Control system, control device, and diagnostic method

Abstract

The present invention relates to a control system, a control device, and a diagnosis method. The control device comprises: a first control unit which is connected with a sensor of a first sensor group through a first connector; and a second control unit which is connected with a sensor of a second sensor group through a second connector. When an abnormality of a first connector has been detected, the control device stops a fault diagnosis for each sensor of the first sensor group, and when an abnormality of a second connector has been detected, the control device stops a fault diagnosis for each sensor of the second sensor group.

Description

[Technical Field]

[0001] The present invention relates to a control system, a control device, and a diagnostic method. [Background technology]

[0002] The control device for vehicle-mounted equipment in Patent Document 1 compares the first main sensor signal and the first auxiliary sensor signal of the first sensor group, and if it determines that there is an abnormality in either sensor, it compares the first main sensor signal and the first auxiliary sensor signal of the first sensor group with the second main sensor signal or the second auxiliary sensor signal of the second sensor group, and identifies the sensor of the first sensor group that outputs a sensor signal that matches the second main sensor signal or the second auxiliary sensor signal as the sensor that is operating normally. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-131860 Summary of the Invention [Problem to be solved by the invention]

[0004] In a control system having multiple sensor groups for redundancy, a fault diagnosis of each sensor is performed for each sensor group, and if the total number of sensors determined to be faulty reaches or exceeds a set value, the control of the actuator may be stopped. Here, when each sensor group is connected to the control device via a dedicated connector, if an abnormality occurs in one connector, all of the sensors included in the sensor group connected to the control device via that connector will be determined to be faulty, and the total number of sensors determined to be faulty may exceed a set value, causing actuator control to be stopped.

[0005] However, in a redundant control system, even if only one of the multiple connectors that individually connect multiple sensor groups becomes abnormal, the control device can continue to control the actuators by obtaining normal sensor signals from the sensor group connected via the normal connector. In other words, if an abnormality occurs in one connector, actuator control may continue, but if the number of sensors determined to be faulty exceeds a set value, actuator control may be uniformly stopped.

[0006] The present invention has been made in consideration of the current situation, and its purpose is to provide a control system, a control device, and a diagnostic method that can avoid inappropriate sensor failure determination when an abnormality occurs in the connector for each of multiple sensor groups. [Means for solving the problem]

[0007] In one aspect, the control system, control device, and diagnostic method according to the present invention include a control device having a first control unit connected to sensors of a first sensor group via a first connector and outputting a control signal for an actuator, and a second control unit connected to sensors of a second sensor group via a second connector and outputting a control signal for the actuator, wherein when an abnormality in the first connector is detected, fault diagnosis for each sensor of the first sensor group is stopped, and when an abnormality in the second connector is detected, fault diagnosis for each sensor of the second sensor group is stopped. The first control unit is connected to a power supply monitor line of the second sensor group via the first connector, and the second control unit is connected to a power supply monitor line of the first sensor group via the second connector, and the first control unit diagnoses an abnormality in the power supply voltage of the second sensor group, and the second control unit diagnoses an abnormality in the power supply voltage of the first sensor group. [Effects of the Invention]

[0008] According to the present invention, when an abnormality occurs in a connector for each of a plurality of sensor groups, an inappropriate sensor failure determination can be avoided. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of an electric power steering device; [Figure 2]FIG. 2 is a block diagram showing a control system for an electric motor. [Figure 3] 10 is a flowchart showing a process for diagnosing a reception abnormality. [Figure 4] 10 is a flowchart showing a diagnostic process for a status abnormality. [Figure 5] 10 is a flowchart showing a process for diagnosing a disconnected connector. [Figure 6] 10 is a flowchart showing a process of mask processing for individual sensor diagnosis. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following embodiments, the control target in the control system, control device, and diagnostic method according to the present invention is an electric motor that is an actuator of an electric power steering device of a vehicle.

[0011] FIG. 1 is a configuration diagram showing one embodiment of an electric power steering device 200 attached to a vehicle 100. As shown in FIG. The steering mechanism 210 of the electric power steering device 200 basically comprises a steering wheel 201, a steering shaft 202 which is the rotation axis of the steering wheel 201, a pinion shaft 203 provided at the end of the steering shaft 202, a rack bar 204, and a rack housing 205 which accommodates the rack bar 204.

[0012] In the steering mechanism 210 , when the driver of the vehicle 100 turns the steering wheel 201 , the steering torque of the steering wheel 201 is transmitted to the pinion shaft 203 via the steering shaft 202 . The rotational motion of the pinion shaft 203 is converted into linear motion of the rack bar 204, thereby changing the turning angle of the left and right front wheels 110, 110 connected to both ends of the rack bar 204 via tie rods 250.

[0013] That is, the rotational movement of the steering shaft 202 is converted into the linear movement of the rack bar 204, which is the steering operation, by a rack-and-pinion system in which the pinion shaft 203 meshes with the rack teeth formed on the rack bar 204. The steering shaft 202 is provided with a steering angle sensor 206 that detects a steering angle β, which is the rotation angle of the steering shaft 202 , and a steering torque sensor 207 that detects a steering torque TS of the steering wheel 201 .

[0014] The steering mechanism 210 also includes an electric motor 220, which is an actuator that applies a steering torque to the rack bar 204, in other words, that generates a torque that moves the rack bar 204 in the axial direction. The rotational motion of the electric motor 220 is transmitted to the rack bar 204 via a transmission mechanism 208 including a belt, a ball screw, and the like. The application of steering torque by the electric motor 220 is performed to assist the driver's steering operation or for autonomous steering (in other words, automatic steering).

[0015] The electric motor 220 is a three-phase brushless DC motor having a stator coil including U-phase, V-phase, and W-phase, and a motor rotor. The drive circuit 245 includes a three-phase bridge inverter made up of six switching elements, and controls the power supplied to the stator coil of the electric motor 220 by controlling the on / off of the switching elements.

[0016] The control device 230 is an electronic control device equipped with a microprocessor, and outputs a control signal for controlling the torque of the electric motor 220 . The control device 230 acquires a sensor signal relating to the steering angle β output by the steering angle sensor 206, a sensor signal relating to the steering torque TS output by the steering torque sensor 207, a sensor signal relating to the vehicle speed VS output by the vehicle speed sensor 211 (or wheel speed sensor), and a sensor signal relating to the rotation angle θ of the rotor of the electric motor 220 output by the motor rotation angle sensor 209.

[0017] Here, the control device 230 calculates a command torque, which is a target value of the steering torque to be output by the electric motor 220, based on the acquired various sensor signals. Then, the control device 230 outputs a switch signal to the drive circuit 245 based on the command torque, and controls the drive current of the electric motor 220 by PWM (Pulse Width Modulation).

