JP6209156B2 - Vehicle steering system - Google Patents

Description

  The present invention relates to a steer-by-wire vehicle steering apparatus.

  Recently, a steering device of a type called Steer By Wire has been developed. Patent Document 1 discloses a steering device for a vehicle of a steer-by-wire (SBW) system.

  The SBW system vehicle steering apparatus according to Patent Document 1 is provided between a steering input shaft connected to a steering input means, a steering output shaft connected to a steering mechanism, and a steering input shaft and a steering output shaft. And backup means for connecting between the steering input means and the steering mechanism which are mechanically disconnected when the system is abnormal. The backup means includes a carrier coupled to the steering input shaft, a planetary gear mechanism having a sun gear or ring gear coupled to the steering output shaft, and a gear of the sun gear or ring gear that is not coupled to the steering output shaft. And an electromagnetic clutch provided between the steering output shaft.

  According to the SBW-type vehicle steering apparatus according to Patent Document 1, it is possible to reduce the input torque to the clutch without using a speed increaser and to reduce the battery consumption as compared with the prior art.

JP 2005-335433 A

  In the SBW type vehicle steering apparatus according to Patent Document 1, for example, a pinion (hereinafter referred to as “planetary gear”) and a ring gear (hereinafter referred to as “annular internal gear”) that are rotatably supported by a carrier. There is a case in which foreign matter is caught in the meshed portion of In such a case, the planetary gear and the annular internal gear are rigidly coupled with a foreign object interposed therebetween. As a result, the steering input means (hereinafter referred to as “steering portion”) and the steering mechanism (hereinafter referred to as “steering portion”) suddenly fall into a mechanically connected state.

  However, in the SBW-type vehicle steering device according to Patent Document 1, when the steering unit and the steered unit suddenly fall into a mechanically connected state, the abnormal state is diagnosed. There is no mention of diagnosing the cause of the condition.

  The present invention has been made in view of the above circumstances, and even when the steering portion and the steered portion suddenly fall into a mechanically connected state, the cause can be accurately diagnosed. An object of the present invention is to provide a vehicular steering apparatus.

  In order to solve the above-described problem, the invention according to (1) includes a steering unit having a steering reaction force motor capable of applying a steering reaction force to a steering member operated when turning a steered wheel of a vehicle. A steering angle detection unit for detecting a steering angle related to the steering member, a steering unit for giving a steering force to the steered wheels, and a steered unit for steering the steered wheels, A clutch device having a steered angle detecting unit that detects a steered angle related to the steered wheel, and a switching actuator that performs an operation of bringing the steering unit and the steered unit into a mechanically connected state or a disconnected state. And at least the steering unit, the steering unit, and an abnormality diagnosis unit that performs abnormality diagnosis of the clutch device, wherein the clutch device is applied to the annular internal gear, the sun gear, and the planet carrier. A planetary gear mechanism having a planetary gear supported movably; A locking annular gear provided to be interlocked with the sun gear, and the annular internal gear is connected to the planet carrier and the sun gear via the planetary gear, and the steering unit or The planetary carrier is connected to either one of the steered portions, and the planetary carrier is connected to the annular internal gear and the sun gear via the planetary gear, and the steering portion or the steered portion. The abnormality diagnosing unit is provided so as to be interlocked with the other one of the parts different from the one, and based on the detected angle values of the steering angle detecting unit and the turning angle detecting unit, the annular internal gear, The most important feature is that it is determined whether or not the planet carrier and the sun gear are rotating synchronously, and an abnormality diagnosis of the clutch device is performed based on the determination result.

  According to the invention according to (1), the abnormality diagnosis unit is configured such that the annular internal gear, the planetary carrier, and the sun gear rotate synchronously based on the angle detection values of the steering angle detection unit and the turning angle detection unit. Even if the steering unit and the steered part suddenly fall into a mechanically connected state in order to perform an abnormality diagnosis of the clutch device based on this determination result The cause can be accurately diagnosed.

  The invention according to (2) relates to a steering unit having a steering reaction force motor capable of applying a steering reaction force to a steering member operated when turning a steered wheel of a vehicle, and the steering member A steering angle detector that detects a steering angle; a steering motor that applies a steering force to the steered wheels; and a steering unit that steers the steered wheels; A clutch device having a turning angle detection unit for detecting a steering angle, a switching actuator for performing an operation of bringing the steering unit and the steering unit into a mechanically connected state or a disconnected state, and the clutch device. In the separated state, the steered motor is driven so that the actual steered angle of the steered wheels follows at least a target steered angle set based on the steered angle of the steering member. The steering operation is applied so as to apply a steering reaction force according to the steering state of the rudder section. A control unit capable of executing at least steering control in a steer-by-wire mode for driving a reaction force motor, and at least an abnormality diagnosis unit for performing abnormality diagnosis of the steering unit, the steering unit, and the clutch device; Prepare. The clutch device includes an annular internal gear, a sun gear, a planetary gear mechanism having a planetary gear rotatably supported by a planet carrier, a locking annular gear provided to be interlocked with the sun gear, A locking member that is detachably provided in a tooth groove of the locking annular gear and that operates in conjunction with the switching actuator. The annular internal gear is connected to the planet carrier and the sun gear via the planetary gear, and is provided so as to interlock with either the steering unit or the steered unit. The planetary carrier is connected to the annular internal gear and the sun gear via the planetary gear, and is provided so as to be linked to the other of the steering unit or the steered unit different from the one.

  The abnormality diagnosing unit is configured so that the annular internal gear is based on the detected angle values of the steering angle detection unit and the turning angle detection unit while the control unit is performing the steering control in the steer-by-wire mode. The most important feature is that it is determined whether or not the planetary carrier and the sun gear are rotating synchronously, and an abnormality diagnosis of the clutch device is performed based on the determination result.

  According to the invention according to (2), as in the invention according to (1), the abnormality diagnosing unit, based on the detected angle values of the steering angle detection unit and the turning angle detection unit, the annular internal gear, the planet carrier In addition, it is determined whether or not the sun gear is rotating synchronously, and based on this determination result, the abnormality of the clutch device is diagnosed, and therefore, the mechanical portion between the steering unit and the steered unit is suddenly mechanical. Even when it is in a connected state, the cause can be diagnosed accurately.

  The invention according to (3) is the invention according to (1) or (2), further comprising a rotation angle detection unit that detects a rotation angle of the locking annular gear, and the abnormality diagnosis unit includes: Whether or not the annular internal gear, the planet carrier, and the sun gear are synchronously rotated based on the detected angle values of the steering angle detector, the turning angle detector, and the rotation angle detector. And determining abnormality of the clutch device based on the determination result.

  According to the invention according to (3), the abnormality diagnosis unit includes an annular internal gear, a planet carrier, and a rotation angle detection unit based on the detected angle values of the steering angle detection unit, the turning angle detection unit, and the rotation angle detection unit. In order to determine whether or not the sun gear is rotating synchronously and to perform an abnormality diagnosis of the clutch device based on the determination result, the steering unit and the turning unit are similar to the invention according to (1) or (2). Even if it suddenly falls into a mechanically connected state, the cause can be accurately diagnosed.

