Actuator control device

Abstract

An actuator control device according to an embodiment includes a drive unit that drives an actuator, a control unit that controls the drive unit, an abnormality determination unit, a first communication circuit that relays communication between an external device and the control unit, a second communication circuit that relays communication between the external device and the abnormality determination unit, and a signal processing unit that performs conversion processing on a signal communicated via the first communication circuit. The abnormality determination unit compares a first reception signal received from the external device via the first communication circuit with a second reception signal received from the external device via the second communication circuit, and determines whether an abnormality has occurred in communication with the external device based on a comparison result.

Description

TECHNICAL FIELD

[0001] The present application relates to an actuator control device. BACKGROUND

[0002] For example, a shift-by-wire device is disclosed in Patent Literature 1, which drives and controls a manual shift based on a shift instruction from a management electronic control unit, thereby causing an operation object to act. In the shift-by-wire device of Patent Literature 1, a monitoring CPU monitors whether an arithmetic CPU has occurred an abnormality.

[0003] In the technology of Patent Literature 1 described above, although it is possible to monitor whether the arithmetic CPU has occurred an abnormality by the monitoring CPU, it is not possible to monitor a communication abnormality occurring between the arithmetic CPU and the management electronic control unit.

[0004] Patent Literature 1: Japanese Patent No. 5158208 SUMMARY

[0005] One mode of the actuator control device of the present application is an actuator control device that controls an actuator, including: a drive section that drives the actuator; a control section that controls the drive section; an abnormality determination section; a first communication circuit that relays communication between an external device and the control section; a second communication circuit that relays communication between the external device and the abnormality determination section; and a signal processing section that performs conversion processing on a signal communicated via the first communication circuit, the abnormality determination section comparing a first reception signal received from the external device via the first communication circuit with a second reception signal received from the external device via the second communication circuit, and determining whether a communication abnormality has occurred with the external device based on a comparison result.

[0006] According to the above-described mode of the present application, an actuator control device is provided that is capable of monitoring a communication abnormality between a control section and an external device by a simple structure. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 FIG. 1 is a view showing a drive device including an electric actuator according to the present embodiment, as viewed from one side in the left-right direction of a vehicle.

[0008] Figure 2 FIG. 2 is a perspective view showing the structure of the electric actuator according to the present embodiment.

[0009] Figure 3 FIG. 3 is a block diagram schematically showing the structure of an actuator control device according to the present embodiment.

[0010] Figure 4is a flowchart showing gear shift processing performed by a main processor of an actuator control device of the embodiment.

[0011] Figure 5 is a schematic view showing a state in which a contacted portion of a leaf spring member moves along an upper side end surface of a stop plate during execution of gear shift processing.

[0012] Figure 6 is a block diagram schematically showing a structure of an actuator control device in a modification example. DETAILED DESCRIPTION

[0013] Hereinafter, one embodiment of the present application will be explained in detail with reference to the drawings.

[0014] Figure 1 is a view of a drive device 1 provided with an electric actuator 100 of the embodiment, as viewed from one side in a left-right direction of a vehicle. Figure 2 is a perspective view showing a structure of the electric actuator 100 of the embodiment. The drive device 1 of the embodiment is mounted on an electric vehicle such as a hybrid vehicle (HEV), a plug-in hybrid vehicle (PHV), or an electric vehicle (EV), and is used as a drive source thereof.

[0015] As shown in Figure 1 , the drive device 1 is provided with a housing 2, a drive motor 3, a reduction device 4, a differential device 5, a parking lock gear 6, and the electric actuator 100. As shown in Figure 1 and Figure 2 , the electric actuator 100 is provided with a motor unit 10, a parking shift mechanism 70, and an output shaft 80. The electric actuator 100 switches a gear according to a shift operation of the vehicle. Although illustration is omitted in Figure 1 and Figure 2 , the drive device 1 is provided with an actuator control device 200 that controls the electric actuator 100.

[0016] In the following description, a plumb direction is defined based on a positional relationship when the drive device 1 is mounted on a vehicle located on a horizontal road surface, and the description is made with reference to the plumb direction. In the drawings, an XYZ coordinate system is appropriately shown as a three-dimensional orthogonal coordinate system. In the XYZ coordinate system, the Z-axis direction is the plumb direction with the +Z side as the upper side and the -Z side as the lower side. The X-axis direction is a direction orthogonal to the Z-axis direction, and is a front-rear direction of the vehicle on which the drive device 1 is mounted. In the embodiment, the +X side is one side in the front-rear direction of the vehicle, and the -X side is the other side in the front-rear direction of the vehicle. The Y-axis direction is a direction orthogonal to both the X-axis direction and the Z-axis direction, and is a left-right direction of the vehicle. In the embodiment, the +Y side is one side in the left-right direction of the vehicle, and the -Y side is the other side in the left-right direction of the vehicle.

[0017] In the present embodiment, a direction parallel to the Z-axis direction is referred to as a "plumb direction Z", a direction parallel to the X-axis direction is referred to as a "front-rear direction X", and a direction parallel to the Y-axis direction is referred to as a "left-right direction Y". In addition, the positive side (+Z side) of the Z-axis direction is referred to as an "upper side", and the negative side (-Z side) of the Z-axis direction is referred to as a "lower side". The positive side (+X side) of the X-axis direction is referred to as "one side in the front-rear direction", and the negative side (-X side) of the X-axis direction is referred to as "the other side in the front-rear direction". The positive side (+Y side) of the Y-axis direction is referred to as "one side in the left-right direction", and the negative side (-Y side) of the Y-axis direction is referred to as "the other side in the left-right direction".

[0018] The output shaft 80 is connected to the motor unit 10 and is rotated by the motor unit 10. In the present embodiment, the output shaft 80 extends in the front-rear direction X with the center axis J1 as a center. In the following description, the radial direction with the center axis J1 as a center is simply referred to as a "radial direction", and the circumferential direction with the center axis J1 as a center, that is, the winding direction of the center axis J1 is simply referred to as a "circumferential direction". As shown in FIG. 1, the end portion of the output shaft 80 on the one side in the front-rear direction (+X side) is a connected portion 81 that is connected to the motor unit 10. A plurality of spline grooves that extend in the front-rear direction X are provided on the connected portion 81 in the circumferential direction. Figure 2 As shown in FIG. 1, the end portion of the output shaft 80 on the one side in the front-rear direction (+X side) is a connected portion 81 that is connected to the motor unit 10. A plurality of spline grooves that extend in the front-rear direction X are provided on the connected portion 81 in the circumferential direction.

[0019] The housing 2 houses a drive motor 3, a reduction device 4, a differential device 5, and a parking switch mechanism 70 therein. Although not shown, oil is housed in the interior of the housing 2. The reduction device 4 is connected to the drive motor 3. The differential device 5 is connected to the reduction device 4 and transmits torque output from the drive motor 3 to the axle of the vehicle. A parking lock gear 6 is provided on the reduction device 4. The parking lock gear 6 is linked to the axle of the vehicle via the reduction device 4 and the differential device 5. The parking lock gear 6 has a plurality of tooth portions 6a.

