Steering Calculation Device

Abstract

To provide a steering calculation device which can calculate a first knuckle and a second knuckle without requiring a sensor for detecting a tilt angle.SOLUTION: A PU 52 calculates a rotation angle of a pinion shaft 22 on the basis of a rotation angle θm. The PU 52 acquires a steering angle θh through communication with an upper ECU 80. The PU 52 estimates a first knuckle and a second knuckle with the steering angle θh and the pinion angle as input. The first knuckle is an angle formed by a shaft direction of a column shaft 14 and a shaft direction of an intermediate shaft 18. The second knuckle is an angle formed by the shaft direction of the intermediate shaft 18 and the shaft direction of the pinion shaft 22.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a steering calculation device. [Background technology]

[0002] For example, Patent Document 1 below describes a device in which the rotational power of a steering wheel is transmitted to steered wheels via three shafts. The three shafts are connected by two Cardan joints. In this device, the bending angle of the Cardan joints is estimated based on the detection value of a tilt angle sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-49992 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-described method for estimating the bend angle cannot estimate the bend angle if a tilt angle sensor is not provided. [Means for solving the problem]

[0005] The means for solving the above problems and their effects will be described below. 1. A steering calculation device that calculates a state quantity of a steering device, the steering device comprising a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first Cardan joint, a second Cardan joint, and steered wheels, the input shaft being connected to the steering wheel, the first Cardan joint being a member that connects the input shaft and the intermediate shaft, the second Cardan joint being a member that connects the intermediate shaft and the output shaft, a steering torque input to the steering wheel being transmitted to the steered wheels via the input shaft, the intermediate shaft, and the output shaft, a steering angle variable acquisition process, an output a steering calculation device configured to execute a shaft angle variable acquisition process and a joint angle variable calculation process, wherein the steering angle variable acquisition process is a process for acquiring the value of a steering angle variable that is a variable indicating the rotation angle of the steering wheel, the output shaft angle variable acquisition process is a process for acquiring the value of an output shaft angle variable that is a variable indicating the rotation angle of the output shaft, and the joint angle variable calculation process is a process for calculating the value of a joint angle variable using the value of the steering angle variable and the value of the output shaft angle variable as inputs, and the joint angle variable is a variable that determines the angle between the axial direction of the input shaft and the axial direction of the output shaft.

[0006] Because the relationship between the rotation angle of the output shaft and the steering angle depends on the bending angle between the input shaft and the intermediate shaft and the bending angle between the intermediate shaft and the output shaft, the pair of bending angles can be determined from the rotation angle of the output shaft and the steering angle. In view of this, the above configuration can calculate the values ​​of the joint angle variables using the steering angle variable value and the output shaft angle variable value as inputs. Therefore, the values ​​of the joint angle variables can be calculated without requiring a sensor to detect the tilt angle.

[0007] 2. A steering calculation device according to claim 1, wherein the joint angle variables include a first bend angle that determines the angle between the input shaft and the intermediate shaft, and a second bend angle that determines the angle between the output shaft and the intermediate shaft.

[0008] With the above configuration, more detailed information regarding the first bend angle and the second bend angle can be obtained compared to when the first bend angle and the second bend angle are quantified as the value of a single variable. 3. A steering calculation device as described in 2 above, wherein the joint angle variables further include a difference angle variable in addition to the first bend angle and the second bend angle, and the difference angle variable is a variable corresponding to the angle between a first plane and a second plane, and the first plane is a plane parallel to the axial direction of the input shaft and the axial direction of the intermediate shaft, and the second plane is a plane parallel to the axial direction of the output shaft and the axial direction of the intermediate shaft.

[0009] The relationship between the rotation angle of the output shaft and the steering angle depends on the angle between the input shaft and the intermediate shaft, the angle between the intermediate shaft and the output shaft, and the angle between the input shaft and the intermediate shaft. This means that the angle can be determined from the rotation angle of the output shaft and the steering angle. Therefore, with the above configuration, the value of the difference angle variable can be calculated.