  The invention according to (4) is the invention according to any one of (1) to (3), wherein the annular internal gear is connected to the planet carrier and the sun gear via the planetary gear. And the planetary carrier is connected to the annular internal gear and the sun gear via the planetary gear, and is linked to the steered portion. It is provided, It is characterized by the above-mentioned.

  According to the invention according to (4), since the annular internal gear is provided so as to be interlocked with the steering part, the planetary carrier is provided so as to be interlocked with the steered part. Therefore, according to (1) to (3) In addition to the operational effects of the invention, in the steer-by-wire mode, the force required when the driver operates the steering member can be reduced.

The invention according to (5) is the invention according to (2) , in which the control unit further has a function of performing drive control of the switching actuator, and the abnormality diagnosis unit includes the annular internal gear. When the determination that the planetary carrier and the sun gear are rotating synchronously is made, a diagnosis that the clutch device is in an abnormal state is made, and the control unit The drive control of the switching actuator is performed so as to prohibit the operation of changing the clutch device from the disengaged state to the connected state when a diagnosis of an abnormal state is made.

  During steering control in steer-by-wire mode, if any abnormality occurs in the steering function, such as a diagnosis that the clutch device is in an abnormal state, the control unit changes the clutch device from the disconnected state to the connected state. As a rule, the drive control of the switching actuator is performed. This is because it is considered that the intention of driving related to the steering of the driver can be accurately transmitted when the clutch device is in the mechanically connected state.

  There are exceptions to this. For example, this is the case where the clutch device is in an abnormal state due to the occurrence of foreign matter between the annular internal gear and the planetary gear or between the sun gear and the planetary gear. In such a case, when the clutch device is switched from the disengaged state to the connected state, a large load is applied to the portion where the foreign matter is caught. As a result, there is a risk of causing a situation in which the degree of biting of foreign matter becomes serious.

  Therefore, in the invention according to (5), the clutch device malfunctions due to the synchronous rotation of the annular internal gear, the planetary carrier, and the sun gear (hereinafter sometimes referred to as “gears etc. belonging to the planetary gear mechanism”). When the diagnosis that the state is in the state is made, the control unit performs the drive control of the switching actuator so as to prohibit the operation of changing the clutch device from the disengaged state to the connected state.

According to the invention according to (5), in addition to the operational effects of the invention according to (2) , the clutch device is in an abnormal state due to the occurrence of foreign matter biting between the gears belonging to the planetary gear mechanism. Even if it is a case, the effect which avoids the situation where the biting degree of the foreign material becomes serious can be expected.

  The invention according to (6) is the invention according to (5), in the case where it is determined that the annular internal gear, the planet carrier, and the sun gear are rotating in synchronization. The control unit determines that the steering angle ratio, which is the ratio of the target turning angle to the steering angle related to the steering member, is that the annular internal gear, the planetary carrier, and the sun gear are not rotating synchronously. This is characterized in that it is reduced as compared with the case where the determination is made.

  According to the invention according to (6), when it is determined that the gears belonging to the planetary gear mechanism are rotating synchronously, the control unit determines the steering angle ratio and the gears belonging to the planetary gear mechanism. This is a case where the clutch device is in an abnormal state due to the occurrence of a foreign object between the gears belonging to the planetary gear mechanism in order to reduce compared with the case where it is determined that the synchronous rotation is not performed. However, the effect which avoids the situation where the biting degree of the foreign material becomes serious can be further expected.

  The invention according to (7) is the invention according to (5), in which the abnormality diagnosis unit determines that the annular internal gear, the planet carrier, and the sun gear are rotating synchronously. The deviation used when the abnormality diagnosis unit makes a diagnosis that the steering control system is in an abnormal state as the deviation between the target turning angle and the actual turning angle of the steered wheels is larger. The threshold value according to the above is relaxed.

  According to the invention according to (7), when it is determined that the gears belonging to the planetary gear mechanism are rotating synchronously, the larger the deviation between the target turning angle and the actual turning angle of the steered wheels is, In order to alleviate the threshold value related to the deviation used when the abnormality diagnosis unit makes a diagnosis that the steering control system is in an abnormal state, in addition to the operational effect of the invention according to (5), the target turning angle And the gear belonging to the planetary gear mechanism determines the timing when the abnormality diagnosis unit makes a diagnosis that the steering control system is in an abnormal state due to the deviation between the actual turning angles of the steered wheels exceeding the threshold value related to the deviation. It can be delayed compared to the case where it is determined that the two are not synchronously rotated.

  The invention according to (8) is the invention according to (6), in the case where it is determined that the annular internal gear, the planetary carrier, and the sun gear are rotating synchronously. The control unit sets a steering angle ratio, which is a ratio of the target turning angle to a steering angle related to the steering member, so as to maintain the synchronous rotation of the annular internal gear and the planetary carrier. And

  According to the invention according to (8), when it is determined that the annular internal gear, the planet carrier, and the sun gear are rotating synchronously, that is, there is some abnormality during the steering control in the steer-by-wire mode. When this occurs, the control unit sets the rudder angle ratio so as to maintain the synchronous rotation of the annular internal gear and the planet carrier, so that a foreign object is caught between the gears belonging to the planetary gear mechanism. Even when the clutch device is in an abnormal state, an effect of avoiding a situation where the degree of biting of the foreign matter becomes serious can be expected.

  The invention according to (9) is the invention according to any one of (5) to (7), wherein the control unit synchronizes the annular internal gear, the planet carrier, and the sun gear. When it is determined that the vehicle is rotating, the driving force of at least one of the steering reaction force motor and the steering motor is used as the annular internal gear, the planetary carrier, and the sun gear. It is characterized by performing control to reduce compared with the case where it is determined that the motor is not rotating synchronously.

  According to the invention according to (9), when it is determined that the gears belonging to the planetary gear mechanism are rotating synchronously, the driving force of at least one of the steering reaction force motor and the steering motor is determined. Therefore, the steering reaction force or the steering force transmitted to the planetary gear mechanism of the clutch device is reduced in comparison with the case where it is determined that the gears belonging to the planetary gear mechanism are not synchronously rotated. This can be reduced compared to the case where it is determined that the gears belonging to the planetary gear mechanism are not rotating synchronously. As a result, even if the clutch device is in an abnormal state due to the occurrence of foreign matter biting between the gears belonging to the planetary gear mechanism, the situation where the degree of biting of the foreign matter becomes serious is avoided. The effect to do can be expected further.

  The invention according to (10) is the invention according to any one of (5) to (8), wherein the control unit is configured such that the annular internal gear, the planet carrier, and the sun gear are synchronized. When it is determined that the vehicle is rotating, the driving of the steering reaction motor is stopped and the steering motor is driven.