[0020] The parking switch mechanism 70 is driven by the motor unit 10 based on a shift operation of the vehicle. The parking switch mechanism 70 switches the parking lock gear 6 between a locked state and an unlocked state. The parking switch mechanism 70 brings the parking lock gear 6 to the locked state when the gear of the vehicle is in a parking position (P range), and brings the parking lock gear 6 to the unlocked state when the gear of the vehicle is in a non-parking position other than the parking position. The case where the gear of the vehicle is in the non-parking position includes, for example, the case where the gear of the vehicle is in a drive position (D range), a neutral position (N range), or a reverse position (R range). Figure 2 As shown in FIG. 1, the parking switch mechanism 70 has a movable portion 70a, a parking lock arm 77, a support member 75, and a plate spring member 76.

[0021] The movable section 70a moves in the left-right direction Y based on a shift operation of the vehicle. That is, in the present embodiment, the left-right direction Y corresponds to a moving direction in which the movable section 70a moves. In addition, the plumb direction Z corresponds to a crossing direction that intersects the moving direction in which the movable section 70a moves, and the lower side corresponds to one side of the crossing direction. In the present embodiment, the movable section 70a is moved by the motor unit 10 via the output shaft 80. The position of the movable section 70a in the left-right direction Y is switched at least between a non-parking position and a parking position. That is, the movable section 70a is moved between the parking position and the non-parking position by the output shaft 80. The non-parking position is the position of the movable section 70a in the left-right direction Y in a case where the gear of the vehicle is other than the parking position. The parking position is the position of the movable section 70a in the left-right direction Y when the gear of the vehicle is the parking position. The parking position is a position on the one side (+Y side) of the left-right direction with respect to the non-parking position. In Figure 2 In the present embodiment, a case where the movable section 70a is positioned at the non-parking position is shown.

[0022] The movable section 70a has a stop plate 71, a rod 72, a conical member 73, and a coil spring 74. The stop plate 71 is fixed to the output shaft 80. The stop plate 71 rotates by the output shaft 80. The stop plate 71 extends from the output shaft 80 to the radially outer side. In the present embodiment, the stop plate 71 extends to the upper side from the output shaft 80. In the present embodiment, the stop plate 71 is a plate shape with a plate face facing the front-rear direction X. The width of the stop plate 71 becomes larger as it moves away from the output shaft 80 to the radially outer side. The stop plate 71 has a plurality of recesses including a first recess 71a that corresponds to the parking position provided on the one circumferential end side of the stop plate 71 and a second recess 71b that corresponds to the non-parking position provided on the other circumferential end side of the stop plate 71. In Figure 2 In the present embodiment, a case where the stop plate 71 has only one second recess 71b as the second recess that corresponds to the non-parking position is shown, but a plurality of second recesses can be provided on the stop plate 71.

[0023] The first recess 71a and the second recess 71b are provided on the radially outer end portion of the stop plate 71. The first recess 71a and the second recess 71b are recessed from the end portion on the upper side of the stop plate 71 to the lower side. The first recess 71a and the second recess 71b pass through the stop plate 71 in the front-rear direction X. The first recess 71a and the second recess 71b are arranged in the circumferential direction. In the present embodiment, the first recess 71a and the second recess 71b are arranged in the left-right direction Y. The first recess 71a is positioned on the other side (-Y side) of the left-right direction of the second recess 71b. By providing the first recess 71a and the second recess 71b on the stop plate 71, a convex portion 71c that protrudes to the radially outer side is provided in the portion of the stop plate 71 between the circumferential direction of the first recess 71a and the second recess 71b.

[0024] The rod 72 is configured to be movable in the left-right direction Y. The rod 72 has a connecting portion 72a and a rod main body 72b. The connecting portion 72a is a bar shape extending in the front-rear direction X. An end portion of the connecting portion 72a on the front-rear direction one side (+X side) penetrates the stop plate 71 in the front-rear direction X and is fixed to the stop plate 71. Thus, the rod 72 is coupled to the output shaft 80 via the stop plate 71. The rod main body 72b is a bar shape extending in the left-right direction Y. In the present embodiment, the rod main body 72b extends from an end portion of the connecting portion 72a on the front-rear direction other side (-X side) to the left-right direction one side (+Y side). The rod main body 72b has a protruding portion 72c at a portion close to the connecting portion 72a. An end portion on the left-right direction one side of the rod main body 72b is fitted and fixed to a cylindrical member 72d extending in the left-right direction Y.

[0025] The conical member 73 is conical through which the rod main body 72b passes. The conical member 73 extends in the left-right direction Y. A portion on the left-right direction one side (+Y side) in an outer peripheral surface of the conical member 73 is a tapered surface 73a whose outer diameter becomes smaller as it goes toward the left-right direction one side. The conical member 73 is movable in the left-right direction Y relative to the rod main body 72b.

[0026] The coil spring 74 extends in the left-right direction Y. The coil spring 74 is disposed between the conical member 73 and the protruding portion 72c in the left-right direction Y. The rod main body 72b passes through the coil spring 74. An end portion on the left-right direction other side (-Y side) of the coil spring 74 is in contact with the protruding portion 72c. An end portion on the left-right direction one side (+Y side) of the coil spring 74 is in contact with a face on the left-right direction other side of the conical member 73. The coil spring 74 is stretched and contracted by the relative movement of the conical member 73 relative to the rod main body 72b in the left-right direction Y, thereby applying an elastic force in the left-right direction Y to the conical member 73.

[0027] The parking lock arm 77 is located on the front-rear direction other side (-X side) of the movable portion 70a. The parking lock arm 77 is rotatably supported by a support shaft 78 that is centered on a rotation axis J2 extending in the left-right direction Y. The parking lock arm 77 has a parking lock arm main body 77a and an engagement portion 77b.

[0028] The parking lock arm main body 77a extends from the support shaft 78 to the front-rear direction one side (+X side). An end portion 77c on the front-rear direction one side of the parking lock arm main body 77a is in contact with the movable portion 70a from the upper side. The engagement portion 77b protrudes upward from the parking lock arm main body 77a. A not-shown coil spring is installed to the support shaft 78. The not-shown coil spring applies an elastic force to the parking lock arm 77 in a clockwise direction as viewed from the left-right direction other side (-Y side) with the rotation axis J2 as the center.

[0029] The parking lock arm 77 moves along with the movement of the movable section 70a. In more detail, the parking lock arm 77 rotates around the rotation axis J2 along with the movement of the rod 72 and the conical member 73 in the left-right direction Y. When the stop plate 71 rotates from the non-parking position to the parking position along with the rotation of the output shaft 80, the rod 72 and the conical member 73 move to one side (+Y side) in the left-right direction.

[0030] The outer diameter of the tapered surface 73a of the conical member 73 becomes larger as it goes from one side (+Y side) in the left-right direction to the other side (-Y side) in the left-right direction. Therefore, when the conical member 73 moves to one side in the left-right direction, the end portion 77c of the parking lock arm 77 is lifted upward by the tapered surface 73a, and the parking lock arm 77 rotates counterclockwise as viewed from the other side (-Y side) in the left-right direction with the rotation axis J2 as the center. Thus, although not shown, the engagement portion 77b approaches the parking lock gear 6, and the tooth portions 6a of the parking lock gear 6 are engaged with each other.