[0010] 4. A steering calculation device described in any one of 1 to 3 above, wherein the steering angle variable acquisition process includes a process of acquiring multiple different values ​​of the steering angle variable, the output shaft angle variable acquisition process includes a process of acquiring values ​​of the output shaft angle variable synchronized with each of the multiple values ​​of the steering angle variable, and the joint angle variable calculation process is a process of calculating the values ​​of the joint angle variable using as input the multiple values ​​of the steering angle variable and values ​​of the output shaft angle variable synchronized with each of the multiple values.

[0011] In the above configuration, the relationship between the rotation angle of the output shaft and the steering angle changes depending on the value of the joint angle variable. The rotation angle of the output shaft when the steering angle takes on various values ​​contains detailed information about the relationship between the rotation angle of the output shaft and the steering angle. Therefore, in the above configuration, by calculating the value of the joint angle variable using multiple values ​​of the steering angle variable, the value of the joint angle variable can be calculated based on detailed information about the relationship.

[0012] 5. A steering calculation device as described in 4 above, wherein the plurality of values ​​to be acquired by the steering angle variable acquisition process include values ​​where the difference between the minimum absolute value of the steering angle variable and the maximum absolute value is greater than or equal to a predetermined value.

[0013] When the difference between the maximum and minimum absolute values ​​of the steering angle is large, more useful information can be obtained in identifying the values ​​of the joint angle variables regarding the relationship between the rotation angle of the output shaft and the steering angle than when the difference is small. Therefore, in the above configuration, the accuracy of calculating the values ​​of the joint angle variables can be improved by setting the predetermined value.

[0014] 6. A steering calculation device as described in 4 or 5 above, comprising a storage device that stores relational specification data, the relational specification data being data that specifies a relational equation, the relational equation being an equation that determines the relationship between the value of the steering angle variable, the value of the output shaft angle variable, and the value of the joint angle variable, and the joint angle variable calculation process includes a process of calculating the value of the joint angle variable by the least squares method by inputting into the relational equation a plurality of different values ​​of the steering angle variable and values ​​of the output shaft angle variable synchronized with each of the plurality of values.

[0015] A physical relational expression holds between the steering angle, the rotation angle of the output shaft, and the value of the joint angle variable. Therefore, in the above configuration, the value of the joint angle variable in the relational expression can be calculated using the least squares method, with the value of the joint angle variable being an unknown.

[0016] 7. The steering device is a steering calculation device described in any one of 1 to 6 above, wherein the steering device is equipped with an actuator that generates power to steer the steered wheels and is configured to perform operation processing and reflection processing, the operation processing being processing to operate the actuator in accordance with operation of the steering wheel, and the reflection processing being processing to reflect the value of the joint angle variable in the operation of the actuator.

[0017] The relationship between the steering angle and the rotation angle of the output shaft, and the relationship between the steering torque and the torque applied to the output shaft, change depending on the values ​​of the joint angle variables. Therefore, if the actuator is operated in response to the operation of the steering wheel without taking the values ​​of the joint angle variables into consideration, there is a concern that the actuator may not be operated appropriately depending on the values ​​of the joint angle variables. Therefore, with the above configuration, the values ​​of the joint angle variables are reflected in the operation processing, making it possible to make the operation processing more appropriate. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram illustrating a configuration of a steering control system according to an embodiment. [Figure 2] 4A and 4B are diagrams showing the configuration of a first Cardan joint according to the embodiment. [Figure 3] FIG. 2 is a block diagram showing a process executed by a control device according to the embodiment. [Figure 4] 3 is a flowchart showing a procedure of a process executed by a control device according to the embodiment. [Figure 5] 3 is a flowchart showing a procedure of a process executed by a control device according to the embodiment. [Figure 6] 10 is a diagram defining coordinates used in the tilt angle calculation process according to the embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of a steering calculation device will be described with reference to the drawings. System Configuration As shown in Figure 1, steering device 10 is a device that steers steered wheels 36 through cooperation between the steering torque input to steering wheel 12 by the driver and the power of steering actuator 40. Steering device 10 is an electric power steering device. Hereinafter, operation of steering wheel 12 to the right or left will be referred to as "steering."