[0018] FIG. 2 is a block diagram showing a control system for the electric motor 220. The electric motor 220 has two winding sets, a first winding set 220A and a second winding set 220B, each of which has a U-phase, a V-phase, and a W-phase. The control device 230 includes a first microprocessor 230A as a first control unit that controls the energization of the first winding set 220A, and a second microprocessor 230B as a second control unit that controls the energization of the second winding set 220B.

[0019] For example, the first microprocessor 230A generates half of the target torque of the electric motor 220 by controlling the energization of the first winding set 220A, and the second microprocessor 230B generates the remaining half of the target torque by controlling the energization of the second winding set 220B. The microprocessors 230A and 230B can also be referred to as microcomputers, processing devices, arithmetic devices, and the like.

[0020] The first microprocessor 230A and the second microprocessor 230B are connected by a communication line 240. The first microprocessor 230A and the second microprocessor 230B communicate with each other via communication line 240, i.e., via inter-microcomputer communication, to send and receive information regarding the control status of the electric motor 220, information regarding diagnostic processing, information indicating the results of monitoring the power supply voltage, information regarding sensor signals, and the like, and share various types of information.

[0021] The drive circuit 245 also has a first inverter 245A that generates a three-phase AC current to be supplied to the first winding set 220A, and a second inverter 245B that generates a three-phase AC current to be supplied to the second winding set 220B. Furthermore, the steering angle sensor 206 and the steering torque sensor 207 are made redundant, with the first microprocessor 230A acquiring the steering angle signal and the steering torque signal from the first sensor group 301A, and the second microprocessor 230B acquiring the steering angle signal and the steering torque signal from the second sensor group 301B.

[0022] The first sensor group 301A has a first steering angle sensor 206A1, a second steering angle sensor 206A2, a main steering torque sensor 207A1, and a sub steering torque sensor 207A2. The second sensor group 301B has a first steering angle sensor 206B1, a second steering angle sensor 206B2, a main steering torque sensor 207B1, and a sub steering torque sensor 207B2. As described above, by making the steering angle sensor 206 and the steering torque sensor 207 redundant, the first microprocessor 230A and the second microprocessor 230B can identify the sensor in which a failure has occurred and continue to control the electric motor 220 using the signal of the normal sensor.

[0023] Here, the first microprocessor 230A is connected to each sensor of the first sensor group 301A via a first connector 260A. The second microprocessor 230B is also connected to the sensors of the second sensor group 301B via a second connector 260B.

[0024] That is, the first microprocessor 230A acquires the sensor signals output by the four sensors of the first sensor group 301A via the first connector 260A. Furthermore, the second microprocessor 230B acquires the sensor signals output by the four sensors of the second sensor group 301B via the second connector 260B.

[0025] As described above, the control system of the electric motor 220 has two control systems: a first control system that controls the energization of the first winding group 220A, and a second control system that controls the energization of the second winding group 220B. The first control system is made up of the first microprocessor 230A, the first connector 260A, and the first sensor group 301 A. The second control system is made up of the second microprocessor 230B, the second connector 260B, and the second sensor group 301B.

[0026] The following describes the wiring of the sensor signal lines, power supply lines, and trigger signal lines for each sensor in the first sensor group 301A and the second sensor group 301B. First, the wiring of the power supply lines for supplying power to each sensor will be described. The control device 230 has a first power supply circuit 261A for supplying power to each sensor of the first sensor group 301A, and a second power supply circuit 261B for supplying power to each sensor of the second sensor group 301B.

[0027] The first power supply line PL1 extending from the first power supply circuit 261A is connected to the first connector 260A, branches off on the first sensor group 301A side of the first connector 260A, and is connected to the first steering angle sensor 206A1, the second steering angle sensor 206A2, the main steering torque sensor 207A1, and the sub steering torque sensor 207A2, respectively. Furthermore, the first power supply line PL1 on the first sensor group 301A side of the first connector 260A is connected to the second microprocessor 230B as a power supply monitor line via the second connector 260B.

[0028] That is, the second microprocessor 230B can detect the state of power supply to each sensor of the first sensor group 301A by monitoring the voltage of the first power supply line PL1 connected thereto. Similarly, the second power supply line PL2 extending from the second power supply circuit 261B is connected to the second connector 260B, branches off on the second sensor group 301B side of the second connector 260B, and is connected to the first steering angle sensor 206B1, the second steering angle sensor 206B2, the main steering torque sensor 207B1, and the sub steering torque sensor 207B2, respectively.

[0029] Furthermore, the second power supply line PL2 on the second sensor group 301B side of the second connector 260B is connected to the first microprocessor 230A as a power supply monitor line via the first connector 260A. That is, the first microprocessor 230A can detect the state of power supply to each sensor of the second sensor group 301B by monitoring the voltage of the second power supply line PL2 connected thereto.

[0030] Next, the wiring of the sensor signal line and trigger signal line of the steering angle sensor 206 will be described. A trigger signal line ASTLA for the steering angle sensor 206 extending from the output terminal of the first microprocessor 230A branches into two after passing through the first connector 260A and is connected to the input terminals of the first steering angle sensor 206A1 and the second steering angle sensor 206A2, respectively. The trigger signal is a signal that requests the sensor to transmit a sensor signal (data), and the sensor signal is a signal that includes data detected by the sensor.

[0031] On the other hand, a first sensor signal line extending from an output terminal of the first steering angle sensor 206A1 and a second sensor signal line extending from an output terminal of the second steering angle sensor 206A2 are connected to one sensor signal line ASDLA. The sensor signal line ASDLA is then connected to an input terminal of the first microprocessor 230A via the first connector 260A. Here, the sensor signal of the first steering angle sensor 206A1 (in other words, the detection signal of the steering angle) and the sensor signal of the second steering angle sensor 206A2 are sent serially to the first microprocessor 230A via the sensor signal line ASDLA in synchronization with the trigger signal sent via the trigger signal line ASTLA.

[0032] Similarly, the trigger signal line ASTLB for the steering angle sensor 206 extending from the output terminal of the second microprocessor 230B branches into two after passing through the second connector 260B and is connected to the input terminals of the first steering angle sensor 206B1 and the second steering angle sensor 206B2, respectively. On the other hand, a first sensor signal line extending from an output terminal of the first steering angle sensor 206B1 and a second sensor signal line extending from an output terminal of the second steering angle sensor 206B2 are connected to a single sensor signal line ASDLB.

[0033] The sensor signal line ASDLB is then connected to an input terminal of the second microprocessor 230B via the second connector 260B. Here, the sensor signal of the first steering angle sensor 206B1 and the sensor signal of the second steering angle sensor 206B2 are sent serially to the second microprocessor 230B via the sensor signal line ASDLB in synchronization with the trigger signal sent via the trigger signal line ASTLB.

