Control device for vehicle-mounted unit and control method for vehicle-mounted unit

Abstract

The invention relates to a control device for an on-board unit and a control method of the on-board unit. A control device (1) for an on-board unit (2) mounted in a vehicle having a warning light (9) includes a control circuit (50a) and a storage circuit (50b). The control circuit (50a) executes an abnormality detection process, a detection result write process, and a lighting request output process. The storage circuit (50b) retains the content of the history information even when the on-board unit (2) is powered on or powered off. The control circuit (50a) is configured to acquire the content of the history information from the storage circuit (50b) when the on-board unit (2) is energized. When a detection history is written in the acquired content, even when an abnormality of the in-vehicle unit (2) cannot be detected by the abnormality detection process, the control circuit (50a) outputs a lighting request.

Description

Technical Field

[0001] The invention relates to a control device for an on-board unit and a control method for the on-board unit. Background Art

[0002] For example, as described in Japanese Unexamined Patent Application Publication No. 2015-58911 (JP 2015-58911A), there is a control device for an on-vehicle unit, which is configured to output a lighting request to a warning light of a vehicle to notify a driver of a state of the on-vehicle unit. When an abnormality is determined regarding a sensor output signal of a sensor that the on-vehicle unit has, the control device for the on-vehicle unit outputs a lighting request to the warning light. Summary of the invention

[0003] In a state where the sensor output signal itself is not output, for example, immediately after the on-board unit is powered on, the above-mentioned control device for the on-board unit cannot perform the determination itself of the abnormality of the sensor output signal. In this case, even in a state where the sensor output signal is abnormal, the warning light cannot be lit until a state where the sensor output signal is output occurs. Therefore, a state where the sensor output signal is abnormal but the warning light cannot be lit occurs to some extent.

[0004] A first aspect of the present disclosure is a control device for an on-board unit. The on-board unit is installed in a vehicle having a warning light. The control device is applied to the on-board unit and is configured to output a lighting request to the warning light to notify the driver of the state of the on-board unit. The control device includes: a control circuit configured to perform at least a process related to the output of the lighting request; and a storage circuit configured to store at least information used in the process performed by the control circuit. The control circuit is configured to perform an abnormality detection process for detecting an abnormality of the on-board unit, a detection result writing process for writing a detection history indicating the detection of the abnormality into the history information of the storage circuit when the abnormality of the on-board unit is detected by the abnormality detection process, and a lighting request output process for outputting a lighting request. The storage circuit is configured to retain the content of the history information even when the on-board unit is powered on or off. The control circuit is configured to obtain the content of the history information from the storage circuit when the on-board unit is powered on. The control circuit is configured to output a lighting request even when the abnormality of the on-board unit cannot be detected by the abnormality detection process when the detection history is written in the obtained content.

[0005] According to this configuration, in the case where the detection history is written in the content of the history information at the time of power-on of the on-board unit, even when the abnormality of the on-board unit cannot be detected, the control circuit can output a lighting request from immediately after the power-on of the on-board unit. For example, even when the abnormality of the on-board unit cannot be detected, if the lighting request was output during the previous power-on, the output state during the previous power-on can be taken over to start the output from the current power-on. During the power-on after the lighting request was output during the previous power-on, even when the abnormality of the on-board unit cannot be detected, it is likely that the abnormality of the on-board unit has been taken over from the previous power-on. Therefore, it is possible to reduce the occurrence of a state in which there is an abnormality of the on-board unit but the warning light cannot be lit.

[0006] In the control device for the vehicle-mounted unit, the control circuit may be configured to retrieve the contents of the history information from the storage circuit when an abnormality of the vehicle-mounted unit is detected by the abnormality detection process. The control circuit may be configured to output a lighting request based on the detection history written in the retrieved contents.

[0007] According to this configuration, it is possible to prevent a difference in contents between the lighting request and the history information.

[0008] In a control device for an on-board unit, an abnormality detection process may include a process of detecting that the on-board unit has recovered from an abnormality. The detection result writing process may include a process of deleting the detection history from the history information of the storage circuit when the on-board unit has recovered from an abnormality through the abnormality detection process. The control circuit may be configured to obtain the content of the history information from the storage circuit when the on-board unit has recovered from an abnormality through the abnormality detection process. The control circuit may be configured to stop outputting a lighting request when the detection history has been deleted from the obtained content.

[0009] According to this configuration, when it is detected that the on-vehicle unit has recovered from an abnormality, the control circuit can delete the detection history from the history information and prevent the warning light from lighting up. Therefore, the situation in which the warning light is allowed to light up can be optimized.

[0010] In the control device for the on-vehicle unit, the control circuit may be configured to perform a startup process when the on-vehicle unit is powered on. The control circuit may be configured to fetch the content of the history information from the storage circuit during the startup process.

[0011] According to this configuration, even when the control circuit is configured to perform the startup processing after the on-board unit is powered on, if the content of the history information is the detection history, a lighting request can be output from immediately after power on. This is particularly effective as a countermeasure against an abnormality of the on-board unit that cannot be detected by the abnormality detection processing in the case of the startup processing.

[0012] In a control device for an on-board unit, a storage circuit may be configured to store diagnostic information. The diagnostic information may be information that is not used in a process performed by the control circuit and in which a diagnosis indicating detection of an abnormality is written when an abnormality of the on-board unit is detected by an abnormality detection process. The storage circuit may be configured to delete the contents of the diagnostic information and history information by an operation from a diagnostic tool connected to the vehicle from the outside.

[0013] According to this configuration, the contents of the diagnostic information and the history information can be synchronized with each other through the operation from the diagnostic tool. Therefore, the diagnostic information and the history information which are different from each other in roles and management methods can be appropriately managed.

[0014] The second aspect of the present disclosure is a control method for an on-board unit. The on-board unit is installed in a vehicle having a warning light. The on-board unit includes: a control circuit configured to perform at least a process related to outputting a lighting request to the warning light to notify the driver of the state of the on-board unit; and a storage circuit configured to store at least information used in the process performed by the control circuit. The control method includes: detecting an abnormality of the on-board unit by the control circuit; when an abnormality of the on-board unit is detected, writing a detection history indicating the detection of the abnormality into historical information of the storage circuit by the control circuit; outputting a lighting request by the control circuit; retaining the content of the historical information by the storage circuit even when the on-board unit is powered on or off; obtaining the content of the historical information from the storage circuit by the control circuit when the on-board unit is powered on; and when the detection history is written in the obtained content, outputting a lighting request by the control circuit even when the abnormality of the on-board unit cannot be detected.

