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

Abstract

To provide a control device for an on-vehicle unit and a control method for the on-vehicle unit that are able to reduce the occurrence of a state in which a warning lamp cannot be turned on despite an anomaly in the on-vehicle unit.SOLUTION: A steering control device is applied to a steering device mounted on a vehicle having a warning lamp and is configured to output a lighting request to the warning lamp. The steering control device includes a CPU and a memory that stores information used in a process executed by the CPU. The CPU includes a process of detecting the failure, a process of writing a detection history in history information when the failure is detected, and a process of outputting a lighting request. A storage unit is configured to retain the content of the history information even when a power supply is turned on and off. In a case where the detection history is written in the content of the history information read from the storage unit when the power is turned on, the CPU outputs the lighting request even if the failure cannot be detected.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a control device for an on-vehicle unit and a method for controlling an on-vehicle unit. [Background technology]

[0002] For example, some control devices for on-board units are configured to output a request to turn on a warning light of a vehicle to notify the driver of the state of the on-board unit, as described in the following Patent Document 1. This control device for the on-board unit outputs a request to turn on the warning light when it determines that there is an abnormality in the sensor output signal of a sensor in the on-board unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-58911 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the control device for the vehicle-mounted unit, for example, if the sensor output signal itself is not output immediately after the vehicle-mounted unit is powered on, it is not possible to judge whether the sensor output signal is abnormal. In this case, even if the sensor output signal becomes abnormal, the warning light cannot be turned on until the sensor output signal is output. In other words, there is a certain degree of occurrence of a state in which the warning light cannot be turned on even though the sensor output signal becomes abnormal. [Means for solving the problem]

[0005] The control device for an on-board unit that can solve the above problem is applied to an on-board unit mounted on a vehicle having a warning light, and is configured to output a request to turn on the warning light to notify the driver of the state of the on-board unit. The control device for the on-board unit includes a control unit that executes at least a process related to outputting the turn-on request, and a storage unit that stores at least information used in the process executed by the control unit, the control unit includes an abnormality detection process for detecting an abnormality in the on-board unit, a detection result writing process for writing a detection history indicating an abnormality in the on-board unit when the abnormality detection process detects an abnormality in the on-board unit, into the history information of the storage unit, and a turn-on request output process for outputting the turn-on request, the storage unit is configured to hold the contents of the history information even when the on-board unit is powered on and off, and the control unit is configured to read the contents of the history information from the storage unit when the on-board unit is powered on, and if the detection history is written in the read contents, output the turn-on request even if the abnormality in the on-board unit cannot be detected by the abnormality detection process.

[0006] According to the above configuration, when the in-vehicle unit is powered on, if the detection history is written in the contents of the history information, the control unit can output a lighting request immediately after the in-vehicle unit is powered on, even if an abnormality in the in-vehicle unit cannot be detected. For example, if the lighting request was output during the previous power-on even if an abnormality in the in-vehicle unit cannot be detected, the output state during the previous power-on can be inherited and started from the current power-on. When the power is turned on after the lighting request was output during the power-on, even if an abnormality in the in-vehicle unit cannot be detected, there is a high probability that the abnormality in the in-vehicle unit has been inherited from the previous power-on. Therefore, it is possible to reduce the occurrence of a state in which the warning light cannot be turned on despite an abnormality in the in-vehicle unit.

[0007] In the control device for the above-mentioned vehicle-mounted unit, it is preferable that the control unit is configured to read the contents of the history information from the memory unit when the vehicle-mounted unit is powered on, and also when an abnormality in the vehicle-mounted unit is detected by the abnormality detection process, and to output the lighting request based on the detection history written in the read contents.

[0008] According to the above configuration, the difference in content between the lighting request and the history information is reduced. In the control device for the above-mentioned vehicle-mounted unit, the abnormality detection process includes a process for detecting recovery of the vehicle-mounted unit from the abnormality, and the detection result writing process includes a process for erasing the detection history from the history information of the memory unit when the abnormality detection process detects that the vehicle-mounted unit has recovered from the abnormality, and it is preferable that the control unit is configured to read the contents of the history information from the memory unit when the vehicle-mounted unit is powered on and when the abnormality detection process detects that the vehicle-mounted unit has recovered from the abnormality, and to stop outputting the lighting request if the detection history has been erased from the read contents.

[0009] According to the above configuration, when the control unit detects that the vehicle-mounted unit has recovered from the abnormality, the control unit can erase the detection history from the history information and disable the warning light from being turned on, thereby optimizing the conditions under which the warning light can be turned on.

[0010] In the control device for the above-mentioned vehicle-mounted unit, it is preferable that the control unit is configured to execute startup processing when the vehicle-mounted unit is powered on, and the control unit is configured to read the contents of the history information from the memory unit during the startup processing.

[0011] According to the above configuration, even if the in-vehicle unit is configured to go through the execution of the startup process after the power is turned on, if the content of the history information is a detection history, the control unit can output a request to turn on the vehicle immediately after the power is turned on. This is particularly effective as a measure against an abnormality in the in-vehicle unit that cannot be detected by the abnormality detection process in the startup process situation.

[0012] In the control device for the above-mentioned vehicle-mounted unit, the memory unit is configured to store diagnostic information that is not used in the processing executed by the control unit, and in which a diagnostic indicating an abnormality in the vehicle-mounted unit is written when an abnormality is detected in the abnormality detection processing, and it is preferable that the memory unit is configured to erase the contents of the diagnostic information and the history information by operation from a diagnostic tool connected externally to the vehicle.

[0013] According to the above configuration, the contents of the diagnostic information and the history information can be synchronized depending on the operation from the diagnostic tool. This allows the diagnostic information and the history information, which have different roles and management methods, to be appropriately managed.