[0031] In the case where the parking lock gear 6 is engaged with the parking lock arm 77, the conical member 73 is also in the state of being located in the parking position, and the movable section 70a as a whole is in the state of being located in the parking position. That is, in the case where the movable section 70a is located in the parking position, the parking lock arm 77 is engaged with the parking lock gear 6 coupled to the axle. In the parking position, the conical member 73 is sandwiched in a state of being in contact with the contact portion 75b of the support member 75 and the parking lock arm 77. The parking lock arm 77 is engaged with the parking lock gear 6, and thus the parking lock gear 6 is in the locked state.

[0032] When the parking lock arm 77 approaches the parking lock gear 6, depending on the positions of the tooth portions 6a of the parking lock gear 6, the engagement portion 77b sometimes comes into contact with the tooth portions 6a. In this case, the parking lock arm 77 sometimes cannot move to a position where the engagement portion 77b is engaged with the tooth portions 6a with each other. Even in this case, in the present embodiment, since the conical member 73 is able to move in the left-right direction Y with respect to the rod 72, it is possible to allow the rod 72 to move to the parking position while the conical member 73 is in a state of being located on the other side (-Y side) in the left-right direction with respect to the parking position. Thus, it is possible to suppress the case where the rotation of the output shaft 80 is hindered, and it is possible to suppress the load applied to the motor unit 10 for rotating the output shaft 80.

[0033] Further, in a state where the lever 72 is located at the parking position and the conical member 73 is located at the other side (−Y side) in the left-right direction with respect to the parking position, the coil spring 74 is in a compressed deformed state. Therefore, the coil spring 74 exerts an elastic force toward one side (toward the +Y side) in the left-right direction on the conical member 73. Thus, a rotational moment in the counterclockwise direction as viewed from the other side (−Y side) in the left-right direction with the rotational axis J2 as the center is applied from the coil spring 74 to the parking lock arm 77 via the conical member 73. Therefore, when the parking lock gear 6 rotates and the positions of the tooth portions 6a are shifted, the parking lock arm 77 rotates, and the engagement portions 77b are engaged with each other between the tooth portions 6a.

[0034] As the output shaft 80 rotates, when the stop plate 71 rotates from the parking position to the non-parking position, the lever 72 and the conical member 73 move to the other side (−Y side) in the left-right direction. When the conical member 73 moves to the other side in the left-right direction, the end portion 77c of the parking lock arm 77 lifted by the conical member 73 moves to the lower side due to the weight and the elastic force from the not-illustrated coil spring, and the parking lock arm 77 rotates in the counterclockwise direction as viewed from one side (+Y side) in the left-right direction with the rotational axis J2 as the center. Thus, the engagement portions 77b of the parking lock arm 77 are separated from the parking lock gear 6, and disengaged from each other between the tooth portions 6a. In Figure 2 In the present embodiment, the parking lock arm 77 in a state of disengagement from the parking lock gear 6 is illustrated.

[0035] In a case where the parking lock arm 77 is disengaged from the parking lock gear 6, the conical member 73 also becomes located at the non-parking position, and the movable portion 70a as a whole becomes located at the non-parking position. That is, in a case where the movable portion 70a is located at the non-parking position, the parking lock arm 77 is disengaged from the parking lock gear 6. In the non-parking position, the conical member 73 is located at the other side (−Y side) in the left-right direction of the parking lock arm 77. The parking lock arm 77 is disengaged from the parking lock gear 6, and thus the parking lock gear 6 becomes in the unlocked state.

[0036] The support member 75 supports the movable portion 70a so as to be movable in the left-right direction Y. In the present embodiment, the support member 75 supports the movable portion 70a from the lower side. The support member 75 is fixed to the inner side surface of the housing 2. The support member 75 has a base portion 75a, a contact portion 75b, and a plate spring fixing portion 75c.

[0037] In the present embodiment, the base portion 75a is a plate shape with a plate surface facing the vertical direction Z. The contact portion 75b protrudes upward from the base portion 75a. The contact portion 75b is a portion that contacts the movable portion 70a to support the movable portion 70a. In the present embodiment, the contact portion 75b contacts the conical member 73 in the movable portion 70a from the lower side to support the movable portion 70a from the lower side. The surface of the contact portion 75b on the movable portion 70a side is a curved surface of a circular arc shape that is recessed toward the opposite side of the movable portion 70a when viewed in the left-right direction Y. Thus, the conical member 73 having the tapered surface 73a can be stably supported.

[0038] The plate spring fixing portion 75c protrudes upward from the base portion 75a. The plate spring fixing portion 75c is, for example, a cuboid shape. The plate spring fixing portion 75c is positioned on the one side (+X side) in the front-rear direction with respect to the contact portion 75b. The plate spring member 76 is fixed to the plate spring fixing portion 75c of the support member 75. In the present embodiment, the plate spring member 76 is fixed to the end portion on the other side (-Y side) in the left-right direction of the upper surface of the plate spring fixing portion 75c. The plate spring member 76 has a plate spring main body portion 76a and a contacted portion 76b.

[0039] The plate spring main body portion 76a is a plate shape with a plate surface facing the vertical direction Z. The plate spring main body portion 76a extends from the plate spring fixing portion 75c to the other side (-Y side) in the left-right direction. The plate spring main body portion 76a extends to the upper side of the stop plate 71. The plate spring main body portion 76a has a slit 76c at the end portion on the other side in the left-right direction. The slit 76c penetrates the plate spring main body portion 76a in the vertical direction Z. The slit 76c extends in the left-right direction Y. The slit 76c extends to the end portion on the other side in the left-right direction of the plate spring main body portion 76a, dividing the end portion on the other side in the left-right direction of the plate spring main body portion 76a into two.

[0040] The contacted portion 76b is provided at the end portion on the other side (-Y side) in the left-right direction of the plate spring main body portion 76a. In the present embodiment, the contacted portion 76b is a roller that is rotatably attached to the plate spring main body portion 76a about an axis extending in the front-rear direction X. The contacted portion 76b is provided between the front end portions of the plate spring main body portion 76a divided into two by the slit 76c. The contacted portion 76b is brought into contact with either one of the first recessed portion 71a and the second recessed portion 71b by the elastic force generated on the plate spring member 76 as the stop plate 71 rotates. In the case where the movable portion 70a is positioned at the parking position, the contacted portion 76b is in contact with the first recessed portion 71a, hooked to the inner side surface of the first recessed portion 71a in the left-right direction Y. Thus, the stop plate 71 and the rod 72 can be maintained at the parking position.

[0041] In particular, in the case where the coil spring 74 is provided as in the present embodiment, a reaction force caused by the elastic force of the coil spring 74 due to the contact of the engagement portion 77b with the tooth portion 6a is applied to the lever 72 and the stop plate 71 to the other side (−Y side) in the left-right direction. According to the present embodiment, in such a case, the stop plate 71 is prevented from moving to the other side (−Y side) in the left-right direction by the hooked engagement of the contacted portion 76b with the first recessed portion 71a. Thus, the stop plate 71 and the lever 72 can be stably maintained in the parking position.