[0015] According to the control device for an on-vehicle unit and the control method for an on-vehicle unit of the present invention, it is possible to reduce the occurrence of a state where the warning light cannot be turned on due to an abnormality of the on-vehicle unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0017] Figure 1 is a diagram showing the configuration of a steer-by-wire steering device according to an embodiment;

[0018] Figure 2 It is shown Figure 1 A block diagram of the electrical configuration of the steering control device;

[0019] Figure 3 It is shown Figure 2 A diagram of the CPU state transitions;

[0020] Figure 4 is a table showing the correspondence between lighting requests for various types of abnormalities and contents to be written in the memory;

[0021] Figure 5 About Figure 2 A flowchart of a CPU showing a sequence of processing related to detection of an inapplicable failure;

[0022] Figure 6 About Figure 2 A flowchart of a CPU showing a sequence of processing related to detection of an applicable failure; and

[0023] Figure 7 is a graph showing one example of each of the state of the steering device, the detection state of the applicable failure, the output state of the lighting request, and the content of the history information. DETAILED DESCRIPTION

[0024] A control device for an on-vehicle unit according to one embodiment will be described. Figure 1 As shown, the steering control device 1 is an example of a control device for an onboard unit, which is applied to an onboard unit installed in a vehicle VC having a warning light 9. The steering control device 1 controls a steering device 2 as a target. The steering device 2 is an example of an onboard unit installed in the vehicle VC. The steering device 2 is configured as a steering device for a steer-by-wire vehicle. The steering device 2 includes a steering unit 4 and a steering unit 6. The steering unit 4 is steered by the driver through a steering wheel 3 as a steering member of the vehicle VC. The steering unit 6 steers the left and right steering wheels 5 of the vehicle VC according to the steering input to the steering unit 4 by the driver. The steering device 2 of the present embodiment has a structure in which, for example, a power transmission path between the steering unit 4 and the steering unit 6 is always mechanically cut off. In this structure, the power transmission path between the steering actuator 12 to be described later and the steering actuator 31 to be described later is always mechanically cut off.

[0025] The steering unit 4 includes a steering shaft 11 and a steering actuator 12. The steering shaft 11 is connected to the steering wheel 3. The steering actuator 12 has a steering side motor 13 and a steering side speed reduction mechanism 14. The steering side motor 13 is a reaction force motor that applies a steering reaction force, which is a force acting against the steering, to the steering wheel 3 through the steering shaft 11. The steering side motor 13 is connected to the steering shaft 11 through a steering side speed reduction mechanism 14 formed of, for example, a worm gear. As the steering side motor 13 of the present embodiment, for example, a three-phase brushless motor is used.

[0026] The steering unit 6 includes a pinion shaft 21, a rack shaft 22, and a rack housing 23. The pinion shaft 21 and the rack shaft 22 are coupled together at a predetermined intersection angle. Pinion teeth 21a formed on the pinion shaft 21 and rack teeth 22a formed on the rack shaft 22 mesh with each other to form a rack-pinion mechanism 24. The pinion shaft 21 corresponds to a rotation axis whose rotation can be converted into a steering angle as a steering position of the steering wheel 5. The rack housing 23 accommodates the rack-pinion mechanism 24.

[0027] One end of the pinion shaft 21 on the side opposite to the side coupled to the rack shaft 22 protrudes from the rack housing 23. Both ends of the rack shaft 22 protrude in the axial direction from both ends of the rack housing 23. A tie rod 26 is coupled at both ends of the rack shaft 22 through a rack end 25 formed of a ball joint. The front end of the tie rod 26 is coupled to a steering knuckle (not shown) on which the left and right steering wheels 5 are mounted, respectively.

[0028] The steering unit 6 includes a steering actuator 31. The steering actuator 31 includes a steering side motor 32, a transmission mechanism 33, and a conversion mechanism 34. The steering side motor 32 is a steering motor that applies a steering force for steering the steering wheel 5 to the rack shaft 22 through the transmission mechanism 33 and the conversion mechanism 34. The steering side motor 32 transmits rotation to the conversion mechanism 34 through the transmission mechanism 33 formed of, for example, a belt transmission mechanism. The transmission mechanism 33 converts the rotation of the steering side motor 32 into a reciprocating motion of the rack shaft 22 through the conversion mechanism 34 formed of, for example, a ball screw mechanism. As the steering side motor 32 of the present embodiment, for example, a three-phase brushless motor is used.

[0029] In the steering device 2, as the motor torque is applied as the steering force from the steering actuator 31 to the rack shaft 22 according to the driver's steering operation, the steering angle of the steering wheel 5 changes. At the same time, a steering reaction force acting against the driver's steering operation is applied from the steering actuator 12 to the steering wheel 3. Therefore, in the steering device 2, the steering torque Th required for steering the steering wheel 3 is changed by the steering reaction force, which is the motor torque applied from the steering actuator 12.

[0030] The reason for providing the pinion shaft 21 is to support the rack shaft 22 together with the pinion shaft 21 in the rack housing 23. By a supporting mechanism (not shown) provided in the steering device 2, the rack shaft 22 is supported to be movable in its axial direction and pressed toward the pinion shaft 21 at the same time. Therefore, the rack shaft 22 is supported in the rack housing 23. However, another supporting mechanism that supports the rack shaft 22 in the rack housing 23 without using the pinion shaft 21 may be provided.

[0031] Electrical configuration of steering control device

[0032] like Figure 1 As shown, the steering-side motor 13 and the steering-side motor 32 are connected to the steering control device 1. The steering control device 1 controls the operation of the motors 13,32.

[0033] Detection results of various sensors are input to the steering control device 1. The various sensors include, for example, a torque sensor 41, a steering side rotation angle sensor 42, a steering side rotation angle sensor 43, a vehicle speed sensor 44, and a pinion absolute angle sensor 45.