[0034] Next, the wiring of the sensor signal lines and trigger signal lines of the steering torque sensors 207A1 and 207A2 will be described. A first trigger signal line STTLA1 extending from an output terminal of the first microprocessor 230A is connected to an input terminal of the main steering torque sensor 207A1 via a first connector 260A. Furthermore, a second trigger signal line STTLA2 extending from the output terminal of the first microprocessor 230A is connected to an input terminal of the sub steering torque sensor 207A2 via the first connector 260A.

[0035] On the other hand, a sensor signal line STDLA1 extending from the output terminal of the main steering torque sensor 207A1 is connected to an input terminal of the first microprocessor 230A via a first connector 260A. Furthermore, a sensor signal line STDLA2 extending from the output terminal of the sub steering torque sensor 207A2 is connected to an input terminal of the first microprocessor 230A via a first connector 260A. That is, the main steering torque sensor 207A1 and the sub steering torque sensor 207A2 send sensor signals (steering torque detection signals) in parallel to the first microprocessor 230A in synchronization with trigger signals sent from the first microprocessor 230A to each of them.

[0036] Here, the sensor signal line STDLA1 of the main steering torque sensor 207A1 branches between the first connector 260A and the first microprocessor 230A and is connected to an input terminal of the second microprocessor 230B. Similarly, the sensor signal line STDLA2 of the sub steering torque sensor 207A2 branches between the first connector 260A and the first microprocessor 230A and is connected to an input terminal of the second microprocessor 230B. That is, the second microprocessor 230B is configured to be able to acquire the sensor signal of the main steering torque sensor 207A1 and the sensor signal of the sub steering torque sensor 207A2.

[0037] Next, the wiring of the sensor signal lines and trigger signal lines of the steering torque sensors 207B1 and 207B2 will be described. A first trigger signal line STTLB1 extending from an output terminal of the second microprocessor 230B is connected to an input terminal of the main steering torque sensor 207B1 via a second connector 260B. Furthermore, a second trigger signal line STTLB2 extending from an output terminal of the second microprocessor 230B is connected to an input terminal of the sub steering torque sensor 207B2 via a second connector 260B.

[0038] On the other hand, a sensor signal line STDLB1 extending from the output terminal of the main steering torque sensor 207B1 is connected to an input terminal of the second microprocessor 230B via a second connector 260B. Furthermore, a sensor signal line STDLB2 extending from the output terminal of the sub steering torque sensor 207B2 is connected to an input terminal of the second microprocessor 230B via a second connector 260B. That is, the main steering torque sensor 207B1 and the sub steering torque sensor 207B2 send sensor signals (steering torque detection signals) in parallel to the second microprocessor 230B in synchronization with trigger signals sent from the second microprocessor 230B, respectively.

[0039] Here, the sensor signal line STDLB1 of the main steering torque sensor 207B1 branches between the second connector 260B and the second microprocessor 230B, and is connected to an input terminal of the first microprocessor 230A. Similarly, the sensor signal line STDLB2 of the sub steering torque sensor 207B2 branches between the second connector 260B and the second microprocessor 230B and is connected to an input terminal of the first microprocessor 230A. That is, the first microprocessor 230A is configured to be able to acquire the sensor signal of the main steering torque sensor 207B1 and the sensor signal of the sub steering torque sensor 207B2.

[0040] Next, a sensor fault diagnosis method executed by the control device 230 in the above-described control system, in other words, a sensor fault diagnosis process executed by the first microprocessor 230A and the second microprocessor 230B, will be described. The sensors to be subjected to the fault diagnosis are steering angle sensors 206A1, 206A2 and steering torque sensors 207A1, 207A2 included in the first sensor group 301A, and steering angle sensors 206B1, 206B2 and steering torque sensors 207B1, 207B2 included in the second sensor group 301B.

[0041] The flowchart in FIG. 3 shows the process executed by the first microprocessor 230A to diagnose abnormalities in the reception of the sensor signal from the main steering torque sensor 207A1. In step S401, the first microprocessor 230A determines whether or not a predetermined time Tth or more has elapsed since the trigger signal was transmitted to the main steering torque sensor 207A1 until the sensor signal was received from the main steering torque sensor 207A1.

[0042] Here, when the sensor signal is composed of a start pulse, data, and an end pulse, the first microprocessor 230A can determine whether or not there is an abnormality in the reception of the sensor signal based on the time from when the trigger signal is sent to the main steering torque sensor 207A1 to when the end pulse is received. The predetermined time Tth is adapted to a time that does not exceed the time from when the first microprocessor 230A sends a trigger signal to the main steering torque sensor 207A1 to when it receives a sensor signal (more specifically, an end pulse) when the main steering torque sensor 207A1 is normal.

[0043] If a predetermined time Tth or more has elapsed since the trigger signal was sent to the main steering torque sensor 207A1 but the first microprocessor 230A has not received a sensor signal (more specifically, an end pulse) from the main steering torque sensor 207A1, the first microprocessor 230A proceeds to step S402. In step S402, the first microprocessor 230A sets the reception abnormality flag FRETSA1 of the main steering torque sensor 207A1 to 1, which indicates that a reception abnormality has occurred.

[0044] That is, the state of the reception abnormality flag FRETSA1=1 indicates that a reception abnormality in the sensor signal has been detected for the main steering torque sensor 207A1. On the other hand, the state of the reception abnormality flag FRETSA1=0 indicates that no reception abnormality of the sensor signal is detected for the main steering torque sensor 207A1.

[0045] Here, the first microprocessor 230A will detect an abnormality in receiving the sensor signal from the main steering torque sensor 207A1 not only when the main steering torque sensor 207A1 fails and stops transmitting the sensor signal, but also when a failure such as a disconnection occurs in the first connector 260A. In this embodiment, all flags including the reception abnormality flag FRETSA1 are set to an initial value of 0.

[0046] On the other hand, if the first microprocessor 230A receives a sensor signal (specifically, an end pulse) within the predetermined time Tth from the transmission of the trigger signal to the main steering torque sensor 207A1, the first microprocessor 230A proceeds to step S403. In step S403, the first microprocessor 230A determines that reception of the sensor signal from the main steering torque sensor 207A1 is normal, and sets the reception abnormality flag FRETSA1 to 0.