[0042] On the other hand, when the stop plate 71 is moved from the parking position to the non-parking position by the rotation of the output shaft 80 by the motor unit 10, the plate spring main portion 76a is elastically deformed by being pressed upward by the protrusion 71c of the stop plate 71. Thereby, the contacted portion 76b is disengaged from the first recessed portion 71a. In the case where the movable portion 70a is in the non-parking position, the contacted portion 76b is in contact with the second recessed portion 71b and is hooked with respect to the inner side surface of the second recessed portion 71b in the left-right direction Y. Thereby, the stop plate 71 and the lever 72 can be maintained in the non-parking position.

[0043] In the present embodiment, when the contacted portion 76b moves between the first recessed portion 71a and the second recessed portion 71b, the contacted portion 76b moves relatively from the inner side of one recessed portion to the other recessed portion while passing over the protrusion 71c. When the contacted portion 76b passes over the protrusion 71c, the plate spring member 76 is elastically deformed by the force from the protrusion 71c toward the upper side via the contacted portion 76b. That is, in the present embodiment, the plate spring member 76 is an elastic member that is elastically deformed by being pressed upward by the protrusion 71c of the stop plate 71 when the movable portion 70a moves between the non-parking position and the parking position. In this way, the plate spring member 76 in the present embodiment is an elastic member having a contacted portion 76b that is in contact with any one of the plurality of recessed portions by the elastic force generated by the rotation of the stop plate 71. In the present embodiment, when the contacted portion 76b moves between the first recessed portion 71a and the second recessed portion 71b, the contacted portion 76b moves while rolling on the end surface of the upper side of the stop plate 71 as a roller.

[0044] The motor unit 10 drives the parking switch mechanism 70 based on a shift operation of the vehicle. In the present embodiment, the motor unit 10 drives the parking switch mechanism 70 by moving the movable portion 70a in the left-right direction Y via the output shaft 80, thereby switching the parking lock gear 6 between the locked state and the unlocked state.

[0045] As Figure 1As shown, the motor unit 10 includes a motor 20 and a reducer 30. The reducer 30 is connected to the motor 20. The motor 20 rotates the output shaft 80 via the reducer 30. The motor 20 is, for example, a three-phase brushless DC motor. The reducer 30 reduces the rotational speed of the motor 20. The output shaft 80 is connected to the reducer 30. The rotational speed of the motor 20, reduced by the reducer 30, is transmitted to the output shaft 80. That is, the output shaft 80 is driven by the motor 20 via the reducer 30.

[0046] Figure 3 This is a block diagram schematically illustrating the structure of the actuator control device 200 according to this embodiment. Figure 3 As shown, the actuator control device 200 includes a motor drive circuit 210, a main processor 220, a monitoring processor 230, a first CAN (Controller Area Network) communication circuit 240, and a second CAN communication circuit 250. The actuator control device 200 controls the electric actuator 100. The actuator control device 200 is communicatively connected to a host control device 300 via a CAN communication bus 400. The host control device 300 is, for example, an ECU (Electronic Control Unit) mounted in a vehicle.

[0047] like Figure 3 As shown, the electric actuator 100 includes an output shaft angle sensor 40 that detects the rotation angle θ of the output shaft 80. The output shaft angle sensor 40 outputs a signal representing the detection result of the output shaft rotation angle θ to the actuator control device 200. The output shaft angle sensor 40 is, for example, a Hall sensor, an incremental encoder, or an absolute encoder. The actuator control device 200 controls the motor 20 of the electric actuator 100 based on the detection result of the output shaft rotation angle θ.

[0048] The motor drive circuit 210 is the drive unit that drives the motor 20 of the electric actuator 100. The motor drive circuit 210 is controlled by the main processor 220, thereby providing the drive current required to rotate the motor 20. The motor drive circuit 210 is, for example, an inverter circuit.

[0049] The main processor 220 is a control section that controls the motor drive circuit 210. The output signal of the output shaft angle sensor 40 is input to the main processor 220. The main processor 220 is connected to the CAN communication bus 400 via the first CAN communication circuit 240. The main processor 220 communicates with the upper control device 300 via the first CAN communication circuit 240. The main processor 220 is communicably connected to the monitoring processor 230. The main processor 220 is, for example, a microprocessor such as an MCU (Microcontroller Unit) or a CPU (Central Processing Unit).

[0050] The main processor 220 includes a signal processing section 221. The signal processing section 221 performs conversion processing on a signal communicated via the first CAN communication circuit 240. More specifically, the signal processing section 221 performs encryption processing on a signal transmitted to the upper control device 300 via the first CAN communication circuit 240, and on the other hand, performs decryption processing on a signal received from the upper control device 300 via the first CAN communication circuit 240. The signal processing section 221 can be constituted by software running on the main processor 220, or can be constituted by hardware including an analog circuit and a digital circuit.

[0051] The monitoring processor 230 is an abnormality determination section that monitors a communication abnormality occurring between the main processor 220 and the upper control device 300. The monitoring processor 230 is connected to the CAN communication bus 400 via the first CAN communication circuit 240. In addition, the monitoring processor 230 is connected to the CAN communication bus 400 via the second CAN communication circuit 250. The monitoring processor 230 communicates with the upper control device 300 via the first CAN communication circuit 240 and the second CAN communication circuit 250. The monitoring processor 230 is communicably connected to the main processor 220. The monitoring processor 230 is, for example, a microprocessor such as an MCU or a CPU.

[0052] The first CAN communication circuit 240 is a first communication circuit that relays communication between the upper control device 300 and the main processor 220 in accordance with the CAN communication protocol. The second CAN communication circuit 250 is a second communication circuit that relays communication between the upper control device 300 and the monitoring processor 230 in accordance with the CAN communication protocol. The first CAN communication circuit 240 also relays communication between the upper control device 300 and the monitoring processor 230, but the second CAN communication circuit 250 does not relay communication between the upper control device 300 and the main processor 220.

[0053] Hereinafter, the operation of the actuator control device 200 configured as described above will be described with reference to Figures 3 to 5 The operation of the actuator control device 200 configured as described above will be described with reference to

[0054] The upper control device 300 transmits a shift instruction signal indicating a shift instruction to the actuator control device 200 via the CAN communication bus 400. The shift instruction signal is a signal encrypted for the purpose of ensuring safety. As shown in FIG. 2, the first CAN communication circuit 240 outputs the shift instruction signal received via the CAN communication bus 400 as a first reception signal RS1 to the main processor 220 and the monitoring processor 230. On the other hand, the second CAN communication circuit 250 outputs the shift instruction signal received via the CAN communication bus 400 as a second reception signal RS2 to the monitoring processor 230. Figure 3

[0055] The signal processing section 221 of the main processor 220 performs decoding processing on the signal transmitted from the upper control device 300 to the main processor 220 via the first CAN communication circuit 240, that is, the first reception signal RS1. The signal processing section 221 performs decoding processing of the first reception signal RS1, whereby the main processor 220 can recognize the content of the shift instruction signal.

[0056] The monitoring processor 230 compares the first reception signal RS1 received from the upper control device 300 via the first CAN communication circuit 240 with the second reception signal RS2 received from the upper control device 300 via the second CAN communication circuit 250, and determines whether an abnormality has occurred in communication with the upper control device 300 on the basis of the comparison result. Specifically, the monitoring processor 230 determines that an abnormality has occurred in communication with the upper control device 300 in a case where the first reception signal RS1 and the second reception signal RS2 are different from each other. On the other hand, the monitoring processor 230 determines that no abnormality has occurred in communication with the upper control device 300 in a case where the first reception signal RS1 and the second reception signal RS2 are identical to each other.

