Patent Application
20190248407
The present application claims the benefit of priority from Japanese Patent Application No. 2018-23061 filed on Feb. 13, 2018. The entire disclosure of the above application is incorporated herein by reference.
The present disclosure relates to a steering control apparatus and a steering control system.
An electric power steering apparatus that includes a controller controlling driving of a motor is proposed.
The present disclosure provides a steering control apparatus that may include a first control part and a second control part.
The first control part may acquire first information related to an execution propriety state of a specific process of the first control part and second information related to the execution propriety state of the specific process of the second control part. When all of the first information and the second information are positive, the first control part may transmit positive information to an external device. When a part of the first information and the second information is negative, the first control part may transmit negative information to the external device. Further, the present disclosure provides a steering control system including the steering control apparatus and the electric power steering apparatus. The electric power steering apparatus has a first sensor that may detect a first detection value and output the first detection value to the first control part, and a second sensor that may detect a second detection value and output the second detection value to the second control part. The specific process may be a sensor correction process in which a detection value acquired by at least one of the first sensor or the second the second sensor may be corrected.
The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings:
An electric power steering apparatus includes a controller controlling driving of a motor. For example, an EPS motor control part of comparative example 1 includes a controller that has two systems independently drive-controlling an electric motor.
A comparative example 1 describes a configuration that includes multiple control parts. According to the configuration, when each control part executes a same process, a part of the control parts executes the process and the other control part does not execute the process. A state for the process is unmatched between the controllers, and thereafter difficulties for the control may occur. For example, in a case of the program update process (also referred to as “a reprogramming process”) described in a comparative example 2, when a part of the controllers executes the reprograming and the other controller does not execute the reprograming process, program may be unmatched between the controllers.
The present disclosure provides a steering control apparatus that controls an electric power steering apparatus including a rotation electric machine, and includes a first control part and a second control part. The first control part communicates with an external device and executes a specific process in response to a request from the external device. The second control part communicates with the first control part, receives a command from the first control part, and executes the specific process. The specific process may include, for example, a reprograming process or a sensor correction process.
The first control part can acquire first information related to an execution propriety state of the specific process of the first control part and second information related to the execution propriety state of the specific process of the second control part. When all of the first information and the second information are positive, the first control part transmits positive information to the external device. When a part of the first information and the second information is negative, the first control part transmits negative information to the external device.
It may be possible to execute the specific process by the multiple control parts cooperating with each other. For example, even when the second control part is not connected to the external device, it may be possible to execute the specific process. Further, it may be possible to appropriately notify the external apparatus of execution propriety state for the specific process. The present disclosure provides a steering control system including the steering control apparatus and the electric power steering apparatus. The electric power steering apparatus has a first sensor that detects a first detection value and outputs the first detection value to the first control part, and a second sensor that detects a second detection value and outputs the second detection value to the second control part. The specific process is a sensor correction process in which a detection value acquired by at least one of the first sensor or the second the second sensor is corrected.
An electronic controller will be described with reference to the drawings. In multiple embodiments, a description will be omitted by applying an identical reference to actually similar configuration. As shown in
The steering wheel 91 is connected to the steering shaft 92. A torque sensor 94 detects a steering torque Ts, and is placed in the steering shaft 92. The torque sensor 94 includes a first torque detector 194 and a second torque detector 294. The pinion gear 96 is provided at a tip of the steering shaft 92. The pinion gear 96 meshes with the rack shaft 97. A pair of the wheels 98 is coupled at both ends of the rack shaft 97 via, for example, a tie rod or the like.
When a driver of the vehicle rotates the steering wheel 91, the steering shaft 92 connected to the steering wheel 91 rotates. A rotational motion of the steering shaft 92 is converted into a linear motion of the rack shaft 97 by the pinion gear 96. The pair of wheels 98 is steered to an angle corresponding to the displacement amount of the rack shaft 97.