  According to the invention according to (10), when it is determined that the gears belonging to the planetary gear mechanism are rotating synchronously, the control of stopping the steering reaction motor and driving the steering motor is performed. Therefore, the steering reaction force is not transmitted to the planetary gear mechanism of the clutch device, and the steered wheels can be steered using the steered force of the steered motor. As a result, even if the clutch device is in an abnormal state due to the occurrence of foreign matter between the gears belonging to the planetary gear mechanism, the force transmitted to the planetary gear mechanism of the clutch device is as much as possible. It is possible to increase the effect of avoiding a situation in which the degree of biting of the foreign material becomes serious.

  According to the present invention, even when the steering portion and the steered portion suddenly fall into a mechanically connected state, the cause can be accurately diagnosed.

1 is a schematic configuration diagram of a vehicle steering apparatus according to an embodiment of the present invention. FIG. 5 is a flowchart for explaining the operation of the control device when the steering mode of the vehicle steering device according to the embodiment of the present invention is a steer-by-wire (SBW) mode.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a vehicle steering apparatus according to an embodiment of the present invention.

  The vehicle steering device 11 is a steer-by-wire (SBW) type steering device. The vehicle steering device 11 has a function (SBW mode) for generating a steering force by driving a steering motor 29 described later (SBW mode), for example, by driving the steering motor 29 when a steering reaction force motor 16 described later fails. An electric power steering (EPS) function (EPS mode) for generating an assisting force related to manual steering by the driver, and, for example, a failure of the steering reaction force motor 16 and the steering motor 29, the driver Has a function (manual steering mode) to perform manual steering.

  In order to realize the above functions, the vehicle steering device 11 includes a steering wheel 13, a steering reaction force generating device 15, a steering device 17, and a clutch device 19, as shown in FIG. . The vehicle steering device 11 is mounted on the vehicle V. The vehicle V includes a pair of steered wheels 21a and 21b.

  The steering wheel 13 is a member that is operated according to the driving intention of the driver. The steering wheel 13 corresponds to the “steering member” of the present invention. A steering shaft 23 is provided on the steering wheel 13. The steering shaft 23 is configured to rotate around the axis in accordance with the operation of the steering wheel 13 by the driver.

The steering reaction force generation device 15 has a function of generating a reaction force (response) related to steering at the driver's hand holding the steering wheel 13 when the vehicle steering device 11 is operating in the SBW mode. The steering reaction force generator 15 has a steering reaction force motor 16. A steering shaft 23 is connected to the steering reaction force motor 16. The steering reaction force motor 16 generates a steering torque for rotating the steering shaft 23 around the axis. As a result, when the vehicle steering device 11 is operating in the SBW mode, a reaction force (responsiveness) related to steering is transmitted to the driver's hand holding the steering wheel 13.
The steering wheel 13, the steering reaction force generator 15 having the steering reaction force motor 16, and the steering shaft 25 correspond to the “steering portion” of the present invention.

The steered device 17 has a function of converting the rotational motion of the steered shaft 25 into the linear motion of the rack shaft 27 via a rack and pinion mechanism (not shown). The steering device 17 has a steering motor 29. A steered shaft 25 and a rack shaft 27 are connected to the steered motor 29. The turning motor 29 generates a turning torque for causing the rack shaft 27 to linearly move along the axial direction. A pair of steered wheels 21a and 21b are connected to the rack shaft 27 via tie rods (not shown). The pair of steered wheels 21 a and 21 b are steered by a linear motion of the rack shaft 27.
The steered device 17 having the steered shaft 25, the rack shaft 27, and the steered motor 29 corresponds to the “steered portion” of the present invention.

  The clutch device 19 has a function of connecting or disconnecting the steering shaft 23 and the steered shaft 25. In order to realize such a function, the clutch device 19 includes a planetary gear mechanism 31. The planetary gear mechanism 31 includes an annular internal gear 31a, a planetary gear 31b, a sun gear 31c, and a planet carrier 31d.

  The clutch device 19 includes a locking annular gear 33 and a locking device 35. The lock device 35 includes a lock pin 39 that is detachably provided in a tooth groove of the lock annular gear 33, and an electromagnetic solenoid 37 that reciprocally drives the lock pin 39 in the forward / backward direction. The lock pin 39 corresponds to the “lock member” of the present invention.

  The annular internal gear 31 a is fixed to a side end portion of the steering device 17 in the steering shaft 23, and is configured to rotate integrally with the steering shaft 23 around an axis coaxial with the steering shaft 23. The sun gear 31c is configured to freely rotate around a rotation axis coaxial with the steered shaft 25. The planetary gear 31b is spaced from each other at equal intervals so as to engage with each of the annular internal gear 31a and the sun gear 31c in a circular gap provided between the annular internal gear 31a and the sun gear 31c. A plurality of (for example, three) are provided. Each of the plurality of planetary gears 31 b is rotatably supported with respect to a planet carrier 31 d that rotates integrally with the steered shaft 23 around an axis coaxial with the steered shaft 25.

  The locking annular gear 33 is an external gear. The locking annular gear 33 is configured to rotate integrally with the sun gear 31c around an axis coaxial with the sun gear 31c. The lock pin 39 is urged in a direction close to the lock annular gear 33 by urging means (not shown). When the lock pin 39 engages with the tooth groove of the locking annular gear 33, the rotational movement of the locking annular gear 33 is restricted.

  The electromagnetic solenoid 37 operates to release the engagement between the lock pin 39 and the locking annular gear 33 by displacing the lock pin 39 by supplying the exciting current. The electromagnetic solenoid 37 corresponds to the “switching actuator” of the present invention.

  The locking device 35 is configured to operate according to a control signal sent from the control device 40. The control device 40 operates to release the engagement of the lock pin 39 with respect to the lock annular gear 33 by supplying an excitation current to the electromagnetic solenoid 37.

  Next, the operation of the clutch device 19 will be described. When the lock pin 39 engages with the tooth groove of the locking annular gear 33, the rotational movement of the sun gear 31c rotating integrally with the locking annular gear 33 around the axis coaxial with the locking annular gear 33 is restricted.

  When the driver operates the steering wheel 13 in a state where the rotational movement of the sun gear 31 c is restricted, the annular internal gear 31 a rotates with the rotation of the steering shaft 23. At this time, since the rotational movement of the sun gear 31c is restricted, the planetary gear 31b revolves around the sun gear 31c while rotating. Due to the revolution of the planetary gear 31b, the planetary carrier 31d that pivotally supports the planetary gear 31b and the turning shaft 25 that rotates integrally with the planetary carrier 31d rotate.

  In short, in a state where the lock pin 39 is engaged with the tooth groove of the locking annular gear 33, the clutch device 19 is in a coupled state in which the steering shaft 23 and the steered shaft 25 are coupled. At this time, the rotational force of the steering shaft 23 is transmitted to the steered shaft 25.

  On the other hand, when the lock pin 39 is disengaged from the tooth groove of the locking annular gear 33, the sun gear 31c that rotates integrally with the locking annular gear 33 becomes rotatable.