[0057] The shift instruction signal is a digital signal in which a plurality of digital values including "1" and "0" are arranged in a predetermined order. Therefore, in the present embodiment, the case where the first reception signal RS1 and the second reception signal RS2 are different from each other means the case where the arrangement order of the digital values in the first reception signal RS1 and the second reception signal RS2 is different. In addition, the case where the first reception signal RS1 and the second reception signal RS2 are identical to each other means the case where the arrangement order of the digital values in the first reception signal RS1 and the second reception signal RS2 is identical. In this way, the monitoring processor 230 only determines whether the arrangement order of the digital values in the first reception signal RS1 and the second reception signal RS2 is identical, and therefore does not need to perform decoding processing of the two signals before inputting the first reception signal RS1 and the second reception signal RS2 to the monitoring processor 230.

[0058] As shown in FIG. 2, the first reception signal RS1 and the second reception signal RS2 are input to the monitoring processor 230. The monitoring processor 230 compares the first reception signal RS1 and the second reception signal RS2, and determines whether an abnormality has occurred in communication with the upper control device 300 on the basis of the comparison result. The monitoring processor 230 outputs a signal indicating the determination result to the main processor 220. The main processor 220 determines whether to perform the shift instruction on the basis of the signal output from the monitoring processor 230. Figure 3 ​As shown, the monitoring processor 230 outputs a normal notification signal TS1 to the main processor 220 in a case where it is determined that no abnormality has occurred in communication with the upper-level control device 300, that is, in a case where communication between the main processor 220 and the upper-level control device 300 is normally performed, the normal notification signal TS1 being used to notify the upper-level control device 300 of normal reception of the shift instruction signal. The signal processing section 221 of the main processor 220 performs encryption processing of the normal notification signal TS1 in order to ensure safety when it receives the normal notification signal TS1 from the monitoring processor 230. Then, the main processor 220 transmits the normal notification signal TS1' on which the encryption processing has been performed by the signal processing section 221 to the upper-level control device 300 via the first CAN communication circuit 240.

[0059] The main processor 220, after transmitting the normal notification signal TS1' on which the encryption processing has been performed to the upper-level control device 300, executes the Figure 4 gear shift processing shown in FIG. 6 based on the content of the decrypted first reception signal RS1, that is, the shift instruction signal.

[0060] Figure 4 is a flowchart showing the gear shift processing executed by the main processor 220. As shown in Figure 4 the main processor 220 first acquires the output shaft target angle θt corresponding to the gear instructed by the upper-level control device 300 (step S1). For example, table data showing the correspondence relationship between the gears and the output shaft target angles θt is stored in advance in the internal memory of the main processor 220. The main processor 220 acquires the output shaft target angle θt corresponding to the instructed gear by referring to the table data stored in the internal memory.

[0061] Next, the main processor 220 starts the position PID control of the motor 20 based on the output shaft target angle θt and the output shaft rotation angle θ detected by the output shaft angle sensor 40 (step S2). Specifically, the main processor 220 calculates the operation amount that makes the deviation of the output shaft target angle θt from the output shaft rotation angle θ 0 by the PID operation, and controls the motor drive circuit 210 in accordance with the calculated operation amount, thereby supplying the motor 20 with the drive current corresponding to the operation amount. As a result, the output shaft 80 connected to the motor 20 via the speed reducer 30 rotates to the right or to the left toward the output shaft target angle θt corresponding to the instructed gear.

[0062] In the present embodiment, "the output shaft 80 rotates to the right" means that the output shaft 80 rotates clockwise around the center axis J1 as viewed from one side (+X side) of the front-rear direction. That is, the direction of the right rotation is opposite to the direction of the left rotation. Figure 2The direction indicated by the arrow of the rotation angle θ of the output shaft 80 is opposite. In addition, in the present embodiment, "the output shaft 80 rotates to the left" means that the output shaft 80 rotates counterclockwise about the center axis J1 as viewed from one side (+X side) of the front-rear direction. That is, the direction of the left rotation is the direction opposite to the direction indicated by the arrow of the rotation angle θ of the output shaft 80. Figure 2 The direction indicated by the arrow of the rotation angle θ of the output shaft 80 is opposite. In addition, in the present embodiment, "the output shaft 80 rotates to the left" means that the output shaft 80 rotates counterclockwise about the center axis J1 as viewed from one side (+X side) of the front-rear direction. That is, the direction of the left rotation is the direction opposite to the direction indicated by the arrow of the rotation angle θ of the output shaft 80.

[0063] For example, in the case where the gear position before the execution of the gear switching process is the non-parking position, the contacted portion 76b of the plate spring member 76 is located in the second recessed portion 71b of the stop plate 71 before the execution of the gear switching process. In this case, assuming that the switching to the parking position is instructed from the upper control device 300, the main processor 220 calculates the operation amount at which the deviation of the output shaft target angle θt corresponding to the parking position from the output shaft rotation angle θ becomes 0 by the PID operation, and controls the motor drive circuit 210 in accordance with the calculated operation amount, whereby the drive current corresponding to the operation amount is supplied to the motor 20. As a result, the output shaft 80 rotates to the right toward the output shaft target angle θt corresponding to the parking position.

[0064] Thus, when the output shaft 80 rotates to the right toward the output shaft target angle θt corresponding to the parking position, the stop plate 71 sharing the center axis J1 with the output shaft 80 also rotates to the right toward the output shaft target angle θt corresponding to the parking position. When the stop plate 71 rotates to the right toward the output shaft target angle θt corresponding to the parking position, the plate spring main body portion 76a is elastically deformed by being pushed up by the convex portion 71c of the stop plate 71. Thus, as shown in "State A" of FIG. 8, the contacted portion 76b is disengaged from the second recessed portion 71b corresponding to the non-parking position, and moves from the second recessed portion 71b toward the first recessed portion 71a along the end surface of the upper side of the stop plate 71 while rolling. In addition, when the stop plate 71 rotates to the right toward the output shaft target angle θt corresponding to the parking position, the rod 72 and the conical member 73 move from the non-parking position toward the parking position along the left-right direction Y. Figure 5

[0065] The main processor 220 determines whether or not the output shaft rotation angle θ detected by the output shaft angle sensor 40 satisfies the following conditional expression (1) while performing the position PID control of the motor 20 (step S3). In other words, in step S3, the main processor 220 determines whether or not the output shaft rotation angle θ converges within a tolerance of ±1° from the output shaft target angle θt. In addition, in the following conditional expression (1), the allowable error is set to ±1° as an example, but the value of the allowable error is not limited to ±1°.

[0066] θt - 1° ≤ θ ≤ θt + 1°... (1)

[0067] ​If the condition in step S3 is "No", that is, if the output shaft rotation angle θ detected by the output shaft angle sensor 40 does not satisfy condition (1), it is presumed that the contacted part 76b is not located within ±1° of the recess corresponding to the indicated gear position among the plurality of recesses of the stop plate 71. In this case, the main processor 220 performs step S3 repeatedly at fixed time intervals while performing PID control of the position of the motor 20.