The electric power steering apparatus 8 includes a driving device 40 that includes the motor 80 and the ECU 10, and includes a reduction gear 89 or the like as a power transmission mechanism that reduces the rotation of the motor 80 and transmits the rotation to the steering shaft 92. The electric power steering apparatus 8 of the first embodiment is “a column assist type”. It may alternatively be “a rack assist type” that transmits the rotation of the motor 80 to the rack shaft 97. In the embodiment, the steering shaft 92 corresponds to “a driving target”.
As shown in
The motor 80 has a first motor winding 180 and a second motor winding 280 as a winding set. In the drawings, accordingly, the first motor winding 180 may be referred to as “a motor winding 1” and the second motor winding 280 may be referred to as “a motor winding 2”. According to the other configuration too, the term “first” may be described as suffix “1”, and the term “second” may be described as suffix “2”. The motor windings 180 and 280 have same electrical characteristics. For example, as shown in
A combination of the first inverter circuit 120 and the first control part 130 or the like related to a driving control for the first motor winding 180 may be referred to as a first system L1. A combination of the second inverter circuit 220 and the second control part 230 or the like related to the driving control of the second motor winding 280 may be referred to as a second system L2. In the embodiment, the inverter circuits 120 and 220 correspond to “a driving circuit”. Reference numerals having 100 is basically assigned to the configuration relating to the first system L1. Reference numerals having 200 is basically assigned to the configuration relating to the second system L2. In the first system L1 and the second system L2, same reference numbers in the least significant two digits are assigned to the similar configuration.
In the driving device 40 of the first embodiment, the ECU 10 is integrally provided on a first side in an axial direction of the motor 80. That is, the driving device is provided in “a mechanically-electrically integrated type”. The motor 80 and the ECU 10 may alternatively be placed separately. The ECU 10 is positioned coaxially with an axis Ax of a shaft 870 on the side opposite to an output shaft of the motor 80. The ECU 10 may alternatively be placed on the output shaft side of the motor 80. By adopting the mechanically-electrically integrated type, it may be possible to efficiently position the ECU 10 and the motor 80 in a vehicle having restriction for mounting space.
The motor 80 includes the stator 840, the rotor 860 and a housing 830 that houses the stator 840 and the rotor 860, or the like. The stator 840 is fixed to the housing 830 and is wounded by the motor windings 180 and 280. The rotor 860 is placed radially inside the stator 840 to be rotatable relative to the stator 840.
The shaft 870 is fitted in the rotor 860 to rotate integrally with the rotor 860. The shaft 870 is supported by bearings 835 and 836 so as to rotate to the housing 830. An end of the shaft 870 on an ECU 10 side protrudes from the housing 830 to the ECU 10 side. A magnet 875 is placed at the end of the shaft 870 on the ECU 10 side.
The housing 830 has a bottomed cylindrical case 834 including a rear end frame 837, and has a front end frame 838 placed on an open side of the case 834. The case 834 and the front end frame 838 are fastened to each other by bolts or the like. A lead wire insertion hole 839 is formed in the rear end frame 837. Lead wires 185 and 285 are connected to each phase of the motor windings 180 and 280. The lead wires 185 and 285 are inserted through the lead wire insertion hole 839. The lead wires 185 and 285 are taken out from the lead wire insertion hole 839 to the ECU 10 side and connected to a circuit board 470.
The ECU 10 includes a cover 460, a heat sink 465 fixed to the cover 460, the circuit board 470 fixed to the heat sink 465 and each kind of other electronic components mounted on the circuit board 470, or the like.
The cover 460 protects the electronic component from external impacts, and prevents dust, water, or the like from entering into the ECU 10. The cover 460 is formed by integrating a cover body 461 and a connector part 462. The connector part 462 may alternatively be separated from the cover body 461. A terminal 463 of the connector part 462 is connected to the circuit board 470 via a wiring (not shown) or the like. The number of the connector and the number of the terminal may conveniently be changeable corresponding to the number of a signal or the like. The connector part 462 is placed at the end in an axial direction of the driving device 40, and is open on an opposite side to the motor 80. The connector part 462 includes each connector described later.
