SIGHTSEEING DEVICE AND STEERING DEVICE

Abstract

Detection device comprising: several sensors (210) designed to detect a value to be detected, and a processing section (110) designed to process a detection signal output by each of the multiple sensors (210), wherein the multiple sensors (210) include a first sensor (211), a second sensor (212), a third sensor (213) and a fourth sensor (214), the periodicity with which the first sensor (211) and the second sensor (212) output detection signals is shorter than the periodicity with which the third sensor (213) and the fourth sensor (214) output detection signals, the processing section (110) comprises: a diagnostic section (140) designed to diagnose a fault in the first sensor (211), the second sensor (212), the third sensor (213) and the fourth sensor (214), and a switching section (160) designed to switch between the use of a first signal (TS1) and the use of a third signal (TS3) as a torque signal, wherein the first signal (TS1) is a detection signal output by the first sensor (211) and the third signal (TS3) is a detection signal output by the third sensor (213), the diagnostic section (140) is designed to use the first signal (TS1) and a second signal (TS2), wherein the second signal (TS2) is a detection signal output by the second sensor (212) to diagnose whether the first sensor (211) and the second sensor (212) are normal or whether the first sensor (211) or the second sensor (212) has a fault, the diagnostic section (140) is designed to use the third signal (TS3) and a fourth signal (TS4), wherein the fourth signal (TS4) is a detection signal output by the fourth sensor (214) to diagnose whether the third sensor (213) and the fourth sensor (214) are normal or whether the third sensor (213) or the fourth sensor (214) has a fault, responding to the fact that the diagnostic section (140) diagnoses that neither the first sensor (211) nor the second sensor (212) has a fault, the switching section (160) is designed to output the first signal (TS1) as a torque signal, and Responding to the fact that the diagnostic section (140) diagnoses that the first sensor (211) or the second sensor (212) has a fault and diagnoses that neither the third sensor (213) nor the fourth sensor (214) has a fault, the switching section (160) is designed to output the third signal (TS3) as a torque signal.

Description

Technical field

[0001] The present invention relates to a detection device and a steering device. Technical background

[0002] In recent years, a technique has been proposed that allows a steering assistance function to be maintained even when an abnormality occurs in sensor output signals. For example, a power steering device disclosed in patent literature 1 is designed as follows. In particular, the power steering device comprises: at least two redundant steering torque sensors, at least two redundant steering angle sensors, and at least two redundant engine rotation position sensors, wherein, in a normal state, steering assistance control is performed based on a steering torque detection signal from one of the at least two steering torque sensors, a steering angle detection signal from one of the at least two steering angle sensors, and an engine rotation position detection signal from one of the at least two engine rotation position sensors.Redundant monitoring is performed between the at least two steering torque sensors, the at least two steering angle sensors and the at least two engine rotation position sensors, and after the detection of an abnormality in a sensor output signal during the redundant monitoring, the abnormal signal is switched to an alternative signal. List of citations from patent literature

[0003] Patent literature 1: Japanese patent JP 6283737 B1

[0004] A rotation detection device that can detect malfunctions in rotation sensors when the power supply is switched off is disclosed in DE 10 2018 202 052 A1. Further detection devices for steering systems with rotation sensors related to the invention are disclosed in US 2020 / 0 180 689 A1 and JP 2008-226 222 A. Summary of the invention: Technical problem

[0005] For safety reasons, there is an increasing demand for redundant sensors used in electric power steering systems. However, fulfilling such a requirement would place an increased processing load on a device processing sensor signals, as any sensor failure would have to be detected redundantly.

[0006] One object of the present invention is to provide a detection device and the like, which can reduce the processing load imposed on a device that processes detection signals from sensors with redundancy. Solution to the problem

[0007] The present invention proposes the detection devices defined in the independent claims and a steering device provided with them. Advantageous effects of the invention

[0008] The present invention can reduce the processing load imposed on a device that processes detection signals from sensors with redundancy. Brief description of the drawings

