JPH05187277A - Controller for car - Google Patents

Abstract

PURPOSE: To provide a control apparatus for a vehicle that has operation safety as much as possible and operability as much as possible. CONSTITUTION: Measuring device 24, 26, 52, 54 for detecting operation parameters of an engine or a vehicle and variable quantities of operator intentions, and a control unit for practicing at least one of control functions based upon the operation parameters and the operator intentions 30. At least two of the measuring devices are arranged, and these measuring devices detect the variables in at least partially mutually predetermined relationship, or at least partially mutually become long to mutually monitor the measuring devices. While there are defects in these measuring devices or a control device, the change speed of an output setting element 58 is restrained by restraining practice of the operator's intention.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device, and more particularly to a vehicle control device having a measuring device for detecting a variable amount of engine and / or vehicle operating parameters and driver's intention. Regarding

[0002]

2. Description of the Prior Art Generally, a vehicle control system includes a measuring system for detecting operating parameters of an engine and / or a vehicle, and at least one control system based on the detected operating parameters.
It has a control unit which performs one control function and acts on at least one operating parameter of the engine and / or the vehicle. In order to monitor the control device or the measuring device, one or more operating parameters which are detected by the at least two measuring devices and are at least partly in a predetermined relationship with one another or at least partly redundant with one another are evaluated. To be done.

Such processing is performed by, for example, the DE-OS 35.
It is known from 10173 (US-A 4603675). In this publication, the member that sets the output of the vehicle is the value that is set by the driver through the operating member using the position controller that controls the operating parameter, that is, the throttle valve position or the position of the injection pump, that is, the driver. It is closed-loop controlled according to the intent. For safety reasons, at least partially redundant two measuring devices or sensors are provided to detect the position of this operating member. In that case, the control devices are monitored by comparing them with one another on the basis of the measuring signals of the measuring device in order to improve the driving safety. In case of a defect, the display device is activated.

In the electronic accelerator pedal device having the redundantly formed measuring device, as is clear from WO-A90 / 07054, when there is a defect, the redundant measuring device is switched to the second measuring device to limit the output in the entire operating range. The control function is allowed to continue. In that case, the control function is normally performed based on the measurement signal of the first measuring device.

From DE-OS 3145732, it is known to compare a measuring signal with an auxiliary signal in order to monitor a measuring device of an engine and / or of a control device of a motor vehicle which detects operating parameters of the motor vehicle. The auxiliary signal is detected by the second measuring device, and the detected operating parameter has a predetermined relationship with the operating parameter detected by the first measuring device. If a defect of the first measuring device is detected, the output is limited in the entire operating range and the emergency traveling operation is introduced based on the output signal of the second measuring device.

This method shows that the running characteristics and operability of the automobile are unnecessarily limited by limiting the output of the engine by the emergency traveling means that is usually performed at the time of a defect. The operability of a car cannot be expected very much.

[0007]

SUMMARY OF THE INVENTION The object of the present invention is therefore to provide a vehicle control system which provides the greatest possible driving safety and the greatest possible operability.

[0008]

SUMMARY OF THE INVENTION According to the invention, this problem is at least measured according to the operating parameters of the engine and / or the vehicle, as well as a measuring device for detecting variable quantities such as the operating parameters of the engine and the driver. 1
One variable, especially at least 1 based on the driver's intent
A control unit which performs one control function and acts on at least one operating parameter, said at least two measuring devices being provided, said measuring devices being at least partly in a predetermined relationship with each other. A vehicle control system for detecting a variable quantity or at least partially redundant with each other, further comprising monitoring means for monitoring the controller according to the variable quantity detected by said at least two measuring devices. This is solved by a configuration in which the rate of change of operating parameters is limited by limiting the execution of the person's intention.

[0009]

According to the present invention, when the control device fails,
Maximum operability can be ensured in consideration of the required safety.

In particular, according to the present invention, when the sensor information is missing, if the information having the same meaning and / or the alternative information exists, the operability of the vehicle can be ensured without being restricted so much. Emergency driving becomes possible.

