in the ECU such that the signal abnormality detection circuit receives the output signals of the first and second abnormality judgment circuits and detects the presence or absence of an abnormality in the respective output signals of the first and second abnormality judgment circuits; and

a motor control circuit arranged in the ECU such that, when the signal abnormality detection circuit judges that no abnormality data is contained in the output signals of the first and second abnormality judgment circuits, the actuator control circuit calculates and outputs a drive control signal for drive control of the electric motor in accordance with at least one of the output signals of the first and second abnormality judgment circuits and such that, when the signal abnormality detection circuit judges that the abnormality data is contained in one of the output signals of the first and second abnormality judgment circuits, the actuator control circuit calculates and outputs the drive control signal in accordance with the other of the output signals of the first and second abnormality judgment circuits.

7. The power steering device according to claim 6, further comprising a redundancy monitoring circuit arranged in the ECU so as to judge the presence or absence of the abnormality in the respective output signals of the first and second abnormality judgment circuits by comparison of the output signals of the first and second abnormality judgment circuits.

8. The power steering device according to claim 7,

wherein the ECU comprises an alternative signal receiver that receives an alternative signal usable as an alternative to the first and second steering condition detection signals;

and

wherein, when the redundancy monitoring circuit judges that an absolute difference between the output signals of the first and second abnormality judgment circuits is greater than or equal to a predetermined value, the motor control circuit calculates and outputs the drive control signal based on the alternative signal.

9. The power steering device according to claim 8,

wherein the steering condition detection system is in the form of a torque sensor that detects a steering torque as the steering condition;

wherein the ECU further comprises;

a steering angle detection signal receiver that receives a steering angle detection signal indicating a rotational position of the steering wheel;

a motor position detection signal receiver that receives a motor position detection signal indicating a rotational position of the electric motor; and

an alternative signal calculation section that calculates the alternative signal based on the steering angle detection signal and the motor position detection signal and outputs the alternative signal to the alternative signal receiver;

wherein, when the redundancy monitoring circuit judges that an absolute difference between the output signals of the first and second abnormality judgment circuits is greater than or equal to the predetermined value, the motor control circuit calculates and outputs the drive control signal based on the alternative signal.

10. The power steering device according to claim 8,

wherein the steering condition detection system is in the form of a motor position sensor that detects a rotational position of the electric motor as the steering condition;

wherein the electric motor is in the form of a brushless motor;

wherein the ECU further comprises a motor position calculation section that calculates the rotational position of the electric motor based on a neutral point potential of the electric motor, an induced voltage of the electric motor, a magnetic saturation voltage of the electric motor, a differential saliency of the electric motor or a combination thereof, and then, outputs to the alternative signal receiver an output signal indicating the calculated rotational position of the electric motor; and

wherein, when the redundancy monitoring circuit judges that an absolute difference between the output signals of the first and second abnormality judgment circuits is greater than or equal to the predetermined value, the motor control circuit calculates and outputs the drive control signal based on the output signal of the motor position calculation section.

11. The power steering device according to claim 8,

wherein the steering condition detection system is in the form of a torque sensor that detects a steering torque as the steering condition;

wherein the electric motor is in the form of a brushless motor;

wherein the ECU further comprises a steering angle calculation section that calculates the steering angle based on a neutral point potential of the electric motor, an induced voltage of the electric motor, a magnetic saturation voltage of the electric motor, a differential saliency of the electric motor or a combination thereof, and then, outputs to the alternative signal receiver an output signal indicating the calculated steering angle; and

wherein, when the redundancy monitoring circuit judges that the absolute difference between the output signals of the first and second abnormality judgment circuits is greater than or equal to the predetermined value, the motor control circuit calculates and outputs the drive control signal based on the output signal of the steering angle calculation section.

12. The power steering device according to claim 7,

wherein, when the signal abnormality detection circuit judges that the abnormality data is contained in one of the output signals of the first and second abnormality judgment circuits, the actuator control circuit calculates and outputs the drive control signal in accordance with the other of the output signals of the first and second abnormality judgment circuits such that an output of the drive control signal becomes smaller than when no abnormality data is contained in the output signals of the first and second abnormality judgment circuits.

13. The power steering device according to claim 7,

wherein the motor control circuit sets the drive control signal to zero when the redundancy monitoring circuit judges that an absolute difference between the output signals of the first and second abnormality judgment circuits is greater than or equal to a predetermined value and the signal abnormality detection circuits judges that no abnormality data is contained in the output signals of the first and second abnormality judgment circuits.

14. The power steering device according to claim 6,

wherein each of the output signals of the first and second abnormality judgment circuits is in the form of a serial data signal that contains a trigger pulse indicating a start of signal transmission, an end pulse indicating an end of signal transmission and predetermined data provided between the trigger pulse and the end pulse and indicating the steering condition;

and

wherein the signal abnormality detection circuit detects the abnormality in the output signal of the first or second abnormality judgment circuit when the predetermined data is missing or is out of sequence in the output signal of the first or second abnormality judgment circuit.