[0009] They show: Fig. 1 an exemplary schematic configuration of an electric power steering device according to a first embodiment, Fig. 2 exemplary schematic configurations of a sensor unit and a control unit, Fig. Three examples of a first periodicity, a second periodicity, a third periodicity and a fourth periodicity according to the first embodiment, Fig. Four examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity for a detection device according to a second embodiment, Fig. 5 Examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and the amount of information transmitted in a first signal TS1, a second signal TS2, a third signal TS3 and a fourth signal TS4 for a detection device according to a third embodiment, Fig. 6 Examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and the amount of information transmitted in the first signal, in the second signal, in the third signal and in the fourth signal for a detection device according to a fourth embodiment, Fig. 7 an exemplary schematic configuration of a detection device according to a fifth embodiment, Fig. 8 Examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and the amount of information transmitted in the first signal, in the second signal, in the third signal and in the fourth signal for the detection device according to the fifth embodiment, Fig. 9 Examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and the amount of information transmitted in the first signal, in the second signal, in the third signal and in the fourth signal for a detection device according to a sixth embodiment and Fig. 10 examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and the amount of information transmitted in the first signal, in the second signal, in the third signal and in the fourth signal for a detection device according to a seventh embodiment. Description of embodiments

[0010] Embodiments of the present invention are described in detail below with reference to the accompanying drawings. <Erste Ausführungsform>

[0011] Fig. Figure 1 shows an exemplary schematic configuration of an electric power steering device 1 according to the first embodiment.

[0012] The electric power steering device 1 (which may below simply be referred to as "steering device 1") serves to change the direction of travel of a vehicle in one direction. For example, the steering device 1 according to the present embodiment is used in a motor vehicle as an example of the vehicle. Fig. Figure 1 shows the motor vehicle viewed from the front.

[0013] The steering device 1 comprises a steering wheel 11, which is operated by a driver to change the direction of travel of the motor vehicle, and a steering shaft 12, which is integrally formed with the steering wheel 11. The steering device 1 further comprises an upper coupling shaft 13, which is coupled to the steering shaft 12 via a universal joint 13a, and a lower coupling shaft 18, which is coupled to the upper coupling shaft 13 via a universal joint 13b. The lower coupling shaft 18 rotates together with the rotation of the steering wheel 11.

[0014] The steering device 1 further comprises tie rods 14, which are coupled to the right and left front wheels 2 as roller wheels, and a rack and pinion shaft 15 coupled to the tie rods 14. The steering device 1 also comprises a pinion shaft 16, which is provided with a pinion 16a, whereby a rack and pinion mechanism is formed with teeth 15a formed on the rack and pinion shaft 15.

[0015] The steering device 1 further comprises a gearbox 17, which covers the rack teeth 15a and the pinion 16a. Inside the gearbox 17, the pinion shaft 16 is coupled to the lower coupling shaft 18 via a torsion bar 30. A sensor unit 19 is also located inside the gearbox 17. The sensor unit 19 detects the steering torque exerted on the steering wheel 11 based on a relative angle of rotation between the lower coupling shaft 18 and the pinion shaft 16, or in other words, based on the torsional force of the torsion bar 30.

[0016] The steering device 1 further comprises an electric motor 20 carried by the gearbox 17 and a reduction mechanism 21 which reduces the rotation of the electric motor 20 before transmission to the lower coupling shaft 18.

[0017] The steering device 1 also includes a control unit 100 for controlling the actuation of the electric motor 20. The control unit 100 receives output signals from the sensor unit 19 described above.

[0018] Fig. Figure 2 shows exemplary schematic configurations of the sensor unit 19 and the control unit 100.

[0019] The control unit 100 is a computing and logic unit composed of a CPU, a ROM, a RAM, an electrically erasable programmable read-only memory (EEPROM), and the like.

[0020] The control unit 100 has a processing section 110 for processing output signals from the sensor unit 19 and a control section 170 for controlling the actuation of the electric motor 20 based on signals output by the processing section 110.

[0021] The processing section 110, together with the sensor unit 19, forms a detection device 200 for detecting the steering torque. The detection device 200 is described in detail below.

[0022] The control section 170 sets a target current to be supplied to the electric motor 20 and performs feedback control so that an actual detected current supplied to the electric motor 20 matches the target current. (Detection device 200)[Sensor unit 19]

[0023] The sensor unit 19 comprises a first sensor 211, a second sensor 212, a third sensor 213, and a fourth sensor 214. Configurations of the first sensor 211, the second sensor 212, the third sensor 213, and the fourth sensor 214 are essentially identical except for aspects described in detail below. Hereinafter, the first sensor 211, the second sensor 212, the third sensor 213, and the fourth sensor 214 may be collectively referred to as sensors 210, unless a distinction is necessary.

[0024] For example, the first sensor 211, the second sensor 212, the third sensor 213, and the fourth sensor 214 can each be implemented by a Hall-effect IC comprising a first magnetic sensor, a second magnetic sensor, a third magnetic sensor, and a fourth magnetic sensor, as disclosed in the applicant's published Japanese patent application 2018-095223. In other words, each sensor 210 incorporates a Hall element (not shown) and an operational amplifier (not shown), the Hall element being configured to detect the magnetic flux density in a magnetic circuit formed by a magnet (not shown) attached to the lower coupling shaft 18 and a yoke (not shown) attached to the pinion shaft 16. The sensor 210 amplifies a Hall voltage output by the Hall element and performs signal processing to output a signal corresponding to the magnetic flux density.

