Patent Application
20250128758
This application claims priority to Japanese Patent Application No. 2023-180302 filed on Oct. 19, 2023. The disclosure of the above-identified application, including the specification, drawings, and claims, is incorporated by reference herein in its entirety.
The present disclosure relates to a steering control device and a steering control method.
In a production process for a vehicle, there is a step of adjusting a wheel alignment. For example, Japanese Unexamined Patent Application Publication No. 2016-109464 describes that the wheel alignment of the vehicle is adjusted using a wheel alignment adjustment device. The wheel alignment adjustment device measures the attitude of the vehicle, the wheel alignment, and a steering angle, and calculates a correction amount for the wheel alignment based on the measurement results. The wheel alignment is adjusted in consideration of the correction amount.
In the case of a vehicle that is equipped with an electric power steering device, a steering wheel is kept at a steering neutral position, in the step of adjusting the wheel alignment. In the electric power steering device, the steering wheel and a turning shaft are coupled such that dynamic power transmission is possible, and therefore, the turning shaft is kept at a neutral position.
However, in the case of a vehicle that is equipped with a steer-by-wire type steering device, the dynamic power transmission between the steering wheel and the turning shaft is separated. Therefore, even when the steering wheel is kept at the steering neutral position, the turning shaft is not always kept at the neutral position. Therefore, there is a fear that the wheel alignment cannot be appropriately adjusted.
There is a possibility that the turning shaft is demanded to be kept at a particular turning position different from the neutral position, depending on the work content relevant to the maintenance of the vehicle. In this case, similarly to the case where the turning shaft is kept at the neutral position, there is a concern that the turning shaft is not kept at the particular turning position and the maintenance or adjustment of the vehicle cannot be appropriately performed.
A steering control device according to a first aspect of the present disclosure is configured to control a steering device including: a turning shaft configured to turn a turning wheel of a vehicle, dynamic power transmission between the turning shaft and a steering wheel being separated; and a turning motor configured to generate a torque that is given to the turning shaft. The steering control device includes a processing device. The processing device is configured to control drive of the turning motor depending on a steering state of the steering wheel. The processing device is configured to execute a lock process based on a command from an exterior, in a state where the steering device is equipped in the vehicle. The lock process is a process of driving the turning motor such that the position of the turning shaft is kept at a particular position.
For example, when the maintenance of the vehicle is performed, the position of the turning shaft is sometimes demanded to be kept at a particular position. In the above configuration, the lock process is executed based on the command from the exterior, and thereby, the position of the turning shaft is kept at the particular position. Therefore, the maintenance of the vehicle can be appropriately performed.
In the above steering control device, the lock process may be a process of driving the turning motor such that the position of the turning shaft is kept at the particular position, regardless of the steering state of the steering wheel.
In the above configuration, the position of the turning shaft is kept at the particular position based on the command from the exterior, regardless of the steering state of the steering wheel. Therefore, even in the case where the steering wheel unintentionally operates when the maintenance of the vehicle is performed, it is possible to reduce the influence of the operation of the steering wheel on the maintenance of the vehicle.
In the above steering control device, the particular position may be a neutral position of the turning shaft, the neutral position corresponding to a straight movement state of the vehicle. In the above configuration, the position of the turning shaft can be kept at the neutral position. Therefore, it is possible to appropriately perform a work that is relevant to the maintenance of the vehicle and for which the straight movement property of the vehicle is demanded to be ensured.
In the above steering control device, the particular position may be an end position that is a limit position in a physically movable range of the turning shaft. Depending on the work content for the maintenance, the position of the turning shaft is demanded to be kept at the end position. In the above configuration, it is possible to meet the demand depending on the work content for the maintenance.
In the above steering control device, the processing device may be configured to execute the lock process when the vehicle is at a stop. In the above configuration, the lock process is performed in a state where the vehicle is at a stop. Therefore, it is possible to keep the position of the turning shaft at the particular position, while securing safety.
