Electric power steering device
A first motor control measure sends a first command to a second motor control measure in order to conduct drive control of a motor when conducting steering assist control, and assists drive of the motor by conducting drive control of the motor based on a second command sent from the second motor control measure to conduct drive control of the motor when conducting the steering assist control, and the second motor control measure sends the second command to the first motor control measure when conducting autonomous drive assist control, and assists drive of the motor by conducting drive control of the motor based on the first command to conduct the steering assist control.
1 . An electric power steering device comprising:
a vehicle condition sensor that detects vehicle condition of a vehicle, and detects information from outside the vehicle;
an autonomous drive assist controller that generates a steering angle command of a steering of the vehicle based on a detection result of the vehicle condition sensor;
a torque sensor that detects a steering torque of the steering;
a motor that is rotated to obtain the steering angle of the steering;
a first motor controller that conducts steering assist control to assist steering of the motor based on detection results of the torque sensor, and
a second motor controller that conducts autonomous drive assist control that conducts autonomous steering of the steering by drive control of the motor, according to the steering angle command, wherein:
the first motor controller
sends a first command to the second motor controller in order to conduct drive control of the motor when conducting the steering assist control, and
assists drive of the motor by drive control of the motor based on a second command sent from the second motor controller to conduct drive control of the motor when conducting the steering assist control, and
the second motor controller
sends the second command to the first motor controller when conducting the autonomous drive assist control, and
assists drive of the motor by drive control of the motor based on the first command to conduct the steering assist control.
2 . The electric power steering device according to claim 1 , wherein:
the first motor controller calculates a target steering angle which is a target value of a steering angle, and sends the calculated target steering angle as the first command to the second motor controller, when conducting the steering assist control, and
the second motor controller calculates a steering angle torque command based on a variance between the steering angle command and a detected steering angle value, as a target value of a motor torque, and sends the calculated steering angle torque command as the second command to the first motor controller when conducting the autonomous drive assist control.
3 . The electric power steering device according to claim 2 , wherein:
drive control of the motor is continued only by the second motor controller in a case where the first motor controller is not able to conduct drive control of the motor due to an abnormality when conducting the steering assist control, and
drive control of the motor is continued only by the first motor controller when the second motor controller is not able to conduct drive of the motor due to an abnormality when conducting the autonomous drive assist control.
4 . The electric power steering device according to claim 2 , wherein:
the second motor controller stops drive control of the motor in a case where it is not possible to receive the first command from the first motor controller when conducting the steering assist control, and
the first motor controller calculates a torque target value to obtain the steering angle based on a variance between the steering angle command output from the autonomous drive assist controller and a detected rotation angle of the motor, and conducts drive control of the motor based on the calculated torque target value, in a case where it is not possible to receive the second command from the second motor controller when conducting the autonomous drive assist control.
5 . The electric power steering device according to claim 1 , wherein:
the first motor controller sends a first variance which is a variance between a rotation angle of the motor made to be a target and a detected rotation angle of the motor, as the first command to the second motor controller when conducting the steering assist control, and
the second motor controller
converts the steering angle command to a rotation angle of the motor,
drives the motor based on a second variance which is a variance between the converted rotation angle of the motor and a detected rotation angle of the motor, while calculating a steering angle torque command which is a target value of a torque to obtain the steering angle based on the second variance, and
sends the steering angle torque command to the first motor controller as the second command when conducting the autonomous drive assist control.
6 . The electric power steering device according to claim 5 , wherein:
drive control of the motor is continued only by the second motor controller in a case where the first motor controller is not able to conduct drive control of the motor due to an abnormality when conducting the steering assist control, and
drive control of the motor is continued only by the first motor controller when the second motor controller is not able to conduct drive of the motor due to an abnormality when conducting the autonomous drive assist control.
7 . The electric power steering device according to claim 5 , wherein:
the second motor controller stops drive control of the motor in a case where it is not possible to receive the first command from the first motor controller when conducting the steering assist control, and
the first motor controller calculates a torque target value to obtain the steering angle based on a variance between the steering angle command output from the autonomous drive assist controller and a detected rotation angle of the motor, and conducts drive control of the motor based on the calculated torque target value, in a case where it is not possible to receive the second command from the second motor controller when conducting the autonomous drive assist control.
8 . The electric power steering device according to claim 1 , wherein:
the first motor controller calculates a first target voltage which is a voltage target value to drive the motor, and sends the calculated first target voltage as the first command to the second motor controller when conducting the steering assist control, and
the second motor controller calculates a second voltage target value which is a target voltage to drive the motor, and sends the calculated second target voltage as the second command to the first motor controller when conducting the autonomous drive assist control.
9 . The electric power steering device according to claim 8 , wherein:
drive control of the motor is continued only by the second motor controller in a case where the first motor controller is not able to conduct drive control of the motor due to an abnormality when conducting the steering assist control, and
drive control of the motor is continued only by the first motor controller when the second motor controller is not able to conduct drive of the motor due to an abnormality when conducting the autonomous drive assist control.
10 . The electric power steering device according to claim 8 , wherein:
the second motor controller stops drive control of the motor in a case where it is not possible to receive the first command from the first motor controller when conducting the steering assist control, and
the first motor controller calculates a torque target value to obtain the steering angle based on a variance between the steering angle command output from the autonomous drive assist controller and a detected rotation angle of the motor, and conducts drive control of the motor based on the calculated torque target value, in a case where it is not possible to receive the second command from the second motor controller when conducting the autonomous drive assist control.
11 . The electric power steering device according to claim 1 , wherein:
drive control of the motor is continued only by the second motor controller in a case where the first motor controller is not able to conduct drive control of the motor due to an abnormality when conducting the steering assist control, and
drive control of the motor is continued only by the first motor controller when the second motor controller is not able to conduct drive of the motor due to an abnormality when conducting the autonomous drive assist control.
12 . The electric power steering device according to claim 1 , wherein:
the second motor controller stops drive control of the motor in a case where it is not possible to receive the first command from the first motor controller when conducting the steering assist control, and
the first motor controller calculates a torque target value to obtain the steering angle based on a variance between the steering angle command output from the autonomous drive assist controller and a detected rotation angle of the motor, and conducts drive control of the motor based on the calculated torque target value, in a case where it is not possible to receive the second command from the second motor controller when conducting the autonomous drive assist control.