[0047] In addition, the first microprocessor 230A diagnoses whether or not there is an abnormality in the reception of the sensor signals of the first steering angle sensor 206A1, the second steering angle sensor 206A2, and the sub-steering torque sensor 207A2 other than the main steering torque sensor 207A1, among the sensors included in the first sensor group 301A, in the same manner as the main steering torque sensor 207A1. Then, the first microprocessor 230A sets the reception abnormality flag FRESAA1 for the first steering angle sensor 206A1, sets the reception abnormality flag FRESAA2 for the second steering angle sensor 206A2, and further sets the reception abnormality flag FRETSA2 for the sub steering torque sensor 207A2.

[0048] In addition, the second microprocessor 230B diagnoses whether or not there is a reception abnormality for the first steering angle sensor 206B1, the second steering angle sensor 206B2, the main steering torque sensor 207B1, and the sub steering torque sensor 207B2 included in the second sensor group 301B, in the same way as the first microprocessor 230A diagnoses whether or not there is a reception abnormality for the main steering torque sensor 207A1. Then, the second microprocessor 230B sets a reception abnormality flag FRESAB1 for the first steering angle sensor 206B1, sets a reception abnormality flag FRESAB2 for the second steering angle sensor 206B2, sets a reception abnormality flag FRETSB1 for the main steering torque sensor 207B1, and further sets a reception abnormality flag FRETSB2 for the sub steering torque sensor 207B2.

[0049] The flowchart in FIG. 4 shows the process executed by the first microprocessor 230A to diagnose a status abnormality in the main steering torque sensor 207A1. The data in the sensor signals transmitted by each sensor in the first sensor group 301A includes status information. Each sensor sets the status information to something other than normal (normal state) when the sensor itself becomes abnormal, or when, for example, the sensor itself is normal but the sensor's power supply voltage becomes lower than the specified voltage due to the first connector 260A being disconnected, and sends out a sensor signal including the status information.

[0050] In step S411, the first microprocessor 230A determines whether or not the status information included in the sensor signal (more specifically, data) acquired from the main steering torque sensor 207A1 is other than normal. If the status information acquired from the main steering torque sensor 207A1 is other than normal, that is, if the status information indicates some abnormal state in the main steering torque sensor 207A1, the first microprocessor 230A proceeds to step S412.

[0051] In step S412, the first microprocessor 230A sets the status abnormality flag FASTSA1 of the main steering torque sensor 207A1 to 1, which indicates that the status information is other than normal. In other words, the state of the status abnormality flag FASTSA1=1 indicates that a status abnormality has been detected for the main steering torque sensor 207A1, and the state of the status abnormality flag FASTSA1=0 indicates that a status abnormality has not been detected for the main steering torque sensor 207A1.

[0052] On the other hand, if the status information acquired from the main steering torque sensor 207A1 is normal, that is, if the status information indicates that the main steering torque sensor 207A1 is in a normal state, the first microprocessor 230A proceeds to step S413. The first microprocessor 230A sets the status abnormality flag FASTSA1 to 0 in step S413.

[0053] In addition, the first microprocessor 230A diagnoses the presence or absence of status abnormalities for each of the sensors included in the first sensor group 301A other than the main steering torque sensor 207A1, namely the first steering angle sensor 206A1, the second steering angle sensor 206A2, and the sub steering torque sensor 207A2, in the same manner as for the main steering torque sensor 207A1. Then, the first microprocessor 230A sets the status abnormality flag FASSAA1 for the first steering angle sensor 206A1, sets the status abnormality flag FASSAA2 for the second steering angle sensor 206A2, and further sets the status abnormality flag FASTSA2 for the sub steering torque sensor 207A2.

[0054] In addition, the second microprocessor 230B diagnoses the presence or absence of status abnormalities for the first steering angle sensor 206B1, the second steering angle sensor 206B2, the main steering torque sensor 207B1, and the sub steering torque sensor 207B2 included in the second sensor group 301B, in the same manner as the first microprocessor 230A diagnoses the status abnormality for the main steering torque sensor 207A1. Then, the second microprocessor 230B sets a status abnormality flag FASSAB1 for the first steering angle sensor 206B1, sets a status abnormality flag FASSAB2 for the second steering angle sensor 206B2, sets a status abnormality flag FASTSB1 for the main steering torque sensor 207B1, and further sets a status abnormality flag FASTSB2 for the sub-steering torque sensor 207B2.

[0055] The flowchart in FIG. 5 shows the process executed by the first microprocessor 230A to diagnose an abnormality in the first connector 260A. In step S421, the first microprocessor 230A determines whether a reception abnormality or a status abnormality has been detected for each sensor included in the first sensor group 301A based on the reception abnormality flags FRESAA1, FRESAA2, FRETSA1, FRETSA2 and the status abnormality flags FASSAA1, FASSAA2, FASTSA1, FASTSA2. The process of step S421 is a process for detecting an abnormality in first connector 260A based on the sensor signals from each of the sensors in first sensor group 301A, as will be described later.

[0056] For example, if the reception abnormality flag FRETSA1 is 1 or the status abnormality flag FASTSA1 is 1 for the main steering torque sensor 207A1, the first microprocessor 230A determines that a reception abnormality or status abnormality has been detected for the main steering torque sensor 207A1. Then, in step S421, the first microprocessor 230A determines whether the total number of sensors that have detected a reception abnormality or a status abnormality among the four sensors included in the first sensor group 301A is greater than or equal to a first threshold value (in other words, a first predetermined number). In this embodiment, the first threshold value is set to 2 as one aspect.

[0057] If the total number of sensors that have detected a reception abnormality or a status abnormality among the four sensors connected via the first connector 260A is equal to or greater than the first threshold value (first threshold value=2), the first microprocessor 230A proceeds to step S422. In step S422, the first microprocessor 230A determines whether the power supply voltage of the second sensor group 301B is an abnormal value below a predetermined voltage based on the voltage of the second power supply line PL2 (in other words, the power supply monitor line of the second sensor group 301B) connected via the first connector 260A.

[0058] If the first connector 260A is unplugged, the power supply monitor line of the second sensor group 301B will also be interrupted at the first connector 260A, and the first microprocessor 230A will detect an abnormality in the power supply voltage of the second sensor group 301B. On the other hand, if the first connector 260A is connected normally but a failure occurs in the first power supply circuit 261A or the first power supply line PL1, the first microprocessor 230A will detect an abnormality in each sensor of the first sensor group 301A, but will be able to monitor the power supply voltage of the second sensor group 301B normally.

[0059] Therefore, the first microprocessor 230A can determine whether the abnormality judgment of each sensor in the first sensor group 301A is due to the first connector 260A being disconnected or due to a failure in the first power supply circuit 261A or the first power supply line PL1 based on the monitoring results of the power supply voltage of the second sensor group 301B. If the first microprocessor 230A determines in step S422 that the power supply voltage of the second sensor group 301B has become an abnormal voltage that is equal to or lower than the predetermined voltage, the process proceeds to step S423.