  When the driver operates the steering wheel 13 with the sun gear 31c being rotatable, the annular internal gear 31a is rotated with the rotation of the steering shaft 23. At this time, the planetary gear 31b tries to revolve around the sun gear 31c while rotating. However, the steered wheels 21 a and 21 b are connected to the planetary carrier 31 d via the steered shaft 25 and the rack shaft 27. For this reason, the resistance force against the rotation of the planet carrier 31d is much larger than the resistance force against the rotation of the sun gear 31c in a rotatable state. Therefore, when the planetary gear 31b rotates, the sun gear 31c rotates (rotates), and the planet carrier 31d does not rotate. That is, the steered shaft 25 does not rotate.

  In short, in a state where the engagement of the lock pin 39 with the tooth groove of the locking annular gear 33 is released, the clutch device 19 is in a disconnected state in which the steering shaft 23 and the steered shaft 25 are disconnected. At this time, the rotational force of the steering shaft 23 is not transmitted to the steered shaft 25.

  Next, an input / output system for the control device 40 will be described.

  The control device 40 includes, as an input system, a steering angle sensor 41, a steering torque sensor 43, a steering reaction force motor resolver 45, a steered motor resolver 47, a rack stroke sensor 49, a vehicle speed sensor 51, a yaw rate sensor 53, an acceleration sensor 55, A first rotation angle sensor 57 and a second rotation angle sensor 59 are connected.

  The steering angle sensor 41 and the steering torque sensor 43 are provided on the steering shaft 23. The steering angle sensor 41 detects the steering angle of the steering wheel 13 by the driver, and gives the detected steering angle information to the control device 40. The steering angle sensor 41 corresponds to the “steering angle detector” of the present invention. Further, the steering torque sensor 43 detects the steering torque of the steering wheel 13 by the driver, and gives the detected steering torque information to the control device 40.

  The steering reaction force motor resolver 45 is provided in the steering reaction force motor 16. The steering reaction force motor resolver 45 detects the rotational operation amount (steering angle) of the steering reaction force motor 16 and supplies the detected steering angle information to the control device 40. The steering reaction force motor resolver 45 corresponds to the “steering angle detector” of the present invention.

  The steered motor resolver 47 is provided in the steered motor 29. The steered motor resolver 47 detects the rotational operation amount (steered angle) of the steered motor 29 and provides the detected steered angle information to the control device 40. The steered motor resolver 47 corresponds to the “steering angle detector” of the present invention.

  The rack stroke sensor 49 is provided on the rack shaft 27. The rack stroke sensor 49 detects the linear movement amount (steering angle) of the rack shaft 27 and provides the detected turning angle information to the control device 40. The rack stroke sensor 49 corresponds to the “steering angle detector” of the present invention.

  The vehicle speed sensor 51 detects the speed (vehicle speed) of the vehicle V and gives the detected vehicle speed information to the control device 40. The yaw rate sensor 53 detects the yaw rate of the vehicle V and provides the detected yaw rate information to the control device 40. The acceleration sensor 55 detects the lateral acceleration (lateral G) and the longitudinal acceleration (vertical G) of the vehicle V, and gives the detected lateral G information and vertical G information to the control device 40.

  The first and second rotation angle sensors 57 and 59 detect the rotation direction and the rotation operation amount (rotation angle) of the locking annular gear 33 (sun gear 31 c), and provide the detected rotation angle information to the control device 40. As the first and second rotation angle sensors 57 and 59, for example, a sensor of a type that can detect the rotation angle of the locking annular gear 33 (sun gear 31c) in a non-contact manner can be suitably used. The first and second rotation angle sensors 57 and 59 correspond to the “rotation angle detector” of the present invention.

  On the other hand, the control device 40 is connected to the steering reaction force motor 16, the steering motor 29, and the electromagnetic solenoid 37 as an output system.

  The control device 40 sets the steering mode of the vehicle steering device 11 to the SBW mode, the EPS based on the detection signal input via the input system and the abnormality diagnosis result related to various components of the vehicle steering device 11. A control signal for controlling driving of the steering reaction force motor 16, the steering motor 29, and the electromagnetic solenoid 37 is generated in accordance with the function for determining the mode or the manual steering mode and the determined steering mode. And a function of performing drive control of the steering reaction force motor 16, the steered motor 29, and the electromagnetic solenoid 37 based on the generated control signal.

  The control device 40 controls the steering reaction force motor 16 when the vehicle steering device 11 is operating in the SBW mode, so that the driver's hand holding the steering wheel 13 can be appropriately steered. It operates to convey such reaction force (response).

  The control device 40 also steers the steered wheels 21a and 21b according to the driver's driving intention by performing drive control of the steered motor 29 when the vehicle steering device 11 is operating in the SBW mode. To work.

  Further, during execution of the steering control in the SBW mode, the control device 40 detects the angle detection values of the steering reaction force motor resolver 45, the steered motor resolver 47, and the first and second rotation angle sensors 57 and 59, for example. Is determined whether or not the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously, and the abnormality diagnosis of the clutch device 19 is performed based on the determination result.

  More specifically, the control device 40 includes an angle detection value acquisition unit 61, an abnormality diagnosis unit 63, and a drive control unit 65.

  The angle detection value acquisition unit 61 has a function of acquiring angle detection values detected by the steering reaction force motor resolver 45, the turning motor resolver 47, and the first and second rotation angle sensors 57 and 59, respectively.

  The abnormality diagnosing unit 63 is an essential component for maintaining the steering function of the vehicle steering device 11 (the steering reaction force generating device 15 having the steering reaction force motor 16, the steering device 17 having the steering motor 29, And the operation status of the control device 40, etc.) is investigated, and based on the investigation result, a diagnosis is made as to whether or not the steering function can be maintained.

  More specifically, the abnormality diagnosis unit 63 includes the annular internal gear 31a, the steering reaction force motor resolver 45, the steered motor resolver 47, and the angle detection values of the first and second rotation angle sensors 57 and 59. It is determined whether or not the planet carrier 31d and the sun gear 31c (hereinafter sometimes referred to as “the gears belonging to the planetary gear mechanism 31”) are rotating in synchronization, and the gears belonging to the planetary gear mechanism 31 are synchronized. When it is determined that the clutch is rotating, the clutch device 19 operates so as to make a diagnosis that the clutch device 19 is in an abnormal state.

  Specifically, the abnormality diagnosis unit 63 compares the angle detection values of the steering reaction force motor resolver 45, the steered motor resolver 47, and the first and second rotation angle sensors 57 and 59 side by side, and compares these angles. When the detected value converges within a predetermined allowable range of rotational fluctuation, it operates so as to make a diagnosis that the gears belonging to the planetary gear mechanism 31 are rotating synchronously.

