| 摘要 |
PURPOSE:To simplify a steering device in structure by installing a first central processing unit, which inputs all data from each sensor, and a second central processing unit which inputs indispensable minimum data for performing a diagnosis of the first CPU, respectively, and making a trouble diagnosis by comparing each fail-safe signal of these central processing units. CONSTITUTION:In this steering device, there are provided with a central processing unit 1 for control use and another central processing unit 2 for diagnosing this CPU 1, and each desired steering angle of rear wheels is operated on the basis of each output of wheel speed sensors 3, 4 for both front and rear wheels and steering angle sensors 5, 6 at the CPU 1, thereby outputting a control signal consisting of a directional signal and a PWM output signal. In addition, only this directional signal is outputted to the diagnosing CPU 2, while at time of trouble discrimination, a trouble signal is outputted to one side input terminal of a NAND circuit 7. The CPU 2 diagnoses the CPU 1 from the directional signal out of the CPU 1 and each output of those of wheel speed sensor 3 and steering angle sensors 5, 6 for front-wheel use, and the diagnosed result is inputted into the other side input terminal of the NAND circuit 7, outputting a fail-safe signal from the NAND circuit 7. |