[0014] A method for controlling an on-board unit that can solve the above problem is a method for controlling an on-board unit mounted on a vehicle having a warning light. The on-board unit includes a control unit that executes at least a process related to outputting a request to turn on the warning light to notify the driver of the state of the on-board unit, and a storage unit that stores at least information used in the process executed by the control unit. In the method for controlling an on-board unit, the process executed by the control unit includes detecting an abnormality of the on-board unit, writing a detection history indicating the abnormality in the on-board unit to history information of the storage unit when the abnormality in the on-board unit is detected, and outputting the request to turn on the warning light. The storage unit stores the history information to retain the contents even when the on-board unit is powered on and off, and the process executed by the control unit includes reading the contents of the history information from the storage unit when the on-board unit is powered on, and outputting the request to turn on the warning light if the detection history is written in the read content, even if the abnormality in the on-board unit cannot be detected by the abnormality detection process. Effect of the Invention

[0015] According to the control device for an in-vehicle unit and the control method for an in-vehicle unit of the present invention, it is possible to reduce the occurrence of a situation in which the warning lamp cannot be turned on despite an abnormality in the in-vehicle unit. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing a configuration of a stay-by-wire type steering device according to an embodiment; [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the steering control device in FIG. [Diagram 3] FIG. 3 is a diagram for explaining state transitions of the CPU in FIG. [Figure 4] 11 is a diagram for explaining the correspondence between various abnormalities, lighting requests, and contents to be written to memory. FIG. [Diagram 5] 3 is a flowchart illustrating a process for detecting a non-corresponding fail by the CPU of FIG. 2. [Figure 6] 3 is a flowchart illustrating a process for detecting a failure in the CPU of FIG. 2. [Figure 7] 13A is a diagram showing an example of the state of the steering device, FIG. 13B is a diagram showing the detection state of the corresponding failure, FIG. 13C is a diagram showing the output state of the lighting request, and FIG. 13D is a diagram showing an example of the contents of the history information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] A control device for an on-board unit according to one embodiment will now be described. As shown in FIG. 1, the steering control device 1 is an example of a control device for an on-board unit applied to an on-board unit mounted on a vehicle VC having a warning light 9. The steering control device 1 controls a steering device 2. The steering device 2 is an example of an on-board unit mounted on the vehicle VC. The steering device 2 is configured as a steering device for a steer-by-wire type vehicle. The steering device 2 includes a steering unit 4 and a steering unit 6. The steering unit 4 is steered by a driver via a steering wheel 3 of the vehicle VC, which is a steering member. The steering unit 6 steers the left and right steered wheels 5 of the vehicle VC in response to a steering input to the steering unit 4 by the driver. The steering device 2 of this embodiment has a structure in which, for example, a power transmission path between the steering unit 4 and the steering unit 6 is mechanically separated at all times. A power transmission path between a steering actuator 12 described later and a steering actuator 31 described later is mechanically separated at all times.

[0018] 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 includes a steering-side motor 13 and a steering-side reduction mechanism 14. The steering-side motor 13 is a reaction motor that applies a steering reaction force, which is a force resisting steering, to the steering wheel 3 via the steering shaft 11. The steering-side motor 13 is connected to the steering shaft 11 via the steering-side reduction mechanism 14, which is made of, for example, a worm and wheel. For the steering-side motor 13 of this embodiment, for example, a three-phase brushless motor is adopted.

[0019] 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 connected with a predetermined cross angle. A rack-and-pinion mechanism 24 is formed by meshing pinion teeth 21a formed on the pinion shaft 21 with rack teeth 22a formed on the rack shaft 22. The pinion shaft 21 corresponds to a rotation axis that can be converted into a steering angle, which is the steering position of the steered wheels 5. The rack housing 23 accommodates the rack-and-pinion mechanism 24.

[0020] One end of the pinion shaft 21 opposite to the end connected to the rack shaft 22 protrudes from a rack housing 23. Both ends of the rack shaft 22 protrude from both axial ends of the rack housing 23. Tie rods 26 are connected to both ends of the rack shaft 22 via rack ends 25 made of ball joints. The ends of the tie rods 26 are connected to knuckles (not shown) to which the left and right steered wheels 5 are respectively attached.

[0021] 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 steered wheels 5 relative to the rack shaft 22 via the transmission mechanism 33 and the conversion mechanism 34. The steering side motor 32 transmits rotation to the conversion mechanism 34 via the transmission mechanism 33, which is, for example, a belt transmission mechanism. The transmission mechanism 33 converts the rotation of the steering side motor 32 into reciprocating motion of the rack shaft 22 via the conversion mechanism 34, which is, for example, a ball screw mechanism. For the steering side motor 32 of this embodiment, for example, a three-phase brushless motor is used.

[0022] In the steering device 2, the steering actuator 31 applies a motor torque to the rack shaft 22 as a steering force in response to the steering operation by the driver, thereby changing the steering angle of the steered wheels 5. At this time, the steering actuator 12 applies a steering reaction force against the steering by the driver to the steering wheel 3. As a result, in the steering device 2, the steering reaction force, which is the motor torque applied from the steering actuator 12, changes the steering torque Th required to steer the steering wheel 3.

[0023] The pinion shaft 21 is provided in order to support the rack shaft 22 together with the pinion shaft 21 inside the rack housing 23. The rack shaft 22 is supported movably along its axial direction and is pressed toward the pinion shaft 21 by a support mechanism (not shown) provided in the steering device 2. In this way, the rack shaft 22 is supported inside the rack housing 23. However, another support mechanism for supporting the rack shaft 22 in the rack housing 23 may be provided without using the pinion shaft 21.

[0024] <Electrical configuration of the steering system> 1, the steering-side motor 13 and the steered-side motor 32 are connected to a steering control device 1. The steering control device 1 controls the operation of each of the motors 13, 32.

[0025] 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 turning side rotation angle sensor 43, a vehicle speed sensor 44, and a pinion absolute angle sensor 45.