A particularly preferred advantage is obtained in an electronic accelerator pedal system in which the position information of the actuating member and / or the power setting member which determines the control function is detected by two measuring devices which are at least partially redundant. If any of these measuring devices fails, the driver's intent detected by the other measuring device is limited to increasing output but not decreasing output, Or another limited value.

To effectively limit the changing speed, the changing speed of the target value, the manipulated variable or the control deviation for the closed loop control of the member for setting the output is controlled correspondingly, or the closed loop is controlled. The controller itself (control parameters, control formula, etc.) is changed.

The idea of the invention is preferably implemented by limiting the acceleration of the vehicle itself.

An undesired increase in speed if the second measuring device also fails can be dealt with by introducing a control function corresponding to the idling operation of the engine during braking. In that case, the target value is set to the idling value.

Another advantage is obtained when the limiting amount of the changing speed is determined according to the operating parameters of the engine or the vehicle. In this case, the operating parameters are particularly suitable for the rotational speed, gear position, rotational torque and the like.

By relating the changing speed to the rotating speed, when the rotating speed becomes low, for example, near a pedestrian crossing, and a large torque change of the engine becomes large, the changing speed can be made small while the rotating speed is large. In this case, the advantage that the control device can respond at high speed is obtained. Furthermore, the changing speed can be related to the traveling speed.

When the gear position is taken into consideration in this regard, a more preferable effect can be obtained.

Other advantages will be apparent from the following description of an embodiment and the dependent claims.

[0019]

The present invention will be described in detail below with reference to the embodiments shown in the drawings.

FIG. 1 shows a control device 10 having an arithmetic unit 12, a memory unit 14 and an input / output unit 16.
These three parts are connected to one another via a conductor or bus system 18, which ensures a data exchange between the individual areas of the control device 10.

The control unit 10 and the input / output unit 16 are provided with the following inputs. The position of the operation member (accelerator pedal) 30 that can be operated by the driver, that is, the information about the driver's intention is the first position sensor 24 and the second position sensor connected to the operation member 30 via the connection line 28. 26 to the input / output unit 16 via the first input line 20 and the second input line 22. The measuring device 34, which is connected to the brake pedal 38 of the motor vehicle, is connected to the input / output unit 16 via the third input line 32, whereby information regarding the operating state of the brake is input. Other input line 40 ~
42 connects measuring devices 44 to 46 for detecting the operating parameters of the engine or the automobile to the input / output unit 16. The input / output unit 16 is connected to the other two position sensors 52 and 54 by the two input lines 48 and 50. These sensors are connected via a conductor 56 to a member 58 for setting the output of the engine (not shown).

For the purpose of control, the input / output unit 16 is connected via the output line 60 to the member 58 for setting the output, while the input / output unit 16 is connected via the other output lines 62-64 to the other. It is connected to other mechanisms 66-68 that perform control functions.

The measuring devices 24 and 26 for detecting the position of the actuating member are at least partially redundant to each other. This means that both measuring devices generate a value indicating the position of the operating member. In a specific example, the two may be the same measuring device, or may be measuring devices that detect numerical regions at different positions. In that case, the numerical areas are made to overlap in advance. Furthermore, one measuring device can be formed as a switching element, the other measuring device then continuously detecting the position of the operating member. In that case, the measuring devices 24 and 26 can, for example, also be configured as potentiometers and / or non-contact position sensors. This description likewise applies to the measuring devices 52 and 54 of the member 58 for setting the output.

The operation of the brake pedal by the driver is detected by the measuring device 34. The measuring device is a brake lamp switch, which is well known to those skilled in the art, or a position sensor which indicates the position of the brake pedal.

Input lines 40-42 from measuring devices 44-46
The operating parameters of the engine or of the motor vehicle supplied via the are known to the person skilled in the art in connection with the electronic accelerator pedal arrangement described above. That is, the operating parameters are, for example, the number of revolutions, the engine temperature, the vehicle speed, the battery voltage, the ASR-
MSR operation signal, gear position, etc.