[0034] The torque sensor 41 is provided at a portion of the steering shaft 11 between the steering wheel 3 and the steering-side speed reduction mechanism 14. The torque sensor 41 detects a steering torque Th which is a value indicating a torque applied to the steering shaft 11 by the driver's steering operation. The steering torque Th is detected in association with the twisting of a torsion bar 41a which is a middle portion of the steering shaft 11 and is provided in the steering shaft 11 between the steering wheel 3 and the steering-side speed reduction mechanism 14. The steering-side rotation angle sensor 42 is provided at the steering-side motor 13. The steering-side rotation angle sensor 42 detects a rotation angle θa which is an angle of a rotation axis of the steering-side motor 13 within a range of 360 degrees. The steering-side rotation angle sensor 43 is provided at the steering-side motor 32. The steering-side rotation angle sensor 43 detects a rotation angle θb which is an angle of a rotation axis of the steering-side motor 32 within a range of 360 degrees. The vehicle speed sensor 44 detects a vehicle speed V which is a traveling speed of the vehicle VC. The pinion absolute angle sensor 45 detects a pinion absolute rotation angle θabp which is an actual measured value of the angle of the rotation axis of the pinion shaft 21 within a range exceeding 360°.

[0035] The power supply system 46 is connected to the steering control device 1. The power supply system 46 has a battery 47. The battery 47 is a secondary battery installed in the vehicle VC, and is used as a power supply for supplying power for operation to the steering side motor 13 and the steering side motor 32. In addition, the battery 47 is used as a power supply for supplying power for operation to the steering control device 1.

[0036] A start switch 48 ( Figure 147). In the two power supply lines L1 and L2 that connect the steering control device 1 and the battery 47 to each other, the start switch 48 is provided at the middle point of the power supply line L2 branching from the power supply line L1. The start switch 48 is operated to actuate the driving source of the vehicle VC, such as the engine, and to start various functions so that the vehicle VC can be operated. The conduction of the power supply line L2 is turned on and off by the operation of the start switch 48. In the present embodiment, the operation state of the steering device 2 is associated with the operation state of the vehicle VC. Although the conduction of the power supply line L1 is basically normally turned on, the conduction of the power supply line L1 is indirectly turned on and off as a function of the steering device 2 according to the operation state of the steering device 2. The operation state of the steering device 2 is associated with the on and off states of the conduction of the power supply lines L1 and L2 that represent the power supply state of the battery 47. When the conduction of the power supply lines L1 and L2 is turned on based on the operation of the start switch 48, the operation state of the steering device 2 becomes "power on". When the conduction of the power supply lines L1 , L2 is disconnected based on the operation of the start switch 48 , the operation state of the steering device 2 becomes “power off”.

[0037] A diagnostic tool 49 can be connected to the steering control device 1. The diagnostic tool 49 is used, for example, at a maintenance factory that maintains the vehicle VC, such as a franchised dealership. The diagnostic tool 49 is connected to the vehicle VC from the outside. The steering control device 1 of the present embodiment has a connector 49a. The diagnostic tool 49 is connected to the vehicle VC from the outside through the connector 49a of the steering control device 1. The connector 49a may belong to a control device installed in the vehicle VC separately from the steering control device 1, or may be installed in the vehicle VC as a dedicated connector. The diagnostic tool 49 is a tool for diagnosing abnormal conditions regarding the vehicle VC.

[0038] In the state connected to the steering control device 1, the diagnostic tool 49 instructs the vehicle VC, i.e., the steering control device 1, to set the factory mode as the diagnostic state by the operation of the maintenance worker. The worker can take action on the vehicle VC, i.e., the steering control device 1, by the operation of the diagnostic tool 49.

[0039] The instrument control device 7 is connected to the steering control device 1 through an in-vehicle network 8 such as a CAN. The instrument control device 7 is provided separately from the steering control device 1 in a vehicle VC equipped with the steering control device 2. The instrument control device 7 controls the operation of an in-vehicle warning light 9. The warning light 9 is a display device that notifies information by, for example, appealing to the visual sense of the driver. Examples of the display device include a head-up display (HUD), an instrument panel, a display of a navigation system, and a light emitting diode (LED). The instrument control device 7 generates a notification control signal S for the warning light 9.

[0040] Function of the steering control

[0041] The steering control device 1 includes a central processing unit (hereinafter referred to as "CPU") 50a and a memory 50b. The steering control device 1 performs various processes when the CPU 50a executes a program stored in the memory 50b in a predetermined arithmetic operation cycle. The CPU 50a and the memory 50b constitute a microcomputer as a processing circuit. The memory 50b includes a computer-readable medium such as a random access memory (RAM) and a read-only memory (ROM). However, it is an example that various processes are implemented by software. The processing circuit of the steering control device 1 can be configured so that at least some of the processes are implemented by a hardware circuit such as a logic circuit. In the present embodiment, the CPU 50a is an example of a control unit. The memory 50b is an example of a storage unit.

[0042] Functions of CPU

[0043] like Figure 2 As shown, various information is input into the CPU 50a. Examples of various information include detection results of the above-mentioned various sensors. In addition, various information includes battery voltage Vb of the battery 47, the on or off state of the start switch 48, the detection result of the steering side current sensor 51, the detection result of the steering side current sensor 52, and information obtained from the memory 50b. The battery voltage Vb is the voltage value of the battery 47, and is, for example, the voltage value in the power supply line L1. The on or off state of the start switch 48 is determined according to the presence or absence of the input of the IG signal Sg. The steering side current sensor 51 detects the steering side actual current value Ia of the steering side motor 13, which is the value of the current flowing through the connection line between the drive circuit (not shown) and the motor coil of each phase of the steering side motor 13. The steering side current sensor 52 detects the steering side actual current value Ib of the steering side motor 32, which is the value of the current flowing through the connection line between the drive circuit (not shown) and the motor coil of each phase of the steering side motor 32.

[0044] The memory 50b has a plurality of storage areas including a storage section 501 and a storage section 502. The storage section 501 and the storage section 502 are storage areas different from each other. The storage section 501 is a storage area for writing and storing history information Bs therein. The storage section 502 is a storage area for writing and storing diagnostic information Dn therein.