[0025] Hereinafter, a detection signal output by the first sensor 211 is referred to as "first signal TS1," and a detection signal output by the second sensor 212 is referred to as "second signal TS2." Furthermore, a detection signal output by the third sensor 213 is referred to as "third signal TS3," and a detection signal output by the fourth sensor 214 is referred to as "fourth signal TS4." The first signal TS1, the second signal TS2, the third signal TS3, and the fourth signal TS4 may collectively be referred to as signals TS unless a distinction is necessary. [Processing section 110]

[0026] The processing section 110 includes a diagnostic section 140 for diagnosing a fault in the first sensor 211, the second sensor 212, the third sensor 213, and the fourth sensor 214. The processing section 110 also includes a switching section 160 for switching between using the first signal TS1 output by the first sensor 211 and using the third signal TS3 output by the third sensor 213 as the torque signal Td. <<Diagnoseabschnitt 140> >

[0027] The diagnostic section 140 receives an input of the first signal TS1, the second signal TS2, the third signal TS3 and the fourth signal TS4.

[0028] Using the first signal TS1 and the second signal TS2, the diagnostic section 140 diagnoses whether both the first sensor 211 and the second sensor 212 are normal, or whether either the first sensor 211 or the second sensor 212 has a fault.

[0029] Using the third signal TS3 and the fourth signal TS4, the diagnostic section 140 also diagnoses whether both the third sensor 213 and the fourth sensor 214 are normal or whether either the third sensor 213 or the fourth sensor 214 has a fault. <<Schaltabschnitt 160> >

[0030] Responding to the diagnosis section 140 diagnosing that neither the first sensor 211 nor the second sensor 212 has a fault, the switching section 160 outputs the first signal TS1 issued by the first sensor 211 as the torque signal Td.

[0031] Responding to the diagnosis section 140 diagnosing that the first sensor 211 or the second sensor 212 has a fault, and diagnosing that neither the third sensor 213 nor the fourth sensor 214 has a fault, the switching section 160 outputs the third signal TS3 output by the third sensor 213 as the torque signal Td.

[0032] Responding to the diagnostic section 140 diagnosing that the first sensor 211 or the second sensor 212 has a fault, and diagnosing that the third sensor 213 or the fourth sensor 214 has a fault, the switching section 160 outputs a signal indicating such a fault.

[0033] A communication scheme between the control unit 100 and the first sensor 211, the second sensor 212, the third sensor 213 and the fourth sensor 214 is described below.

[0034] As described above, the first sensor 211, the second sensor 212, the third sensor 213, and the fourth sensor 214 output the first signal TS1, the second signal TS2, the third signal TS3, and the fourth signal TS4, respectively, to the control unit 100. The periodicity with which the first sensor 211 outputs the first signal TS1, the periodicity with which the second sensor 212 outputs the second signal TS2, the periodicity with which the third sensor 213 outputs the third signal TS3, and the periodicity with which the fourth sensor 214 outputs the fourth signal TS4 can be referred to below as the first periodicity, second periodicity, third periodicity, and fourth periodicity, respectively.

[0035] For the detection device 200 according to the first embodiment, the first to fourth signals TS1 - TS4 transmit the same amount of information, for example 12 bits or 16 bits.

[0036] Fig. Figure 3 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity according to the first embodiment.

[0037] For the detection device 200 according to the first embodiment, the first and second periodicities are equal, and the third and fourth periodicities are equal to and longer than the first and second periodicities. For example, the third and fourth periodicities can be integer multiples of the first and second periodicities. In one example, if the first and second periodicities are each 1 ms, the third and fourth periodicities can each be 2 ms, 3 ms, 4 ms, or 5 ms. In another example, if the first and second periodicities are each 0.5 ms, the third and fourth periodicities can each be 1 ms, 1.5 ms, 2 ms, or 2.5 ms.

[0038] In these cases, the diagnostic section 140 of the control unit 100 receives the first and second signals TS1, TS2 with the first periodicity and diagnoses the functionality of the first and second sensors 211, 212 with the first periodicity. In contrast, the diagnostic section 140 receives the third and fourth signals TS3, TS4 with the third periodicity and diagnoses the functionality of the third and fourth sensors 213, 214 with the third periodicity.