The circuit board 470 is, for example, a printed circuit board, and is positioned to face the rear end frame 837. On the circuit board 470, the electronic components of the first and second systems are mounted independently, so that the two systems are provided in a fully redundant configuration. In the embodiment, the electronic component is mounted on one circuit board 470. The electronic component may alternatively be mounted on multiple circuit boards.
Of two main surfaces of the circuit board 470, one surface on the side of the motor 80 may be referred to as a motor surface 471 and the other surface opposite from the motor 80 may be referred to as a cover surface 472. As shown in
Capacitors 128 and 228, inductors 129 and 229, and microcomputers or the like configuring the control parts 130 and 230 are mounted on the cover surface 472. In
As shown in
The vehicle communication connector 112 is connected to a vehicle communication network 350. The vehicle communication network 350 is exemplified by a CAN (controller area network) in
The torque connectors 113 and 213 are connected to the torque sensor 94. In detail, the first torque connector 113 is connected to the first torque detector 194 of the torque sensor 94. The second torque connector 213 is connected to the second torque detector 294 of the torque sensor 94. In
The first control part 130 can acquire a torque signal Ts relating to a steering torque Ts from the first torque detector 194 of the torque sensor 94 via the torque connector 113 and a torque sensor input circuit 118. The second control part 230 can acquire the torque signal Ts relating to the steering torque Ts from the second torque detector 294 of the torque sensor 94 via the torque connector 213 and a torque sensor input circuit 218. The control parts 130 and 230 calculate the steering torque Ts based on the torque signal.
The first inverter circuit 120 is a three-phase inverter having six switching elements 121. The first inverter circuit 120 converts electric power supplied to the first motor winding 180. The switching elements 121 are controlled to turn on and off based on control signals output from the first control part 130. The second inverter circuit 220 is a three-phase inverter having six switching elements 221. The second inverter circuit 220 converts the electric power supplied to the second motor winding 280. The switching elements 221 are controlled to turn on and off based on control signals output from the second control part 230.
The first current sensor 125 detects the current energized to each phase of the first windings 180, and outputs a detection value to the first control part 130. The second current sensor 225 detects the current energized to each phase of the second windings 280, and outputs a detection value to the second control part 230.
The first rotation angle sensor 126 detects a rotation angle of the motor 80, and outputs a detection value to the first control part 130. The second rotation angle sensor 226 detects the rotation angle of the motor 80, and outputs a detection value to the second control part 230. In the embodiment, the first current sensor 125, the first rotation angle sensor 126, and the first torque detector 194 correspond to “a first sensor”. The second current sensor 225, the second rotation angle sensor 226, and the second torque detector 294 corresponds to “a second sensor”.
Electric power is supplied to the first control part 130 via the first power supply connector 111 and a regulator (not shown) or the like. The electric power is supplied to the second control part 230 via the second power supply connector 211 and the regulator (not shown) or the like. The first control part 130 and the second control part 230 are placed to be communicable with each other between the control parts 130 and 230. Conveniently, the communication between the control parts 130 and 230 may be referred to as “an inter-microcomputer communication”. As a communication method between the control parts 130 and 230, any method such as a serial communication such as SPI or SENT, a CAN communication, a FlexRay communication may be employed.
Each of the control parts 130 and 230 is mainly configured from a microcomputer or the like, and internally includes a CPU, a ROM, a RAM, an I/O (not shown), a bus line for connecting these configurations, or the like. Each process executed by the ECUs 130 and 230 may be software process or may be hardware process. The software process may be implemented by causing the CPU to execute a program. The program may be stored beforehand in a memory device such as a ROM (that is, in a readable non-transitory tangible storage medium). The hardware process may be implemented by a special purpose electronic circuit.