The member for setting the output, which is indicated by reference numeral 58, is an electronically actuated throttle valve or an electrically adjusted injection pump. The other mechanisms 66 to 68 are devices that perform, for example, fuel supply, ignition timing adjustment, transmission control, and defect display.

The control device 10 schematically illustrated in FIG. 1 is illustrated as an electronic accelerator pedal device. However, the invention described below is not limited to the use of such a device, but can be used for all control devices supplied with at least two measuring signals containing the same information. In that case, in particular, an auxiliary rotation speed signal, a partially redundant vehicle speed signal, etc. may be considered.

In this regard, it should be noted that the present invention can also be used in connection with, for example, an electric motor.

Next, the operation of the apparatus shown in FIG. 1 will be described.
For example, based on the position signal supplied via the input line 20, a setpoint value for the position of the member 58 which sets the output according to the operating parameters supplied via the input lines 40 to 42 is formed. This setpoint value is compared with the value of the position of the member 58, which is detected by the measuring device 52 and which is supplied via the conductor 50 for determining the position, and the manipulated variable is formed according to a known control formula. By this manipulated variable, the member 58 for setting the output is adjusted via the lead wire 60, and the actual value is adjusted to the target value.

In this case, the at least partially redundant position signals provided by the measuring devices 26 to 54 via the conductors 22 to 50 are used in this embodiment to monitor the measuring devices or position signals which carry out the control functions described above. Used for.

In another embodiment, the measuring devices 24 and 26-52 are used to detect the target or actual value.
And the minimum or average value of the position signals generated from 54 is determined. In each case, one signal is used for monitoring.

The electronic accelerator pedal system is, as is well known, of safety importance, so that in the event of a defect, in particular of the measuring device forming the target value, fuel can be unintentionally delivered. Therefore, it is important to monitor the measuring device. In that case, the position signals of the measuring devices 24 and 26 or 52 and 54 are compared with each other and with each other for their validity. If these values are not valid for each other, it is concluded that the condition is defective and is displayed, for example, via one of the mechanisms 66 to 68, and the emergency traveling operation described later is started. Such a validity checking means is the DE-OS3510 mentioned at the beginning.
173 (US-PS 4603675).

If a defect condition is detected, the control device initiates an electronic emergency drive. In that case, the defect monitoring between the measuring devices is switched off, and in the preferred embodiment the control function is performed only according to the measuring device provided for monitoring or its position signal.

In that case, the driver's intent detected by these individual measuring devices is limited at least in the direction of increasing the power and is preferably accepted unrestricted in the direction of decreasing the power. This means that when the driver steps on the accelerator, the member that sets the output does not follow the driver's intention so fast, but only at a limited change speed. In that case, the rising speed of the member for setting the output can be limited by various methods. That is, by controlling the variation of the setpoint value of the member which sets the output produced according to the individual measuring device, or by limiting the rate of change of the manipulated variable produced, or in such a way that a slow compensation is performed. This is done by adjusting the control equation (control parameter) via the control element or by limiting the rate of change of the control deviation. In the embodiment, it is proved effective to limit or control the changing speed of the target value.

Alternatively, the acceleration of the vehicle is limited to limit the rate of change.

In the event of a failure of the measuring device which produces the signal forming the setpoint value, ie in the case of an unintentional acceleration of the motor vehicle, limiting the rate of climb allows the driver to stay within a predetermined reaction time. Since the brake can be depressed with, the member for setting the output is moved in the direction of decreasing the output (idling output). If the brake is then released again, and if the sensor has failed, the speed will increase at a limited rate of increase.

Further, the change speed is limited by the input line 40-
According to the operating parameters supplied via 42. In that case, in particular, there are those that depend on the engine speed and those that depend on the gear position. By limiting the change speed according to the rotation speed, the change speed is small when the rotation speed is low, that is, when the engine can output a large torque in the low load region, and the change speed is remarkable in the high load state. Is not, or is not, restricted to. Similarly, it is also effective to limit the changing speed directly according to the rotating torque.