  In principle, when a diagnosis is made that the steering function cannot be maintained, the drive control unit 65 switches the clutch device 19 from the disconnected state to the connected state, and performs steering control in the non-SBW mode. Here, the steering control in the non-SBW mode means steering control in either the EPS mode or the manual steering mode, which is performed when the clutch device 19 is connected. In any case, which one of the EPS mode and the manual steering mode is selected is not described because it is out of the subject of the present invention.

  However, when the diagnosis that the clutch device 19 is in an abnormal state is made due to the synchronous rotation of the gears belonging to the planetary gear mechanism 31, the drive control unit 65 moves the clutch device 19 from the disconnected state to the connected state. The drive control of the electromagnetic solenoid 37 is performed so as to prohibit the operation to be performed.

  Next, the operation of the control device 40 when the steering mode of the vehicle steering device 11 is the SBW mode will be described with reference to FIG. FIG. 2 is a flowchart for explaining the operation of the control device 40 when the steering mode of the vehicle steering device 11 is the SBW mode.

  In steps S11 to S13, the detected angle value acquisition unit 61 of the control device 40 is detected by the steering reaction force motor resolver 45, the steered motor resolver 47, and the first and second rotation angle sensors 57 and 59, respectively. The angle detection values are acquired sequentially.

  In step S14, the abnormality diagnosis unit 63 of the control device 40 checks whether or not the gears belonging to the planetary gear mechanism 31 are rotating synchronously based on the angle detection values acquired in steps S11 to S13. As a result of the determination in step S14, when it is determined that the gears belonging to the planetary gear mechanism 31 are not rotating synchronously (the clutch device 19 is operating normally) ("No" in step S14), The control device 40 returns the process flow to step S11 and causes the subsequent processes to be performed sequentially. On the other hand, if it is determined in step S14 that the gears belonging to the planetary gear mechanism 31 are rotating synchronously ("Yes" in step S14), the control device 40 continues the processing flow. The process proceeds to step S15.

  In step S <b> 15, the abnormality diagnosis unit 63 of the control device 40 makes a diagnosis that the clutch device 19 is in an abnormal state due to the synchronous rotation of gears belonging to the planetary gear mechanism 31.

  In step S <b> 16, the drive control unit 65 of the control device 40 performs drive control of the electromagnetic solenoid 37 so as to prohibit the operation of bringing the clutch device 19 from the disconnected state to the connected state.

  In step S <b> 17, the drive control unit 65 of the control device 40 performs control to stop the steering reaction motor 16 and drive the steered motor 29. This is based on stopping the transmission of the steering reaction force to the planetary gear mechanism 31 of the clutch device 19 and turning the steered wheels 21a and 21b using the steered force of the steered motor 29. Thereafter, the control device 40 returns the flow of processing to step S11 and causes subsequent processing to be performed sequentially.

  When the state in which the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously is resolved, the operation mode of the vehicle steering device 11 is changed to that of the steering reaction force motor 16 and the steering motor 29. You may comprise so that it may return to the normal SBW mode which drives both.

[Operational Effects of the Vehicle Steering Device 11 According to the Embodiment of the Present Invention]

  In the vehicle steering apparatus 11 based on the first aspect (corresponding to claim 1), the steering reaction force against the steering wheel (steering member) 13 operated when the steered wheels 21a and 21b of the vehicle V are steered. A steering reaction force generator (steering unit) 15 having a steering reaction force motor 16 capable of imparting a steering wheel, a steering reaction force motor resolver (steering angle detection unit) 45 for detecting a steering angle related to the steering wheel 13, and a steered wheel 21a. , 21 b, a steering motor 29 that applies a steering force to the steering wheels 21 a, 21 b, a steering device (steering unit) 17, and the steering wheels 21 a, 21 b A turning motor resolver (steering angle detection unit) 47 that detects an angle, a steering reaction force generator (steering unit) 15 and a steering device (steering unit) 17 are mechanically connected or separated. Electromagnetic solenoid that performs the operation A clutch device 19 having a replacement actuator) 37, at least a steering reaction force generating device (steering unit) 15, a turning device (steering unit) 17, and an abnormality diagnosis unit 63 that performs abnormality diagnosis of the clutch device 19, Is provided.

  The clutch device 19 includes a planetary gear mechanism 31 having an annular internal gear 31a, a sun gear 31c, and a planetary gear 31b that is rotatably supported by the planet carrier 31d, and a lock provided so as to be interlocked with the sun gear 31c. An annular gear 33.

  The annular internal gear 31a is connected to the planet carrier 31d and the sun gear 31c via the planetary gear 31b, and is either the steering reaction force generator (steering unit) 15 or the steering device (steering unit) 17. It is provided to be linked to one side. The planet carrier 31d is connected to the annular internal gear 31a and the sun gear 31c via the planetary gear 31b, and the one of the steering reaction force generating device (steering unit) 15 or the steering device (steering unit) 17 It is provided so as to interlock with the other different from the above.

  Then, the abnormality diagnosis unit 63 determines the annular internal gear 31a and the planet carrier 31d based on the detected angle values of the steering reaction force motor resolver (steering angle detection unit) 45 and the turning motor resolver (steering angle detection unit) 47. Then, it is determined whether or not the sun gear 31c is rotating synchronously, and an abnormality diagnosis of the clutch device 19 is performed based on the determination result.

  According to the vehicle steering device 11 based on the first aspect, based on the determination result relating to whether or not the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously, Since abnormality diagnosis is performed, even when the steering unit 15 and the steering unit 17 suddenly fall into a mechanically connected state, the cause can be accurately diagnosed.

  In the vehicle steering device 11 based on the second aspect (corresponding to claim 2), the steering wheel (steering member) 13 that is operated when the steered wheels 21a and 21b of the vehicle V are steered is steered. A steering reaction force generator (steering unit) 15 having a steering reaction force motor 16 capable of applying a reaction force, a steering reaction force motor resolver (steering angle detection unit) 45 for detecting a steering angle related to the steering wheel 13, It has the steering motor 29 which gives steering force with respect to the steering wheels 21a and 21b, and relates to the steering apparatus (steering part) 17 for steering the steering wheels 21a and 21b, and the steering wheels 21a and 21b. A mechanical connection between the steering motor resolver (steering angle detector) 47 for detecting the steering angle, the steering reaction force generator (steering unit) 15 and the steering device (steering unit) 17 is established. Electromagnetic solenoid that performs the operation of separating A target that is set based on at least the steering angle of the steering wheel 13 with the actual turning angle of the steered wheels 21a and 21b in a state in which the clutch device 19 having the switch (switching actuator) 37 and the clutch device 19 are in the disengaged state The steering motor 29 is driven so as to follow the turning angle, and the steering reaction force motor 16 is driven so as to apply a steering reaction force according to the turning state of the turning device (steering portion) 17. A drive control unit (control unit) 65 capable of performing at least steering control in the by-wire mode, at least a steering reaction force generation device (steering unit) 15, a steering device (steering unit) 17, and a clutch device 19 And an abnormality diagnosis unit 63 for performing the abnormality diagnosis.