Based on the detection values of the first current sensor 125, the first rotation angle sensor 126, and the first torque detector 194, the first control part 130 generates a control signal. The control signal controls to turn on and off the switching element 121 of the first inverter circuit 120 by current feedback control, for example. Based on the detection values of the second current sensor 225, the second rotation angle sensor 226, and the second torque detector 294, the second control part 230 generates a control signal. The control signal controls to turn on and off the switching element 221 of the second inverter circuit 220 by current feedback control, for example. Based on the control signals, the switching elements 121 and 221 are actuated. By controlling the energization of the motor windings 180 and 280, the driving of the motor 80 is controlled. The details of the motor driving control may be anything.
As shown in
In response to a request from the external diagnostic tool 401, the control parts 130 and 230 in the embodiment can execute the reprograming process for updating various programs written in the ROM or the like. The control parts 130 and 230 execute the reprograming process in response to a reprograming request from the external diagnostic tool 401. As shown by a two-dot chain line in
For example, it is assumed that both the first control part 130 and the second control part 230 are connected to the external diagnostic tool 401 via the vehicle communication network 350, and reprogramming is performed in each. When the reprogramming is permitted in one of the first control part 130 and the second control part 230 and the reprograming is not permitted (rejected) in the other, only one of the first control part 130 and the second control part 230 goes into a reprogramming process. The program versions may be different between the control parts. As the embodiment, when the second control part 230 is not connected to the vehicle communication network 350, a state of the second control part 230 is not directly determined by the external diagnostic tool 401.
In the embodiment, the second control part 230 acquires the reprograming process request via the inter-microcomputer communication from the first control part 130. It may be possible to execute the reprograming process. When all of the control parts 130 and 230 permits the reprograming process, the reprograming process is executed. When at least one of the control parts 130 or 232 rejects the reprograming process, the reprograming process is prohibited. When all of the control parts 130 and 230 have succeeded in the reprograming process, a reprograming success is responded (transmitted) to the external diagnostic tool 401. When at least one of the control parts 130 or 232 has failed the reprograming process, a reprograming failure is responded to the external diagnostic tool 401.
In details, in the embodiment, the external diagnostic tool 401 transmits the reprograming process request to the first control part 130. The second control part 230 notifies the first control part 130 of whether to have permitted the reprograming process of the second control part 230. When at least one of the control parts 130 or 230 cannot execute the reprograming process, the first control part 130 notifies the external diagnostic tool 401 that the reprograming process cannot be executed.
When both of the control parts 130 and 230 can execute the reprograming process, the first control part 130 transmits the reprograming process request to the second control part 230. The control parts 130 and 230 execute the reprograming process. The second control part 230 transmits to the first control part 130, information of whether the reprograming process is successful. When the control parts 130 and 230 have completed the reprograming process, the first control part 130 notifies the external diagnosis tool 401 of information indicating that reprograming process is successful. When at least one of the control parts 130 or 230 has failed the reprograming process, the first control part 130 notifies the external diagnostic tool 401 of information indicating that the reprograming process has been failed.
In S101, the first control part 130 determines whether to have received the reprograming process request from the external diagnostic tool 401. When determining that the reprograming process request has not been received (S101: NO), this determination process is repeated. When determining that the first control part 130 has received the reprograming process request (S101: YES), the process shifts to S102.
In S102, the first control part 130 transmits the reprograming process request to the second control part 230. In S103, the first control part 130 internally acquires information indicating whether the first control part 130 can execute the reprograming process. The first control part 130 acquires from the second control part 230, information indicating whether the second control part 230 can execute the reprograming process. For example, status information or the like in the communication frame is transmitted and received between the control parts 130 and 230. When performing determination in S104 based on the state information separately from the reprograming process, the processes in S102 and S103 may be omitted.