[0060] In other words, if the multiple sensor signals acquired via the first connector 260A are abnormal and the voltage of the second power supply line PL2 of the second sensor group 301B connected via the first connector 260A is abnormal, the first microprocessor 230A determines that an abnormality such as a loose connection has occurred in the first connector 260A and proceeds to step S423. In step S423, the first microprocessor 230A sets the connector detachment flag FUPA to 1, which indicates whether or not an abnormality such as detachment has been detected in the first connector 260A. The connector detachment flag FUPA=1 indicates that an abnormality in the first connector 260A has been detected, and the connector detachment flag FUPA=0 indicates that an abnormality in the first connector 260A has not been detected.

[0061] Furthermore, in step S423, the first microprocessor 230A maintains the power supply normal flag FVNB, which indicates whether the monitoring result of the power supply voltage of the second sensor group 301B is normal, at 0. The power supply normal flag FVNB=1 indicates that the power supply voltage of the second sensor group 301B is normal, and the power supply normal flag FUPA=0 indicates that the power supply voltage of the second sensor group 301B is abnormal.

[0062] On the other hand, if the first microprocessor 230A determines in step S422 that the power supply voltage of the second sensor group 301B is a normal value exceeding the predetermined voltage, the process proceeds to step S424. In step S424, the first microprocessor 230A sets the connector detachment flag FUPA to 0, which indicates that it has been determined that the first connector 260A is normal. Furthermore, in step S424, the first microprocessor 230A sets the power supply normal flag FVNB to 1, which indicates that the power supply voltage of the second sensor group 301B is normal.

[0063] In other words, if the multiple sensor signals acquired through the first connector 260A are abnormal but the voltage of the second power supply line PL2 of the second sensor group 301B connected through the first connector 260A is normal, the first microprocessor 230A determines that the first connector 260A is normal. Furthermore, if the first microprocessor 230A determines in step S421 that the total number of sensors that have detected a reception abnormality or a status abnormality is less than the first threshold value (first threshold value=2), the process proceeds to step S425.

[0064] In step S425, the first microprocessor 230A sets the connector detachment flag FUPA to 0, which indicates that it has been determined that the first connector 260A is normal. Furthermore, in step S425, the first microprocessor 230A sets the power supply normal flag FVNB to 1, which indicates that the power supply voltage of the second sensor group 301B is normal.

[0065] Furthermore, since power is supplied to each sensor in the first sensor group 301A via the first connector 260A, if the first connector 260A is unplugged, the power supply to each sensor in the first sensor group 301A will be cut off. Therefore, if power is being supplied normally to the first sensor group 301A, the first microprocessor 230A can infer that the first connector 260A has not become disconnected.

[0066] Therefore, in step S422, instead of determining whether the power supply voltage of the second sensor group 301B is abnormal or normal, the first microprocessor 230A can determine whether the monitoring results of the power supply voltage of the first sensor group 301A obtained from the second microprocessor 230A are normal. Then, the first microprocessor 230A proceeds to step S424 if the second microprocessor 230A determines that the power supply voltage supplied to the first sensor group 301A is normal, and proceeds to step S423 if the second microprocessor 230A determines that the power supply voltage supplied to the first sensor group 301A is abnormal.

[0067] In other words, when the power supply voltage supplied to the first sensor group 301A is normal, the first microprocessor 230A does not determine that the first connector 260A is disconnected, even if the total number of sensors that have detected a reception abnormality or a status abnormality is greater than or equal to the first threshold (first threshold = 2). On the other hand, the first microprocessor 230A determines that the first connector 260A is disconnected when the power supply voltage supplied to the first sensor group 301A is abnormal and the total number of sensors that have detected a reception abnormality or a status abnormality is greater than or equal to the first threshold value (first threshold value = 2).

[0068] After the first microprocessor 230A sets the connector detachment flag FUPA and the power normal flag FVNB as described above, the process proceeds to step S426. In step S426, if the first microprocessor 230A determines that the connector detachment flag FUPA is 1, that is, that the state in which the first connector 260A is being determined to be detached, has continued for a certain period of time or more, it sets the connector detachment confirmation flag FUPCA to 1 to confirm the determination that the first connector 260A is detached.

[0069] On the other hand, if the first microprocessor 230A determines in step S426 that the duration of the state in which the connector detachment flag FUPA is 1 is less than a certain period of time, it maintains the connector detachment confirmation flag FUPCA at 0 and leaves the detachment determination of the first connector 260A undetermined. Furthermore, if the first microprocessor 230A determines in step S426 that the power supply normal flag FVNB is 0, that is, that the state in which the power supply voltage of the second sensor group 301B has not been determined to be normal, continues for a certain period of time or more, it infers that power is not being supplied to the first sensor group 301A via the first connector 260A normally.

[0070] Then, the first microprocessor 230A sets the power supply abnormality determination flag FVACA for the first sensor group 301A to 1. On the other hand, if the first microprocessor 230A determines in step S426 that the duration of the state in which the power supply normal flag FVNB is 0 has not reached a certain period of time, it maintains the power supply abnormality confirmation flag FVACA at 0 and leaves the abnormality determination of the power supply to the first sensor group 301A undetermined.

[0071] Next, in step S427, the first microprocessor 230A determines whether the connector detachment confirmation flag FUPCA is 1 or not, that is, whether the detachment determination of the first connector 260A has been confirmed or not. If the first microprocessor 230A determines that the connector removal confirmation flag FUPCA is 1, the process proceeds from step S427 to step S428. Moreover, when the first microprocessor 230A determines that the connector removal confirmation flag FUPCA is 0, it bypasses the processes from step S428 onwards and ends this routine directly.

[0072] In step S428, the first microprocessor 230A determines whether or not a reception abnormality and a status abnormality have been detected for each of the four sensors included in the first sensor group 301A based on the reception abnormality flags FRESAA1, FRESAA2, FRETSA1, FRETSA2 and the status abnormality flags FASSAA1, FASSAA2, FASTSA1, FASTSA2. For example, if the reception abnormality flag FRETSA1 of the main steering torque sensor 207A1 is 0 and the status abnormality flag FASTSA1 of the main steering torque sensor 207A1 is also 0, the first microprocessor 230A determines that neither a reception abnormality nor a status abnormality has been detected for the main steering torque sensor 207A1.

[0073] Then, the first microprocessor 230A determines whether the total number of sensors among the four sensors included in the first sensor group 301A whose reception abnormality flags are 0 and whose status abnormality flags are 0, i.e., sensors that have not been determined to be abnormal, is greater than or equal to the second threshold value. It is preferable that the number of sensors is greater than or equal to the second threshold value > the first threshold value > 0. For example, if the number of sensors included in the first sensor group 301A is 4 and the first threshold value used to determine the number of abnormal sensors in step S421 is 2, the second threshold value is 3.