A steering control method according to a second aspect of the present disclosure is a method for controlling a steering device including: a turning shaft configured to turn a turning wheel of a vehicle, dynamic power transmission between the turning shaft and a steering wheel being separated; and a turning motor configured to generate a torque that is given to the turning shaft. The steering control method includes executing a lock process by a processing device, based on a command from an exterior, in a state where the steering device is equipped in the vehicle. The lock process is a process of driving the turning motor such that the position of the turning shaft is kept at a particular position, regardless of a steering state of the steering wheel.
For example, when the maintenance of the vehicle is performed, the position of the turning shaft is sometimes demanded to be kept at a particular position. In the above method, the lock process is executed based on the command from the exterior, and thereby, the position of the turning shaft is kept at the particular position. Therefore, the maintenance of the vehicle can be appropriately performed.
With the steering control device according to the first aspect of the present disclosure and the steering control method according to the second aspect of the present disclosure, the maintenance of the vehicle can be appropriately performed.
Features, advantages, and technical and industrial significance of exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein:
An embodiment of a steering control device and a steering control method will be described below.
As shown in
The steering mechanism 3 includes a steering shaft 11, a reaction force motor 12, and a speed reducer 13. The steering wheel 5 is coupled to the steering shaft 11, in an integrally rotatable manner. The reaction force motor 12 is a generation source of a steering reaction force that is given to the steering shaft 11. The steering reaction force is a force in the opposite direction of the steering direction of the steering wheel 5. For example, the reaction force motor 12 is a three-phase brushless motor. The speed reducer 13 reduces the speed of the rotation of the reaction force motor 12, and transmits the rotation after the speed reduction, to the steering shaft 11.
The turning mechanism 4 includes a pinion shaft 21, a turning shaft 22, and a housing 23. The housing 23 supports the pinion shaft 21 in a rotatable manner. Further, the housing 23 houses the turning shaft 22 in a reciprocable manner. The dynamic power transmission between the turning shaft 22 and the steering wheel 5 is separated. The pinion shaft 21 is provided so as to cross the turning shaft 22. A pinion tooth 21a of the pinion shaft 21 engages with a rack tooth 22a of the turning shaft 22. Tie rods 25 are coupled to both ends of the turning shaft 22, through rack ends 24, 26 that are constituted by ball joints. Distal ends of the tie rods 25 are coupled to unillustrated knuckles that are attached to the turning wheels 6.
The turning mechanism 4 includes a turning motor 31, a transmission mechanism 32, and a conversion mechanism 33. The turning motor 31 is a generation source of a turning force that is given to the turning shaft 22. The turning force is a force for turning the turning wheels 6. For example, the turning motor 31 is a three-phase brushless motor. For example, the transmission mechanism 32 is a belt transmission mechanism. The transmission mechanism 32 transmits the rotation of the turning motor 31 to the conversion mechanism 33. For example, the conversion mechanism 33 is a ball screw mechanism. The conversion mechanism 33 converts the rotation transmitted through the transmission mechanism 32, into the motion of the turning shaft 22 in the axial direction of the turning shaft 22.
By the movement of the turning shaft 22 in the axial direction, a tuning angle θw of the turning wheels 6 is altered. The pinion tooth 21a of the pinion shaft 21 engages with the rack tooth 22a of the turning shaft 22, and therefore, rotates in conjunction with the movement of the turning shaft 22. The pinion shaft 21 is a shaft or rotation body that rotates in conjunction with the turning operation of the turning wheels 6.
The reaction force control device 1A controls the operation of the reaction force motor 12. The reaction force control device 1A includes a processing circuit that includes one of the following three configurations A1, A2, and A3.
The memory is a computer-readable medium, and stores programs in which processes or instructions for a computer are written. In the embodiment, the computer is a CPU. The memory includes a random access memory (RAM) and a read only memory (ROM). The CPU executes various controls by executing programs stored in the memory with a predetermined computation period.