  The clutch device 19 includes a planetary gear mechanism 31 having an annular internal gear 31a, a sun gear 31c, and a planetary gear 31b that is rotatably supported by the planet carrier 31d, and a lock provided so as to be interlocked with the sun gear 31c. An annular gear 33, and a lock pin (lock member) 39 that is detachably provided in the tooth groove of the lock annular gear 33 and operates in conjunction with an electromagnetic solenoid (switching actuator) 37.

  The annular internal gear 31a is connected to the planet carrier 31d and the sun gear 31c via the planetary gear 31b, and is either the steering reaction force generator (steering unit) 15 or the steering device (steering unit) 17. It is provided to be linked to one side. The planet carrier 31d is connected to the annular internal gear 31a and the sun gear 31c via the planetary gear 31b, and the one of the steering reaction force generating device (steering unit) 15 or the steering device (steering unit) 17 It is provided so as to interlock with the other different from the above.

  Then, the abnormality diagnosis unit 63 includes a steering reaction force motor resolver (steering angle detection unit) 45 and a turning motor resolver (steering angle detection unit) 47 while the drive control unit 65 performs steering control in the steer-by-wire mode. Based on the detected angle value, it is determined whether or not the annular internal gear 31a, the planet carrier 31d, and the sun gear 31c are rotating synchronously, and the abnormality diagnosis of the clutch device 19 is performed based on the determination result. .

  According to the vehicle steering device 11 based on the second aspect, the annular internal gear 31a, the planet carrier 31d, and the sun gear 31c are synchronously rotated in the same manner as the vehicle steering device 11 based on the first aspect. In order to perform an abnormality diagnosis of the clutch device 19 based on the determination result relating to whether or not there is a sudden mechanical connection between the steering unit 15 and the steering unit 17, The cause can be accurately diagnosed.

  In the vehicle steering device 11 based on the third aspect (corresponding to claim 3), the first and second rotation angle sensors (rotation angle detection units) 57 and 59 for detecting the rotation angle of the locking annular gear 33 are provided. The abnormality diagnosis unit 63 includes a steering reaction force motor resolver (steering angle detection unit) 45, a turning motor resolver (steering angle detection unit) 47, and first and second rotation angle sensors (rotation angles). Based on the detected angle values of the detectors 57 and 59, it is determined whether or not the annular internal gear 31a, the planet carrier 31d, and the sun gear 31c are rotating synchronously, and the clutch device is determined based on the determination result. You may employ | adopt the structure which performs 19 abnormality diagnosis.

  Further, according to the vehicle steering device 11 based on the third aspect, the machine between the steering unit 15 and the steered unit 17 is suddenly similar to the vehicle steering device 11 based on the first and second aspects. Even in a case of falling into a connected state, the cause can be accurately diagnosed.

  In the vehicle steering apparatus 11 based on the fourth aspect (corresponding to claim 4), the annular internal gear 31a is connected to the planet carrier 31d and the sun gear 31c via the planetary gear 31b, and the steering reaction The planetary carrier 31d is connected to the annular internal gear 31a and the sun gear 31c through the planetary gear 31b, and is also connected to the force generating device (steering unit) 15. The structure provided so that it may be interlock | cooperated to 17 may be employ | adopted.

  According to the vehicle steering device 11 based on the fourth aspect, the annular internal gear 31a is provided so as to be interlocked with the steering portion 15, while the planetary carrier 31d is provided so as to be interlocked with the steering portion 17. In addition to the operational effects of the vehicle steering device 11 based on the first aspect, the force required when the driver operates the steering wheel 13 in the steer-by-wire mode can be reduced.

  In the vehicle steering apparatus 11 based on the fifth aspect (corresponding to claim 5), the drive control unit (control unit) 65 further has a function of performing drive control of the electromagnetic solenoid (switching actuator) 37, The abnormality diagnosis unit 63 performs a diagnosis that the clutch device 19 is in an abnormal state when it is determined that the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously. Then, the drive control unit (control unit) 65, when a diagnosis is made that the clutch device 19 is in an abnormal state, causes the electromagnetic solenoid to prohibit the operation of changing the clutch device 19 from the disconnected state to the connected state. (Switching actuator) The structure which performs drive control of 37 may be employ | adopted.

  When any abnormality occurs in the steering function, such as a diagnosis that the clutch device 19 is in an abnormal state during steering control in the steer-by-wire mode, the drive control unit (control unit) 65 causes the clutch device 19 to As a general rule, drive control of the electromagnetic solenoid (switching actuator) 37 is performed so that is switched from the disconnected state to the connected state. This is because it is considered that when the clutch device 19 is in a mechanically connected state, the driver's driving intention related to steering can be accurately transmitted.

  There are exceptions to this. For example, there is a case where the clutch device 19 is in an abnormal state due to the occurrence of foreign matter between the annular internal gear 31a and the planetary gear 31b or between the sun gear 31c and the planetary gear 31b. . In such a case, when the clutch device 19 is switched from the disconnected state to the connected state, a large load is applied to the portion where the foreign matter is caught. As a result, there is a risk of causing a situation in which the degree of biting of foreign matter becomes serious.

  Therefore, in the vehicle steering device 11 based on the fifth aspect, when the diagnosis that the clutch device 19 is in an abnormal state is made due to the synchronous rotation of the gears and the like belonging to the planetary gear mechanism 31, the drive control unit The (control unit) 65 performs drive control of the electromagnetic solenoid (switching actuator) 37 so as to prohibit the operation of bringing the clutch device 19 from the disconnected state to the connected state.

According to the vehicle steering apparatus 11 based on the fifth aspect, in addition to the operational effects of the vehicle steering apparatus 11 based on the second aspect , provision of foreign matter between the gears belonging to the planetary gear mechanism 31 occurs. Thus, even when the clutch device 19 is in an abnormal state, an effect of avoiding a situation where the degree of biting of the foreign material becomes serious can be expected.

  It should be noted that the case where the clutch device 19 is in an abnormal state due to the occurrence of foreign matter between the gears belonging to the planetary gear mechanism 31 is a state in which an abnormality has occurred in the steering function. In order to eliminate such an abnormal state, the vehicle V undergoes maintenance inspection at a service facility. Therefore, the scene to which the present invention is applied is from the time when the foreign object is caught between the gears belonging to the planetary gear mechanism 31 to the time when the vehicle V reaches the service facility by self-propelling.

  In the vehicle steering apparatus 11 based on the sixth aspect (corresponding to claim 6), it is determined that the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously. In this case, the drive control unit (control unit) 65 indicates that the gears belonging to the planetary gear mechanism 31 are not rotated synchronously with respect to the steering angle ratio, which is the ratio of the target turning angle to the steering angle related to the steering wheel 13. You may employ | adopt the structure reduced compared with the case where determination is made.