The above method is shown as a flow chart of a program executed by the arithmetic unit 12 with reference to FIGS. 2 and 3. Note that FIG. 2 shows a normal program process.

After the program is started, operation parameters and position signals to be read in step 100 are read. Monitoring of the measuring device described above is performed in step 102. Then, in decision step 104, it is checked in step 102 if a defect is detected in the area of the measuring device by comparing with each other whether the measured signal value of the measuring device is within a predetermined tolerance range.

In the negative, in step 106, the target value (αs) of the position of the member for which the output is set is calculated based on the measured position value, and the target value and the member for which the output is set are measured. Determine the control deviation from the value at the specified position.
Thereafter, in step 108, the manipulated variable for controlling the actual value to the target value is obtained according to a known control formula, and step 1
In 10, the calculated operation amount is output to the member that sets the output. After that, the program processing from step 100 is repeated. However, in step 104, if a defect is detected in the area of the measuring device or its lead, the process of FIG. 3 is performed.

In the first step 112 of FIG. 3, if there is a defect in the position detection of the operating member, a member for setting the output based on the value of the position detected for monitoring the measuring device from the read operating parameters. The target value αs1 of the position of is calculated. Then, in step 114, it is checked whether the target value calculated in step 112 is greater than the actual value αi of the position of the member which sets the output. If there is a defect in the position detection of the member setting the output, the actual value is formed on the basis of the monitoring measuring device.

When the target value αs1 is larger than the actual value αi, the target value αs is changed to the actual value αi as shown in step 116.
, And operating parameters such as rotational speed, gear position or torque are read to limit the rate of change in step 117. In step 118, the limit value of the changing speed provided for each operating parameter with respect to the target value of the position of the member for setting the output from the map value or the characteristic curve is the increment Δ of the target value.
Read in the form of. Thereafter, when it is determined in the determination step 120 that the target value αs1 obtained in step 112 has not been reached or exceeded, the target value is increased by the above increment amount in step 121.
If it is determined to be the opposite in step 120, step 12
1 is skipped.

By this processing, the target value is gradually increased stepwise. This corresponds to limiting the rate of change of the power setting member by setting the increment amount.
Alternatively, in another embodiment, it is possible to limit the changing speed by detecting the changing speed and correspondingly controlling the change of the target value. Further, it has been proved effective in the preferred embodiment to set the amount of increase or the step length of increase.

In step 124, braking operation is detected. When the brake operation is performed (this is detected by the determination step 125), the target value is adjusted to the idling value even when the accelerator pedal is depressed, so that the member that sets the output corresponds to the idling position. Is moved to the position (step 12)
6). If the determination in step 125 is negative, the manipulated variable is formed in step 128 by a known control formula. After that, the operation amount is output to the actuator device that operates the member that sets the output (step 12).
8). The operating parameters are detected by the measuring devices 22 to 54 in step 130, and the program part is repeated from step 117.

When it is detected in step 114 that the target value of the position of the member for which the output is set is smaller than the actual value, the process directly proceeds to step 132, the manipulated variable is calculated and output to perform the closed loop control. Thus, the member that sets the output is made to follow the target value as quickly as possible. After step 132, the measured values are read again at step 134 and the program portion is repeated from step 114.

In FIG. 3, the limitation of the changing speed is explained by an example of controlling the target value. However, it is also possible to similarly limit the operation amount or change the control formula to adjust the changing speed of the operation amount.

The formation of the increment value for increasing the setpoint value for limiting the rate of change is carried out using the stored characteristic values or the stored map values which are schematically illustrated in FIG. In the figure, the vertical axis shows the increment or limit value of the change speed, while the horizontal axis shows the respective operating parameter, for example the engine speed. From FIG. 4, when the value of the operating parameter is small, the limit value of the changing speed is small,
It can be seen that when the value of the operating parameter is large, the limit value of the changing speed increases. As a result, in the operating region where a large engine torque is obtained, the above-described effect that the changing speed of the member that sets the output is quantitatively smaller than in the region where the obtained torque change is relatively small is achieved.

