Control device for vehicle
A control device for a vehicle equipped with a steering system including a steering wheel ( 13 ), a rack ( 12 ) for steering the wheels ( 4 ) of the vehicle, and a redundant arrangement for transmitting a displacement of the steering wheel to the rack, wherein upon detecting a failure in the redundant arrangement, the control device sets an upper limit speed to a first value in a first stage, and changes the upper limit speed from the first value to a second value smaller than the first value in a progressive manner in a second stage that follows the first stage.
1 . A control device for a vehicle equipped with a steering system including an operating member configured to be operated by a driver, and a steering member configured to steer wheels according to displacement of the operating member,
wherein upon detecting a failure in the steering system, the control device limits a vehicle speed to a first value, and subsequently limits the vehicle speed to a second value smaller than the first value, the second value maintaining a traveling state of the vehicle.
2 . The control device according to claim 1 , wherein the steering system includes a redundant arrangement, and
the failure in the steering system is a failure in the redundant arrangement.
3 . The control device according to claim 2 , wherein the steering system includes a reaction force generator that applies a reaction force to the operating member, and a steering device that steers the wheels, and
the redundant arrangement is provided in each of the reaction force generator and the steering device, and the failure in the redundant arrangement is detected when a failure is detected in at least one of the reaction force generator and the steering device.
4 . The control device according to claim 1 , wherein the first value is set as a higher of a legal speed limit of a road on which the vehicle is traveling and a current speed of the vehicle when the failure is detected.
5 . The control device according to claim 1 , wherein the vehicle speed is limited based on a deceleration of the vehicle that takes place without the driver operating an accelerator pedal or a brake pedal.
6 . The control device according to claim 1 , wherein in a case where the vehicle is provided with a power generator, and a failure of a power supply system is detected,
the control device progressively limits the vehicle speed when the power generator can adequately power the steering system,
the control device limits the vehicle speed to a safe speed when the power generator cannot adequately power the steering system, and
the control device brings the vehicle to a stop when the power generator is unable to power the steering system.
7 . The control device according to claim 1 , wherein the control device is configured to distinguish a plurality of modes of failure in the steering system, and
when two or more modes of failure are detected simultaneously, the control device limits the vehicle speed to a lowest of speeds associated with the two or more modes of failure.
8 . The control device according to claim 1 , wherein the vehicle is further equipped with a power supply system for supplying electric power to the steering system, the power supply system is provided with a redundant arrangement, and the failure in the steering system includes a failure in the redundant arrangement of the power supply system.
9 . A control device for a vehicle equipped with a steering system including an operating member configured to be operated by a driver, and a steering member configured to steer wheels according to displacement of the operating member,
wherein upon detecting a failure in the steering system, the control device limits a vehicle speed to a first value, and subsequently limits the vehicle speed to a second value smaller than the first value,
wherein the vehicle is controlled normally when a power capacity of a power supply system of the vehicle is equal to or higher than a first level,
the vehicle is controlled with a first speed determined according to the power capacity of the power supply system when the power capacity of the power supply system is lower than the first level, and equal to or higher than a second level which is lower than the first level, and
the vehicle is controlled with a second speed lower than the first speed when the power capacity of the power supply system is lower than the second level.