Steer-by-wire system
A steer-by-wire system includes a steering reaction torque generation device mechanically separated from a turning device for turning wheels and configured to apply a reaction torque to a steering wheel. The steering reaction torque generation device has a duplex configuration including a first system and a second system, each system including a reaction torque motor. When both systems are normal, a control device generates the reaction torque having a normal characteristic by controlling an operation of the reaction torque motor of at least one system. In a case of single failure where one of the systems fails, the control device generates the reaction torque having a first characteristic by controlling an operation of the reaction torque motor of another of the systems. The reaction torque having the first characteristic is different from the reaction torque having the normal characteristic with respect to a same steering angle.
1. A steer-by-wire system mounted on a vehicle, comprising: a turning device configured to turn a wheel of the vehicle;
a steering reaction torque generation device mechanically separated from the turning device and configured to apply a reaction torque to a steering wheel; and
a control device configured to control the reaction torque by controlling an operation of the steering reaction torque generation device in response to an operation of the steering wheel, wherein:
the steering reaction torque generation device has a duplex configuration including a first system and a second system, each of the first system and the second system comprising a reaction torque motor;
in a case where both the first system and the second system are normal, the control device generates the reaction torque according to a normal characteristic where a relationship between a steering angle and the reaction torque is represented by a normal curve, by controlling an operation of the reaction torque motor of at least one of the first system and the second system based on the normal characteristic; and
in a case of single failure where one of the first system and the second system fails, the control device generates the reaction torque according to a first characteristic where the relationship between the steering angle and the reaction torque is represented by a first curve different from the normal curve, by controlling an operation of the reaction torque motor of a system that is not failed based on the first characteristic.
2. The steer-by-wire system according to claim 1 , wherein
each of the normal characteristic and the first characteristic has a tendency that the reaction torque increases as the steering angle increases.
3. The steer-by-wire system according to claim 1 , wherein
a second characteristic is a characteristic of the reaction torque in a case of double failure where both the first system and the second system fail, and
the first characteristic is an intermediate characteristic between the normal characteristic and the second characteristic.
4. The steer-by-wire system according to claim 1 , wherein
the reaction torque having the first characteristic is smaller than the reaction torque having the normal characteristic with respect to a same steering angle.
5. The steer-by-wire system according to claim 1 , wherein
the reaction torque having the first characteristic is larger than the reaction torque having the normal characteristic with respect to a same steering angle.
6. The steer-by-wire system according to claim 1 , wherein:
when controlling the operation of the reaction torque motor to generate the reaction torque, the control device performs torque ripple suppression control to suppress torque ripple; and
the control device sets a control gain of the torque ripple suppression control in the case of the single failure to be lower than in the case where both the first system and the second system are normal.
7. The steer-by-wire system according to claim 1 , wherein
the control device changes a characteristic of the reaction torque from the normal characteristic to the first characteristic in a period when a driver of the vehicle does not operate the steering wheel after the single failure occurs.
8. The steer-by-wire system according to claim 1 , wherein:
a second characteristic is a characteristic of the reaction torque in a case of double failure where both the first system and the second system fail;
a first steering angle range is a range of the steering angle from 0 to a predetermined value;
a second steering angle range is a range of the steering angle larger than the predetermined value;
the reaction torque having the first characteristic in the first steering angle range is larger than the reaction torque having the normal characteristic with respect to a same steering angle and smaller than the reaction torque having the second characteristic with respect to a same steering angle; and
the reaction torque having the first characteristic in the second steering angle range is smaller than the reaction torque having the normal characteristic with respect to a same steering angle and larger than the reaction torque having the second characteristic with respect to a same steering angle.
9. The steer-by-wire system according to claim 8 , wherein
when the single failure occurs, the control device increases or decreases responsiveness of current control of the reaction torque motor.