[0074] If the total number of sensors with no reception abnormalities and no status abnormalities is greater than or equal to the second threshold (second threshold = 3), the first microprocessor 230A assumes that the connection of the first connector 260A has returned to a normal state, in other words, that the disconnection state has been resolved, and proceeds to step S429, where it sets the connector recovery flag FUPRA to 1. That is, when the connector restoration flag FUPRA is 1, it indicates that restoration of the connection of the first connector 260A has been detected after the disconnection of the first connector 260A was confirmed.

[0075] On the other hand, if the total number of sensors with no reception abnormalities and no status abnormalities is less than the second threshold (second threshold = 3), the first microprocessor 230A determines that the connection of the first connector 260A has not been restored, and proceeds to step S430 to maintain the connector restoration flag FUPRA at 0. After the first microprocessor 230A sets the connector restoration flag FUPRA in step S429 or step S430, the process proceeds to step S431.

[0076] If the first microprocessor 230A determines in step S431 that the connector restoration flag FUPRA has been set for a certain period of time or more, it resets the connector removal confirmation flag FUPCA to 0. In other words, after the first microprocessor 230A sets the connector disconnection confirmation flag FUPCA, if the total number of sensors with no reception abnormalities and no status abnormalities remains above the second threshold (second threshold = 3) for a certain period of time, it determines that the first connector 260A has returned to normal and resets the connector disconnection confirmation flag FUPCA to 0.

[0077] It should be noted that the first microprocessor 230A can omit the restoration determination process from step S427 onwards in the abnormality diagnosis process for the first connector 260A shown in the flowchart of FIG. In other words, the first microprocessor 230A can diagnose abnormalities in the first connector 260A on the assumption that abnormalities such as disconnection of the first connector 260A cannot be fixed without performing maintenance work.

[0078] Furthermore, the second microprocessor 230B performs the process of diagnosing an abnormality in the second connector 260B in the same manner as the diagnostic process of the first connector 260A performed by the first microprocessor 230A, which has been described with reference to the flowchart of FIG. The following will outline how the second microprocessor 230B diagnoses abnormalities in the second connector 260B.

[0079] The second microprocessor 230B diagnoses whether or not a reception abnormality or status abnormality has occurred for each sensor in the second sensor group 301B, and when the number of sensors experiencing a reception abnormality or status abnormality is equal to or greater than a first threshold value and an abnormality in the power supply voltage of the first sensor group 301A is detected, it determines that an abnormality such as a disconnection has occurred in the second connector 260B and sets the connector disconnection flag FUPB to 1. Then, when the second microprocessor 230B determines that the connector detachment flag FUPB is 1, that is, the state in which the second connector 260B is being determined to be detached, has continued for a certain period of time or more, it sets the connector detachment confirmation flag FUPCB to 1 and confirms the determination that the second connector 260B is detached.

[0080] The flowchart in FIG. 6 shows the mask processing for the individual sensor diagnosis performed by the first microprocessor 230A. The second microprocessor 230B also performs masking processing for individual sensor diagnosis, but since the processing content is similar to that of the first microprocessor 230A, only the masking processing by the first microprocessor 230A will be described below, and a detailed description of the masking processing by the second microprocessor 230B will be omitted.

[0081] In step S451, the first microprocessor 230A determines whether the connector detachment confirmation flag FUPCA is 1, that is, whether the detachment determination for the first connector 260A has been confirmed. Here, if the connector disconnection confirmation flag FUPCA is 0 and the disconnection of the first connector 260A has not been confirmed, the first microprocessor 230A proceeds to step S452 and performs individual sensor diagnosis processing to individually diagnose the presence or absence of a malfunction for each of the four sensors included in the first sensor group 301A.

[0082] In the individual sensor diagnosis process in step S452, the first microprocessor 230A can perform the above-mentioned diagnosis of reception abnormalities and status abnormalities, as well as a diagnosis to determine whether the sensor is normal or abnormal by comparing the detection data of each redundant sensor. Furthermore, in the individual sensor diagnosis, when the abnormal state of each sensor continues for a certain period of time or longer, the first microprocessor 230A can determine that an individual sensor is abnormal.

[0083] The first microprocessor 230A and the second microprocessor 230B then control the energization of the electric motor 220 using data from the sensor that is determined to be normal among the redundant sensors. Furthermore, the first microprocessor 230A and the second microprocessor 230B use the results of the individual sensor diagnostic processing for fail-safe control to stop the driving of the electric motor 220.

[0084] For example, when the number of sensors determined to be abnormal in the individual sensor diagnosis processing, out of the total eight sensors, which is the four sensors included in the first sensor group 301A and the four sensors included in the second sensor group 301B, reaches or exceeds a third threshold value (for example, the third threshold value = 3), the first microprocessor 230A and the second microprocessor 230B stop controlling the flow of current to the electric motor 220 (more specifically, the first winding group 220A and the second winding group 220B) and stop the application of steering torque by the electric motor 220. In other words, by making the sensors redundant, the electric power steering device 200 can maintain the function of applying steering torque even if some of the sensors fail, and if the number of abnormal sensors reaches or exceeds the third threshold, the power supply control of the electric motor 220 is stopped to prevent malfunction.

[0085] On the other hand, if the first microprocessor 230A determines in step S451 that the connector detachment confirmation flag FUPCA is 1 and that detachment of the first connector 260A (in other words, an abnormality) has been confirmed, the process proceeds to step S453. In step S453, the first microprocessor 230A stops individual sensor diagnosis for the four sensors included in the first sensor group 301A connected via the first connector 260A, and also stops using the individual diagnosis results for the four sensors included in the first sensor group 301A.

[0086] When the first connector 260A is disconnected, if an individual sensor diagnosis is performed on each of the four sensors included in the first sensor group 301A, the first microprocessor 230A will detect abnormalities in all four sensors. Then, when the first microprocessor 230A diagnoses that all four sensors included in the first sensor group 301A are abnormal, the number of sensors diagnosed as abnormal in the individual sensor diagnosis becomes equal to or exceeds a third threshold (for example, third threshold = 3), and motor control is stopped.

[0087] However, the first microprocessor 230A is configured so that it can directly acquire the sensor signals of the main steering torque sensor 207B1 and the sub steering torque sensor 207B2 included in the second sensor group 301B via the sensor signal lines STDLA1 and STDLA2 even if the first connector 260A is disconnected. The first microprocessor 230A can also acquire the sensor signals of the main steering torque sensor 207B1 and the sub steering torque sensor 207B2 through communication with the second microprocessor 230B.