The reaction force control device 1A takes detection results of sensors that are equipped in the vehicle. The sensors include a vehicle velocity sensor 41, a torque sensor 42, and a rotation angle sensor 43.
The vehicle velocity sensor 41 detects a vehicle velocity V. The vehicle velocity V is a state variable that reflects the traveling state of the vehicle. The torque sensor 42 is provided at the steering shaft 11. The torque sensor 42 is positioned on the side of the steering wheel 5, relative to a coupling portion of the speed reducer 13 on the steering shaft 11. The torque sensor 42 detects a steering torque Th that is given to the steering shaft 11. The steering torque Th is computed based on the torsion amount of a torsion bar 42a that is provided at the steering shaft 11. The rotation angle sensor 43 is provided at the reaction force motor 12. The rotation angle sensor 43 detects a rotation angle θa of the reaction force motor 12.
The reaction force control device 1A controls the operation of the reaction force motor 12, using the detection results of the vehicle velocity sensor 41, the torque sensor 42, and the rotation angle sensor 43. The reaction force control device 1A controls the electricity supply to the reaction force motor 12, so as to cause the reaction force motor 12 to generate the steering reaction force depending on the steering torque Th. The reaction force control device 1A is a processing device that controls the drive of the reaction force motor 12 depending on the steering state of the steering wheel 5.
The turning control device 1B controls the operation of the turning motor 31. Similarly to the reaction force control device 1A, the turning control device 1B includes a processing circuit that includes one of the above three configurations A1, A2, and A3. The turning control device 1B takes detection results of sensors that are equipped in the vehicle. The sensors include a rotation angle sensor 44. The rotation angle sensor 44 is provided at the turning motor 31. The rotation angle sensor 44 detects a rotation angle θb of the turning motor 31.
The turning control device 1B controls the operation of the turning motor 31, using the detection result of the rotation angle sensor 44. The turning control device 1B controls the electricity supply to the turning motor 31, such that the turning wheels 6 are turned depending on the steering state of the steering wheel 5. The turning control device 1B is a processing device that controls the drive of the turning motor 31 depending on the steering state of the steering wheel 5.
The reaction force control device 1A and the turning control device 1B are connected to an in-vehicle network 45. For explanatory convenience, in
The external tool 46 is an external apparatus, and for example, is a portable terminal that is carried by a worker that performs the assembly of the vehicle or the maintenance of the vehicle. The maintenance of the vehicle includes the maintenance of the steering device 2. In addition, the maintenance of the vehicle includes various evaluations and the like. The external tool 46 may be a notebook-sized personal computer. The personal computer includes a processing circuit that includes one of the above three configurations A1, A2, and A3. Further, the external tool 46 includes an input device, an output device, a storage device, and a communication device.
The input device includes a keyboard and a mouse, and is used for the input of a demand or instruction from the worker. The output device includes a display device and a speaker, and outputs a variety of information. The storage device is an auxiliary storage device such as a hard disk, and stores a variety of programs and data that are needed for the maintenance of the vehicle. The communication device performs communication through the in-vehicle network 45. In response to the demand or instruction input through the input device, a CPU transfers a variety of programs and data to a memory, executes a variety of programs, and thereby, executes processes that are needed for the maintenance of the vehicle.
For example, the external tool 46 gives an instruction of the execution or termination of a lock process, to the turning control device 1B. The lock process is a process for keeping the turning shaft 22 at a particular position. For example, the particular position is a neutral position of the turning shaft 22. The neutral position is a position of the turning shaft 22 that corresponds to a straight movement state of the vehicle. For example, the external tool 46 sets the value of a turning keeping flag FG, through the operation by the worker. The value of the turning keeping flag FG is a command to the turning control device 1B. In the case where the execution of the lock process is started, the external tool 46 sets the value of the turning keeping flag FG to “ON”. In the case where the execution of the lock process is ended, the external tool 46 sets the value of the turning keeping flag FG to “OFF”.