In S104, the first control part 130 determines whether all systems can execute the reprograming process based on an own system reprograming propriety information and the other system reprograming propriety information (also referred to as a different system reprograming propriety information). While rewriting a program, a steering assist is impossible (cannot be performed) for a certain period. Therefore, it is determined that the reprograming process can be executed in a situation where the vehicle does not drive surely, that is, in a situation where a steering assist is unnecessary. In other words, when it is supposed that the assist of the steering is necessary while executing the reprograming process, the reprograming process is prohibited. When determining that the all systems can execute the reprograming process (S104: YES), the process shifts to S105. When determining that at least a part of the systems cannot execute the reprograming process (S104: NO), the process shifts to S106. When the inter-microcomputer communication is abnormal, the first control part 130 cannot transmit a reprograming execution command or the like to the second control part 230. Therefore, it is determined that the second control part 230 cannot execute the reprograming process.
In S105, the first control part 130 notifies the second control part 230 of the reprograming execution command, and starts the reprograming process of the first control part. The second control part 230 receives the update program together with the reprograming execution command from the first control part 130, and starts the reprograming process of the second control part 230 asynchronously. When normally completing the reprograming process, the second control part 230 transmits information indicating reprograming success to the first control part 130. When not normally completing the reprograming process, the second control part 230 transmits information indicating the reprograming failure to the first control part 130. In S106, the first control part 130 responds to the external diagnostic tool 401 that the reprograming process cannot be executed.
In the embodiment, when determining that all systems can execute the reprograming process, the process shifts to S105. In S105, the update program is downloaded from the external diagnostic tool 401. In S101, the update program is downloaded together with the reprograming process request. When it determined that all systems can execute the reprograming process, the update program may be rewritten.
In S202, the first control part 130 responds reprograming success to the external diagnostic tool 401. In S203, the first control part 130 responds the reprograming failure to the external diagnostic tool 401.
The reprograming completion notification process may be executed as shown in
In S252, the first control part 130 determines whether the second control part 230 has succeeded in the reprograming process. When determining that the second control part 230 has succeeded in the reprograming process (S252: YES), the process shifts to S253. The first control part 130 responds to the external diagnostic tool 401 of the reprograming success. When determining that the second control part 230 has failed the reprograming process (S252: NO), the process shifts to S254. The first control part 130 responds to the external diagnostic tool 401 of the reprograming failure, and notifies the external diagnostic tool 401 that the control part in which the reprograming process has failed the reprograming process is the second control part 230.
In S255, similarly to S252, the first control part 130 determines whether the second control part 230 has succeeded in the reprograming process. When determining the second control part 230 has succeeded in the reprograming process (S255: YES), the process shifts to S256. The first control part 130 responds to the external diagnostic tool 401 of the reprograming failure, and notifies the external diagnostic tool 401 that the control part failing the reprograming process is the first control part 130. When determining the second control part 230 has failed the reprograming process (S255: NO), the process shifts to S257. The first control part 130 responds to the external diagnostic tool 401 of the reprograming failure, and notifies the external diagnostic tool 401 that the control parts failing the reprograming process is both the first control part 130 and the second control part 230.
When executing the reprograming process, the control parts 130 and 230 hold program before the reprograming process. When one of the control parts 130 or 230 has succeeded in the reprograming process and the other has failed the reprograming process, the first control part 130 validates the program before the reprograming process even in the control part succeeding in the reprograming process. The first control part 130 commands the control parts 130 and 230 to invalidate the update program. The versions of the program in the control parts 130 and 230 are same. Alternatively, when it is necessary to invalidate to employ the program before the reprograming process due to a defect of the program or the like, driving of the system may shift to a driving of a one-system. In the driving of the one-system, the control part succeeding in the reprograming process employs the update program.
When executing the reprograming process in the OTA, an usage condition of the vehicle 300 is not accurately determined by the external device 400. Therefore, it may be preferable to start the reprograming process in a situation where the vehicle 300 does not drive surely, that is, in a situation where the assist by the electric power steering apparatus 8 is unnecessary. However, the reprograming process cannot be executed unless the control parts 130 and 230 activate. According to a preferrable configuration, the reprograming process is executed in a first state or a second state. In the first state, a start switch such as an ignition power supply turns on to activate the control parts 130 and 230, and also the power supply supplied to a power system turns off to prevent generation of the assist. In the second state, the vehicle 300 cannot travel. It may be preferable to be configured to notify a user of information indicating the reprogramming process is executed with display of an instrument panel or the like.