[0088] Therefore, even if the first connector 260A is disconnected, the first microprocessor 230A can continue to control the power supply to the electric motor 220 in approximately the same manner as if the first connector 260A were not disconnected by using the main steering torque sensor 207B1 and the sub steering torque sensor 207B2 instead of the main steering torque sensor 207A1 and the sub steering torque sensor 207A2. In other words, when control device 230 stops the supply of current to electric motor 220 based on the disconnection of first connector 260A, the effect of sensor redundancy, which is to maintain the function of applying steering torque in the event of a sensor failure, is lost.

[0089] Therefore, when the first microprocessor 230A determines that the first connector 260A is disconnected, it stops individual diagnosis of the sensors included in the first sensor group 301A, preventing the number of sensors diagnosed as abnormal in the individual sensor diagnosis from exceeding the third threshold value and causing motor control to be stopped. When the first connector 260A is unplugged, the first microprocessor 230A continues to control the energization of the first winding group 220A of the electric motor 220 based on the sensor signals of the main steering torque sensor 207B1 and / or the sub steering torque sensor 207B2, in other words, based on sensor signals other than the sensor signals of the first sensor group 301A.

[0090] As a result, even if first connector 260A is disconnected, first microprocessor 230A can maintain the function of applying steering torque, ensuring the effectiveness of redundancy. In other words, when an abnormality occurs in first connector 260A, first microprocessor 230A can avoid inappropriate sensor failure determination and continue to control the energization of first winding set 220A. Here, the first microprocessor 230A sets the first threshold value for the number of abnormal sensors used in the diagnosis of disconnection of the first connector 260A to a value smaller than the third threshold value used to determine the stop of motor control, so that when the first connector 260A is disconnected, the process of stopping the individual sensor diagnosis based on the confirmation that the first connector 260A is disconnected precedes the stop of motor control based on the number of abnormal sensors determined by the individual sensor diagnosis.

[0091] If the first connector 260A becomes disconnected, the first microprocessor 230A will not be able to directly acquire information about the steering angle β from the sensor. However, if the first connector 260A becomes disconnected after obtaining information on the steering angle β based on the sensor signal of the steering angle sensor 206, the first microprocessor 230A can detect the subsequent change in the steering angle β from the signal of the rotation angle θ of the electric motor 220 output by the motor rotation angle sensor 209.

[0092] Similar to the processing of the first microprocessor 230A, when the second microprocessor 230B determines that the second connector 260B is disconnected, it stops individual diagnosis of each sensor in the second sensor group 301B, preventing the number of sensors diagnosed as abnormal in the individual sensor diagnosis from exceeding the third threshold value and causing motor control to be stopped. When the second connector 260B is unplugged, the second microprocessor 230B continues to control the energization of the second winding group 220B of the electric motor 220 based on the sensor signals of the main steering torque sensor 207A1 and / or the sub steering torque sensor 207A2, in other words, based on sensor signals other than the sensor signals of the second sensor group 301B.

[0093] The first microprocessor 230A transmits the results of the disconnection diagnosis of the first connector 260A to the second microprocessor 230B via the communication line 240, and the second microprocessor 230B transmits the results of the disconnection diagnosis of the second connector 260B to the first microprocessor 230A via the communication line 240, thereby sharing information on the results of the disconnection diagnosis, i.e., abnormality information on the first connector 260A and abnormality information on the second connector 260B. If the first connector 260A and the second connector 260B become disconnected, the first microprocessor 230A stops controlling the flow of current to the first winding group 220A, and the second microprocessor 230B stops controlling the flow of current to the second winding group 220B, thereby stopping the application of steering torque by the electric motor 220 in both cases.

[0094] Therefore, when the first connector 260A is abnormal and the second connector 260B is normal, the first microprocessor 230A acquires the sensor signal of the second sensor group 301B and outputs a power supply control signal for the first winding set 220A. Similarly, when the second connector 260B is abnormal and the first connector 260A is normal, the second microprocessor 230B acquires the sensor signal of the first sensor group 301A and outputs a power supply control signal for the second winding set 220B.

[0095] Furthermore, based on the determination of connector disconnection, the first microprocessor 230A and the second microprocessor 230B can transition to a limp home mode in which the steering torque generated by the electric motor 220 is reduced compared to when the connector is normal when continuing to control the flow of current to the electric motor 220 based on the sensor signal of the torque sensor 207 of the other control system. This allows the electric power steering device 200 to perform its minimum functions while avoiding risk when a disconnection failure occurs in the first connector 260A or the second connector 260B, that is, when the dual system having the first sensor group 301A and the second sensor group 301B stops functioning.

[0096] In addition, the control device 230, which includes the first microprocessor 230A and the second microprocessor 230B, can output a command signal to generate an alarm to notify the driver that an abnormality has occurred in the electric power steering device 200 when it has confirmed that the first connector 260A and / or the second connector 260B has come loose. This allows the driver of the vehicle 100 to recognize that an abnormality has occurred in the electric power steering device 200, and also allows the driver to operate the steering wheel 201 after recognizing the change in operability of the steering wheel 201.

[0097] Furthermore, the first microprocessor 230A and the second microprocessor 230B can switch from continuous power supply to power stop in response to an increase in the number of abnormal sensors in the same sensor group. For example, the first microprocessor 230A and the second microprocessor 230B can determine that the connector 260 has come loose based on the fact that the number of abnormal sensors among the sensors connected via the same connector has reached two, and then, while continuing to control the flow of current to the electric motor 220 based on the sensor signal of the torque sensor 207 in the other control system, can stop the flow of current when the number of abnormal sensors reaches three or more.

[0098] Assuming that the connector 260 disconnection abnormality will not return, by shifting from continued power supply to power stoppage as the number of abnormal sensors increases as described above, it is possible to prevent excessive system shutdowns while also achieving greater risk avoidance. On the other hand, if there is a possibility that the disconnection abnormality of connector 260 will return, if the current supply control is continued even if the number of abnormal sensors increases while the connector disconnection determination is confirmed, the change in steering torque when connector 260 returns to normal from the disconnection state and normal control is resumed can be reduced, and stable steering operation by the driver can be achieved.

[0099] The technical ideas explained in the above embodiments can be used in appropriate combinations as long as no contradiction occurs. Furthermore, although the contents of the present invention have been specifically described with reference to preferred embodiments, it is obvious that a person skilled in the art can adopt various modified embodiments based on the basic technical idea and teachings of the present invention.

[0100] For example, the control system of the electric motor 220 shown in FIG. 1 has two control systems, a first control system and a second control system, but is not limited to a control system having two control systems, and may be a control system having three or more control systems. Furthermore, the electric motor 220 can be an electric motor for applying a steering torque to the front wheels 110, 110 in a steer-by-wire steering device in which the front wheels 110, 110 that are steered and the steering wheel 201 are mechanically separated.