[0026] The torque sensor 41 is provided on the steering shaft 11 between the steering wheel 3 and the steering side 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. The steering torque Th is detected in relation to the twist of a torsion bar 41a provided on the steering shaft 11 between the steering wheel 3 and the steering side reduction mechanism 14, in the middle of the steering shaft 11. The steering side rotation angle sensor 42 is provided on the steering side motor 13. The steering side rotation angle sensor 42 detects a rotation angle θa, which is an angle of a rotation shaft of the steering side motor 13, within a range of 360 degrees. The turning side rotation angle sensor 43 is provided on the turning side motor 32. The turning side rotation angle sensor 43 detects a rotation angle θb, which is an angle of a rotation shaft of the turning side motor 32, within a range of 360 degrees. The vehicle speed sensor 44 detects a vehicle speed V, which is the traveling speed of the vehicle VC. The pinion absolute angle sensor 45 detects the pinion absolute rotation angle θabp, which is the actual measurement value of the angle of the rotation shaft of the pinion shaft 21, in a range exceeding 360°.

[0027] A 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 mounted on the vehicle VC, and serves as a power source for supplying power to operate the steering-side motor 13 and the steered-side motor 32. The battery 47 also serves as a power source for supplying power to operate the steering control device 1.

[0028] A start switch 48 ("SW" in FIG. 1) of the vehicle VC, such as an ignition switch, is provided between the steering control device 1 and the battery 47. The start switch 48 is provided in the middle of the power feeder L2, which is one of two power feeders L1 and L2 that connect the steering control device 1 and the battery 47 and branches off from the power feeder L1. The start switch 48 is operated when starting various functions so that the vehicle VC can operate by operating a driving source for running the vehicle VC, such as an engine. The conduction of the power feeder L2 is turned on and off through the operation of the start switch 48. In this embodiment, the operating state of the steering device 2 is associated with the operating state of the vehicle VC. Note that the conduction of the power feeder L1 is basically always on, but the conduction of the power feeder L1 is indirectly turned on and off as a function of the steering device 2 depending on the operating state of the steering device 2. The operating state of the steering device 2 is associated with the on and off of the conduction of the power feeders L1 and L2, which is the state of the power supply of the battery 47. The operating state of the steering device 2 is powered on when the electrical continuity of the power feeders L1, L2 is turned on based on the operation of the start switch 48. The operating state of the steering device 2 is powered off when the electrical continuity of the power feeders L1, L2 is turned off based on the operation of the start switch 48.

[0029] A diagnostic tool 49 can be connected to the steering control device 1. The diagnostic tool 49 is used, for example, in a maintenance shop where the vehicle VC is maintained, such as a dealer's shop. The diagnostic tool 49 is connected to the vehicle VC from the outside. The steering control device 1 of this embodiment has a connector 49a. The diagnostic tool 49 is connected to the vehicle VC from the outside via the connector 49a of the steering control device 1. The connector 49a may be possessed by a control device mounted on the vehicle VC separately from the steering control device 1, or may be mounted on the vehicle VC as a dedicated connector. The diagnostic tool 49 is a tool for diagnosing abnormal conditions for the vehicle VC.

[0030] While being 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 in the diagnostic state through the operation of the maintenance worker. The worker can perform treatments on the vehicle VC, i.e., the steering control device 1, through the operation of the diagnostic tool 49.

[0031] The meter control device 7 is connected to the steering control device 1 via an in-vehicle network 8 such as CAN. The meter control device 7 is provided separately from the steering control device 1 in the vehicle VC on which the steering device 2 is mounted. The meter control device 7 controls the operation of the in-vehicle warning lamp 9. The warning lamp 9 is, for example, a display device that appeals to the driver's vision to notify information. The display device includes a HUD (Head Up Display), a meter panel, a display of a navigation system, and an LED (Light Emitting Diode). The meter control device 7 generates a notification control signal S for the warning lamp 9.

[0032] <Functions of the Steering Control Device> 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 executes various processes by the CPU 50a executing the programs stored in the memory 50b at a predetermined calculation cycle. The CPU 50a and the memory 50b constitute a microcomputer which is a processing circuit. The memory 50b includes computer-readable media such as a RAM (Random Access Memory) and a ROM (Read Only Memory). However, the realization of various processes by software is an example. The processing circuit of the steering control device 1 may be configured to realize at least some of the processes 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.

[0033] <Regarding the Functions of the CPU> As shown in FIG. 2, the CPU 50a inputs various information. The various information includes, for example, the detection results of the above-mentioned various sensors. In addition to these, the various information includes the battery voltage Vb of the battery 47, the on / off state of the start switch 48, the detection results of the steering side current sensor 51, the detection results of the turning side current sensor 52, and information read from the memory 50b. The battery voltage Vb is the voltage value of the battery 47, for example, the voltage value of the power supply line L1. The on / off state of the start switch 48 is determined by 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 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 turning side current sensor 52 detects the turning side actual current value Ib of the turning side motor 32 flowing through the connection line between the drive circuit (not shown) and the motor coil of each phase of the turning side motor 32.

[0034] The memory 50b has a plurality of storage areas including a storage unit 501 and a storage unit 502. The storage unit 501 and the storage unit 502 are different storage areas. The storage unit 501 is a storage area for writing and storing history information Bs. The storage unit 502 is a storage area for writing and storing diag information Dn.

[0035] The information in memory 50b includes, for the writable information, information whose contents are erased and initialized in response to power-on and power-off, and information whose contents are retained regardless of power-on and power-off. The information stored in storage unit 501 and storage unit 502 corresponds to information whose contents are retained regardless of power-on and power-off. The information stored in storage unit 501 is information that is read by CPU 50a and used in the processing executed by CPU 50a. The information stored in storage unit 502 is information that is not read by CPU 50a and is not used in the processing executed by CPU 50a. The information stored in storage unit 502 is information that is read by diagnostic tool 49 and used in a maintenance shop. Furthermore, the information stored in storage unit 501 and storage unit 502 is information that can be erased by diagnostic tool 49.