The EPS-ECU 10 in the embodiment controls the electric power steering apparatus 8 including the motor 80. The EPS-ECU 10 includes the first control part 130 and the second control part 230. The first control part 130 can communicate with the external device 400, and execute the specific process in response to a request from the external device 400. The second control part 230 can communicate with the first control part 130, receive the command from the first control part 130, and execute the specific process. The specific process of the embodiment is a reprograming process of updating a program.
The first control part 130 can acquire first information related to an execution propriety state of the specific process of the first control part 130 and second information related to the execution propriety state of the specific process of the second control part 230. When all of the first information and the second information are positive (or affirmative), the first control part 130 transmits positive information to the external device 400. When at least a part of the first information or the second information is negative (or inaffirmative), the first control part 130 transmits negative information to the external device 400. The “execution propriety state” in the embodiment is a concept including a state of whether to have permitted the execution of the reprograming process and a state of whether to have completed the reprograming process. For example, the positive information is predetermined information indicating that own control part can execute the specific process. The negative information is predetermined information indicating that own control part cannot execute the specific process. The case where all of the first information and the second information are positive may include a case where the electric power steering apparatus 8 does not assist a steering. The case where a part of the first information and the second information is negative includes a case where the electric power steering apparatus 8 assists the steering.
It may be possible to cause the first control part 130 and the second control part 230 to cooperate with each other and to execute the specific process. As the embodiment, even when the second control part 230 is not connected to the external device 400, the second control part 230 can execute the specific process. It may be possible to notify the external device 400 of the execution propriety state of the specific process of the EPS-ECU 10.
In the embodiment, the first information and the second information indicate whether to have permitted the execution of the reprograming process. When all of the control parts 130 and 230 can execute the reprograming process, the first control part 130 executes the reprograming process of the first control part 130 and commands the second control part 230 to execute the reprograming process. When receiving the reprograming execution command for the execution of the reprograming process from the first control part 130, the second control part 230 executes the reprograming process of the second control part 230. In the embodiment, the first control part 130 and the second control part 230 execute the specific process asynchronously. It may be possible to appropriately execute the reprograming process of the multiple control parts 130 and 230 from one external diagnosis tool 401. It may be possible to prevent from be different in the versions of the program for each of the control parts, the difference being caused by a state where the apart of the control parts cannot execute the reprograming process and the other control part executes the reprograming process.
When all of the first control part 130 and the second control part 230 can execute the reprograming process, the first control part 130 transmits the update program to the second control part 230. When assisting the steering, the first control part 130 and the second control part 230 prohibit the reprograming process. The control parts 130 and 230 can appropriately execute the reprograming process.
In the embodiment, the first information and the second information indicate whether to the execution of the reprograming process is successful. The second control part 230 transmits to the first control part 130, information of whether the reprograming process of the second control part 230 is successful. When at least a part of the first control part 130 or the second control part 230 has failed the reprograming process, the first control part 130 validates the program before the execution of the reprograming process of the first control part 130, and commands the second control part 230 to validate the program before the execution of the reprograming process of the second control part 230. In response to the command from the first control part 130, the second control part 230 validates the program before the execution of the reprograming process. It may be possible to match the version of the programs of the control parts 130 and 230. It may be possible to prevent the inconsistency caused by the difference of the version of the program.
As described in the above embodiment, since the second control part 230 is not connected to the vehicle communication network 350 and cannot directly acquire a sensor correction request from the external device 400, the second control part 230 can acquire the sensor correction request in the inter-microcomputer communication from the first control part 130.