[0020] The steering wheel 12 is fixed to a column shaft 14. The column shaft 14 is mechanically connected to an intermediate shaft 18 via a first Cardan joint 16. The intermediate shaft 18 has a known contractible structure. Of the two axial ends of the intermediate shaft 18, the end opposite to the end connected to the first Cardan joint 16 is connected to a pinion shaft 22 via a second Cardan joint 20.

[0021] FIG. 2 shows the configuration of the first Cardan joint 16. The first Cardan joint 16 includes a first yoke 16a, a second yoke 16b, and a cross shaft 16c. The cross shaft 16c has a cross shape. The cross shaft 16c rotatably connects the first yoke 16a and the second yoke 16b to each other. The first yoke 16a is fastened to the end of the column shaft 14 with a bolt. Alternatively, the first yoke 16a may be welded to the end of the column shaft 14. The second yoke 16b is fixed to the end of the intermediate shaft 18 by welding.

[0022] The configuration of the second Cardan joint 20 is similar to that of the first Cardan joint 16, and therefore a description thereof will be omitted. Returning to FIG. 1 , the pinion shaft 22 is disposed at a predetermined intersecting angle with the rack shaft 30. Rack teeth 30a formed on the rack shaft 30 mesh with pinion teeth 22a formed on the pinion shaft 22 to form a rack-and-pinion mechanism 32. Tie rods 34 are connected to both ends of the rack shaft 30. The ends of the tie rods 34 are connected to knuckles (not shown) to which steered wheels 36 are attached. The rack-and-pinion mechanism 32 converts the rotation of the steering wheel 12 into axial displacement of the rack shaft 30. This axial displacement is transmitted to the knuckle via the tie rods 34, thereby changing the steering angle of the steered wheels 36. The steering angle refers to the turning angle of the tires, which are the steered wheels 36.

[0023] Steering actuator 40 includes assist motor 42 as a drive source, transmission mechanism 44 that transmits the torque of assist motor 42, and ball screw mechanism 46. Ball screw mechanism 46 converts the torque of assist motor 42 transmitted via transmission mechanism 44 into a force that displaces rack shaft 30 in the axial direction. Assist motor 42 is, for example, a three-phase brushless motor. The output voltage of inverter 60 is applied to the terminals of assist motor 42.

[0024] The control device 50 operates the inverter 60 to control the control amount of the steered wheels 36, which are the control target. To control the control amount, the control device 50 refers to the rotation angle θm of the assist motor 42 detected by the rotation angle sensor 70. The control device 50 also refers to the currents iu, iv, iw output by the inverter 60. Note that the currents iu, iv, iw may be understood as voltage drops across shunt resistors provided in each leg of the inverter 60. The control device 50 also refers to the torque Trq applied to the steering wheel 12, which is detected by the torque sensor 72.

[0025] The control device 50 includes a PU 52 and a storage device 54. The PU 52 is a software processing device including at least one of a CPU, a GPU, a TPU, and the like. The host ECU 80 is an electronic control device that generates commands related to vehicle control at a higher level than the control device 50. The host ECU 80 refers to the steering angle θh detected by the steering angle sensor 82. The steering angle θh is the rotation angle of the steering wheel 12. In other words, it is the rotation angle of the column shaft 14.

[0026] The control device 50 and the host ECU 80 are capable of communicating with each other. The control device 50 can receive the steering angle θh acquired by the host ECU 80. However, the sampling period for the steering angle θh is longer than the sampling period for the rotation angle θm.

[0027] "About assist control" Fig. 3 shows the process executed by the control device 50. The process shown in Fig. 3 is realized by the PU 52 repeatedly executing an assist control program 54a stored in the storage device 54, for example, at a predetermined interval.

[0028] The pinion angle calculation process M10 is a process for calculating a pinion angle θp, which is the rotation angle of the pinion shaft 22, using the rotation angle θm as an input. The steering angle calculation process M12 is a process for calculating the steering angle θh using the pinion angle θp as an input. The steering angle calculation process M12 is a process for calculating the steering angle θh using the relationship specifying data 54b stored in the storage device 54 shown in FIG. 1. The relationship specifying data 54b includes data for specifying the relationship formula defined by the following equation (c1). This relationship formula has the pinion angle θp as an independent variable and the steering angle θh as a dependent variable.