[0036] As shown in FIG. 3, while the power is off, the CPU 50a includes a process of transitioning the state to a normal control state via a startup state (step 102) (step 104) after the start switch 48 is turned on to turn on the power (step 100). While the power is on, after the state transition to the normal control state, the normal control state continues until the power is turned off. The startup state is a state in which startup processing is executed to enable execution of normal processing related to steering control for operating the steering device 2 in response to steering by the driver, such as by reading out various information. In the startup state, the CPU 50a does not execute normal processing. In the startup state, for example, the vehicle VC is stopped. In the normal control state, the CPU 50a executes normal processing. In the normal control state, for example, the vehicle VC is stopped or traveling.

[0037] <About the steering system abnormality> The CPU 50a executes processes for detecting various abnormalities in the steering device 2 as startup processes and normal processes.

[0038] As shown in Fig. 4, the various abnormalities include, for example, an electrical system abnormality, a mechanical system abnormality, a sensor system abnormality, and a communication system abnormality. More specifically, the electrical system abnormality includes an operation abnormality of the CPU 50a and the memory 50b, and a power supply abnormality of the battery 47. The CPU 50a detects an electrical system abnormality when, for example, normal operation is not possible due to a drop in the battery voltage Vb. When an electrical system abnormality is detected, the CPU 50a sets a fail state of the steering device 2, which stops operation, etc., since normal operation is not possible.

[0039] The mechanical system abnormality includes a mechanical abnormality of the steering unit 4 including the steering side motor 13, and a mechanical abnormality of the steering unit 6 including the turning side motor 32. The CPU 50a detects a mechanical system abnormality when it can determine tooth skipping and belt breakage in the transmission mechanism 33 and the conversion mechanism 34, for example, by comparing the detection results of the turning side rotation angle sensor 43 and the pinion absolute angle sensor 45. When a mechanical system abnormality is detected, the CPU 50a sets a fail state of the steering device 2, such as evacuating the vehicle VC to a safe place, depending on the situation.

[0040] The sensor system abnormality includes abnormalities in the torque sensor 41, the steering side rotation angle sensor 42, the turning side rotation angle sensor 43, the pinion absolute angle sensor 45, the steering side current sensor 51, and the turning side current sensor 52. The CPU 50a detects a sensor system abnormality for the torque sensor 41, for example, when it is possible to determine that there is no input and that the value of the steering torque Th is inappropriate based on the steering torque Th of the torque sensor 41. This also applies to the steering side rotation angle sensor 42, the turning side rotation angle sensor 43, the pinion absolute angle sensor 45, the steering side current sensor 51, and the turning side current sensor 52. When a sensor system abnormality is detected, the CPU 50a sets a fail state of the steering device 2 that restricts some functions, etc., depending on the situation.

[0041] The communication system abnormality includes a communication abnormality in the in-vehicle network 8. For example, the CPU 50a detects a communication system abnormality when it is possible to determine that a signal is not received or that an invalid signal is received based on a signal received from the in-vehicle network 8. When a communication system abnormality is detected, the CPU 50a transitions to a fail state of the steering device 2, restricting some functions, etc., depending on the situation.

[0042] 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 execute normal processing but the power is on, so it 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 execute normal processing but the vehicle VC is operating, so it can receive a signal from the in-vehicle network 8. In this case, the CPU 50a can detect a communication system abnormality.

[0043] In contrast, in the start-up state, the CPU 50a may not be able to detect, for example, mechanical system abnormalities and sensor system abnormalities even if they occur. In the start-up state, the CPU 50a does not execute normal processing, so it may not be able to determine whether or not a tooth skip or belt breakage occurs in the transmission mechanism 33 and the conversion mechanism 34. In this case, the CPU 50a may not be able to detect, even if a mechanical system abnormality occurs. Similarly, in the start-up state, the CPU 50a does not execute normal processing, so it may not be able to determine that the value of the steering torque Th of the torque sensor 41 is inappropriate. In this case, the CPU 50a may not be able to detect a sensor system abnormality for the torque sensor 41. The possibility of not being able to detect such a sensor system abnormality also applies to the time when the vehicle VC is stopped after the state transition to the normal control state until it starts to run. This also applies to the detection of sensor system abnormalities for the steering side rotation angle sensor 42, the turning side rotation angle sensor 43, the pinion absolute angle sensor 45, the steering side current sensor 51, and the turning side current sensor 52.

[0044] As described above, various abnormalities in the steering device 2 are classified into failures that can be detected in the startup state and failures that may not be detectable in the startup state. In the following description, electrical system abnormalities and communication system abnormalities that can be detected in the startup state are referred to as "non-applicable failures," and mechanical system abnormalities and sensor system abnormalities that may not be detectable in the startup state are referred to as "applicable failures."

[0045] <Processing for detecting steering system abnormalities> As shown in Figures 5 and 6, the CPU 50a executes processes for detecting various abnormalities as startup processing and normal processing. The processing procedure for detecting non-relevant failures is specified taking into consideration that these are abnormalities that can be detected regardless of the startup state and the normal control state. In contrast, the processing procedure for detecting relevant failures is specified taking into consideration that they may not be detectable in the startup state.

[0046] <Processing for detecting non-applicable failures> 5 shows an example of a processing procedure for detecting a non-relevant failure. In this processing, the CPU 50a judges whether or not a non-relevant failure has been detected (step 200). In step 200, the CPU 50a judges step 200: YES if the non-relevant failure has not been detected until immediately before. In other cases, the CPU 50a judges step 200: NO as it has not detected a non-relevant failure. Other cases include cases where a non-relevant failure has not been detected or where a non-relevant failure is currently being detected.