[0039] The switching section 160 outputs the first signal TS1 as a torque signal Td with the first periodicity, while the first and second sensors 211, 212 are diagnosed as normal.

[0040] As described above, the sensing device 200 comprises the first to fourth sensors 211-214, which are examples of the multiple sensors, for sensing the steering torque (the value to be detected) applied to the steering wheel 11, and the processing section 110 for processing the first to fourth signals TS1-TS4, which are examples of the detection signals output by the first to fourth sensors 211-214, respectively. For the sensing device 200, the first periodicity, with which the signals TS are output by the first and second sensors 211 and 212, which are examples of one or more sensors of the first to fourth sensors 211-214, are shorter than the third periodicity, with which the signals TS are output by the third and fourth sensors 213 and 214, which are examples of other sensors of the first to fourth sensors 211-214.

[0041] The detection device 200, as designed, reduces the processing load imposed on the processing section 110 compared to the case where the first to fourth periodicities are all set to have the same duration as the first periodicity, and the processing section 110 of the control unit 100 diagnoses the functionality of the first and second sensors 211, 212, as well as the functionality of the third and fourth sensors 213, 214, using the first periodicity. Advantageously, this reduces the processing load imposed on the control unit 100 even when a faster communication cycle between the sensor 210 and the control unit 100 is implemented to provide improved steering feedback from the steering device 1.

[0042] Such a configuration allows the operation of the electric motor 20 to be controlled using the third signal TS3 from the third sensor 213, even in the event of a fault in the first sensor 211 or in the second sensor 212. Accordingly, the above configuration does not impair the safety of the steering device 1.

[0043] According to the first embodiment described above, the switching section 160 outputs the first signal TS1, emitted by the first sensor 211, as a torque signal Td in response to the diagnostic section 140 diagnosing that neither the first nor the second sensor 211, 212 has a fault. However, the present disclosure is not limited to such an embodiment. The switching section 160 can output the second signal TS2 instead of the first signal TS1 as a torque signal Td. Furthermore, the switching section 160 can output the fourth signal TS4 instead of the third signal TS3, emitted by the third sensor 213, as a torque signal Td in response to the diagnostic section 140 diagnosing that neither the third nor the fourth sensor 213, 214 has a fault.

[0044] According to the first embodiment described above, the detection device 200 comprises the four sensors 210 of the first to fourth sensors 211-214. However, the present disclosure is not limited to such an embodiment. The detection device can have five or more sensors 210. Even in such a configuration, the periodicity with which the sensors 210 other than the first and second sensors 211, 212 output the signal TS is preferably longer than the first periodicity with which the first and second sensors 211, 212 output the signals TS. <Zweite Ausführungsform>

[0045] Fig. Figure 4 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity for a detection device 300 according to the second embodiment.

[0046] The detection device 300 according to the second embodiment differs from the detection device 200 according to the first embodiment in the second periodicity with which the second sensor 212 outputs the second signal TS2. The following discussion focuses on differences between the detection device 200 and the detection device 300, and descriptions of similar aspects are omitted.

[0047] The second periodicity for the detection device 300 is the same as the third and fourth periodicities, so that the second periodicity is longer than the first periodicity.

[0048] Accordingly, in the second embodiment, the diagnostic section 140 receives the first signal TS1 with the first periodicity and the second signal TS2 with the second periodicity, which is longer than the first periodicity. The diagnostic section 140 diagnoses the functionality of the first and second sensors 211, 212 with the second periodicity with which the first and second signals TS1, TS2 are received.

[0049] As described above, for the detection device 300, the first periodicity with which the first signal TS1 is output from the first sensor 211, which is an example of one or more sensors from the first to the fourth sensor 211 - 214, is shorter than the periodicity (for example, the third periodicity) with which the signals TS are output from the second to fourth sensor 212 - 214, which are examples of other sensors from the first to fourth sensor 211 - 214.

[0050] The detection device 300 designed in this way reduces the processing load imposed on the control unit 100 compared to the case in which the first to fourth periodicities are all set to have the same duration as the first periodicity and the control unit 100 diagnoses the functionality of the first and second sensors 211, 212 as well as the functionality of the third and fourth sensors 213, 214 with the first periodicity.

[0051] Such a configuration allows the operation of the electric motor 20 to be controlled using the third signal TS3 from the third sensor 213, even in the event of a fault in the first sensor 211 or in the second sensor 212. Accordingly, the above configuration does not impair the safety of the steering device 1.