Next, the configuration of the reaction force control device 1A will be described.
As shown in
The steering angle computation unit 51 computes a steering angle θs of the steering wheel 5, based on the rotation angle θa of the reaction force motor 12 that is detected through the rotation angle sensor 43.
The reaction force torque command value computation unit 52 computes a reaction force torque command value T* based on the steering torque Th and the vehicle velocity V. The reaction force torque command value T* is a target value of the steering reaction force that is generated by the reaction force motor 12. The steering reaction force is a torque in the opposite direction of the steering direction of the steering wheel 5. The absolute value of the reaction force torque command value T* is larger as the absolute value of the steering torque Th is larger and the vehicle velocity V is lower.
The energization control unit 53 supplies an electric power depending on the reaction force torque command value T*, to the reaction force motor 12. Specifically, the energization control unit 53 computes a current command value for the reaction force motor 12, based on the reaction force torque command value T*. The energization control unit 53 detects the value of an electric current Ia that is generated on an electricity supply path to the reaction force motor 12, through a current sensor 54 provided on the electricity supply path. The value of the electric current Ia is the value of the electric current that is supplied to the reaction force motor 12. The energization control unit 53 evaluates the deviation between the current command value and the value of the electric current Ia, and controls the electricity supply to the reaction force motor 12 such that the deviation is eliminated. Thereby, the reaction force motor 12 generates the torque depending on the reaction force torque command value T*.
Next, the configuration of the turning control device 1B will be described. As shown in
The pinion angle computation unit 61 computes a pinion angle θp, based on the rotation angle θb of the turning motor 31 that is detected through the rotation angle sensor 44. The pinion angle θp is the rotation angle of the pinion shaft 21, and corresponds to a real angle that is the actual angle of the pinion shaft 21. The turning motor 31 and the pinion shaft 21 interlock through the transmission mechanism 32, the conversion mechanism 33, and the turning shaft 22. Therefore, there is a correlation between the rotation angle θb of the turning motor 31 and the pinion angle θp. Using this correlation, the pinion angle θp can be evaluated from the rotation angle θb of the turning motor 31. The pinion shaft 21 engages with the turning shaft 22. Therefore, there is a correlation also between the pinion angle θp and the movement amount of the turning shaft 22. That is, the pinion angle θp is a value that reflects the turning angle θw of the turning wheel 6.
The target pinion angle computation unit 62 computes a target pinion angle θp1* based on the steering angle θs, that is computed by the steering angle computation unit 51. The target pinion angle θp1* is a target angle of the pinion angle θp. The target pinion angle computation unit 62 computes the target pinion angle θp1* such that a rudder angle ratio set depending on a product specification and the like is realized. The rudder angle ratio is the ratio of the turning angle θw to the steering angle θs.
For example, the target pinion angle computation unit 62 sets the rudder angle ratio depending on the traveling state of the vehicle, as exemplified by the vehicle velocity V, and computes the target pinion angle θp1* depending on the set rudder angle ratio. The target pinion angle computation unit 62 computes the target pinion angle θp1* such that the turning angle θw with respect to the steering angle θ, is larger as the vehicle velocity Vis lower. The target pinion angle computation unit 62 computes the target pinion angle θp1* such that the turning angle θw with respect to the steering angle θs is smaller as the vehicle velocity V is higher. For realizing the rudder angle ratio set depending on the traveling state of the vehicle, the target pinion angle computation unit 62 computes a correction angle for the steering angle θs, adds the computed correction angle to the steering angle θs, and thereby, computes the target pinion angle θp1* depending on the rudder angle ratio.
Depending on the product specification and the like, the target pinion angle computation unit 62 may compute the target pinion angle θp1*, such that a rudder angle ratio of “1:1” is obtained, regardless the traveling state of the vehicle.