[0029]

number

[0030] Here, we use the bend angle α1 of the first Cardan joint 16, the bend angle α2 of the second Cardan joint 20, and the difference angle variable ψ. The bend angle α1 of the first Cardan joint 16 is the angle between the axial direction of the column shaft 14 and the axial direction of the intermediate shaft 18. The bend angle α2 of the second Cardan joint 20 is the angle between the axial direction of the intermediate shaft 18 and the axial direction of the pinion shaft 22. The difference angle variable ψ is "90 - ξ + ε." Here, "ξ" is the angle between a first plane parallel to both the axial directions of the column shaft 14 and the intermediate shaft 18, and a second plane parallel to both the axial directions of the intermediate shaft 18 and the pinion shaft 22. "ε" is the phase difference between the second yoke 16b, which is the yoke on the intermediate shaft 18 side of the two yokes of the first Cardan joint 16, and the yoke on the intermediate shaft 18 side of the two yokes of the second Cardan joint 20. The phase difference here indicates a deviation in the rotation angle around the axial direction of the intermediate shaft 18.

[0031] The above formula (c1) is derived by applying to the first Cardan joint 16 and the second Cardan joint 20 a formula that defines the relationship between the rotation angle and bending angle of a pair of yokes of a Cardan joint.

[0032] That is, it is derived using the simultaneous equations (c2) and (c3) below. tanθ2=cosα1·tanθh …(c2) tan(θp´)=cosα2·tan(θ2+ψ) …(c3) Note that "θ2" above is the rotation angle of the intermediate shaft 18. Also, "θp'" indicates the phase difference of the pinion angle θp with respect to "θh." More specifically, the following equation (c4) can be determined from equations (c2) and (c3).

[0033] θp' =arctan(tan[arctan{tan(θh)·cos(α1)}+ψ]·cos(α2))…(c4) Therefore, the pinion angle θp is expressed by the following equation (c5).

[0034] θp=θp´-arctan{tan(ψ)·cos(α2)}…(c5) The above equation (c1) is derived by eliminating θp' from equations (c4) and (c5).

[0035] The compensation torque calculation process M20 is a process for calculating the steering torque Th by removing the effect of gravity from the torque Trq. That is, the center of rotation of the steering wheel 12 is shifted from the center of gravity of the steering wheel 12. Therefore, the torque Trq detected by the torque sensor 72 is the resultant force of gravity and the torque input to the steering wheel 12 by the driver. The compensation torque calculation process M20 is a process for calculating the steering torque Th by removing the gravity component included in the torque Trq.

[0036] Here, the magnitude of gravity contributing to the torque Trq changes periodically depending on the steering angle θh. Therefore, the compensation torque calculation process M20 is a process for calculating the steering torque Th using the steering angle θh as an input.

[0037] The column shaft 14 is rotatable around a rotation center OT shown in Figure 1. This allows the position of the steering wheel 12 to be adjusted. However, when the tilt angle θtl, which is the amount of rotation around the rotation center OT, changes, the magnitude of gravity contributing to the torque Trq changes even if the steering angle θh remains the same. For this reason, the compensation torque calculation process M20 is a process that calculates the steering torque Th using the tilt angle θtl as an input.

[0038] The assist torque calculation process M22 is a process that calculates the assist torque Ta using the steering torque Th as an input. That is, the assist torque calculation process M22 is a process that changes the magnitude of the assist torque Ta according to the magnitude of the steering torque Th so that the magnitude of the assist torque Ta is an appropriate magnitude according to the driver's steering intention. The assist torque calculation process M22 may be a process that sets the magnitude of the assist torque Ta when the magnitude of the steering torque Th is large to be equal to or greater than the magnitude of the assist torque Ta when the magnitude of the steering torque Th is small. Furthermore, the assist torque calculation process M22 may be a process that sets the assist torque Ta to different values ​​when steering back and when steering.