[0068] On the other hand, if the condition in step S3 is "yes," that is, if the output shaft rotation angle θ detected by the output shaft angle sensor 40 satisfies condition (1), it is presumed that the contacted part 76b is located within ±1° of the recess corresponding to the indicated gear position among the plurality of recesses of the stop plate 71. In this case, the main processor 220 determines whether a predetermined time has elapsed in the state where the output shaft rotation angle θ satisfies condition (1) (step S4). In other words, in step S4, the main processor 220 determines whether a predetermined time has elapsed in the state where the contacted part 76b is located within ±1° of the recess corresponding to the indicated gear position. As an example, the predetermined time in step S4 is 20 milliseconds, but the predetermined time is not limited to 20 milliseconds.

[0069] For example, as described above, when the indicated gear is the parking position and the stop plate 71 continues to rotate to the right toward the output shaft target angle θt corresponding to the parking position, such as Figure 5 As shown in "State B", the contacted part 76b passes over the protrusion 71c of the stop plate 71 and enters a range of ±1° centered on the first recess 71a corresponding to the parking position. Thus, when the contacted part 76b enters the range of ±1° centered on the first recess 71a, that is, when the output shaft rotation angle θ detected by the output shaft angle sensor 40 satisfies condition (1), the main processor 220 starts timing and determines whether a predetermined time has elapsed while the contacted part 76b is within the range of ±1° centered on the first recess 71a.

[0070] If step S4 is "No", meaning that no predetermined time has elapsed while the output shaft rotation angle θ satisfies condition (1), the main processor 220 repeatedly performs step S4 at fixed time intervals until the predetermined time has elapsed. On the other hand, if step S4 is "Yes", meaning that a predetermined time has elapsed while the output shaft rotation angle θ satisfies condition (1), the main processor 220 stops the position PID control of the motor 20, thereby stopping the supply of drive current to the motor 20 (step S5).

[0071] When the supply of the drive current to the motor 20 is stopped, the torque of the motor 20 becomes 0, and thus the output shaft 80 and the stop plate 71 become a state in which they can freely rotate. On the other hand, the plate spring main body portion 76a is elastically deformed by being pushed up by the convex portion 71c of the stop plate 71, and thus a downward elastic force that pushes the contacted portion 76b against the end surface on the upper side of the stop plate 71 is generated. Therefore, when the contacted portion 76b is located within a range of ±1° centered on the recess corresponding to the indicated gear position, and the stop plate 71 becomes a state in which it can freely rotate, the stop plate 71 rotates by the downward elastic force generated on the plate spring main body portion 76a, and as a result, the contacted portion 76b moves while rolling along the end surface on the upper side of the stop plate 71 toward the recess.

[0072] For example, as described above, in a case where the indicated gear position is the park position, as shown in "State B" of FIG. 6, when the contacted portion 76b is located within a range of ±1° centered on the first recess 71a corresponding to the park position, and the stop plate 71 becomes a state in which it can freely rotate, the stop plate 71 rotates to the right by the downward elastic force generated on the plate spring main body portion 76a. As a result, as shown in "State C" of FIG. 6, the contacted portion 76b moves while rolling along the end surface on the upper side of the stop plate 71 toward the first recess 71a. Figure 5 Figure 5 For example, as described above, in a case where the indicated gear position is the park position, as shown in "State B" of FIG. 6, when the contacted portion 76b is located within a range of ±1° centered on the first recess 71a corresponding to the park position, and the stop plate 71 becomes a state in which it can freely rotate, the stop plate 71 rotates to the right by the downward elastic force generated on the plate spring main body portion 76a. As a result, as shown in "State C" of FIG. 6, the contacted portion 76b moves while rolling along the end surface on the upper side of the stop plate 71 toward the first recess 71a.

[0073] After the supply of the drive current to the motor 20 is stopped, the main processor 220 determines whether the output shaft rotation angle θ detected by the output shaft angle sensor 40 satisfies the following conditional expression (2) (step S6). In other words, in step S6, the main processor 220 determines whether the output shaft rotation angle θ is within a tolerance of ±2° with the output shaft target angle θt as a reference. In the following conditional expression (2), the allowable error is set to ±2° as an example, but the value of the allowable error is not limited to ±2°. However, for the reason described later, it is preferable that the allowable error in the conditional expression (2) be set to a value larger than the allowable error in the conditional expression (1).

[0074] θt - 2° ≤ θ ≤ θt + 2°... (2)

[0075] In a case where the determination in step S6 is "No", that is, in a case where the output shaft rotation angle θ detected by the output shaft angle sensor 40 does not satisfy the conditional expression (2), it is presumed that the contacted portion 76b is not located within a range of ±2° centered on the recess corresponding to the indicated gear position among the plurality of recesses of the stop plate 71. In this case, the main processor 220 returns to the process of step S2, and the position PID control of the motor 20 is started again.

[0076] ​As described above, when the drive current to the motor 20 is stopped, the output shaft 80 and the stop plate 71 become freely rotatable. Therefore, after the drive current to the motor 20 is stopped, the stop plate 71 rotates significantly due to the downward spring force generated in the leaf spring body 76a, and the contact part 76b may move significantly away from the position corresponding to the recess of the indicated gear. Therefore, when the rotation angle θ of the output shaft does not satisfy condition (2) after the drive current to the motor 20 is stopped, that is, when it is presumed that the contact part 76b has moved significantly away from the position corresponding to the recess of the indicated gear due to the cessation of the drive current to the motor 20, the main processor 220 restarts the position PID control of the motor 20, thereby retrying the gear switching. The reason for setting the allowable error value in condition (2) to be greater than the allowable error in condition (1) is to accurately detect the position where the contact part 76b has moved significantly away from the position corresponding to the recess of the indicated gear due to the cessation of the drive current to the motor 20.

[0077] On the other hand, if the condition in step S6 is "yes," that is, if the output shaft rotation angle θ detected by the output shaft angle sensor 40 satisfies condition (2), it is presumed that the contacted part 76b is within a range of ±2° centered on the recess corresponding to the indicated gear position among the plurality of recesses of the stop plate 71. In this case, the main processor 220 determines whether a predetermined time has elapsed in the state where the output shaft rotation angle θ satisfies condition (2) (step S7). In other words, in step S7, the main processor 220 determines whether a predetermined time has elapsed in the state where the contacted part 76b is within a range of ±2° centered on the recess corresponding to the indicated gear position. As an example, the predetermined time in step S7 is 20 milliseconds, but the predetermined time is not limited to 20 milliseconds.

[0078] For example, as mentioned above, when the indicated gear is the parking position, such as Figure 5 As shown in "State C", when the contacted portion 76b is within ±1° of the first recess 71a corresponding to the parking position, and the drive current to the motor 20 is stopped, the stop plate 71 rotates to the right due to the downward spring force generated by the leaf spring body 76a. As a result, the contacted portion 76b rolls and moves along the upper end face of the stop plate 71 toward the first recess 71a. Furthermore, as... Figure 5 As shown in "State D", when the contacted part 76b reaches the first recess 71a, the contacted part 76b hooks relative to the inner side of the first recess 71a in the left-right direction Y, thereby stopping the stop plate 71. As a result, the stop plate 71 and the movable part 70a (rod 72, conical member 73) are in the parking position, and the parking lock gear 6 is locked by the parking lock arm 77.