The final target pinion angle computation unit 63 takes the target pinion angle θp1* that is computed by the target pinion angle computation unit 62 and the value of the turning keeping flag FG that is set by the external tool 46. In the case where the value of the turning keeping flag FG is “OFF”, the final target pinion angle computation unit 63 sets a final target pinion angle θp2*, to the target pinion angle θp1* that is computed by the target pinion angle computation unit 62. In the case where the value of the turning keeping flag FG is “ON”, the final target pinion angle computation unit 63 sets the final target pinion angle θp2*, to a value corresponding to the particular position of the turning shaft 22, regardless of the target pinion angle θp1* that is computed by the target pinion angle computation unit 62. In the case where the particular position is the neutral position of the turning shaft 22, the value of the final target pinion angle θp2* is “0”. The value corresponding to the particular position of the turning shaft 22 is stored in the memory.
In the case where the value of the turning keeping flag FG is not taken from the external tool 46, the final target pinion angle computation unit 63 sets the final target pinion angle θp2*, to the target pinion angle θp1* that is computed by the target pinion angle computation unit 62. The case where the value of the turning keeping flag FG is not taken from the external tool 46 is a case where the external tool 46 is not connected to the in-vehicle network 45, for example.
The pinion angle feedback control unit 64 takes the final target pinion angle θp2* that is computed by the final target pinion angle computation unit 63 and the pinion angle θp that is computed by the pinion angle computation unit 61. The pinion angle feedback control unit 64 computes a turning torque command value Tp*, through a feedback control of the pinion angle θp, such that the pinion angle θp follows the final target pinion angle θp2*. The turning torque command value Tp* is a command value for the torque that is generated by the turning motor 31, and is a target value of the turning force.
The energization control unit 65 supplies an electric power depending on the turning torque command value Tp*, to the turning motor 31. Specifically, the energization control unit 65 computes a current command value for the turning motor 31, based on the turning torque command value Tp*. The energization control unit 65 detects the value of an electric current Ib that is generated on an electricity supply path to the turning motor 31, through a current sensor 66 provided on the electricity supply path. The value of the electric current Ib is the value of the electric current that is supplied to the turning motor 31. The energization control unit 65 evaluates the deviation between the current command value and the value of the electric current Ib, and controls the electricity supply to the turning motor 31 such that the deviation is eliminated. Thereby, the turning motor 31 generates the torque depending on the turning torque command value Tp*.
Next, the lock process of the turning shaft 22 will be described.
For example, the lock process of the turning shaft 22 is executed when a wheel alignment is adjusted in a vehicle production plant or a vehicle dealer. The adjustment of the wheel alignment is a work relevant to the maintenance of the vehicle, and for example, includes a work in which the worker adjusts a toe angle, a camber angle, and a caster angle by operating the steering mechanism 3 or the turning mechanism 4. The adjustment of the wheel alignment is performed in a state where the steering device 2 is equipped in the vehicle and where an electric power source of the vehicle is turned on. That is, the adjustment of the wheel alignment is performed in a state where the reaction force control by the reaction force control device 1A or the turning control by the turning control device 1B can be executed. As for the propulsion of the vehicle, the vehicle is at a stop.
When the adjustment of the wheel alignment is performed, the external tool 46 is connected to the in-vehicle network 45. The external tool 46 requests the turning control device 1B to keep the turning shaft 22 at the particular position. That is, the external tool 46 sets the value of the turning keeping flag FG to “ON”. The particular position is the neutral position of the turning shaft 22.
In the case where the value of the turning keeping flag FG is “ON”, the turning control device 1B starts the execution of the lock process. The turning control device 1B sets the final target pinion angle θp2*, to the value corresponding to the particular position of the turning shaft 22. Since the particular position is the neutral position of the turning shaft 22, the turning control device 1B sets the final target pinion angle θp2* to “0”. The turning control device 1B computes the difference between the final target pinion angle θp2* and the target pinion angle θp1* that is computed based on the steering angle θs, and drives the turning motor 31 such that the computed difference becomes “0”.