[0045] Among the information in the memory 50b, the information that can be written includes information whose contents are deleted for initialization according to power on and power off, and information whose contents are retained regardless of power on and power off. The information stored in the storage unit 501 and the storage unit 502 corresponds to information whose contents are retained regardless of power on and power off. The information stored in the storage unit 501 is information acquired by the CPU 50a for use in the processing executed by the CPU 50a. The information stored in the storage unit 502 is information that is not acquired by the CPU 50a and is not used in the processing executed by the CPU 50a. The information stored in the storage unit 502 is information acquired by the diagnostic tool 49 for use at the maintenance plant. The information stored in the storage unit 501 and the storage unit 502 is information that can be deleted by the diagnostic tool 49.

[0046] like Figure 3 As shown, the CPU 50a includes the following processing: during power-off, the start switch 48 is turned on to turn on the power (step 100), and then the CPU 50a undergoes a state transition from the start state (step 102) to the normal control state (step 104). During power-on, after the state transition to the normal control state, the normal control state continues until the power is disconnected. The start state is a state in which a start process is performed, which allows the execution of normal processing related to the steering control for operating the steering device 2 according to the steering operation of the driver by acquiring various information, for example. In the start state, the CPU 50a does not perform normal processing. For example, in the start state, the vehicle VC is stationary. In the normal control state, the CPU 50a performs normal processing. For example, in the normal control state, the vehicle VC is stationary or is traveling.

[0047] Steering control device abnormality

[0048] The CPU 50a executes processing for detecting various abnormalities in the steering device 2 as a startup process and a normal process.

[0049] like Figure 4 As shown, examples of various abnormalities include electrical system abnormality, mechanical system abnormality, sensor system abnormality, and communication system abnormality. More specifically, the electrical system abnormality includes operational abnormality of the CPU 50a and the memory 50b and power supply abnormality of the battery 47. The CPU 50a detects electrical system abnormality, for example, when normal operation is impossible due to a decrease in the battery voltage Vb. When the electrical system abnormality is detected, the CPU 50a sets a fault state of the steering control device 2, for example, in which the operation of the steering control device 2 is stopped because it cannot operate normally.

[0050] The mechanical system abnormality includes a mechanical abnormality of the steering unit 4 having the steering side motor 13 and a mechanical abnormality of the steering unit 6 having the steering side motor 32. For example, the CPU 50a detects a mechanical system abnormality when a tooth jump or belt breakage in the transmission mechanism 33 or the conversion mechanism 34 can be determined by, for example, comparing the detection result of the steering side rotation angle sensor 43 and the detection result of the pinion absolute angle sensor 45. When the mechanical system abnormality is detected, the CPU 50a sets a fault state of the steering device 2, for example, to move the vehicle VC to a safe position according to the situation.

[0051] The sensor system abnormality includes abnormalities of the torque sensor 41, the steering side rotation angle sensor 42, the steering side rotation angle sensor 43, the pinion absolute angle sensor 45, the steering side current sensor 51, and the steering side current sensor 52. For example, when it can be determined that there is no input or the value of the steering torque Th is invalid based on the steering torque Th of the torque sensor 41, the CPU 50a detects the sensor system abnormality regarding the torque sensor 41. The same applies to the steering side rotation angle sensor 42, the steering side rotation angle sensor 43, the pinion absolute angle sensor 45, the steering side current sensor 51, and the steering side current sensor 52. When the sensor system abnormality is detected, the CPU 50a sets a fault state of the steering device 2, such as limiting some of the functions according to the situation.

[0052] The communication system abnormality includes a communication abnormality of the in-vehicle network 8. For example, the CPU 50a detects the communication system abnormality when it can be determined that there is no reception or an invalid signal is received based on the signal received from the in-vehicle network 8. When the communication system abnormality is detected, the CPU 50a shifts to a fault state of the steering device 2, such as limiting some of the functions according to the situation.

[0053] In the startup state, the CPU 50a can detect, for example, an electrical system abnormality and a communication system abnormality. In the startup state, the CPU 50a does not perform normal processing, but since the power is turned on, the CPU 50a can detect the battery voltage Vb of the battery 47. In this case, the CPU 50a can detect an electrical system abnormality. Similarly, in the startup state, the CPU 50a does not perform normal processing, but since the vehicle VC is operating, the CPU 50a can receive a signal from the in-vehicle network 8. In this case, the CPU 50a can detect a communication system abnormality.

[0054] On the other hand, in the startup state, even when there are, for example, mechanical system abnormalities and sensor system abnormalities, the CPU 50a may not be able to detect these abnormalities. In the startup state, the CPU 50a does not perform normal processing, and therefore may not be able to determine that a tooth jump or a belt breakage occurs in the transmission mechanism 33 or the conversion mechanism 34. In this case, even when there is a mechanical system abnormality, the CPU 50a may not be able to detect these abnormalities. Similarly, in the startup state, the CPU 50a does not perform normal processing, and therefore may not be able to determine that the value of the steering torque Th of the torque sensor 41 is invalid. In this case, the CPU 50a may not be able to detect a sensor system abnormality regarding the torque sensor 41. It is correct that such a sensor system abnormality may not be detected when the vehicle VC is stationary before traveling after the state is switched to the normal control state. The same applies to the detection of sensor system abnormalities regarding the steering side rotation angle sensor 42, the steering side rotation angle sensor 43, the pinion absolute angle sensor 45, the steering side current sensor 51, and the steering side current sensor 52.

[0055] Therefore, various abnormalities in the steering control device 2 are classified into faults that can be detected in the startup state and faults that may not be detected in the startup state. In the following description, electrical system abnormalities and communication system abnormalities that can be detected in the startup state will be referred to as "inapplicable faults", while mechanical system abnormalities and sensor system abnormalities that may not be detected in the startup state will be referred to as "applicable faults".

[0056] Processing related to detection of abnormality in a steering device

[0057] like Figure 5 and Figure 6 As shown, the CPU 50a executes processing for detecting various abnormalities as a startup process and a normal process. Considering the fact that an inapplicable fault is an abnormality that can be detected regardless of whether the state is a startup state or a normal control state, the sequence of processing related to the detection of an inapplicable fault is specified. On the other hand, considering the fact that an applicable fault may not be detected in the startup state, the sequence of processing related to the detection of an applicable fault is specified.