[0047] Next, when the CPU 50a detects a non-relevant failure (step 200: YES), it writes the information to the memory 50b (step 202). In step 202, the CPU 50a writes information indicating the detection of the non-relevant failure to the diagnosing information Dn in the storage unit 502. In this case, the CPU 50a also writes the type of the non-relevant failure. Note that when a non-relevant failure is detected, the CPU 50a does not write the information to the history information Bs in the storage unit 501.

[0048] Next, the CPU 50a outputs a lighting request WL corresponding to the non-applicable failure detected in step 200 (step 204), ends the 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 a lighting request WL to the warning light 9 to notify the driver of the state of the steering device 2. The state of the steering device 2 to be notified to the driver is a state related to various abnormalities.

[0049] More specifically, as shown in Fig. 4, among the non-applicable failures, notification of an electrical system abnormality is requested by a lighting request WL(R). The lighting request WL(R) is, for example, information for notifying that the state of the steering device 2 is detecting a severe abnormality that requires more immediate action. Moreover, among the non-applicable failures, notification of a communication system abnormality is requested by a lighting request WL(Y). The lighting request WL(Y) is, for example, information for notifying that the state of the steering device 2 is detecting a mild abnormality that does not impede the travel of the vehicle VC.

[0050] In step 204, when both the lighting request WL(R) and the lighting request WL(Y) can be output, the CPU 50a outputs the lighting request WL(R) with priority. For example, when both are output, one of the lighting requests WL is already being output. In step 204, once the CPU 50a outputs the lighting request WL, the CPU 50a continues to output the lighting request WL until the output stop condition is satisfied. In the process for detecting a non-corresponding fail, the output stop condition is the power off of the vehicle VC or a determination of YES in step 206 described later. The lighting request WL thus output is input to the meter control device 7. When the meter control device 7 inputs the lighting request WL, the meter control device 7 controls the operation of the warning light 9 so that the warning light 9 lights up in a corresponding color. For example, when the meter control device 7 inputs the lighting request WL(R), the meter control device 7 controls the operation of the warning light 9 so that the warning light 9 lights up in red, and when the meter control device 7 inputs the lighting request WL(Y), the meter control device 7 controls the operation of the warning light 9 so that the warning light 9 lights up in yellow.

[0051] On the other hand, in step 200, if the CPU 50a does not detect a non-corresponding failure (step 200: NO), it judges whether or not the non-corresponding failure has been recovered from (step 206). In step 206, if the CPU 50a was detecting a non-corresponding failure, it judges whether or not the non-corresponding failure has been resolved. If the CPU 50a does not detect a recovery from a non-corresponding failure (step 206: NO), it ends the process and moves to another process.

[0052] On the other hand, if the recovery is from a non-corresponding fail (step 206: YES), the CPU 50a stops outputting the lighting request WL (step 208), ends the process, and transitions to another process.

[0053] <Processing for detecting the relevant failure> 6 shows an example of a processing procedure for detecting the failure. In this processing, the CPU 50a judges whether or not the failure has been detected (step 300). In step 300, the CPU 50a judges step 300: YES if the failure has been detected from a state in which the failure had not been detected until immediately before. In other cases, the CPU 50a judges step 300: NO as the failure has not been detected. Other cases include a case in which the failure has not been detected or a case in which the failure is being detected. In this embodiment, the processing of step 300 is an example of an abnormality detection processing.

[0054] Next, when the CPU 50a detects the corresponding failure (step 300: YES), it writes the result to the memory 50b (step 302). In step 302, the CPU 50a writes a detection history Lg, which is information indicating the detection of the corresponding failure, to the history information Bs in the storage unit 501 to update the contents. The CPU 50a also writes information indicating the detection of the corresponding failure to the diagnosing information Dn in the storage unit 502. In this case, the CPU 50a also writes the type of the corresponding failure. In this embodiment, the process of step 302 is an example of a detection result writing process.

[0055] More specifically, as shown in Fig. 4, among the corresponding failures, the detection of a mechanical system abnormality is indicated by writing detection history Lg(R). Detection history Lg(R) is, for example, information indicating a history of a state of the steering device 2 in which a severe abnormality that requires prompt action has been detected. Moreover, among the corresponding failures, the detection of a sensor system abnormality is indicated by writing detection history Lg(Y). Detection history Lg(Y) is, for example, information indicating a history of a state of the steering device 2 in which a mild abnormality that does not interfere with the traveling of the vehicle VC has been detected.

[0056] In step 302, when both the detection history Lg(R) and the detection history Lg(Y) can be written, the CPU 50a updates the detection history Lg(R) so that it is written preferentially. For example, the state in which both can be written is when either one of the detection histories Lg has already been written. In step 302, when either one of the detection histories Lg has already been written and there is no need to update the contents of the history information Bs, the CPU 50a does not execute the process of step 304, ends the process, and moves to another process. When there is no need to update the contents of the history information Bs, this is the case when the same type of detection history Lg has already been written, or when the detection history Lg(R) to be written preferentially has already been written.

[0057] Next, the CPU 50a reads out the contents of the history information Bs (step 304). In step 304, the CPU 50a reads out the detection history Lg written in step 304, that is, the detection history Lg corresponding to the failure detected in step 300.

[0058] Next, the CPU 50a outputs a lighting request WL corresponding to the detection history Lg read out in step 304 (step 306), ends the process, and proceeds to another process. The process of step 306 is the same as step 204. In the process related to the detection of the corresponding failure, the output stop condition is that the power supply of the vehicle VC is turned off or a determination of 312: YES, which will be described later. In this embodiment, the process of step 306 is an example of a lighting request output process.

[0059] More specifically, as shown in Fig. 4, among the corresponding failures, notification of a mechanical system abnormality is identified by reading out the detection history Lg(R). In this case, among the corresponding failures, notification of a mechanical system abnormality is requested by the lighting request WL(R). Also, among the corresponding failures, notification of a sensor system abnormality is identified by reading out the detection history Lg(Y). In this case, among the corresponding failures, notification of a sensor system abnormality is requested by the lighting request WL(Y).