The embodiment includes the multiple control parts. Therefore, when a part of the control parts cannot execute the sensor correction and the other control part executes the sensor correction, the inconsistency or error of the detection may occur. In the embodiment, when all of the control parts 130 and 230 have succeeded in the correction, the correction success is notified to the external device 400. When at least a part of the control parts 130 or 230 has failed the correction, it is responded that the correction is not executed or failed.
For example, in such a case of correcting the order corresponding to the rotation of the rotation angle sensors 126 and 226, correcting gain of the torque sensor 94, the current sensors 125 and 225, or the like, it is necessary that the motor 80 is driven to execute the correction in a dynamic state. In the case, when a difference of process moment occurs between the systems, the correction may not be executed in an intended state. In the embodiment, the control parts 130 and 230 execute a sensor error correction in synchronization.
The sensor correction process in the embodiment will be described with reference to flowcharts of
As shown in
In S302, the first control part 130 determines whether all systems have completed a correction preparation. When determining that all systems have completed the correction preparation (S302: YES), the process shifts to S305. When determining that at least a part of the systems has not completed the correction preparation (S302: NO), the process shifts to S303.
In S303, the first control part 130 increments a timeout counter C1. In S304, it is determined whether the timeout counter C1 is larger than a determination threshold TOth. When determining that the timeout counter C1 is equal to or less than the determination threshold TOth (S304: NO), the process shifts to S302. When determining that the timeout counter C1 is larger than the determination threshold TOth (S304: YES), the process shifts to S310.
When determining that correction preparations of all systems have been completed (S302: YES), the process shifts to S305. In S305, the first control part 130 commands the second control part 230 to execute the correction. In S306, the first control part 130 outputs a current command value and an angle command value for driving the motor 80. In S307, the sensor correction in response to the correction request is performed.
In S308, the first control part 130 determines whether all systems complete the correction. When determining that the correction of the all systems has been completed (S308: YES), the process shifts to S309. The correction completion is responded to the external diagnostic tool 401. When determining that the correction of the all systems has not been completed (S308: NO), the process shifts to S310. It is responded to the external diagnostic tool 401 that the sensor correction has not been executed. When determining as negative in S308, the timeout count process similarly to S303 and S304 may be executed.
As shown in
In S352, the second control part 230 determines whether to have completed the correction preparation of the own system. When determining to have completed the correction preparation in the own system (S352: YES), the process shifts to S356. When determining not to have completed the correction preparation of the own system (S352: NO), the process shifts to S353.
In S353, the second control part 230 increments a timeout counter C2. In S354, it is determined whether the timeout counter C2 is larger than the determination threshold TOth. The determination threshold TOth may be same as or different from the value related to the timeout determination of the first control part 130. When determining that the timeout counter C2 is equal to or less than the determination threshold TOth (S354: NO), the process shifts to S352. When determining that the timeout counter C2 is larger than the determination threshold TOth (S354: YES), the process shifts to S355. The second control part 230 transmits information indicating that the own system cannot execute the correction to the first control part 130.
When determining to have completed the correction preparation of the own system (S352: YES), the process shifts to S356. In S356, the second control part 230 transmits the information indicating to have completed the correction preparation to the first control part 130.
In S357, the second control part 230 determines whether to have received the correction execution from the first control part 130. When determining not to have received the correction execution (S357: NO), the determination process is repeated. When having reached timeout or received the command not to execute the correction from the first control part 130, the second control part 230 does not execute the process of S358 and the following, and the routine ends. When determining to have received the command to execute the correction (S357: YES), the process shifts to S358. The second control part 230 executes the sensor correction corresponding to the correction request.
In S359, the second control part 230 determines whether to have completed the correction of the own system. When determining to have completed the correction of the own system (S359: YES), the process shifts to S360. The second control part 230 transmits the sensor correction completion to the first control part 130. When determining not to have completed the correction of the own system (S359: NO), the process shifts to S361. The second control part 230 transmits the sensor correction failure to the first control part 130. Similarly to a case of determining as negative in S308, the timeout count process may be executed.