[0058] About the processing related to the detection of inapplicable failures

[0059] Figure 5An example of a sequence of processing related to the detection of an inapplicable fault is shown. In this processing, the CPU 50a determines whether an inapplicable fault has been detected (step 200). In step 200, when an inapplicable fault is detected from a state in which an inapplicable fault has not been detected until immediately before, the CPU 50a makes a determination of "step 200: yes". In other cases, the CPU 50a considers that an inapplicable fault has not been detected, and makes a determination of "step 200: no". The other cases include a case in which an inapplicable fault is not detected and a case in which an inapplicable fault is detected.

[0060] Subsequently, when an inapplicable fault is detected (step 200: Yes), the CPU 50a performs writing in the memory 50b (step 202). In step 202, the CPU 50a writes information indicating the detection of the inapplicable fault into the diagnostic information Dn of the storage section 502. In this case, the CPU 50a also writes the type of the inapplicable fault. When an inapplicable fault is detected, the CPU 50a does not write into the history information Bs of the storage section 501.

[0061] Subsequently, the CPU 50a outputs a lighting request WL corresponding to the inapplicable fault detected in step 200 (step 204), and ends the current process and moves to another process. In step 204, the CPU 50a outputs the lighting request WL to the in-vehicle network 8. The process of step 204 is a process for outputting the lighting request WL to the warning lamp 9 to notify the driver of the state of the steering device 2. The state of the steering device 2 notified to the driver is a state related to various abnormalities.

[0062] More specifically, if Figure 4 As shown, the notification of the abnormality of the electrical system in the fault is not applied by the lighting request WL(R). For example, the lighting request WL(R) is information for notifying that the state of the steering control device 2 is a state of a serious abnormality that requires an early response. The notification of the abnormality of the communication system in the fault is not applied by the lighting request WL(Y). For example, the lighting request WL(Y) is information for notifying that the state of the steering control device 2 is a state of a minor abnormality that does not interfere with the driving of the vehicle VC.

[0063] In step 204, when the state is such that both of the lighting request WL(R) and the lighting request WL(Y) can be output, the CPU 50a outputs the lighting request WL(R) preferentially. For example, the state in which both can be output is the state in which one of the lighting requests WL has been output. In step 204, once the CPU 50a outputs the lighting request WL, the CPU 50a continuously outputs it until the output stop condition is satisfied. In the process related to the detection of the inapplicable fault, the output stop condition is the power failure of the vehicle VC or the determination of "step 206 (to be described later): Yes". The lighting request WL thus output is input into the meter control device 7. When the lighting request WL is input, the meter control device 7 controls the operation of the warning light 9 so as to light up in the corresponding color. For example, when the lighting request WL(R) is input, the meter control device 7 controls the operation of the warning light 9 so as to light up in red, and when the lighting request WL(Y) is input, the meter control device 7 controls the operation of the warning light 9 so as to light up in yellow.

[0064] On the other hand, when the inapplicable fault is not detected in step 200 (step 200: No), the CPU 50a determines whether the steering device 2 has recovered from the inapplicable fault (step 206). In step 206, when the inapplicable fault is detected, the CPU 50a determines whether the solution of the inapplicable fault is detected. When the steering device 2 has not recovered from the inapplicable fault (step 206: No), the CPU 50a ends the current process and moves to another process.

[0065] On the other hand, when the steering device 2 has recovered from the disapproval failure (step 206: YES), the CPU 50a stops the output of the lighting request WL (step 208), and ends the current process and moves to another process.

[0066] About the processing related to the detection of applicable failures

[0067] Figure 6 An example of a sequence of processing related to the detection of an applicable fault is shown. In this processing, the CPU 50a determines whether an applicable fault has been detected (step 300). In step 300, when an applicable fault is detected from a state in which an applicable fault has not been detected until immediately before, the CPU 50a makes a determination of "step 300: yes". In other cases, the CPU 50a considers that no applicable fault has been detected, and makes a determination of "step 300: no". Other cases include a case in which an applicable fault has not been detected and a case in which an applicable fault has been detected. In this embodiment, the processing of step 300 is an example of abnormality detection processing.

[0068] Subsequently, when an applicable fault is detected (step 300: Yes), the CPU 50a performs writing into the memory 50b (step 302). In step 302, the CPU 50a writes the detection history Lg as information indicating the detection of the applicable fault into the history information Bs of the storage section 501 to update the content. In addition, the CPU 50a writes the information indicating the detection of the applicable fault into the diagnostic information Dn of the storage section 502. In this case, the CPU 50a also writes the type of the applicable fault. In this embodiment, the processing of step 302 is an example of the detection result writing processing.

[0069] More specifically, if Figure 4 As shown, the detection of a mechanical system abnormality in an applicable fault is indicated by writing a detection history Lg(R). For example, the detection history Lg(R) is information indicating that the state of the steering device 2 is a history of a state in which a serious abnormality that requires an early response has been detected. In addition, the detection of a sensor system abnormality in an applicable fault is indicated by writing a detection history Lg(Y). For example, the detection history Lg(Y) is information indicating that the state of the steering device 2 is a history of a state in which a minor abnormality that does not interfere with the travel of the vehicle VC has been detected.

[0070] In step 302, when the state makes it possible to write both of the detection history Lg (R) and the detection history Lg (Y), the CPU 50a updates by giving priority to writing the detection history Lg (R). For example, the state in which both can be written is the state in which one of the detection histories Lg has been written. In step 302, when one of the detection histories Lg has been written and therefore the content of the history information Bs does not need to be updated, the CPU 50a does not perform the processing of step 304, and ends the current processing and moves to another processing. The situation in which the content of the history information Bs does not need to be updated is the situation in which the detection history Lg of the same type has been written or the situation in which the detection history Lg (R) that is given priority to be written has been written.

[0071] Then, the CPU 50a obtains the content of the history information Bs (step 304). In step 304, the CPU 50a obtains the detection history Lg written in step 302, that is, the detection history Lg corresponding to the applicable fault detected in step 300.

[0072] Subsequently, the CPU 50a outputs a lighting request WL corresponding to the detection history Lg acquired in step 304 (step 306), and ends the current process and moves to another process. The process of step 306 is the same process as step 204. In the process related to the detection of the applicable failure, the output stop condition is the power failure of the vehicle VC or the determination of "step 312 (to be described later): Yes". In this embodiment, the process of step 306 is an example of the lighting request output process.