[0039] The operation signal output process M24 is a process that receives the assist torque Ta, the rotation angle θm, and the currents iu, iv, and iw as inputs, and generates and outputs an operation signal MS for the inverter 60 to control the torque of the assist motor 42 to the assist torque Ta. Note that the operation signal MS is actually an operation signal for each switching element of the inverter 60.

[0040] "On estimating tilt angles" As described above, the tilt angle θtl changes. When the tilt angle θtl changes, the first bending angle α1, the second bending angle α2, and the difference angle variable ψ also change. Therefore, in this embodiment, the first bending angle α1, the second bending angle α2, the difference angle variable ψ, and the tilt angle θtl are not values ​​that are uniquely determined by specifications, but are variables that change when the driver changes the tilt angle θtl.

[0041] The estimation process for these variables is described in detail below. The procedure of the estimation process is shown in Figures 4 and 5. The process shown in Figures 4 and 5 is realized by the PU 52 repeatedly executing an assist control program 54a stored in the storage device 54, for example, at predetermined intervals.

[0042] In the series of processes shown in Fig. 4, the PU 52 first determines whether the update flag F is "1" (S10). If the update flag F is "1", it indicates that the process for updating the above variables is being executed. If the update flag F is "0", it indicates that the process for updating the above variables is not being executed.

[0043] When the PU 52 determines that the update flag F is "0" (S10: NO), it determines whether the start switch has been switched from an OFF state to an ON state (S12). The start switch is a switch that puts the vehicle into a state where it can run. For example, if the thrust generating device of the vehicle is an internal combustion engine only, the start switch may be an ignition switch. Also, if the thrust generating device of the vehicle is equipped with a motor, the start switch may be a switch that opens and closes an electrical path between the motor and a battery.

[0044] When it is determined that the start switch has been switched to the ON state (S12: YES), the PU 52 assigns "1" to the update flag F (S14). The PU 52 acquires the pinion angle θp when the determination in the process of S10 is affirmative or when the process of S14 is completed (S16). The PU 52 also acquires the steering angle θh through communication with the host ECU 80 (S18). The PU 52 then stores a set of the pinion angle θp and the steering angle θh in the storage device 54 (S20). The pinion angle θp and the steering angle θh are synchronized data. This can be achieved, for example, by setting the cycle of the series of processes shown in FIG. 5 to the interval at which the steering angle θh is received.

[0045] Next, the PU 52 determines whether the difference between the maximum and minimum absolute values ​​of the steering angle θh stored by the process of S20 is equal to or greater than a predetermined value Δth (S22). If the PU 52 determines that the difference is equal to or greater than the predetermined value Δth (S22: YES), the PU 52 calculates the first bending angle α1, the second bending angle α2, and the difference angle variable ψ by the least squares method (S24).

[0046] That is, for each pair of pinion angle θp and steering angle θh stored by the processing of S20, the PU 52 calculates the square of the difference between the steering angle θh and the value obtained by substituting the pinion angle θp into the right-hand side of the above equation (c1).The PU 52 then searches for the first bend angle α1, the second bend angle α2, and the difference angle variable ψ that minimize the sum of the squared differences for the pair of pinion angle θp and steering angle θh stored by the processing of S20.

[0047] Next, the PU 52 updates the first bend angle α1, the second bend angle α2, and the difference angle variable ψ, which are defined by the relational definition data 54b (S26). Next, the PU 52 calculates the coordinates of points A and B shown in FIG. 6 (S28 in FIG. 5).

[0048] In FIG. 6, point A denotes the shaft center at the end of the column shaft 14 that is connected to the steering wheel 12. Point B is the center of the cross shaft 16c of the first Cardan joint 16. Point C is the center of the cross shaft of the second Cardan joint 20. Point D is a point on the central axis of rotation of the pinion shaft 22. Point D, together with point C, is introduced to define a vector parallel to the pinion shaft 22.

[0049] As described above, since the intermediate shaft 18 expands and contracts, a change in the tilt angle θtl causes a change in the distance between points B and C. On the other hand, since point B rotates around the rotation center OT, the distance between the rotation center OT and point B does not change with a change in the tilt angle θtl. Similarly, the distance between the rotation center OT and point A does not change either. Taking these factors into consideration, the six simultaneous equations Eq1 to Eq6 are used to calculate the six unknowns, namely the coordinates (xa, ya, za) of point A and the coordinates (xb, yb, zb) of point B.