In a case of employing the external diagnostic tool 401, when the sensor correction is executed in a factory or when an abnormality is detected in any of the systems, a temporary factor such as the noise or fluctuation of a power supply voltage may occur. Therefore, recorrection may be tried. When completing the correction, the abnormality may be solved. By contrast, when the abnormality is detected over multiple times, the abnormality may occur in the ECU 10 or a communication line. Therefore, the specific process of an abnormal part is executed separately. When identifying as the abnormality of the ECU 10, the correction may be executed after replacement of the ECU 10. At the time of the abnormality, by performing addressing such as stopping of the assist, notification by a buzzer, a warning lamp, or the like, the abnormal part may be addressed so as to be held in the factory with maintaining the abnormality.
When executing a remote correction by OTA, the correction value before the remote correction is retained. When the abnormality occurs, the correction value returns to the state before the correction. Regarding remote correction, it may try multiple corrections in consideration of the temporary factor. Even when the correction fails in a case of executing the multiple corrections, the warning by the warning lamp or the like may be performed.
In a case of executing the remote correction, when a part of the control parts 130 and 230 has succeeded in the correction, the control part succeeding in the correction may employ a value after the correction. Furthermore, for example, when the difference between the values before and after the correction is larger than a predesigned threshold value, a reliability of the correction value may be regarded as low and the value before the correction may be employed. Before the completion of writing the correction value by the remote correction, when an abnormality such as damage of the program occurs or when doubt of the abnormality occurs, the system where the abnormality or the doubt occurs stops to drive. In order to prompt user to repair, the warning by the warning lamp or the like may be performed.
The electric power steering apparatus 8 has a first sensor for outputting the detection value to the first control part 130 and a second sensor for outputting the detection value to the second control part 230. The first sensor includes a first current sensor 125, a first rotation angle sensor 126, and the first torque detector 194. The second sensor includes a second current sensor 225, a second rotation angle sensor 226, and the second torque detector 294.
The specific process in the embodiment corresponds to the sensor correction process that corrects the detection values acquired from the first sensor and the second sensor. The first control part 130 and the second control part 230 synchronize based on a specific process start command from the first control part 130. The first control part 130 and the second control part 230 start the specific process. It may be possible to appropriately execute the sensor correction process. In particular, when the sensor correction process is executed by the driving of the motor 80, the sensor correction process is executed in the synchronization. It may be possible to prevent the error correction caused by the difference between the process moments.
The “execution propriety state” in the embodiment is a concept including a state of whether to have permitted the execution of the sensor correction process and a state of whether to have completed the sensor correction process.
In the above embodiment, two control parts are placed, one is a first control part and the other is a second control part. In the other embodiments, the number of the control parts may be three or more. In the case, one control part is the first control part, and the other control part is the second control part. That is, the number of the second control parts may be plural. In the above embodiment, the specific process corresponds to the reprograming process or the sensor correction process. In the other embodiments, the specific process may be executed in response to the request from the external device. The specific process may be another process requiring the cooperation between the multiple control parts.
In the embodiment, the first sensor and the second sensor corresponds to the current sensor, the motor rotation angle sensor and the torque sensor. In the other embodiments, as the first sensor and the second sensor, at least a part of the current sensor, the motor rotation angle sensor, or the torque sensor may be omitted. The first sensor and the second sensor may include another sensor such as a voltage sensor or a temperature sensor.
In the embodiment described above, the rotation electric machine corresponds to a three phase brushless motor. In the embodiments, the rotation electric machine is not limited to the three phase brushless motor and may be any motor. The rotation electric machine is not limited to the motor, and may be a generator, or may be a so-called motor generator having both functions of an electric machine and an electric generation machine. In the above embodiment, the driving device is an electromechanical integral type in which the ECU and the motor are integrated. In the embodiments, the driving device may be an electromechanical integral type in which the ECU is separated from the motor. The present disclosure is not limited to the embodiments described above, and various modifications are employable within the scope of the present disclosure without departing from the spirit of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2018-23061 | Feb 2018 | JP | national |