[0073] More specifically, if Figure 4 As shown, when the detection history Lg(R) is obtained, the notification of the mechanical system abnormality in the applicable fault is identified. In this case, the notification of the mechanical system abnormality in the applicable fault is requested by lighting the request WL(R). When the detection history Lg(Y) is obtained, the notification of the sensor system abnormality in the applicable fault is identified. In this case, the notification of the sensor system abnormality in the applicable fault is requested by lighting the request WL(Y).

[0074] On the other hand, when no applicable failure is detected in step 300 (step 300: No), the CPU 50a determines whether the content of the history information Bs has been acquired (step 308). In step 308, when the CPU 50a is in the startup state in step 102 described above, that is, at the beginning of the startup process involving acquisition of various information, etc., the CPU 50a makes a determination of "step 308: Yes". On the other hand, in step 308, when the CPU 50a is not at the beginning of the startup process involving acquisition of various information, etc., the CPU 50a makes a determination of "step 308: No".

[0075] Subsequently, when the content of the history information Bs has been acquired (step 308: Yes), that is, the CPU 50a is in the startup state, the CPU 50a determines whether the history Lg is written in the content of the detection history information Bs (step 310). Writing of the detection history Lg in step 310 indicates that an applicable fault was detected during the power-on period before the current power-on. This indicates that the notification by the warning light 9 was made during the power-on period before the current power-on. That is, this indicates that in the state where the notification by the warning light 9 is made, the current power-on is the power-on after the power is turned off. On the other hand, the non-writing of the detection history Lg indicates that the notification by the warning light 9 was not made during the power-on period before the current power-on.

[0076] Subsequently, when the detection history Lg is written (step 310: Yes), the CPU 50a moves to step 310, and performs processing related to the output of the lighting request WL. When the determination of "step 310: Yes" is made, the CPU 50a outputs the lighting request WL without detecting the applicable fault in step 300. Therefore, during the current power-on period, regarding the notification by the warning lamp 9, the state during the power-on period before the power is turned off is taken over in the state in which the notification is made.

[0077] On the other hand, when the content of the history information Bs is not acquired (step 308: No), that is, the CPU 50a is not in the startup state, the CPU 50a determines whether the steering device 2 has recovered from the applicable fault (step 312). In step 312, when an applicable fault is detected, the CPU 50a determines whether a solution to the applicable fault is detected. In this embodiment, the process of step 300 is an example of abnormality detection processing.

[0078] Subsequently, when the steering device 2 has not recovered from the applicable fault (step 312: No), the CPU 50a ends the current process and moves to another process. On the other hand, when the steering device 2 has recovered from the applicable fault (step 312: Yes), the CPU 50a deletes the content of the history information Bs (step 314). In step 314, the CPU 50a updates the content by deleting the detection history Lg from the history information Bs of the storage unit 501. In this embodiment, the process of step 314 is an example of the detection result writing process.

[0079] Subsequently, the CPU 50a acquires the content of the history information Bs (step 316). In step 316, since the CPU 50a has deleted the detection history Lg in step 314, the CPU 50a determines that the detection history Lg is not written.

[0080] Subsequently, the CPU 50a stops the output of the lighting request WL based on the fact that the detection history Lg is not written in the contents of the history information Bs (step 318), and ends the current process and moves to another process.

[0081] How the implementation works

[0082] from Figure 7 The first diagram starting from the top of FIG. 1 shows an example of the state of the steering device 2 that changes in connection with power on and power off. Figure 7 The second and third graphs from the top of FIG. 50 show an example of the state of the CPU 50a that changes in association with the detection of an applicable fault. Figure 7 The second graph from the top shows the detection status of applicable faults in the example. Figure 7The third graph from the top shows the output state of the lighting request WL in the example. Figure 7 The fourth graph from the top shows the contents of the history information Bs in the example.

[0083] For example, the state of the steering device 2 changes so that the power is disconnected from the normal control state ("normal" in the diagram) during power-on. This situation during the first power-on will be referred to as the "previous trip" hereinafter. Subsequently, the state of the steering device 2 changes so as to undergo a state transition from the power-off state to the start state ("start" in the diagram) when the power is turned on, and then undergo a state transition to the normal control state. This situation during the subsequent power-on will be referred to as the "subsequent trip" hereinafter.

[0084] For example, during the previous trip, the CPU 50a detects an applicable fault. When an applicable fault is detected, the content of the history information Bs is updated to a state in which the detection history Lg is written. When the detection history Lg written in this way is obtained, the output of the lighting request WL is activated. Therefore, the warning lamp 9 is lit.

[0085] Subsequently, during the previous trip, when the power is turned off, the CPU 50a stops operating. When the output stop condition of the power off is satisfied, the lighting request WL stops. Therefore, the lighting of the warning lamp 9 stops. The detection history Lg written in the history information Bs is retained during the power off and is not deleted during the power off.

[0086] Thereafter, when the power is turned on after the power failure, the CPU 50a starts the startup process. When the startup process starts, the detection history Lg retained during the power failure and not deleted during the power failure is acquired. When the detection history Lg retained during the power failure and not deleted during the power failure is thus acquired, the output of the lighting request WL is activated. Therefore, the warning lamp 9 is lit.

[0087] Thereafter, by undergoing a state transition to a normal control state, the CPU 50a detects an applicable fault. Since the detection history Lg has already been written in the content of the history information Bs, the content is not updated. Therefore, since the content of the history information Bs is not updated, the content of the history information Bs and the output state of the lighting request WL are maintained. Therefore, the lighting state of the warning lamp 9 is maintained.

[0088] According to this embodiment, in the case where the detection history Lg is written in the content of the history information Bs at power-on, the CPU 50a can output the lighting request WL immediately after power-on even when an applicable fault cannot be detected. Therefore, even when an applicable fault cannot be detected, if the lighting request WL is output during the previous trip, the output state during the previous trip can be taken over to start the output from the start state at the start of the subsequent trip.

[0089] Advantages of the implementation method

[0090] The CPU 50a is configured so that even when an applicable fault cannot be detected, the output state during the previous trip can be taken over to start the output of the lighting request WL from the start state at the start of the subsequent trip. Therefore, if the warning light 9 is lit during the previous trip, the lighting state during the previous trip can be taken over to light the warning light 9 from the start state at the start of the subsequent trip. For example, in the subsequent trip after the lighting request WL is output during the previous trip, even when an applicable fault cannot be detected, it is likely that the applicable fault has been taken over from the previous trip. Therefore, the occurrence of a state in which there is an applicable fault but the warning light 9 fails to light can be reduced.