[0060] On the other hand, in step 300, if the CPU 50a does not detect the corresponding failure (step 300: NO), it judges whether or not the contents of the history information Bs have been read (step 308). In step 308, the CPU 50a judges step 308: YES in the start-up state in the above step 102, that is, at the start of start-up processing such as reading various information. On the other hand, in step 308, the CPU 50a judges step 308: NO when it is not the start of start-up processing such as reading various information.

[0061] Next, when the CPU 50a reads out the contents of the history information Bs (step 308: YES), that is, in the startup state, it determines whether or not the detection history Lg has been written to the contents of the history information Bs (step 310). In step 310, the fact that the detection history Lg has been written indicates that the corresponding failure was detected during the power-on period prior to the current power-on. This indicates that a notification was given by the warning light 9 during the power-on period prior to the current power-on. In other words, this power-on is the next power-on after the power was turned off with a notification given by the warning light 9. In contrast, the fact that the detection history Lg has not been written indicates that no notification was given by the warning light 9 during the power-on period prior to the current power-on.

[0062] Next, if the detection history Lg has been written (step 310: YES), the CPU 50a proceeds to step 310 and executes processing related to outputting the lighting request WL. When determining step 310: YES, the CPU 50a outputs the lighting request WL even though the corresponding failure was not detected in step 300. As a result, during the current power-on state, the notification by the warning light 9 is inherited from the previous power-on state when the power was turned off with the notification being given.

[0063] On the other hand, if the CPU 50a has not read out the contents of the history information Bs (step 308: NO), i.e., if the device is not in a startup state, the CPU 50a determines whether or not the device has recovered from the failure (step 312). In step 312, if the failure was being detected, the CPU 50a determines whether or not the device has detected the resolution of the failure. In this embodiment, the process of step 300 is an example of an abnormality detection process.

[0064] Next, if the failure has not been recovered from (step 312: NO), the CPU 50a ends the process and proceeds to another process. On the other hand, if the failure has been recovered from (step 312: YES), the CPU 50a erases the contents of the history information Bs (step 314). In step 314, the CPU 50a updates the contents so as to erase the detection history Lg from the history information Bs in the storage unit 501. In this embodiment, the process of step 314 is an example of a detection result writing process.

[0065] Next, the CPU 50a reads out the contents of the history information Bs (step 316). In step 316, the CPU 50a determines that the detection history Lg has not been written since the detection history Lg has been erased in step 314.

[0066] Next, the CPU 50a stops outputting the lighting request WL based on the fact that the detection history Lg has not been written in the contents of the history information Bs (step 318), ends the process, and proceeds to another process.

[0067] <Action of this embodiment> FIG. 7(a) shows an example of the state of the steering device 2 that changes in association with power-on and power-off. FIGS. 7(b)-(c) show an example of the state of the CPU 50a that changes in association with the detection of the corresponding fail. FIG. 7(b) shows the detection state of the corresponding fail in this example. FIG. 7(c) shows the output state of the lighting request WL in this example. FIG. 7(d) shows the contents of the history information Bs in this example.

[0068] For example, the state of the steering device 2 changes from a normal control state with the power on ("normal" in the figure) to the power off. This initial state with the power on is hereinafter referred to as "pre-trip". Next, the state of the steering device 2 changes from power off, to a state transition to a start-up state with the power on ("start-up" in the figure), and then to a state transition to the normal control state. The state after this with the power on is hereinafter referred to as "post-trip".

[0069] For example, during the previous trip, the CPU 50a detects the corresponding failure. When the corresponding failure is detected, the contents of the history information Bs are updated to a state in which the detection history Lg is written. When the detection history Lg thus written is read, the output of the light-on request WL is started. As a result, the warning light 9 is turned on.

[0070] Subsequently, during the previous trip, the power is turned off, and the CPU 50a stops operating. The power-off output stop condition is satisfied, and the light-on request WL is stopped. As a result, the illumination of the warning light 9 is stopped. The detection history Lg written in the history information Bs is not erased even when the power is turned off, and is retained even while the power is off.

[0071] After that, the power is turned off and then turned on, causing the CPU 50a to start the startup process. When the startup process starts, the detection history Lg, which is not erased even when the power is turned off and is held even while the power is off, is read out. In this way, the detection history Lg, which is not erased even when the power is turned off and is held even while the power is off, is read out, and the lighting request WL is started to be output. As a result, the warning light 9 is turned on.

[0072] After that, the CPU 50a detects the failure by transitioning to the normal control state. However, the contents of the history information Bs are not updated because the detection history Lg has already been written. In other words, because the contents of the history information Bs are not updated, both the contents of the history information Bs and the output state of the light-on request WL are maintained. As a result, the light-on state of the warning light 9 is maintained.

[0073] According to this embodiment, when the CPU 50a is turned on, if the detection history Lg is written in the contents of the history information Bs, the CPU 50a can output the lighting request WL immediately after the power is turned on, even if the corresponding failure cannot be detected. As a result, even if the corresponding failure cannot be detected, if the lighting request WL was output during the previous trip, it can start outputting from the start-up state at the start of the post-trip, taking over the output state during the previous trip.

[0074] <Effects of the embodiment> (1-1) The CPU 50a is configured to be able to start outputting the light-on request WL by inheriting the output state during the previous trip from the start-up state at the start of the post-trip even if the relevant failure cannot be detected. As a result, if the warning light 9 was on during the previous trip, it can be turned on from the start-up state at the start of the post-trip by inheriting the light-on state during the previous trip. For example, in a post-trip after a light-on request WL was output during the previous trip, even if the relevant failure cannot be detected, there is a high probability that the relevant failure has been inherited from the previous trip. Therefore, it is possible to reduce the occurrence of a state in which the warning light 9 cannot be turned on despite the occurrence of the relevant failure.