[0052] The processing section 110 of the detection device 300 diagnoses the functionality of the first and second sensors 211 and 212 using the first signal TS1 from the first sensor 211, which is an example of a sensor, and using the second signal TS2 from the second sensor 212, which is an example of the signal from the second to fourth sensors 212-214. The processing section 110 outputs the first signal TS1 from the first sensor 211 as a torque signal Td, which is an example of the signal indicating the torque to be detected, in response to the diagnostic section 140 diagnosing the first and second sensors 211 and 212 as functioning normally. Accordingly, the detection device 300 can further reduce the processing load imposed on the control unit 100 compared to the detection device 200. <Dritte Ausführungsform>

[0053] Fig. Figure 5 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and an amount of information transmitted in the first signal TS1, in the second signal TS2, in the third signal TS3 and in the fourth signal TS4 for a detection device 400 according to the third embodiment.

[0054] The detection device 400 according to the third embodiment differs from the detection device 200 according to the first embodiment in that the amounts of information transmitted in the first signal TS1, the second signal TS2, the third signal TS3, and the fourth signal TS4 are not identical. The following discussion focuses on differences between the detection device 200 and the detection device 400, and descriptions of similar aspects are omitted.

[0055] For the detection device 400, the amount of information transmitted in the second signal TS2, the third signal TS3, and the fourth signal TS4 is less than the amount of information transmitted in the first signal TS1. If the amount of information transmitted in the first signal TS1 is 16 bits, the amount of information transmitted in the second signal TS2, the third signal TS3, and the fourth signal TS4 can be, for example, 15 bits or less.

[0056] The amount of information transmitted in the second signal TS2, the third signal T3, and the fourth signal TS4 is less than the amount of information transmitted in the first signal TS1. Therefore, the amount of information to be analyzed by the diagnostic section 140 is reduced compared to the case where the first through fourth signals TS1-TS4 all transmit the same amount of information. This reduces the processing load placed on the control unit 100.

[0057] For the information transmitted in the second signal TS2, a number of information bits is preferably selected that is sufficient for the diagnostic section 140 to diagnose a fault in the first and second sensors 211, 212. Furthermore, for the information transmitted in the third and fourth signals TS3, TS4, a number of information bits is preferably selected that is sufficient for the diagnostic section 140 to diagnose a fault in the third and fourth sensors 213, 214.

[0058] Furthermore, the amount of information transmitted in the third and fourth signals TS3, TS4 is preferably selected such that the actuation of the electric motor 20 can be controlled using the third signal TS3 in such a way that even in an emergency situation in which the first sensor 211 or the second sensor 212 has a fault, an effect on the normal steering is avoided.

[0059] According to the third embodiment described above, the amount of information transmitted in the second signal TS2 is also smaller than the amount of information transmitted in the first signal TS1. However, the present disclosure is not limited to such an embodiment. For example, the amount of information transmitted in the second signal TS2 can be equal to the amount of information transmitted in the first signal TS1. Such an alternative embodiment also reduces the processing load imposed on the control unit 100 because the amount of information to be analyzed by the diagnostic section 140 is reduced compared to a case in which the first to fourth signals TS1 - TS4 all transmit the same amount of information. <Vierte Ausführungsform>

[0060] Fig. Figure 6 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and an amount of information transmitted in the first signal TS1, in the second signal TS2, in the third signal TS3 and in the fourth signal TS4 for a detection device 500 according to the fourth embodiment.

[0061] The detection device 500 according to the fourth embodiment differs from the detection device 300 according to the second embodiment in that the amounts of information transmitted in the first signal TS1, the second signal TS2, the third signal TS3, and the fourth signal TS4 are not identical. The following discussion focuses on differences between the detection device 300 and the detection device 500, and descriptions of similar aspects are omitted.

[0062] For the detection device 500, the amount of information transmitted in the second signal TS2, the third signal TS3, and the fourth signal TS4 is less than the amount of information transmitted in the first signal TS1. If the amount of information transmitted in the first signal TS1 is 16 bits, the amount of information transmitted in the second signal TS2, the third signal TS3, and the fourth signal TS4 can, for example, be 12 bits.

[0063] The amount of information transmitted in the second signal TS2, the third signal T3, and the fourth signal TS4 is less than the amount of information transmitted in the first signal TS1. Therefore, the amount of information to be analyzed by the diagnostic section 140 is reduced compared to the case where the first through fourth signals TS1-TS4 all transmit the same amount of information. This reduces the processing load placed on the control unit 100.

[0064] For the information transmitted in the second signal TS2, a number of information bits is preferably selected that is sufficient for the diagnostic section 140 to diagnose a fault in the first and second sensors 211, 212. Furthermore, for the information transmitted in the third and fourth signals TS3, TS4, a number of information bits is preferably selected that is sufficient for the diagnostic section 140 to diagnose a fault in the third and fourth sensors 213, 214.