[0101] In addition, the first microprocessor 230A can be configured to acquire sensor signals from all sensors in the second sensor group 301B via the second connector 260B, and similarly, the second microprocessor 230B can be configured to acquire sensor signals from all sensors in the first sensor group 301A via the first connector 260A. Furthermore, the first sensor group 301A and the second sensor group 301B are not limited to sensor groups having two steering angle sensors and two steering torque sensors, and the number and type of sensors can be changed as appropriate. [Explanation of symbols]

[0102] 100...vehicle, 200...electric power steering device (steering device), 220...electric motor (actuator), 230...control device, 230A...first microprocessor (first control unit), 230B...second microprocessor (second control unit), 260A...first connector, 260B...second connector, 301A...first sensor group, 301B...second sensor group

Claims

1. a first sensor group having a plurality of sensors; a second sensor group having a plurality of sensors; A control device for controlling an actuator, a first control unit connected to the sensors of the first sensor group via a first connector and configured to output a control signal for the actuator; a second control unit connected to the sensors of the second sensor group via a second connector and configured to output a control signal for the actuator; The control device having A control system comprising: The control device When an abnormality in the first connector is detected, the fault diagnosis for each sensor in the first sensor group is stopped; When an abnormality in the second connector is detected, the fault diagnosis for each sensor in the second sensor group is stopped; a power supply monitor line of the second sensor group is connected to the first control unit via the first connector; a power supply monitor line of the first sensor group is connected to the second control unit via the second connector; the first control unit diagnoses an abnormality in a power supply voltage of the second sensor group, and the second control unit diagnoses an abnormality in a power supply voltage of the first sensor group; Control system.

2. 2. The control system of claim 1, the first control unit, when an abnormality in the first connector is detected, acquires a sensor signal other than the sensor signal of the first sensor group and continues to output a control signal for the actuator; the second control unit, when an abnormality in the second connector is detected, acquires a sensor signal other than the sensor signal of the second sensor group and continues outputting a control signal for the actuator. Control system.

3. 3. The control system of claim 2, the first control unit, when the first connector is abnormal and the second connector is normal, acquires a sensor signal from the second sensor group and continues to output a control signal for the actuator; the second control unit acquires the sensor signals of the first sensor group and continues to output the control signals of the actuators when the second connector is abnormal and the first connector is normal. Control system.

4. 2. The control system of claim 1, The control device detecting an abnormality in the first connector based on a sensor signal from each of the sensors in the first sensor group, and detecting an abnormality in the second connector based on a sensor signal from each of the sensors in the second sensor group; Control system.

5. 5. The control system of claim 4, The control device an abnormality in the first connector is detected when the number of sensors that detect an abnormality in the sensor signal among the sensors in the first sensor group is equal to or greater than a predetermined number; an abnormality in the second connector is detected when the number of sensors that detect an abnormality in the sensor signal among the sensors in the second sensor group is equal to or greater than a predetermined number; Control system.

6. 2. The control system of claim 1, The control device outputs a command signal to generate an alarm when an abnormality in the first connector or the second connector is detected. Control system.

7. 2. The control system of claim 1, the control device detects whether the first connector has returned to normal after detecting an abnormality in the first connector, and detects whether the second connector has returned to normal after detecting an abnormality in the second connector, Control system.

8. 8. The control system of claim 7, the control device detects a return to normal when the number of sensors that have detected an abnormality in the sensor signal falls below a predetermined number. Control system.

9. 2. The control system of claim 1, the first control unit performs a fault diagnosis for each sensor of the first sensor group and an abnormality detection for the first connector; the second control unit performs a fault diagnosis for each sensor of the second sensor group and an abnormality detection for the second connector; Control system.

10. 10. The control system of claim 9, The first control unit and the second control unit sharing abnormality information of the first connector and abnormality information of the second connector; When an abnormality occurs in the first connector and the second connector, output of the control signal to the actuator is stopped from both connectors. Control system.

11. 2. The control system of claim 1, the actuator is an electric motor of a steering device of a vehicle, the electric motor having a first winding set whose energization is controlled by the first control unit and a second winding set whose energization is controlled by the second control unit, The first sensor group and the second sensor group each include at least two steering torque sensors and two steering angle sensors. Control system.

12. 12. The control system of claim 11, the first control unit acquires a sensor signal from the second sensor group when an abnormality in the first connector is detected, and continues controlling the energization of the first winding set; the second control unit acquires a sensor signal from the first sensor group when an abnormality in the second connector is detected, and continues controlling the energization of the second winding set. Control system.

13. 12. The control system of claim 11, the first control unit, when an abnormality in the first connector is detected, acquires a sensor signal of the steering torque sensor included in the second sensor group and continues controlling the energization of the first winding set; When an abnormality in the second connector is detected, the second control unit acquires a sensor signal from the steering torque sensor included in the first sensor group and continues controlling the energization of the second winding set. Control system.

14. A control device for controlling an actuator, a first control unit connected to a first sensor group having a plurality of sensors via a first connector and configured to output a control signal for the actuator; a second control unit connected to a second sensor group having a plurality of sensors via a second connector and configured to output a control signal for the actuator; and the first control unit stops fault diagnosis for each sensor of the first sensor group when detecting an abnormality in the first connector; the second control unit stops fault diagnosis for each sensor of the second sensor group when detecting an abnormality in the second connector; a power supply monitor line of the second sensor group is connected to the first control unit via the first connector; a power supply monitor line of the first sensor group is connected to the second control unit via the second connector; the first control unit diagnoses an abnormality in a power supply voltage of the second sensor group, and the second control unit diagnoses an abnormality in a power supply voltage of the first sensor group; Control device.

15. A diagnostic method executed by a control device that controls an actuator, comprising: The control device a first control unit connected to a first sensor group having a plurality of sensors via a first connector and configured to output a control signal for the actuator; a second control unit connected to a second sensor group having a plurality of sensors via a second connector and configured to output a control signal for the actuator; and The diagnostic method comprises: When an abnormality in the first connector is detected, the fault diagnosis for each sensor in the first sensor group is stopped; When an abnormality in the second connector is detected, the fault diagnosis for each sensor in the second sensor group is stopped; a power supply monitor line of the second sensor group is connected to the first control unit via the first connector; a power supply monitor line of the first sensor group is connected to the second control unit via the second connector; the first control unit diagnoses an abnormality in a power supply voltage of the second sensor group, and the second control unit diagnoses an abnormality in a power supply voltage of the first sensor group; Diagnostic methods.

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