[0091] The CPU 50a is configured to acquire the content of the history information Bs when an applicable failure is detected. Therefore, a difference in content between the lighting request WL and the history information Bs can be prevented.

[0092] The CPU 50a is configured to delete the detection history Lg from the contents of the history information Bs when recovery from the applicable failure is detected. In addition, the CPU 50a is configured to acquire the contents of the history information Bs and stop outputting the lighting request WL based on the fact that the detection history Lg is not written in the acquired contents.

[0093] For example, Figure 7 As shown, during the subsequent trip, the CPU 50a determines recovery from the applicable fault. When recovery from the applicable fault is determined, the content of the history information Bs is updated to a state where the detection history Lg has been deleted. Therefore, when the detection history Lg is deleted, the output of the lighting request WL stops. Therefore, the lighting of the warning light 9 stops. Therefore, the situation in which the warning light 9 is allowed to light up can be optimized.

[0094] Even when the CPU 50a is configured to execute the startup process after power on, if the detection history Lg is written in the content of the history information Bs, the CPU 50a can output the lighting request WL immediately after power on. This is particularly effective as a countermeasure against applicable failures that cannot be detected in the case of the startup process.

[0095] The contents of the diagnostic information Dn and the history information Bs are configured to be deleted by an operation from the diagnostic tool 49. Therefore, the contents of the diagnostic information Dn and the history information Bs can be synchronized with each other by an operation from the diagnostic tool 49. Therefore, the diagnostic information Dn and the history information Bs, which are different from each other in roles and management methods, can be appropriately managed.

[0096] For example, regardless of the type of abnormality, the type of detection history Lg is the same in the sensor system abnormality. Therefore, the required amount of data can be reduced compared to when one type of detection history Lg is prepared for each type of abnormality. Therefore, the capacity of the memory 50b can be reduced.

[0097] Other Implementations

[0098] The above-mentioned embodiment can be changed as follows. The following other embodiments can be combined with each other within such a range that no technical inconsistency occurs.

[0099] The method of deleting the contents of the diagnostic information Dn and the history information Bs may be a method that does not use the diagnostic tool 49, for example, by allowing the contents to be deleted by a specific operation of a worker at the maintenance plant. In addition, the contents of the diagnostic information Dn and the history information Bs may be such that they cannot be deleted unless the memory 50b itself is replaced. That is, even after the battery is replaced, the contents of the diagnostic information Dn and the history information Bs may be retained. However, the contents of the history information Bs should be deletable by the CPU 50a.

[0100] The startup process can also be specified as a process that is a part of the normal process. In this case, in the normal process, the period in which the process corresponding to the startup process is executed corresponds to the startup state in the above-mentioned embodiment.

[0101] The process of acquiring the history information Bs may also be designated as a process that is continuously executed after power is turned on. Figure 6 The processing of step 304 and step 306 after the determination of "step 300: yes" may be omitted, and the processing of outputting the lighting request WL corresponding to the applicable fault detected in step 300 may be included, which is similar to the processing of step 204. Therefore, the condition for outputting the lighting request WL for the applicable fault is that the applicable fault is detected, or the detection history Lg is written in the content of the history information Bs. Another embodiment described herein can also be applied to the processing of step 316 and step 318 after the determination of step "312: yes". In this case, Figure 6 The processing should include processing similar to the processing of step 208 of stopping the output of the lighting request WL in the case of the determination of “step 312 : Yes”.

[0102] about Figure 6The processing of step 312 and subsequent steps can be omitted. In this case, the detection history Lg written in the content of the history information Bs cannot be deleted except by the operation of the diagnosis tool 49.

[0103] about Figure 6 The processing of step 316 and step 318 can be omitted. In this case, even when the detection history Lg is deleted by step 314, each of the output states of the lighting request WL, that is, the lighting state of the warning lamp 9, is maintained during power-on. Thereafter, from the next power-on, the output of the lighting request WL is stopped, and the lighting of the warning lamp 9 is stopped.

[0104] exist Figure 6 Even when the content of the history information Bs is not updated in the process of step 302, the processes of step 304 and subsequent steps may be performed. Figure 6 The sequence of processing is not limited to Figure 6 The sequence of the processing may be changed appropriately. For example, the sequence of the processing may be changed so that the processing of step 308 and step 310 is performed before the processing of step 300. In this case, after the determination of "step 308: No" and the determination of "step 310: No", the CPU 50a may move to the processing of step 300. After the determination of "step 300: No", the CPU 50a may move to the processing of step 312.

[0105] The sequence of processing related to applicable faults can also be applied to the detection of inapplicable faults. Therefore, the occurrence of a state where an inapplicable fault exists but the warning light 9 fails to light up can be more advantageously reduced. In this case, the Figure 5 processing.

[0106] The abnormality classified as an applicable fault is not limited to the abnormality classified in the above embodiment, but can be changed appropriately. For example, among sensor system abnormalities, the abnormality of the torque sensor 41 can be classified as an inapplicable fault. The communication system abnormality can be classified as an applicable fault.

[0107] The number of types of detection history Lg is not limited to two, but can be changed appropriately. For example, the number of types can be changed to one or three or more. The correspondence between the type of applicable fault and the type of detection history Lg is not limited to the relationship in the above-mentioned embodiment, but can be changed appropriately. For example, the abnormality of the steering control side rotation angle sensor 42, the steering side rotation angle sensor 43 and the pinion absolute angle sensor 45 used to detect the abnormality of the mechanical system can be associated with the detection history Lg (R) as a serious abnormality. In addition, the correspondence between the type of applicable fault and the type of detection history Lg can be classified according to the type of content of the fault state to be set. That is, the type of detection history Lg can be different according to the type of sensor system abnormality.