[0065] Furthermore, the amount of information transmitted in the third and fourth signals TS3, TS4 is preferably selected such that the actuation of the electric motor 20 can be controlled using the third signal TS3 in such a way that even in an emergency situation in which the first sensor 211 or the second sensor 212 has a fault, an effect on the normal steering is avoided.

[0066] According to the fourth embodiment described above, the amount of information transmitted in the second signal TS2 is also smaller than the amount of information transmitted in the first signal TS1. However, the present disclosure is not limited to such an embodiment. For example, the amount of information transmitted in the second signal TS2 can be equal to the amount of information transmitted in the first signal TS1. Such an alternative embodiment also reduces the processing load imposed on the control unit 100 because the amount of information to be analyzed by the diagnostic section 140 is reduced compared to a case in which the first to fourth signals TS1 - TS4 all transmit the same amount of information. <Fünfte Ausführungsform>

[0067] Fig. Figure 7 shows an exemplary schematic configuration of a detection device 600 according to the fifth embodiment.

[0068] Fig. Figure 8 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and an amount of information transmitted in the first signal TS1, in the second signal TS2, in the third signal TS3 and in the fourth signal TS4 for the detection device 600 according to the fifth embodiment.

[0069] The detection device 600 according to the fifth embodiment differs from the detection device 200 according to the first embodiment in that the first and second signals TS1, TS2 are transmitted over the same communication line 261, and the third and fourth signals TS3, TS4 are transmitted over the same communication line 262. The following discussion focuses on differences between the detection device 200 and the detection device 600, and descriptions of similar aspects are omitted.

[0070] The detection device 600 has a sensor unit 619 and a processing section 510 corresponding to the processing section 110.

[0071] The sensor unit 619 comprises a first sensor 611, a second sensor 612, a third sensor 613, and a fourth sensor 614. Hereinafter, the first sensor 611, the second sensor 612, the third sensor 613, and the fourth sensor 614 may be referred to collectively as sensors 610, unless a distinction is necessary.

[0072] The first and second sensors 611, 612 of the detection device 600 transmit their respective detection signals, i.e., the first and second signals TS1, TS2, sequentially via the communication line 261 to the processing section 510. In particular, after receiving a command signal from the processing section 510, the first sensor 611 first transmits the first signal TS1, and the second sensor 612 then transmits the second signal TS2 in response, both being transmitted via the communication line 261.

[0073] Likewise, the third and fourth sensors 613, 614 of the detection device 600 transmit their respective detection signals, i.e., the third and fourth signals TS3, TS4, sequentially via the communication line 262 to the processing section 510. In particular, after receiving a command signal from the processing section 510, the third sensor 613 first transmits the third signal TS3, and the fourth sensor 614 then transmits the fourth signal TS4 in response, both being transmitted via the communication line 262.

[0074] For the detection device 600 according to the fifth embodiment, the first and second periodicities are equal, and the third and fourth periodicities are equal to and longer than the first and second periodicities. For example, the third and fourth periodicities can be integer multiples of the first and second periodicities. If, for example, the first and second periodicities are each 1 ms, the third and fourth periodicities can each be 2 ms, 3 ms, 4 ms, or 5 ms.

[0075] The processing section 510 includes a diagnostic section 540 for diagnosing a fault in the first sensor 611, the second sensor 612, the third sensor 613, and the fourth sensor 614. The processing section 510 also includes a switching section 560.

[0076] After sequentially receiving the first and second signals TS1, TS2 via communication line 261, the diagnostic section 540 diagnoses the functionality of the first and second sensors 611, 612. Furthermore, after sequentially receiving the third and fourth signals TS3, TS4 via communication line 262, the diagnostic section 540 diagnoses the functionality of the third and fourth sensors 613, 614.

[0077] The detection device 600 designed in this way reduces the processing load imposed on the diagnostic section 540 compared to the case in which the first to fourth periodicities are all set to have the same duration as the first periodicity and the diagnostic section 540 diagnoses the functionality of the first and second sensors 611, 612 and the functionality of the third and fourth sensors 613, 614 with the first periodicity.

[0078] Such a configuration allows the operation of the electric motor 20 to be controlled using the third signal TS3 from the third sensor 613, even in the event of a fault in the first sensor 611 or in the second sensor 612. Accordingly, the above configuration does not impair safety. <Sechste Ausführungsform>

[0079] Fig. Figure 9 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and an amount of information transmitted in the first signal TS1, in the second signal TS2, in the third signal TS3 and in the fourth signal TS4 for a detection device 700 according to the sixth embodiment.

