Automatic driving support apparatus

Patent metadata

Field	Value
Publication number	US-12497097-B2
Application number	US-202118287350-A
Country	US
Kind code	B2
Filing date	Jun 28, 2021
Priority date	Jun 28, 2021
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

To provide an automatic driving support apparatus which can continue the automatic steering, when the abnormality of the control system of the motor for steering is detected. An automatic driving support apparatus including: an automatic steering control unit that calculates a steering angle command value of a steering apparatus of the ego vehicle based on the detected traveling state and the detected peripheral state; a motor for steering; a motor drive circuit; a steering angle control unit that calculates a motor output command value based on a steering angle command value and a steering angle detection value; a motor control unit that generates driving signals of the motor drive circuit based on the motor output command value; and an abnormality detection unit, wherein the motor control unit generates driving signals at abnormal time according to a content of abnormality related to the motor for steering.

First claim

What is claimed is:

1 . An automatic driving support apparatus comprising:
an automatic steering controller that detects a traveling state of an ego vehicle and a peripheral state of the ego vehicle, and calculates a steering angle command value of a steering apparatus of the ego vehicle based on the detected traveling state and the detected peripheral state; a motor for steering that drives the steering apparatus; a motor drive circuit that is provided with switching devices, and turns on and off power supplied to the motor for steering; a steering angle controller that calculates a motor output command value related to an output torque of the motor for steering, based on the steering angle command value and a steering angle detection value; a motor controller that generates driving signals which make the switching devices of the motor drive circuit turn on and off, based on the motor output command value; and an abnormality detector that, for an abnormality related to the motor for steering which is an abnormality occurred in a control system of the motor for steering, detects a corresponding kind of the abnormality related to the motor for steering among preliminarily set plural kinds of the abnormalities related to the motor for steering, wherein the motor controller generates driving signals at abnormal time according to the detected kind of the abnormality related to the motor for steering, based on the motor output command value, when the abnormality related to the motor for steering is detected.

2 . The automatic driving support apparatus according to claim 1 , further comprising:
a steering method determiner that determines whether an automatic steering is performed by the automatic steering controller and the steering angle controller or a steering assist of driver is performed, based on a detection value of a steering torque of handle by driver; and a steering assist controller that calculates the motor output command value, based on the detection value of the steering torque, instead of the automatic steering controller and the steering angle controller, when the steering assist is determined to be performed, wherein the abnormality detector detects an abnormality of a torque sensor which detects the steering torque, and wherein the steering method determiner or the steering assist controller estimates the steering torque, based on an angle deviation between the steering angle detection value detected by a steering angle sensor, and a steering angle estimation value estimated by integrating a rotational angle of the motor for steering.

3 . The automatic driving support apparatus according to claim 1 ,
wherein the motor for steering is an AC motor which is provided with armature windings of three phases or more, wherein the motor drive circuit is provided with the switching devices which turn on and off a voltage application to the armature winding of each phase, wherein the abnormality detector detects a circuit abnormality of any one phase as the abnormality related to the motor for steering, wherein, when the circuit abnormality of any one phase is detected, the motor controller generates the driving signals which make the switching devices of normal remaining plural phases turn on and off, based on the motor output command value, wherein, when the circuit abnormality of any one phase is detected, the steering angle controller corrects the steering angle command value so as to avoid a torque reduction steering angle which is a steering angle corresponding to a rotational angle of the motor for steering where the output torque is reduced, corresponding to one phase that the circuit abnormality occurred, and calculates a motor output command value at abnormal time, based on a steering angle command value after correction, and the steering angle detection value.

4 . The automatic driving support apparatus according to claim 3 ,
wherein the steering angle controller changes the torque reduction steering angle, based on a kind of circuit abnormality which is an open circuit abnormality or a short circuit abnormality, and an abnormal phase.

5 . The automatic driving support apparatus according to claim 1 ,
wherein the abnormality detector detects an abnormality of a current sensor which detects a current supplied to the motor for steering as the abnormality related to the motor for steering, wherein the motor controller generates the driving signals based on the motor output command value and a current detection value detected by the current sensor, when the abnormality of the current sensor is not detected; and generates the driving signals based on the motor output command value without using the current detection value, when the abnormality of the current sensor is detected.

6 . The automatic driving support apparatus according to claim 1 ,
wherein the abnormality detector detects an abnormality of a rotation angle sensor which detects a rotational angle of the motor for steering as the abnormality related to the motor for steering, wherein the motor controller generates the driving signals based on the rotational angle of the motor for steering detected by the rotation angle sensor, when the abnormality of the rotation angle sensor is not detected; and estimates a rotational angle of the motor for steering based on a current which flows into the motor for steering, and generates the driving signals based on a rotational angle estimation value of the motor for steering, when the abnormality of the rotation angle sensor is detected, wherein the steering angle controller detects a steering angle based on an integration value of the rotational angle of the motor for steering detected by the rotation angle sensor, when the abnormality of the rotation angle sensor is not detected; and detects a steering angle based on an integration value of the rotational angle estimation value of the motor for steering estimated by the motor controller, or estimates a steering angle based on the detected traveling state, when the abnormality of the rotation angle sensor is detected.

7 . The automatic driving support apparatus according to claim 1 ,
wherein the abnormality detector detects a detection abnormality of the steering angle detection value, wherein the steering angle controller calculates the motor output command value based on the steering angle command value and the steering angle detection value, when the detection abnormality of the steering angle detection value is not detected, wherein the automatic steering controller calculates the motor output command value based on the detected peripheral state detected by a periphery monitoring apparatus monitoring the periphery of the ego vehicle, without using the steering angle detection value, instead of the steering angle controller, when the detection abnormality of the steering angle detection value is detected.

8 . The automatic driving support apparatus according to claim 7 ,
wherein, when the detection abnormality of the steering angle detection value is detected, the automatic steering controller detects a lateral direction position of the ego vehicle with respect to a traveling lane, based on the detected peripheral state, and calculates the motor output command value, based on a target lateral direction, and the detected lateral direction position.

9 . The automatic driving support apparatus according to claim 1 ,
wherein the abnormality detector detects an abnormality of a steering angle sensor which detects a steering angle, wherein the steering angle controller detects the steering angle detection value by the steering angle sensor, when the abnormality of the steering angle sensor is not detected, and detects the ste

Assignees

• Mitsubishi Electric Corp

Inventors

• Fujimoto Chiaki
• Kitagawa Jun
• ORII Masahiko
• Kezobo Isao

Classifications

• B62D15/0235

  by measuring or deriving directly at the electric power steering motor · CPC title

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• B62D5/0493

  detecting processor errors, e.g. plausibility of steering direction · CPC title

• B62D5/049

  detecting sensor failures · CPC title

• B62D5/0487

  detecting motor faults (B62D5/0496 takes precedence) · CPC title