[0079] That is, after the supply of the drive current to the motor 20 is stopped, it is determined whether or not the predetermined time has elapsed in the state where the output shaft rotation angle θ satisfies the conditional expression (2), and thus it is possible to determine whether or not the stop plate 71 and the movable portion 70a are in the state of being positioned at the indicated gear.

[0080] In the case where the determination in the step S7 is "No", that is, in the case where the predetermined time has not elapsed in the state where the output shaft rotation angle θ satisfies the conditional expression (2), it is presumed that the contacted portion 76b has not reached the recess portion corresponding to the indicated gear, and the stop plate 71 and the movable portion 70a are not in the state of being positioned at the indicated gear. In this case, the main processor 220 repeatedly performs the process of the step S7 at a fixed time interval until the predetermined time elapses.

[0081] On the other hand, in the case where the determination in the step S7 is "Yes", that is, in the case where the predetermined time has elapsed in the state where the output shaft rotation angle θ satisfies the conditional expression (2), it is presumed that the contacted portion 76b has reached the recess portion corresponding to the indicated gear, and the stop plate 71 and the movable portion 70a are in the state of being positioned at the indicated gear. In this case, the main processor 220 determines that the switching of the gear is completed, and notifies the upper-level control device 300 that the switching of the gear is completed via the first CAN communication circuit 240 (step S8).

[0082] The above is a description of the gear switching process performed by the main processor 220 in the case where the monitoring processor 230 determines that no abnormality has occurred in the communication with the upper-level control device 300. On the other hand, as shown in FIG. 6, the monitoring processor 230, in the case where it is determined that an abnormality has occurred in the communication with the upper-level control device 300, transmits an abnormality notification signal TS2 for notifying the upper-level control device 300 that an abnormality has occurred in the communication with the upper-level control device 300 to the upper-level control device 300 via the second CAN communication circuit 250. In this case, the main processor 220 does not receive the normal notification signal TS1 from the monitoring processor 230, and thus does not perform the above-described gear switching process. Figure 3

[0083] As described above, the actuator control device 200 of the present embodiment is provided with: the first CAN communication circuit 240 that relays the communication between the upper-level control device 300 and the main processor 220; and the second CAN communication circuit 250 that relays the communication between the control device 300 and the monitoring processor 230. The monitoring processor 230 compares the first reception signal RS1 received from the upper-level control device 300 via the first CAN communication circuit 240 and the second reception signal RS2 received from the upper-level control device 300 via the second CAN communication circuit 250, and determines whether or not an abnormality has occurred in the communication with the upper-level control device 300 on the basis of the comparison result. ​

[0084] According to such a present embodiment, it is possible to monitor the communication abnormality occurring between the main processor 220 and the upper-level control device 300 by a simple structure.

[0085] In the present embodiment, the monitoring processor 230 transmits the abnormality notification signal TS2 to the upper-level control device 300 via the second CAN communication circuit 250 in a case where it is determined that the communication with the upper-level control device 300 has occurred abnormality.

[0086] Suppose that, in a case where the monitoring processor 230 transmits the abnormality notification signal TS2 to the upper-level control device 300 via the first CAN communication circuit 240, it is necessary to perform the processing of stopping the signal transmission from the main processor 220 to the upper-level control device 300, and the processing efficiency of the actuator control device 200 as a whole is reduced. Therefore, the monitoring processor 230 transmits the abnormality notification signal TS2 to the upper-level control device 300 via the second CAN communication circuit 250, whereby it is possible to suppress the reduction of the processing efficiency of the actuator control device 200 as a whole.

[0087] In the present embodiment, the signal processing section 221 of the main processor 220 performs the decoding processing on the signal transmitted from the upper-level control device 300 to the main processor 220 via the first CAN communication circuit 240, that is, the first reception signal Rl. The monitoring processor 230 outputs the normal notification signal TS 1 to the main processor 220 in a case where it is determined that the communication with the upper-level control device 300 has not occurred abnormality. The signal processing section 221 performs the encryption processing on the normal notification signal TS 1. The main processor 220 transmits the normal notification signal TS 1' on which the encryption processing has been performed by the signal processing section 221 to the upper-level control device 300 via the first CAN communication circuit 240.

[0088] According to such a present embodiment, the decryption processing on the first reception signal Rl and the encryption processing on the normal notification signal TS 1 are performed only by the signal processing section 221 provided in the main processor 220, and therefore it is not necessary to provide a signal processing section having the same function in the monitoring processor 230. Therefore, it is possible to use an inexpensive processor as the monitoring processor 230, and it is possible to reduce the overall cost of the actuator control device 200.

[0089] In the present embodiment, the monitoring processor 230 determines that the communication with the upper-level control device 300 has occurred abnormality in a case where the first reception signal Rl and the second reception signal R2 are different from each other.

[0090] Accordingly, it is possible to determine that the communication with the upper-level control device 300 has occurred abnormality by a simple processing, and therefore it is possible to reduce the processing load of the monitoring processor 230. Therefore, it is possible to use an inexpensive processor as the monitoring processor 230, and it is possible to reduce the overall cost of the actuator control device 200.

[0091] In the present embodiment, the monitoring processor 230 determines that the communication with the upper-level control device 300 is not abnormal when the first reception signal RS1 and the second reception signal RS2 coincide with each other.

[0092] Thus, it is possible to determine that the communication with the upper-level control device 300 is not abnormal by simple processing, and thus it is possible to reduce the processing load of the monitoring processor 230. Therefore, it is possible to use an inexpensive processor as the monitoring processor 230, and it is possible to reduce the overall cost of the actuator control device 200.

[0093] [Modified Example]

[0094] The present application is not limited to the above-described embodiments, and each structure described in the present specification can be appropriately combined within a range that does not contradict each other.

[0095] (1) For example, in the above-described embodiments, a mode in which the main processor 220 has the signal processing section 221 is exemplified, but the present application is not limited thereto, and as shown in Figure 6 the signal processing IC 260 having the same function as the signal processing section 221 can be provided between the main processor 220 and the first CAN communication circuit 240. Figure 6 The operation of the actuator control device 200 in the modified example shown in

[0096] As shown in Figure 6 the first CAN communication circuit 240 outputs the shift instruction signal received via the CAN communication bus 400 to the signal processing IC 260 and the monitoring processor 230 as the first reception signal RS1. On the other hand, the second CAN communication circuit 250 outputs the shift instruction signal received via the CAN communication bus 400 to the monitoring processor 230 as the second reception signal RS2.

[0097] The signal processing IC 260 performs decoding processing on the signal received from the upper-level control device 300 via the first CAN communication circuit 240, that is, the first reception signal R1, and outputs the first reception signal R1' after the decoding processing to the main processor 220. By performing the decoding processing of the first reception signal R1 by the signal processing IC 260, the main processor 220 is able to recognize the content of the shift instruction signal.