[0080] The detection device 700 according to the sixth embodiment differs from the detection device 600 according to the fifth embodiment in that the amounts of information transmitted in the first signal TS1, the second signal TS2, the third signal TS3, and the fourth signal TS4 are not identical. The following discussion focuses on differences between the detection device 600 and the detection device 700, and descriptions of similar aspects are omitted.

[0081] For the detection device 700, the amount of information transmitted in the third and fourth signals TS3, TS4 is less than the amount of information transmitted in the first and second signals TS1, TS2. If the amount of information transmitted in the first and second signals TS1, TS2 is 16 bits, the amount of information transmitted in the third and fourth signals TS3, TS4 can be, for example, 12 bits.

[0082] The amount of information transmitted in the third and fourth signals TS3 and TS4 is less than the amount of information transmitted in the first and second signals TS1 and TS2. Therefore, the amount of information to be analyzed by diagnostic section 540 is reduced compared to the case where the first through fourth signals TS1-TS4 all transmit the same amount of information. This reduces the processing load placed on diagnostic section 540.

[0083] For the amount of information transmitted in the third and fourth signals TS3, TS4, a number of information bits is preferably chosen that is sufficient for the diagnostic section 540 to diagnose the functionality of the third and fourth sensors 613, 614.

[0084] Furthermore, the amount of information transmitted in the third and fourth signals TS3, TS4 is preferably selected such that the actuation of the electric motor 20 can be controlled using the third signal TS3 in such a way that even in an emergency situation in which the first sensor 611 or the second sensor 612 has a fault, an effect on the normal steering is avoided. <Siebte Ausführungsform>

[0085] Fig. Figure 10 shows examples of the first periodicity, the second periodicity, the third periodicity and the fourth periodicity and an amount of information transmitted in the first signal TS1, in the second signal TS2, in the third signal TS3 and in the fourth signal TS4 for a detection device 800 according to the seventh embodiment.

[0086] The sensing device 800 according to the seventh embodiment differs from the sensing device 200 according to the first embodiment in that different second to fourth periodicities are used and that the amounts of information transmitted in the first signal TS1, the second signal TS2, the third signal TS3, and the fourth signal TS4 are not identical. The following discussion focuses on differences between the sensing device 200 and the sensing device 800, and descriptions of similar aspects are omitted.

[0087] The second to fourth periodicities for the detection device 800 are set so that they have the same duration as the first periodicity.

[0088] In contrast, for the detection device 800, the amount of information transmitted in the second signal TS2, the third signal TS3, and the fourth signal TS4 is smaller than the amount of information transmitted in the first signal TS1. If the amount of information transmitted in the first signal TS1 is 16 bits, the amount of information transmitted in the second signal TS2, the third signal TS3, and the fourth signal TS4 can, for example, be 12 bits.

[0089] As described above for the detection device 800, the amount of information transmitted in the first signal TS1 from the first sensor 211, which is an example of one or more sensors from the first to fourth sensor 211 - 214, is greater than the amount of information transmitted in the signals TS from the second to fourth sensor 212 - 214, which are examples of other sensors from the first to fourth sensor 211 - 214.

[0090] Although the first to fourth periodicities all have the same duration, the amount of information transmitted in the second to fourth signals TS2 - TS4 is less than the amount of information transmitted in the first signal TS1 for the detection device 800. Therefore, the amount of information to be analyzed by the diagnostic section 140 is reduced compared to the case where the first to fourth signals TS1 - TS4 all transmit the same amount of information. This reduces the processing load imposed on the control unit 100.

[0091] For the information transmitted in the second signal TS2, a number of information bits is preferably selected that is sufficient for the diagnostic section 140 to diagnose the functionality of the first and second sensors 211, 212. Furthermore, for the information transmitted in the third and fourth signals TS3, TS4, a number of information bits is preferably selected that is sufficient for the diagnostic section 140 to diagnose the functionality of the third and fourth sensors 213, 214.

[0092] Furthermore, the amount of information transmitted in the third and fourth signals TS3, TS4 is preferably selected such that the actuation of the electric motor 20 can be controlled using the third signal TS3 in such a way that even in an emergency situation in which the first sensor 211 or the second sensor 212 has a fault, an effect on the normal steering is avoided.