That is, in the case where the position of the turning shaft 22 is different from the neutral position, the turning control device 1B controls the turning motor 31 such that the position of the turning shaft 22 returns to the neutral position. Therefore, the position of the turning shaft 22 is kept at the neutral position. Accordingly, the adjustment of the wheel alignment can be appropriately performed.
When the keeping of the position of the turning shaft 22 becomes unnecessary, for example, when the adjustment of the wheel alignment is completed, the external tool 46 requests the turning control device 1B to end the execution of the lock process. That is, the external tool 46 sets the value of the turning keeping flag FG to “OFF”. In the case where the value of the turning keeping flag FG is “OFF”, the turning control device 1B ends the execution of the lock process.
The embodiment exerts the following effects.
(1) For example, when the maintenance of the vehicle is performed, the position of the turning shaft 22 is sometimes demanded to be kept at a particular position. In the embodiment, the turning control device 1B executes the lock process based on the command from the exterior. Thereby, the position of the turning shaft 22 is kept at the particular position. Therefore, the maintenance of the vehicle can be appropriately performed. For example, the command from the exterior is the value of the turning keeping flag FG.
(2) In the case where the turning control device 1B executes the lock process, the position of the turning shaft 22 is kept at the particular position based on the command from the exterior, regardless of the target pinion angle θp1* that is computed by the target pinion angle computation unit 62, and further the steering state of the steering wheel 5. Therefore, even in the case where the steering wheel 5 unintentionally operates when the maintenance of the vehicle is performed, it is possible to reduce the influence of the operation of the steering wheel on the maintenance of the vehicle. This is effective, particularly, in the maintenance of the vehicle for the adjustment of the turning mechanism 4, as exemplified by the adjustment of the wheel alignment.
(3) The turning control device 1B takes the command from the external tool 46. The position of the turning shaft 22 can be kept at the particular position, simply by sending the command from the external tool 46. Therefore, the maintenance of the vehicle can be easily performed.
(4) The particular position is the neutral position of the turning shaft 22 that corresponds to the straight movement state of the vehicle. The position of the turning shaft 22 can be kept at the neutral position, through the execution of the lock process. Therefore, it is possible to appropriately perform a work that is relevant to the maintenance of the vehicle and for which the straight movement property of the vehicle is demanded to be ensured. For example, the work includes the adjustment work for the wheel alignment. Accordingly, it is possible to appropriately perform the adjustment work for the wheel alignment, through the execution of the lock process. Further, it is possible to attach components such as the turning wheels 6, in a state where the straight movement property of the vehicle is ensured.
(5) The turning control device 1B executes the lock process when the vehicle is at a stop. The lock process is performed in a state where the vehicle is at a stop. Therefore, it is possible to keep the position of the turning shaft 22 at the particular position, while securing safety.
The embodiment may be carried out while being modified as follows.
The position of the turning shaft 22 may be kept at a position other than the neutral position. Depending on the work content for the maintenance, the position of the turning shaft 22 is demanded to be kept at the position other than the neutral position. For example, the position other than the neutral position includes an end position of the turning shaft 22. The end position is a limit position in a physically movable range of the turning shaft 22. Thereby, it is possible to meet the demand depending on the work content for the maintenance.
Instead of setting the value of the turning keeping flag FG, the external tool 46 may give an instruction indicating a value of the final target pinion angle θp2* that corresponds to the keeping position of the turning shaft 22, to the turning control device 1B. For example, in the case where the position of the turning shaft 22 is kept at the neutral position, the external tool 46 gives an instruction indicating that the value of the final target pinion angle θp2* is set to “0”, to the turning control device 1B.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2023-180302 | Oct 2023 | JP | national |
