Abnormality judgment device and vehicle controller
According to an aspect of the present invention, there is provided an abnormality judgment device including: a change amount calculator configured to calculate a change amount between currently-obtained and previously-obtained steering angles; a storage section configured to store a threshold value; a reference setting section configured to set a reference steering angle; an incrementing section configured to continue gradually incrementing the threshold value after the change amount exceeds the threshold value, for a judgment time; a deviation comparator configured to compare an absolute deviation between the currently-obtained steering angle and the reference steering angle with the threshold value, and to count a counter when the absolute deviation exceeds the threshold value; and a judgment section configured to judge that the steering angle sensor is abnormal when the counter reaches a predetermined value.
1. An abnormality judgment device having a first diagnosing section configured to perform a first diagnosis for judging whether a steering angle sensor is normal, the first diagnosing section periodically obtaining a steering angle from the steering angle sensor,
the first diagnosing section comprising:
a first change amount calculator configured to calculate an absolute difference between a currently-obtained steering angle and a previously-obtained steering angle, as a change amount;
a first storage section configured to store a maximum value of the change amount which is calculable by the first change amount calculator when the steering angle sensor is normal, as a normal threshold value;
a reference setting section configured to set the previously-obtained steering angle as a reference steering angle when the change amount exceeds the normal threshold value;
an incrementing section configured to continue gradually incrementing the normal threshold value after the change amount exceeds the normal threshold value, for a first judgment time;
a deviation comparator configured to compare an absolute deviation between the currently-obtained steering angle and the reference steering angle with the gradually-incremented normal threshold value, and to count a first counter when the absolute deviation exceeds the normal threshold value, for the first judgment time; and
a first judgment section configured to judge that the steering angle sensor is abnormal when the first counter reaches a predetermined value within the first judgment time.
2. The abnormality judgment device of claim 1 ,
wherein the incrementing section continues adding a constant value to the normal threshold value each time the deviation comparator performs a comparison so that the normal threshold value becomes proportional to the number of comparisons.
3. The abnormality judgment device of claim 1 ,
wherein, after a passage of the first judgment time, the first judgment section judges whether the change amount is kept below the normal threshold value for a first preparatory judgment time, and resets the first counter when the change amount is kept below the normal threshold value for the first preparatory judgment time.
4. The abnormality judgment device of claim 1 , further having a second diagnosing section configured to perform a second diagnosis for judging whether the steering angle sensor is normal, the second diagnosing section periodically obtaining the steering angle from the steering angle sensor,
the second diagnosing section comprising:
a second change amount calculator configured to calculate the absolute difference between the currently-obtained steering angle and the previously-obtained steering angle, as the change amount;
a second storage section configured to store a maximum value of the change amount which is calculable by the second change amount calculator when the steering angle sensor is normal, as the normal threshold value;
a change amount comparator configured to compare the change amount with the normal threshold value, and to count a second counter when the change amount exceeds the normal threshold value; and
a second judgment section configured
to judge whether the second counter reaches a second predetermined value each time the change amount exceeds the normal threshold value,
to judge that the steering angle sensor is abnormal when the second counter reaches the second predetermined value, and
to reset the second counter when a second judgment time has passed while the second counter is kept below the second predetermined value after the second counter is last counted.
5. A vehicle controller comprising:
the abnormality judgment device of claim 1 .
6. An abnormality judgment device having a second diagnosing section configured to perform a second diagnosis for judging whether a steering angle sensor is normal, the second diagnosing section periodically obtaining a steering angle from the steering angle sensor,
the second diagnosing section comprising:
a second change amount calculator configured to calculate an absolute difference between a currently-obtained steering angle and a previously-obtained steering angle, as a change amount;
a second storage section configured to store a maximum value of the change amount which is calculable by the second change amount calculator when the steering angle sensor is normal, as a normal threshold value;
a change amount comparator configured to compare the change amount with the normal threshold value, and to count a second counter when the change amount exceeds the normal threshold value; and
a second judgment section configured
to judge whether the second counter reaches a predetermined value each time the change amount exceeds the normal threshold value,
to judge that the steering angle sensor is abnormal when the second counter reaches the predetermined value, and
to reset the second counter when a second judgment time has passed while the second counter is kept below the predetermined value after the second counter is last counted.