[0050] Here, equation Eq1 is an equation related to the square of the length between the rotation center OT and point A. This square of the length is a predetermined fixed value. In addition, the coordinates (xO, yO, zO) of the rotation center OT are also fixed values.

[0051] Equation Eq2 is an equation obtained by substituting the coordinate components of point A into an equation that expresses the plane on which points A and B exist. This plane does not change with changes in the tilt angle θtl. Equation Eq3 expresses the dot product of the vector going from point B to point A and the vector going from point B to point C using the first bending angle α1.

[0052] Equation Eq4 is an equation for the square of the length between the rotation center OT and point B. This square of the length is a predetermined fixed value. Equation Eq5 is an equation obtained by substituting the coordinate components of point B into the equation that expresses the plane on which points A and B exist.

[0053] Equation Eq6 expresses the dot product of the vector going from point C to point B and the vector going from point C to point D using the second bending angle α2. Next, the PU 52 calculates a vector going from point B to point A using the coordinate components obtained by the process of S28 (S30).

[0054] Then, the PU 52 calculates the tilt angle θtl (S32). As an example, the tilt angle θtl is quantified as the angle between the direction from point B to point A and the direction from reference point B0 to reference point A0. Reference point B0 is the reference point for point B. Reference point A0 is the reference point for point A. When the steering wheel 12 is in the reference position, point A coincides with reference point A0. Furthermore, when the steering wheel 12 is in the reference position, point B coincides with reference point B0.

[0055] The PU 52 calculates the tilt angle θtl based on the dot product of the vector going from the reference point B0 to the reference point A0 and the vector going from point B to point A, the distance between the reference point B0 and the reference point A0, and the distance between point B and point A.

[0056] Then, the PU 52 assigns "0" to the update flag F (S34). When the process of S34 is completed or when a negative determination is made in the processes of S12 and S22, the PU 52 temporarily ends the series of processes shown in FIGS.

[0057] "Actions and Effects of the Present Embodiment" The PU 52 estimates the first bend angle α1, the second bend angle α2, and the difference angle variable ψ based on the above relational expression (c1) using time-series data of the steering angle θh and the pinion angle θp. The PU 52 then calculates the coordinate components of points A and B using the first bend angle α1, the second bend angle α2, and the difference angle variable ψ. The PU 52 then calculates the tilt angle θtl based on the coordinate components of points A and B. By using the tilt angle θtl, the PU 52 can accurately eliminate the influence of the gravity component on the torque Trq and determine the steering torque Th.

[0058] <Correspondence> The correspondence between the matters in the above embodiment and the matters described in the "Means for Solving the Problem" column is as follows. Below, the correspondence is shown for each number of the means for solving the problem described in the "Means for Solving the Problem" column. [1-4] The steering calculation device corresponds to the control device 50. The input shaft corresponds to the column shaft 14. The output shaft corresponds to the pinion shaft 22. The steering angle variable acquisition process corresponds to the process of S18, which is periodically repeated until a positive determination is made in the process of S22. The output shaft angle variable acquisition process corresponds to the process of S16, which is periodically repeated until a positive determination is made in the process of S22. The joint angle variable calculation process corresponds to the processes of S20-S24. [5] corresponds to the process of S22. [6] The relational expression corresponds to the above expression (c1). [7] The operation process corresponds to the operation signal output process M24. The reflection process corresponds to the compensation torque calculation process M20. That is, the compensation torque calculation process M20 receives the tilt angle θtl as an input. The tilt angle θtl depends on the first bend angle α1 and the second bend angle α2. Therefore, the tilt angle θtl can change as the first bend angle α1 and the second bend angle α2 change. When the tilt angle θtl changes, the steering torque Th changes even if the torque Trq remains the same. This changes the operation signal MS. In other words, the changes in the first bend angle α1 and the second bend angle α2 are reflected in the operation signal MS.