[0108] The warning light 9 can be implemented as one of the components of the steering device 2. For example, the warning light 9 can be set on the steering wheel 3. The method of notifying the driver of the state of the steering device 2 is not limited to the lighting of the warning light 9 in the above-mentioned embodiment, but can be appropriately changed. For example, an alarm device that notifies information by appealing to the driver's auditory sense, or a physical sense generating device that notifies the driver of information through physical sense can be adopted. Examples of alarm devices include speakers and buzzers. Examples of physical sense generating devices include vibration devices that vibrate vehicle accessories such as seats that are in contact with the driver.

[0109] The steering control device 1 may have a plurality of CPUs between which the function of operating the steering-side motor 13 and the function of operating the steering-side motor 32 are divided. In this case, each CPU should be configured to appropriately detect abnormalities that can be detected based on the control target.

[0110] The operating member operated by the driver to steer the vehicle VC is not limited to the steering wheel 3. For example, the operating member may be a joystick. The steering side motor 13 mechanically coupled to the steering wheel 3 is not limited to a three-phase brushless motor. For example, the steering side motor 13 may be a brushed DC motor.

[0111] The steering unit 6 transmits the rotation of the steering side motor 32 to the conversion mechanism 34 through the transmission mechanism 33. However, without being limited thereto, the steering unit 6 may be configured to transmit the rotation of the steering side motor 32 to the conversion mechanism 34, for example, through a gear mechanism. Or the steering unit 6 may be configured so that the steering side motor 32 directly rotates the conversion mechanism 34. In addition, a configuration in which the steering unit 6 includes a second rack-and-pinion mechanism may be adopted, and the steering unit 6 may be configured to convert the rotation of the steering side motor 32 into a reciprocating motion of the rack shaft 22 through the second rack-and-pinion mechanism.

[0112] The steering unit 6 is not limited to the configuration in which the right steering wheel 5 and the left steering wheel 5 operate in conjunction with each other. In other words, the right steering wheel 5 and the left steering wheel 5 may be independently controllable.

[0113] The steering device 2 has a linkless structure in which the steering unit 4 and the steering unit 6 are always mechanically disconnected. However, not limited to this, the steering device 2 may have a structure in which the steering unit 4 and the steering unit 6 may be mechanically disconnected from each other by, for example, a clutch. The steering device 2 is not limited to a steer-by-wire steering device, but may be an electric-assisted steering device that applies motor torque to the steering shaft 11 or the rack shaft 22.

[0114] The above-described embodiment is applied to the steering device 2. However, without being limited thereto, the above-described embodiment may be applied to other vehicle-mounted units, for example, a braking device or a device related to a power train of the vehicle VC.

Claims

1. A control device (1) for an on-board unit (2), the control device (1) being applied to the on-board unit (2) installed in a vehicle having a warning light (9), and being configured to output a lighting request to the warning light (9) to notify a driver of the state of the on-board unit (2), the control device (1) being characterized in that include: a control circuit (50a) configured to at least perform processing related to output of the lighting request; as well as a storage circuit (50b) configured to store at least information used in a process performed by the control circuit (50a), wherein: The control circuit (50a) is configured to execute an abnormality detection process for detecting an abnormality of the on-board unit (2), a detection result writing process for writing a detection history indicating the detection of the abnormality into the history information of the storage circuit (50b) when the abnormality of the on-board unit (2) is detected by the abnormality detection process, and a lighting request output process for outputting the lighting request; The storage circuit (50b) is configured to retain the content of the history information even when the on-board unit (2) is powered on or off; The control circuit (50a) is configured to obtain the content of the historical information from the storage circuit (50b) when the on-board unit (2) is powered on; as well as The control circuit (50a) is configured to output the lighting request even when the abnormality of the in-vehicle unit (2) cannot be detected by the abnormality detection processing when the detection history is written in the acquired content.

2. The control device (1) for an on-board unit (2) according to claim 1, Features: The control circuit (50a) is configured to obtain the content of the historical information from the storage circuit (50b) when the abnormality of the on-board unit (2) is detected through the abnormality detection process; as well as The control circuit (50a) is configured to output the lighting request based on the detection history written in the acquired content.

3. The control device (1) for an on-board unit (2) according to claim 2, Features: The abnormality detection process includes a process of detecting that the onboard unit (2) recovers from the abnormality; The detection result writing process includes the following processes: when it is detected through the abnormality detection process that the on-board unit (2) recovers from the abnormality, deleting the detection history from the history information of the storage circuit (50b); The control circuit (50a) is configured to obtain the content of the history information from the storage circuit (50b) when it is detected through the abnormality detection process that the on-board unit (2) recovers from the abnormality; as well as The control circuit (50a) is configured to stop outputting the lighting request when the detection history has been deleted from the acquired content.

4. The control device (1) for the on-board unit (2) according to claim 3, Features: The control circuit (50a) is configured to perform a startup process when the on-board unit (2) is powered on; as well as The control circuit (50a) is configured to retrieve the content of the history information from the storage circuit (50b) during the startup process.

5. A control device (1) for an onboard unit (2) according to any one of claims 1 to 4, Features: the storage circuit (50b) being configured to store diagnostic information, the diagnostic information being information that is not used in the processing performed by the control circuit (50a) and in which a diagnosis indicating detection of the abnormality is written when the abnormality of the on-board unit (2) is detected by the abnormality detection processing; as well as The storage circuit (50b) is configured to delete the contents of the diagnostic information and the history information by an operation from a diagnostic tool externally connected to the vehicle.

6. A method for controlling an on-board unit (2) installed in a vehicle having a warning light (9), wherein the on-board unit (2) include: a control circuit (50a) configured to perform at least a process related to outputting a lighting request to the warning light (9) for notifying a driver of the state of the on-vehicle unit (2); and a storage circuit (50b) configured to store at least information used in a process performed by the control circuit (50a), The control method is characterized by comprising: The control circuit (50a) detects abnormality of the on-board unit (2); When the abnormality of the on-board unit (2) is detected, the control circuit (50a) writes the detection history indicating the detection of the abnormality into the history information of the storage circuit (50b); The control circuit (50a) outputs the lighting request; Even when the on-board unit (2) is powered on or off, the content of the historical information is retained by the storage circuit (50b); When the on-board unit (2) is powered on, the control circuit (50a) obtains the content of the historical information from the storage circuit (50b); and When the detection history is written in the acquired content, the control circuit (50a) outputs the lighting request even when the abnormality of the vehicle-mounted unit (2) cannot be detected.

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