[0075] (1-2) When the CPU 50a detects a failure, the CPU 50a reads out the contents of the history information Bs. This reduces the discrepancy between the lighting request WL and the history information Bs.

[0076] (1-3) When detecting recovery from the corresponding failure, the CPU 50a is configured to erase the detection history Lg from the contents of the history information Bs. In addition, the CPU 50a is configured to read 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 read contents.

[0077] For example, as shown in FIGS. 7(a) to (d), during a post-trip, the CPU 50a determines recovery from the corresponding failure. When recovery from the corresponding failure is determined, the contents of the history information Bs are updated to a state in which the detection history Lg is erased. When the detection history Lg is thus erased, the output of the light-on request WL is stopped. This stops the illumination of the warning light 9. In this way, the situation in which the warning light 9 can be illuminated can be optimized.

[0078] (1-4) Even if the CPU 50a is configured to go through the execution of the startup process after the power is turned on, if the detection history Lg is written in the contents of the history information Bs, the CPU 50a can output the lighting request WL immediately after the power is turned on. This is particularly effective as a measure against failures that cannot be detected during the startup process.

[0079] (1-5) The contents of the diag information Dn and the history information Bs are configured to be erased by an operation from the diagnostic tool 49. In other words, the contents of the diag information Dn and the history information Bs can be synchronized by an operation from the diagnostic tool 49. Therefore, although the diag information Dn and the history information Bs have different roles and management methods, they can be appropriately managed.

[0080] (1-6) For example, the type of detection history Lg is the same regardless of the type of abnormality if it is a sensor system abnormality. This makes it possible to reduce the amount of data required compared to when a type of detection history Lg is prepared for each type of abnormality. Therefore, it is possible to prevent an increase in the capacity of the memory 50b.

[0081] <Other embodiments> The above embodiment may be modified as follows: In addition, the following other embodiments may be combined with each other to the extent that there is no technical contradiction.

[0082] The contents of the diagnostic information Dn and the history information Bs may be erased without using the diagnostic tool 49, for example, by a specific operation performed by a worker at a maintenance shop. Alternatively, the contents of the diagnostic information Dn and the history information Bs may be made unerasable unless the memory 50b itself is replaced. In other words, the contents of the diagnostic information Dn and the history information Bs may be retained even after the battery is replaced. However, the contents of the history information Bs may be made erasable by the CPU 50a.

[0083] The startup process may be defined as a part of the normal process. In this case, the startup state of the embodiment is the period during which the process equivalent to the startup process is executed.

[0084] The process of reading out the history information Bs can be specified as a process that is always performed after the power is turned on. The process of FIG. 6 may be modified such that the processes of steps 304 and 306 after the determination of step 300: YES are deleted, but the process includes a process of outputting a lighting request WL corresponding to the corresponding fail detected in step 300, similar to the process of step 204. In this way, the condition for outputting the lighting request WL for the corresponding fail can be when the corresponding fail is detected, or when the detection history Lg is written in the contents of the history information Bs. The other embodiments described herein can be similarly applied to the processes of steps 316 and 318 after the determination of step 312: YES. In this case, the process of FIG. 6 may include a process of stopping the output of the lighting request WL, similar to the process of step 208, on the condition that the determination of step 312: YES is made.

[0085] 6 may be deleted from step 312 onward. In this case, the detection history Lg written in the contents of the history information Bs can only be erased by operating the diagnostic tool 49.

[0086] 6 may omit steps 316 and 318. In this case, even if the detection history Lg is deleted in step 314, the output state of the lighting request WL, i.e., the lighting state of the warning lamp 9, is maintained while the power is on. After that, from the next power-on onwards, the output of the lighting request WL is stopped and the lighting of the warning lamp 9 is stopped.

[0087] In FIG. 6, even if the contents of the history information Bs are not updated in the process of step 302, the processes from step 304 onward may be executed. The processing procedure in Fig. 6 is not limited to the procedure in the figure and can be modified as appropriate. For example, the processing procedure may be modified so that the processing of steps 308 and 310 in Fig. 6 is executed before the processing of step 300. In this case, after the determination of NO in step 308 and after the determination of NO in step 310, the processing may proceed to the processing of step 300. Also, after the determination of NO in step 300, the processing may proceed to the processing of step 312.

[0088] The detection of non-relevant failures may be performed in the same manner as the processing procedure for the relevant failures. This makes it possible to more effectively reduce the occurrence of a state in which the warning light 9 cannot be turned on despite the occurrence of a non-relevant failure. In this case, the processing in FIG. 5 may be omitted.

[0089] The abnormalities classified as the relevant failures are not limited to the classification in the above embodiment and may be changed as appropriate. For example, among the sensor system abnormalities, an abnormality in the torque sensor 41 may be classified as a non-relevant failure. Also, a communication system abnormality may be classified as a relevant failure.

[0090] The number of types of detection history Lg is not limited to two and may be changed as appropriate. For example, it may be changed to one type or three or more types. The correspondence between the type of the relevant failure and the type of the detection history Lg is not limited to that in the above embodiment and can be changed as appropriate. For example, abnormalities in the steering side rotation angle sensor 42, the steered side rotation angle sensor 43, and the pinion absolute angle sensor 45 used when detecting mechanical system abnormalities may be treated as severe abnormalities and associated with the detection history Lg(R). Alternatively, the correspondence between the type of the relevant failure and the type of the detection history Lg may be classified according to the type of the content of the set failure state. In other words, the type of the detection history Lg may differ depending on the type of sensor system abnormality.

