| abstract |
(57) [Abstract] [Purpose] To provide a fail-safe device for a controller, which eliminates the fear of erroneous fail determination due to accumulation of errors due to integration calculation and can perform more accurate failure determination. [Structure] First CPU 4 as main and second C as sub The same input signals θ, V and δ R are given to the PU 5 to perform the same control calculation, and the actuator 7 is driven by the output i 1 of the first CPU 4. Further, the error e i between the output i 1 of the first CPU 4 and the output i 2 of the second CPU 5 is obtained by the subtractor 8, and the failure judgment device 9 makes a fail judgment depending on whether the error e i is within a predetermined allowable level. To do. And the first C PU4 rear wheel steering angle servo calculation unit 4-5 to the second CPU5 The integral calculation variable is sent to the rear wheel steering angle servo calculation unit 5-5, By setting it as the integral calculation variable in the second CPU 5, it is possible to avoid the divergence of the integrator due to the error in the input data of each CPU, which enables more accurate failure determination. |