Steering control system and steering control method
A steering control system that controls a steering device of a vehicle includes a storage unit, and a control unit configured to make a state transition to a normal control state via a start-up state after a power source system of the vehicle is started. In the start-up state, the control unit executes a correction information storing process of acquiring correction element information using a state variable obtained from the steering device and writing correction information obtained based on the correction element information into the storage unit. In the start-up state, the control unit is configured to execute an abnormal condition determination process of determining whether an abnormal condition indicating that the correction information is abnormal is met. The correction information storing process is re-executed when the abnormal condition is met. The abnormal condition determination process is executed at least either before or after the correction information storing process.
1. A steering control system that controls a steering device of a vehicle, the steering device having a structure in which a power transmission path between a steering unit having an operation member and a turning unit configured to turn turning wheels is cut off,
the steering control system comprising:
a storage unit that stores information relating to control of the steering device; and
a control unit configured to make a state transition to a normal control state via a start-up state after a power source system of the vehicle is started, wherein:
the start-up state is a state where the control unit executes a correction information storing process of acquiring correction element information using a state variable obtained from the steering device and further writing correction information obtained based on the acquired correction element information into the storage unit,
the normal control state is a state where the control unit executes a normal process of controlling the steering device using a control variable that is obtained by correcting the state variable based on the correction information,
the control unit is configured to execute, in the start-up state, an abnormal condition determination process of determining whether an abnormal condition indicating that the correction information having been written into the storage unit through the correction information storing process is abnormal is met,
the correction information storing process is a process that is re-executed when the abnormal condition is met, and
the abnormal condition determination process is a process that is executed at least either before or after the correction information storing process.
2. The steering control system according to claim 1 , wherein:
the control unit is configured to execute, in the start-up state, an abnormality information storing process of writing abnormal condition information into the storage unit when writing of the correction information into the storage unit has failed to be completed; and
the abnormal condition determination process is a process that is executed before the correction information storing process, and includes a process of determining that the abnormal condition is met when the abnormal condition information has been written in the storage unit.
3. The steering control system according to claim 2 , wherein:
the control unit is configured to execute, in the start-up state, a battery replacement condition determination process of determining whether a battery replacement condition indicating a state after a battery belonging to the power source system of the vehicle has been removed and replaced is met;
the correction information storing process is a process that is executed when the battery replacement condition is met and that is not executed when the battery replacement condition is not met; and
the abnormal condition determination process is a process that is executed before the battery replacement condition determination process.
4. The steering control system according to claim 1 , wherein:
the steering device includes a sensor that detects an actually measured value corresponding to the control variable obtained by correction based on the correction information; and
the abnormal condition determination process is a process that is executed after the correction information storing process, and includes a process of determining whether the abnormal condition is met based on a result of comparing the control variable obtained by correction based on the correction information and the actually measured value obtained from the sensor.
5. The steering control system according to claim 1 , wherein:
the correction information includes steering-side correction information and turning-side correction information, the steering-side correction information being information for correcting a control variable for steering that is used when controlling the steering unit, the turning-side correction information being information for correcting a control variable for turning that is used when controlling the turning unit;
the correction information storing process includes a steering-side correction information storing process and a turning-side correction information storing process, the steering-side correction information storing process being a process of acquiring steering-side correction element information using a state variable obtained from the steering unit and further writing the steering-side correction information obtained based on the acquired steering-side correction element information into the storage unit, the turning-side correction information storing process being a process of acquiring turning-side correction element information using a state variable obtained from the turning unit and further writing the turning-side correction information obtained based on the acquired turning-side correction element information into the storage unit; and
the abnormal condition determination process includes a process of determining whether an abnormal condition indicating that the steering-side correction information having been written into the storage unit through the steering-side correction information storing process is abnormal is met, and a process of determining whether an abnormal condition indicating that the turning-side correction information having been written into the storage unit through the turning-side correction information storing process is abnormal is met.
6. A steering control method for controlling a steering device of a vehicle, the steering device having a structure in which a power transmission path between a steering unit having an operation member and a turning unit configured to turn turning wheels is cut off,
the steering control method comprising:
storing information relating to control of the steering device; and
making a state transition to a normal control state via a start-up state after a power source system of the vehicle is started, wherein:
the start-up state is a state where a correction information storing process is executed, the correction information storing process acquires correction element information using a state variable obtained from the steering device and further stores correction information obtained based on the acquired correction element information,
the normal control state is a state where a normal process is executed, the normal process controls the steering device using a control variable that is obtained by correcting the state variable based on the correction information,
the method includes executing, in the start-up state, an abnormal condition determination process of determining whether an abnormal condition indicating that the correction information having been stored through the correction information storing process is abnormal is met,
the correction information storing process is a process that is re-executed when the abnormal condition is met, and
the abnormal condition determination process is a process that is executed at least either before or after the correction information storing process.