[0093] According to the seventh embodiment described above, the amount of information transmitted in the second signal TS2 is also smaller than the amount of information transmitted in the first signal TS1. However, the present disclosure is not limited to such an embodiment. For example, the amount of information transmitted in the second signal TS2 can be equal to the amount of information transmitted in the first signal TS1. Such an alternative embodiment also reduces the processing load imposed on the diagnostic section 140 because the amount of information to be analyzed by the diagnostic section 140 is reduced compared to a case in which the first through fourth signals TS1–TS4 all transmit the same amount of information. Reference symbol list 1 electric power steering device 100 Control unit 110 Processing section 140 Diagnostic section 160 switching section 170 Tax Section 200 detection device 211 first sensor 212 second sensor 213 third sensor 214 fourth sensor

Claims

A sensing device comprising: several sensors (210) designed to detect a value to be detected, and a processing section (110) designed to process a detection signal output by each of the several sensors (210), wherein the several sensors (210) comprise a first sensor (211), a second sensor (212), a third sensor (213), and a fourth sensor (214), the periodicity with which the first sensor (211) and the second sensor (212) output detection signals is shorter than the periodicity with which the third sensor (213) and the fourth sensor (214) output detection signals, the processing section (110) comprising: a diagnostic section (140) designed to diagnose a fault in the first sensor (211), the second sensor (212), the third sensor (213), and the fourth sensor (214), and a switching section (160) designed to is,to switch between the use of a first signal (TS1) and the use of a third signal (TS3) as a torque signal, wherein the first signal (TS1) is a detection signal output by the first sensor (211) and the third signal (TS3) is a detection signal output by the third sensor (213); the diagnostic section (140) is designed to use the first signal (TS1) and a second signal (TS2), wherein the second signal (TS2) is a detection signal output by the second sensor (212), to diagnose whether the first sensor (211) and the second sensor (212) are normal or whether the first sensor (211) or the second sensor (212) has a fault; the diagnostic section (140) is designed to use the third signal (TS3) and a fourth signal (TS4), wherein the fourth signal (TS4) is a detection signal output by the fourth sensor (214), to diagnosewhether the third sensor (213) and the fourth sensor (214) are normal or the third sensor (213) or the fourth sensor (214) has a fault, responding to the fact that the diagnostic section (140) diagnoses that neither the first sensor (211) nor the second sensor (212) has a fault, the switching section (160) is designed to output the first signal (TS1) as a torque signal, and responding to the fact that the diagnostic section (140) diagnoses that the first sensor (211) or the second sensor (212) has a fault and diagnoses that neither the third sensor (213) nor the fourth sensor (214) has a fault, the switching section (160) is designed to output the third signal (TS3) as a torque signal. A sensing device comprising: several sensors (210) designed to detect a value to be detected, and a processing section (110) designed to process a detection signal output by each of the several sensors (210), wherein the several sensors (210) comprise a first sensor (211), a second sensor (212), a third sensor (213), and a fourth sensor (214), the periodicity with which the first sensor (211) outputs a detection signal is shorter than the periodicity with which the second sensor (212), the third sensor (213), and the fourth sensor (214) output detection signals, the processing section (110) comprising: a diagnostic section (140) designed to diagnose a fault in the first sensor (211), the second sensor (212), the third sensor (213), and the fourth sensor (214), and a switching section (160) designed to is,to switch between the use of a first signal (TS1) and the use of a third signal (TS3) as a torque signal, wherein the first signal (TS1) is a detection signal output by the first sensor (211) and the third signal (TS3) is a detection signal output by the third sensor (213); the diagnostic section (140) is designed to use the first signal (TS1) and a second signal (TS2), wherein the second signal (TS2) is a detection signal output by the second sensor (212), to diagnose whether the first sensor (211) and the second sensor (212) are normal or whether the first sensor (211) or the second sensor (212) has a fault; the diagnostic section (140) is designed to use the third signal (TS3) and a fourth signal (TS4), wherein the fourth signal (TS4) is a detection signal output by the fourth sensor (214), to diagnosewhether the third sensor (213) and the fourth sensor (214) are normal or the third sensor (213) or the fourth sensor (214) has a fault, responding to the fact that the diagnostic section (140) diagnoses that neither the first sensor (211) nor the second sensor (212) has a fault, the switching section (160) is designed to output the first signal (TS1) as a torque signal, and responding to the fact that the diagnostic section (140) diagnoses that the first sensor (211) or the second sensor (212) has a fault and diagnoses that neither the third sensor (213) nor the fourth sensor (214) has a fault, the switching section (160) is designed to output the third signal (TS3) as a torque signal. Steering device comprising: a detection device (200) according to claim 1 or 2 and a control section (170) designed to control the actuation of an electric motor (20) using values ​​detected by the detection device (200).

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