  According to the vehicle steering device 11 based on the sixth aspect, when it is determined that the gears belonging to the planetary gear mechanism 31 are rotating synchronously, the drive control unit (control unit) 65 In order to reduce the angular ratio as compared with the case where it is determined that the gears belonging to the planetary gear mechanism 31 are not rotating synchronously, a foreign object is temporarily caught between the gears belonging to the planetary gear mechanism 31. Thus, even when the clutch device 19 is in an abnormal state, it is possible to further expect an effect of avoiding a situation where the degree of biting of the foreign matter becomes serious.

  In the vehicle steering device 11 based on the seventh aspect (corresponding to claim 7), the abnormality diagnosis unit 63 indicates that the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously. When the abnormality diagnosis unit 63 makes a diagnosis that the steering control system is in an abnormal state, the larger the deviation between the target turning angle and the actual turning angle of the steered wheels 21a and 21b is, You may employ | adopt the structure which relaxes the threshold value which concerns on the said deviation to be used.

  According to the vehicle steering device 11 based on the seventh aspect, when it is determined that the gears belonging to the planetary gear mechanism 31 are rotating synchronously, the target turning angle and the turning wheels 21a, 21b The vehicle based on the third aspect is used to reduce the threshold value related to the deviation used when the abnormality diagnosis unit 63 makes a diagnosis that the steering control system is in an abnormal state as the deviation between the actual turning angles increases. The steering control system is in an abnormal state due to the fact that the deviation between the target turning angle and the actual turning angle of the steered wheels 21a, 21b exceeds the threshold value related to the deviation in addition to the operational effects of the steering device 11 for the vehicle. The timing when the abnormality diagnosis unit 63 makes the diagnosis to the effect can be delayed compared to the case where the determination that the gears belonging to the planetary gear mechanism 31 are not rotating synchronously is made.

  Incidentally, when the abnormality diagnosis unit 63 makes a diagnosis that the steering control system is in an abnormal state, the drive control unit 65 performs control to cut off the power supply of the vehicle steering device 11. In this regard, according to the vehicle steering apparatus 11 based on the fifth aspect, when the determination that the gears belonging to the planetary gear mechanism 31 are not rotating synchronously is made at the timing of such a situation. It can be delayed compared.

  In the vehicle steering device 11 based on the eighth aspect (corresponding to claim 8), it is determined that the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously. In this case, the drive control unit (control unit) 65 maintains the steering angle ratio, which is the ratio of the target turning angle with respect to the steering angle related to the steering wheel 13, to maintain the synchronous rotation of the annular internal gear 31a and the planetary carrier 31d. Therefore, even if the clutch device 19 is in an abnormal state due to the occurrence of foreign object biting between the gears belonging to the planetary gear mechanism 31, the degree of biting of the foreign object is serious. The effect of avoiding the situation can be further expected.

  Further, in the vehicle steering apparatus 11 based on the ninth aspect (corresponding to claim 9), the drive control unit (control unit) 65 is configured such that the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c rotate synchronously. If it is determined that the steering reaction force motor 16 or the steering motor 29 is driven, the annular internal gear, the planet carrier, and the sun gear It is characterized by performing control to reduce compared with the case where it is determined that the synchronous rotation is not performed.

  According to the vehicle steering device 11 based on the ninth aspect, when it is determined that the gears belonging to the planetary gear mechanism 31 are rotating synchronously, the steering reaction force motor 16 or the steering motor 29 The planetary gear mechanism included in the clutch device 19 is used to perform control to reduce at least one of the driving forces as compared with the case where it is determined that the gears belonging to the planetary gear mechanism 31 are not rotating synchronously. The steering reaction force or the turning force transmitted to 31 can be reduced as compared with the case where it is determined that the gears belonging to the planetary gear mechanism 31 are not rotating synchronously. As a result, even if the clutch device 19 is in an abnormal state due to the occurrence of foreign matter between the gears belonging to the planetary gear mechanism 31, the degree of the foreign matter biting becomes serious. The effect of avoiding this can be further expected.

  In the vehicle steering apparatus 11 based on the tenth aspect (corresponding to claim 10), the drive control unit (control unit) 65 is configured such that the annular internal gear 31a, the planet carrier 31d, and the sun gear 31c rotate synchronously. When it is determined that the steering is being performed, the driving of the steering reaction motor 16 is stopped and the steering motor 29 is driven.

  According to the vehicle steering device 11 based on the tenth aspect, when it is determined that the gears belonging to the planetary gear mechanism 31 are rotating synchronously, the driving of the steering reaction force motor 16 is stopped. In order to perform control for driving the steered motor 29, the steering reaction force is not transmitted to the planetary gear mechanism 31 of the clutch device 19 and the steered wheels 21a and 21b are steered using the steered force of the steered motor 29. Can be made. As a result, even if the clutch device 19 is in an abnormal state due to the occurrence of foreign matter between the gears belonging to the planetary gear mechanism 31, the force transmitted to the planetary gear mechanism 31 of the clutch device 19. While suppressing as much as possible, the effect of avoiding a situation where the degree of biting of the foreign material becomes serious can be enhanced.

[Other Embodiments]
The plurality of embodiments described above show examples of realization of the present invention. Therefore, the technical scope of the present invention should not be limitedly interpreted by these. This is because the present invention can be implemented in various forms without departing from the gist or main features thereof.

  That is, during the description of the embodiment according to the present invention, the control device 40 performs the steering reaction force motor resolver 45, the steered motor resolver 47, and the first and second rotation angles while executing the steering control in the SBW mode. The configuration for determining whether or not the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously based on the detected angles of the sensors 57 and 59 has been described. It is not limited to this example.

  For example, the control device 40 calculates the respective angular velocities based on the time change of the detected angle values of the steering reaction force motor resolver 45, the steered motor resolver 47, and the first and second rotation angle sensors 57 and 59, A configuration may be adopted in which it is determined whether or not the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously based on the calculated angular velocity values. In this case, when the calculated angular velocity values are substantially side by side, a determination is made that the annular internal gear 31a, the planetary carrier 31d, and the sun gear 31c are rotating synchronously. That's fine.

  In the planetary gear mechanism 31 according to the embodiment of the present invention, any two of the three elements of the annular internal gear 31a, the planet carrier 31d, and the sun gear 31c constituting the planetary gear mechanism 31 are synchronously rotated. If so, the remaining one element also has a characteristic of synchronous rotation. Therefore, using this characteristic, for example, when it is determined that the annular internal gear 31a and the planet carrier 31d are rotating synchronously, the annular internal gear 31a, the planet carrier 31d, and the sun gear A configuration in which it is determined that the three elements 31c are rotating synchronously may be employed.