[0091] The warning light 9 may be realized as a part of the configuration of the steering device 2. For example, the warning light 9 may be provided on the steering wheel 3. The method of notifying the driver of the state of the steering device 2 is not limited to turning on the warning light 9 in the above embodiment, and can be changed as appropriate. For example, it may be an alarm device that notifies the driver of information by appealing to the driver's hearing, or a haptic device that notifies the driver of information through a physical sensation. The alarm device includes a speaker or a buzzer. The haptic device includes a vibration device that vibrates a vehicle accessory that comes into contact with the driver, such as a seat.

[0092] The steering control device 1 may have multiple CPUs in which the function of operating the steering-side motor 13 and the function of operating the steered-side motor 32 are divided. In this case, each CPU may be configured to appropriately detect detectable abnormalities based on the object of control.

[0093] The operating member operated by the driver to steer the vehicle VC is not limited to the steering wheel 3. For example, it may be a joystick. The steering-side motor 13 mechanically connected to the steering wheel 3 is not limited to a three-phase brushless motor. For example, it may be a DC motor with brushes.

[0094] While the steering unit 6 transmits the rotation of the steering-side motor 32 to the conversion mechanism 34 via the transmission mechanism 33, the present invention is not limited to this and may be configured, for example, so that the rotation of the steering-side motor 32 is transmitted to the conversion mechanism 34 via a gear mechanism. The steering unit 6 may also be configured so that the steering-side motor 32 directly rotates the conversion mechanism 34. Furthermore, the steering unit 6 may be configured to include a second rack-and-pinion mechanism, and the rotation of the steering-side motor 32 is converted into reciprocating motion of the rack shaft 22 by the second rack-and-pinion mechanism.

[0095] The steering unit 6 is not limited to a configuration in which the right steered wheels 5 and the left steered wheels 5 are linked together. In other words, the right steered wheels 5 and the left steered wheels 5 may be independently controlled.

[0096] The steering device 2 has a linkless structure in which the steering unit 4 and the steered unit 6 are mechanically separated at all times, but the present invention is not limited to this structure, and may have a structure in which the steering unit 4 and the steered unit 6 can be mechanically separated by a clutch, for example. In addition, the steering device 2 is not limited to a steer-by-wire type steering device, and may be an electric power steering device that applies the torque of a motor to the steering shaft 11 or the rack shaft 22.

[0097] Although the above embodiment is directed to the steering device 2, the present invention is not limited to this and may be applied to other vehicle-mounted units such as a brake device, a device related to the power train of the vehicle VC, etc. [Explanation of symbols]

[0098] 1...Steering control device (control device for vehicle-mounted unit) 2...Steering device (vehicle-mounted unit) 9…Warning light 47…Start switch 49…Diagnostic tools 50a…CPU (control unit) 50b…Memory 501,502...Storage section VC…Vehicle

Claims

1. A control device for an in-vehicle unit, which is applied to an in-vehicle unit mounted on a vehicle having a warning light, and is configured to output a request to turn on the warning light in order to notify a driver of a state of the in-vehicle unit, A control unit that executes at least a process related to outputting the lighting request; A storage unit that stores at least information used in the process executed by the control unit, The control unit is an abnormality detection process for detecting an abnormality in the vehicle-mounted unit; a detection result writing process for writing a detection history indicating an abnormality detected in the on-vehicle unit by the abnormality detection process into the history information of the storage unit; A lighting request output process for outputting the lighting request, the storage unit is configured to retain the contents of the history information even when the in-vehicle unit is powered on and off, The control unit is a control device for an in-vehicle unit that is configured to read the contents of the history information from the memory unit when the in-vehicle unit is powered on, and if the detection history is written in the read contents, output the lighting request even if the abnormality detection process cannot detect an abnormality in the in-vehicle unit.

2. 2. The control device for an in-vehicle unit as described in claim 1, wherein the control unit is configured to read the contents of the history information from the memory unit when the in-vehicle unit is powered on, and when an abnormality in the in-vehicle unit is detected by the abnormality detection process, and to output the lighting request based on the detection history written in the read contents.

3. the abnormality detection process includes a process of detecting recovery from an abnormality in the in-vehicle unit, the detection result writing process includes a process of erasing the detection history from the history information in the storage unit when the abnormality detection process detects that the in-vehicle unit has recovered from the abnormality; 3. The control device for an in-vehicle unit as described in claim 2, wherein the control unit is configured to read the contents of the history information from the memory unit when the in-vehicle unit is powered on and when the abnormality detection process detects that the in-vehicle unit has recovered from an abnormality, and if the detection history is erased from the read contents, stop outputting the lighting request.

4. The control unit is configured to execute a startup process when the in-vehicle unit is powered on, 4. The control device for an in-vehicle unit according to claim 3, wherein the control unit is configured to read out the contents of the history information from the storage unit during the startup process.

5. the storage unit is configured to store diagnostic information that is not used in the process executed by the control unit, and that is written with a diagnostic indicating that an abnormality is detected in the on-board unit by the abnormality detection process; The control device for an in-vehicle unit described in any one of claims 1 to 4, wherein the memory unit is configured to erase the contents of the diagnosing information and the history information by operation from a diagnostic tool connected externally to the vehicle.

6. A method for controlling an in-vehicle unit mounted on a vehicle having a warning light, comprising: the in-vehicle unit includes a control unit that executes at least a process related to outputting a request to turn on the warning light in order to notify a driver of a state of the in-vehicle unit, and a storage unit that stores at least information used in the process executed by the control unit; The process executed by the control unit is Detecting an abnormality in the vehicle-mounted unit; when an abnormality is detected in the vehicle-mounted unit, writing a detection history indicating the abnormality to the history information in the storage unit; outputting the lighting request; The storage unit stores the history information, and the history information is retained even when the in-vehicle unit is powered on and off. The control method for an in-vehicle unit includes processing executed by the control unit to read the contents of the history information from the memory unit when the in-vehicle unit is powered on, and if the detection history is written in the read contents, outputting the lighting request even if an abnormality in the in-vehicle unit cannot be detected.

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