[0059] <Other embodiments> This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0060] "About output shaft angle variable acquisition process" The output shaft angle variable acquisition process is not limited to a process of acquiring a value calculated using the rotation angle θm of the assist motor 42 as an input. For example, a process may be performed in which a sensor is provided to detect the rotation angle of the pinion shaft 22 and the detected value is acquired. Alternatively, for example, a process may be performed in which a sensor is provided to detect the axial displacement of the rack shaft 30 and the detected value of the sensor is used as an input to acquire a value calculated.

[0061] "About relational expressions" The relational expression is not limited to an expression in which the pinion angle θp is an independent variable and the steering angle θh is an output variable. For example, it may be an expression in which the steering angle θh is an independent variable and the pinion angle θp is an output variable. The relational expression does not necessarily have to be a function-type expression. For example, it may be an expression in which the value calculated using the pinion angle θp and the steering angle θh is a constant such as "0."

[0062] "Joint angle variable calculation process" The joint angle variable calculation process is not limited to processing using the least squares method with relational expressions. For example, a regression model may be used in which the steering angle θh and pinion angle θp are input and the first bend angle α1, second bend angle α2, and difference angle variable ψ are output. Here, the regression model as a trained model may be a linear regression model. The regression model may also be a neural network. The training data for the regression model may be the steering angle θh, pinion angle θp, and the corresponding measured values ​​of the first bend angle α1, second bend angle, and difference angle variable ψ.

[0063] When the intermediate shaft 18 does not have a phase difference ε, or when the tolerance of the phase difference ε can be ignored, the angle ξ may be used as the difference angle variable to be estimated. If the intermediate shaft 18 does not have the phase difference ε, or if the tolerance of the phase difference ε can be ignored and the axial direction of the column shaft 14, the axial direction of the intermediate shaft 18, and the axial direction of the pinion shaft 22 are parallel to one plane, it is not necessary to estimate the difference angle variable ψ.

[0064] "About reflection processing" The reflection process is not limited to a process that includes the compensation torque calculation process M20. For example, the assist torque calculation process M22 may be implemented by calculating the assist torque Ta using the steering torque Th, steering angle θh, and tilt angle θtl as inputs. In this case, the reflection process can be configured by the assist torque calculation process M22.

[0065] The reflection process is not limited to a process of compensating for the gravity component of the steering torque Th. For example, if the torque sensor 72 is a sensor that detects the torque applied to the pinion shaft 22, the process may be a process of converting the detected value of the sensor into the steering torque Th, which is the torque applied to the column shaft 14. This is in consideration of the fact that the dependency of the ratio between the steering torque Th and the torque applied to the pinion shaft 22 on the steering angle θh changes depending on the first bend angle α1 and the second bend angle α2.

[0066] Furthermore, for example, when a controller that determines the assist torque Ta in accordance with the steering angle θh is provided, the reflection process may include a process of estimating the steering angle based on the pinion angle θp. "About the steering calculation device" The control device 50 is not limited to a device equipped with a PU 52 and a storage device 54 and executing software processing. For example, it may be equipped with a dedicated hardware circuit (e.g., ASIC, etc.) that performs hardware processing on at least a portion of the software processing performed in the above embodiment. That is, the steering calculation device may have any of the following configurations (a) to (c): (a) equipped with a processing device that executes all of the above processing according to a program and a program storage device such as a ROM that stores the program; (b) equipped with a processing device and program storage device that executes part of the above processing according to a program, and a dedicated hardware circuit that executes the remaining processing; or (c) equipped with a dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software processing circuits equipped with a processing device and a program storage device, and multiple dedicated hardware circuits. That is, the above processing may be executed by a processing circuit that includes at least one of one or more software processing circuits and one or more dedicated hardware circuits.

[0067] "About the steering device" The configuration is not limited to one in which the rotation shaft of the assist motor 42 and the rack shaft 30 are arranged parallel to each other. For example, a second rack and pinion mechanism may be provided in addition to the rack and pinion mechanism 32, and the torque of the assist motor 42 may be applied via the second rack and pinion mechanism.