11 Steering device for vehicle 13 Steering wheel (steering member)
15 Steering reaction force generator (steering part)
16 Steering reaction force motor 17 Steering device (steering part)
DESCRIPTION OF SYMBOLS 19 Clutch apparatus 21a, 21b Steering wheel 29 Steering motor 31 Planetary gear mechanism 31a Annular internal gear 31b Planetary gear 31c Sun gear 31d Planetary carrier 33 Locking annular gear 37 Electromagnetic solenoid (switching actuator)
39 Lock pin (lock member)
41 Steering angle sensor (steering angle detector)
45 Steering reaction force motor resolver (steering angle detector)
47 Steering motor resolver (steering angle detector)
49 Rack stroke sensor turning angle detector)
57 1st rotation angle sensor (rotation angle detection part)
59 Second rotation angle sensor (rotation angle detector)
63 Abnormality diagnosis unit 65 Drive control unit (control unit)
V vehicle

Claims (10)

A steering unit having a steering reaction force motor capable of applying a steering reaction force to a steering member operated when turning the steered wheels of the vehicle;
A steering angle detector that detects a steering angle of the steering member;
A steered motor for imparting a steered force to the steered wheels, and a steered portion for steering the steered wheels;
A turning angle detector for detecting a turning angle associated with the steered wheel;
A clutch device having a switching actuator for performing an operation of bringing the steering unit and the steered unit into a mechanically connected state or a disconnected state;
At least, the steering unit, the steering unit, and an abnormality diagnosis unit that performs abnormality diagnosis of the clutch device,
The clutch device is
A planetary gear mechanism having an annular internal gear, a sun gear, and a planetary gear rotatably supported by a planet carrier;
An annular gear for locking provided to interlock with the sun gear,
The annular internal gear is connected to the planet carrier and the sun gear via the planetary gear, and is provided so as to interlock with either the steering unit or the steered unit,
The planetary carrier is connected to the annular internal gear and the sun gear via the planetary gear, and is provided so as to be linked to the other of the steering unit or the steered unit different from the one,
The abnormality diagnosis unit determines whether the annular internal gear, the planet carrier, and the sun gear are synchronously rotated based on the angle detection values of the steering angle detection unit and the turning angle detection unit. Determine, based on the determination result, abnormality diagnosis of the clutch device,
A vehicle steering apparatus characterized by the above. A steering unit having a steering reaction force motor capable of applying a steering reaction force to a steering member operated when turning the steered wheels of the vehicle;
A steering angle detector that detects a steering angle of the steering member;
A steered motor for imparting a steered force to the steered wheels, and a steered portion for steering the steered wheels;
A turning angle detector for detecting a turning angle associated with the steered wheel;
A clutch device having a switching actuator for performing an operation of bringing the steering unit and the steered unit into a mechanically connected state or a disconnected state;
With the clutch device in a disengaged state, the steering motor is driven so that the actual turning angle of the steered wheels follows at least a target turning angle set based on a steering angle of the steering member. A steering control in steer-by-wire mode that drives the steering reaction force motor so as to apply a steering reaction force according to the steering state of the steering unit,
At least, the steering unit, the steering unit, and an abnormality diagnosis unit that performs abnormality diagnosis of the clutch device,
The clutch device is
A planetary gear mechanism having an annular internal gear, a sun gear, and a planetary gear rotatably supported by a planet carrier;
A locking annular gear provided to interlock with the sun gear;
A locking member that is detachably provided in a tooth groove of the locking annular gear and that operates in conjunction with the switching actuator;
The annular internal gear is connected to the planet carrier and the sun gear via the planetary gear, and is provided so as to interlock with either the steering unit or the steered unit,
The planetary carrier is connected to the annular internal gear and the sun gear via the planetary gear, and is provided so as to be linked to the other of the steering unit or the steered unit different from the one,
The abnormality diagnosing unit, while the control unit is performing steering control in the steer-by-wire mode, based on the detected angle values of the steering angle detection unit and the turning angle detection unit, the annular internal gear, It is determined whether or not the planet carrier and the sun gear are rotating synchronously, and based on the determination result, abnormality diagnosis of the clutch device is performed.
A vehicle steering apparatus characterized by the above. The vehicle steering apparatus according to claim 1 or 2,
A rotation angle detector for detecting a rotation angle of the locking annular gear;
Based on the detected angle values of the steering angle detection unit, the turning angle detection unit, and the rotation angle detection unit, the abnormality diagnosis unit includes the annular internal gear, the planet carrier, and the sun gear. It is determined whether or not synchronous rotation, and based on the determination result, abnormality diagnosis of the clutch device is performed.
A vehicle steering apparatus characterized by the above. The vehicle steering apparatus according to any one of claims 1 to 3,
The annular internal gear is connected to the planet carrier and the sun gear via the planetary gear, and is provided so as to be interlocked with the steering unit,
The planetary carrier is connected to the annular internal gear and the sun gear via the planetary gear, and is provided to be interlocked with the steered portion.
A vehicle steering apparatus characterized by the above. The vehicle steering apparatus according to claim 2 ,
The control unit further has a function of performing drive control of the switching actuator,
The abnormality diagnosis unit performs a diagnosis that the clutch device is in an abnormal state when it is determined that the annular internal gear, the planet carrier, and the sun gear are rotating synchronously. And
The control unit performs drive control of the switching actuator so as to prohibit an operation of bringing the clutch device from a disconnected state to a connected state when a diagnosis that the clutch device is in an abnormal state is made.
A vehicle steering apparatus characterized by the above. The vehicle steering device according to claim 5,
When it is determined that the annular internal gear, the planetary carrier, and the sun gear are rotating synchronously, the control unit determines the target turning angle relative to the steering angle related to the steering member. The steering angle ratio, which is a ratio, is reduced as compared to the case where it is determined that the annular internal gear, the planet carrier, and the sun gear are not rotating synchronously,
A vehicle steering apparatus characterized by the above. The vehicle steering device according to claim 5,
The abnormality diagnosis unit, when it is determined that the annular internal gear, the planet carrier, and the sun gear are rotating synchronously, the target turning angle and the actual turning of the steered wheels The greater the deviation between the corners, the less the threshold related to the deviation used when the abnormality diagnosis unit makes a diagnosis that the steering control system is in an abnormal state.
A vehicle steering apparatus characterized by the above. The vehicle steering device according to claim 6,
When it is determined that the annular internal gear, the planetary carrier, and the sun gear are rotating synchronously, the control unit determines the target turning angle relative to the steering angle related to the steering member. A steering angle ratio that is a ratio is set so as to maintain the synchronous rotation of the annular internal gear and the planet carrier. A vehicle steering apparatus according to any one of claims 5 to 7,
The control unit, when it is determined that the annular internal gear, the planetary carrier, and the sun gear are rotating synchronously, at least one of the steering reaction force motor and the steering motor Performing control to reduce one of the driving forces as compared with the case where it is determined that the annular internal gear, the planet carrier, and the sun gear are not rotating synchronously,
A vehicle steering apparatus characterized by the above. A vehicle steering apparatus according to any one of claims 5 to 8,
When it is determined that the annular internal gear, the planet carrier, and the sun gear are synchronously rotated, the control unit stops driving the steering reaction force motor and turns the steering. Control to drive the motor,
A vehicle steering apparatus characterized by the above.

Images