[0098] The monitoring processor 230 compares the first received signal RS1 received from the host control device 300 via the first CAN communication circuit 240 with the second received signal RS2 received from the host control device 300 via the second CAN communication circuit 250, and determines whether an anomaly has occurred in communication with the host control device 300 based on the comparison result. Specifically, if the first received signal RS1 and the second received signal RS2 are different, the monitoring processor 230 determines that an anomaly has occurred in communication with the host control device 300. On the other hand, if the first received signal RS1 and the second received signal RS2 are the same, the monitoring processor 230 determines that no anomaly has occurred in communication with the host control device 300.

[0099] like Figure 6 As shown, when the monitoring processor 230 determines that there is no abnormality in the communication with the upper control device 300, it sends a normal notification signal TS1 to the main processor 220 to notify the upper control device 300 that the shift instruction signal has been received normally. Upon receiving the normal notification signal TS1 from the monitoring processor 230, the main processor 220 sends the received normal notification signal TS1 to the signal processing IC 260. Upon receiving the normal notification signal TS1 from the main processor 220, the signal processing IC 260 encrypts the normal notification signal TS1 to ensure security. Then, the signal processing IC 260 sends the encrypted normal notification signal TS1' to the upper control device 300 via the first CAN communication circuit 240.

[0100] After sending the normal notification signal TS1 to the signal processing IC 260, the main processor 220 executes the following based on the content of the decoded first received signal RS1, i.e., the shift indication signal: Figure 4 The gear shifting process is shown. On the other hand, as... Figure 6 As shown, when the monitoring processor 230 determines that a communication anomaly has occurred with the upper control device 300, it sends an anomaly notification signal TS2, which is used to notify the upper control device 300 of the communication anomaly, via the second CAN communication circuit 250. In this case, the main processor 220 will not receive the normal notification signal TS1 from the monitoring processor 230, and therefore will not perform the aforementioned gear switching process.

[0101] According to the above variation, since the signal processing IC 260, which is independent of the main processor 220, functions as a signal processing unit, the processing load of the main processor 220 can be reduced. Therefore, an inexpensive processor can be used as the main processor 220.

[0102] (2) For example, in the above embodiment, a case where the monitoring processor 230 transmits the abnormality notification signal TS2 to the upper-level control device 300 via the second CAN communication circuit 250 in a case where it is determined that an abnormality has occurred in communication with the upper-level control device 300 is exemplified. The present application is not limited to this, and the monitoring processor 230 can transmit the abnormality notification signal TS2 to the upper-level control device 300 via both the first CAN communication circuit 240 and the second CAN communication circuit 250 in a case where it is determined that an abnormality has occurred in communication with the upper-level control device 300.

[0103] Thus, even in a case where an abnormality has occurred in one of the first CAN communication circuit 240 and the second CAN communication circuit 250, it is possible to transmit the abnormality notification signal TS2 to the upper-level control device 300 via the normal other communication circuit.

[0104] (3) For example, in the above embodiment, a case where the signal processing section 221 performs the encryption processing and the decryption processing as the conversion processing of the signal communicated via the first CAN communication circuit 240 is exemplified. The present application is not limited to this, and, for example, the signal processing section 221 can perform other signal conversion processing such as the modulation processing and the demodulation processing as the conversion processing of the signal communicated via the first CAN communication circuit 240. The same applies to the signal processing IC 260 in the modified example.

[0105] (4) For example, in the above embodiment, a case where the first CAN communication circuit 240 and the second CAN communication circuit 250 that communicate in accordance with the CAN communication protocol are used as the first communication circuit and the second communication circuit is exemplified, but the first communication circuit and the second communication circuit that communicate in accordance with other communication protocols can be used.

[0106] (5) For example, in the above embodiment, a case where the actuator control device 200 that controls the electric actuator 100 that switches the gears is exemplified, but the actuator control device of the present application can be widely applied as a control device that controls various actuators other than the electric actuator 100.

[0107] Explanation of Reference Signs

[0108] 1 drive device, 2 housing, 3 drive motor, 4 reduction device, 5 differential device, 6 parking lock gear, 10 motor unit, 20 motor, 30 speed reducer, 40 output shaft angle sensor, 70 parking switch mechanism, 71 stop plate, 71a first recess, 71b second recess, 76 leaf spring member, 76b contacted portion, 80 output shaft, 100 electric actuator, 200 actuator control device, 210 motor drive circuit (drive section), 220 main processor (control section), 221 signal processing section, 230 monitoring processor (abnormality determination section), 240 first CAN communication circuit (first communication circuit), 250 second CAN communication circuit (second communication circuit), 260 signal processing IC (signal processing section), 300 upper control device (external device), 400 CAN communication bus.

Claims

1. An actuator control device that controls an actuator, characterized by, Possessing: a drive section that drives the actuator; a control section that controls the drive section; an abnormality determination section; a first communication circuit that relays communication between an external device and the control section; a second communication circuit that relays communication between the external device and the abnormality determination section; and a signal processing section that performs conversion processing on a signal communicated via the first communication circuit, the abnormality determination section compares a first reception signal received from the external device via the first communication circuit with a second reception signal received from the external device via the second communication circuit, and determines whether or not communication with the external device has become abnormal based on the comparison result, the signal processing section performs conversion processing on a signal transmitted from the external device to the control section via the first communication circuit, the abnormality determination section outputs a normal notification signal to the control section in a case where it is determined that communication with the external device has not become abnormal, the signal processing section performs conversion processing on the normal notification signal, the control section transmits the normal notification signal, on which conversion processing has been performed by the signal processing section, to the external device via the first communication circuit.

2. The actuator control device according to claim 1, characterized in that the abnormality determination section transmits an abnormal notification signal to the external device via the second communication circuit in a case where it is determined that communication with the external device has become abnormal.

3. The actuator control device according to claim 1, characterized in that the abnormality determination section transmits an abnormal notification signal to the external device via both the first communication circuit and the second communication circuit in a case where it is determined that communication with the external device has become abnormal.

4. The actuator control device according to any one of claims 1 to 3, characterized in that the abnormality determination section determines that communication with the external device has become abnormal in a case where the first reception signal and the second reception signal are not identical to each other.

5. The actuator control device according to any one of claims 1 to 3, characterized in that the abnormality determination section determines that communication with the external device has not become abnormal in a case where the first reception signal and the second reception signal are identical to each other. Possessing:

6. An actuator control device that controls an actuator, characterized by, a drive section that drives the actuator; a control section that controls the drive section; an abnormality determination section; a first communication circuit that relays communication between an external device and the control section; a second communication circuit that relays communication between the external device and the abnormality determination section; and a signal processing section that performs conversion processing on a signal communicated via the first communication circuit, the abnormality determination section compares a first reception signal received from the external device via the first communication circuit with a second reception signal received from the external device via the second communication circuit, and determines whether or not communication with the external device has become abnormal based on the comparison result, ​ ​ The signal processing section performs conversion processing on a signal received from the external device via the first communication circuit, and outputs the signal subjected to the conversion processing to the control section, The abnormality determination section outputs a normal notification signal to the signal processing section in a case where it is determined that the communication with the external device is not abnormal, The signal processing section performs conversion processing on the normal notification signal, and transmits the normal notification signal subjected to the conversion processing to the external device via the first communication circuit.

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