[0068] "others" The factors that cause the bending angles α1 and α2 to change are not limited to changes in the tilt angle. For example, use of the telescopic function may also cause the bending angles α1 and α2 to change. [Explanation of symbols]

[0069] 10...Steering device 12...Steering wheel 14...Column axis 16...First cardan joint 16a...1st York 16b...Second York 16c…cross axis 18...Intermediate shaft 20...Second cardan joint 22...Pinion shaft 22a...Pinion teeth 30...Rack shaft 30a...rack teeth 32...Rack and pinion mechanism 34...Tie rod 36...Steering wheel 40...Steering actuator 42...Assist motor 44...Transmission mechanism 46...Ball screw mechanism 50...Control device

Claims

1. A steering calculation device that calculates a state quantity of a steering device, the steering device includes a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first cardan joint, a second cardan joint, and steered wheels; The input shaft is connected to the steering wheel, the first Cardan joint is a member that connects the input shaft and the intermediate shaft, the second Cardan joint is a member that connects the intermediate shaft and the output shaft, A steering torque input to the steering wheel is transmitted to the steered wheels via the input shaft, the intermediate shaft, and the output shaft, The steering angle variable acquisition process, the output shaft angle variable acquisition process, and the joint angle variable calculation process are configured to execute the steering angle variable acquisition process, the output shaft angle variable acquisition process, and the joint angle variable calculation process. the steering angle variable acquisition process is a process of acquiring a value of a steering angle variable that is a variable indicating a rotation angle of the steering wheel, the output shaft angle variable acquisition process is a process of acquiring a value of an output shaft angle variable that is a variable indicating a rotation angle of the output shaft, the joint angle variable calculation process is a process of calculating a value of a joint angle variable using a value of the steering angle variable and a value of the output shaft angle variable as inputs, The joint angle variable is a variable that determines the angle between the axial direction of the input shaft and the axial direction of the output shaft.

2. 2. The steering calculation device according to claim 1, wherein the joint angle variables include a first bend angle that determines an angle between the input shaft and the intermediate shaft, and a second bend angle that determines an angle between the output shaft and the intermediate shaft.

3. the joint angle variables further include a difference angle variable in addition to the first bend angle and the second bend angle, the difference angle variable is a variable corresponding to an angle between a first plane and a second plane, the first plane is a plane parallel to the axial direction of the input shaft and the axial direction of the intermediate shaft, 3. The steering calculation device according to claim 2, wherein the second plane is a plane parallel to the axial direction of the output shaft and the axial direction of the intermediate shaft.

4. the steering angle variable acquisition process includes a process of acquiring a plurality of different values ​​of the steering angle variable, the output shaft angle variable acquisition process includes a process of acquiring values ​​of the output shaft angle variable synchronized with each of the plurality of values ​​of the steering angle variable, 2. The steering calculation device according to claim 1, wherein the joint angle variable calculation process is a process of calculating the value of the joint angle variable using as input the plurality of values ​​of the steering angle variable and values ​​of the output shaft angle variable synchronized with each of the plurality of values.

5. 5. The steering calculation device according to claim 4, wherein the plurality of values ​​to be acquired by the steering angle variable acquisition process include a value where the difference between the minimum absolute value of the steering angle variable and the maximum absolute value is equal to or greater than a predetermined value.

6. a storage device for storing relevant regulation data; the relationship defining data is data defining a relational expression, the relational expression is an expression that defines a relationship between the value of the steering angle variable, the value of the output shaft angle variable, and the value of the joint angle variable, 5. The steering calculation device according to claim 4, wherein the joint angle variable calculation process includes a process of calculating the value of the joint angle variable by a least squares method by inputting a plurality of different values ​​of the steering angle variable and values ​​of the output shaft angle variable synchronized with each of the plurality of values ​​into the relational expression.

7. the steering device includes an actuator that generates power to steer the steered wheels, configured to perform operation processing and reflection processing, the operation process is a process of operating the actuator in response to an operation of the steering wheel, 2. The steering calculation device according to claim 1, wherein the reflection processing is processing for reflecting the values ​​of the joint angle variables in the operation of the actuators.

Images