In FIG. 5, the effects of the present invention are shown by signal waveforms.

FIG. 5 (a) is a waveform diagram showing the change over time of the position of the operating member operated by the driver. The vertical axis shows the accelerator pedal position and the horizontal axis shows time. .. When the operator operates the accelerator pedal at the time point t0, the value α2 jumps from the position α1.

When there is the above-mentioned defect, the changing speed of the member for setting the output is limited by controlling the target value. This is shown in FIG. 5 (b), in which the target value of the position of the member for setting the output is shown on the vertical axis, and the time is also shown on the horizontal axis. The position of the member for setting the output gradually changes from the position α′1 from the time point t0 to the final value α′2 corresponding to the accelerator pedal position α2.
Rise to. A steep change curve is shown by the dotted line, which curve changes according to operating parameters, for example the number of revolutions. The curve of the target value of the member that sets the output becomes steeper as the operating parameter increases.

FIG. 5 (c) shows the influence of the device of the present invention on the traveling speed of the vehicle. The traveling speed starts from the value v1 and gradually increases to the final value v2 according to the change in the position of the member that sets the output. In that case, the steepness of the change is related to the operating parameters mentioned above.

[0052]

As is apparent from the above description, according to the present invention, the maximum driving safety possible and the maximum operability possible are obtained.

[Brief description of drawings]

FIG. 1 is a block circuit diagram showing an outline of a control device that realizes the present invention.

FIG. 2 is a flowchart showing an example of realizing the present invention in the form of a computer program.

FIG. 3 is a flowchart showing an example of implementing the present invention in the form of a computer program.

FIG. 4 is a diagram showing a relationship between a change speed limit and operating parameters.

5 (a), (b) and (c) are diagrams showing the effect of the present invention with a signal waveform.

[Explanation of symbols]

 10 control device 12 calculation unit 14 memory unit 16 input / output unit

Claims (10)

[Claims] 1. A measuring device for detecting a variable quantity such as an operating parameter of an engine and / or a vehicle and a driver's intention, and at least one variable quantity according to an operating parameter of an engine or a vehicle, in particular based on the driver's intention. A control unit which performs at least one control function and acts on at least one operating parameter, the measuring device being provided in at least two, the measuring devices being at least partly in a predetermined relationship to one another. A control device for a vehicle, which is provided with monitoring means for detecting a variable amount or at least partially redundant with each other, and further for monitoring the control device according to the variable amount detected by said at least two measuring devices, By limiting the execution of the driver's intention, the speed of change of operating parameters is controlled. Control device for a vehicle, characterized in that it is. 2. The control unit adjusts operating parameters via closed-loop control and limits the rate of change by limiting the driver's intent derived from the position of the operating member. The control device described. 3. The changing speed is limited when the operating parameter changes in the direction in which the output of the engine increases.
3. The control device according to claim 1, wherein when the output changes in a decreasing direction, another limitation is applied or no limitation is applied. 4. The control device according to claim 1, wherein the changing speed is limited by controlling a target value for adjusting an operating parameter. 5. The control device according to claim 1, wherein the limit amount of the changing speed is determined according to an operating parameter such as an engine speed or a torque. 6. The control device according to claim 1, wherein the operating parameter is a position of a member that sets an output of the engine such as a throttle valve or an injection pump. 7. The target value of the position closed loop control circuit is stepwisely and stepwise changed in order to limit the rate of change when the output changes in an increasing direction, in which case the step size or step length is the operating parameter. The control device according to any one of claims 1 to 6, characterized in that the speed of change is limited by closed loop control. 8. When two measuring devices redundant to each other for monitoring the position of the operating member or the member for setting the output are provided, the control function is executed based on one measuring device without monitoring when there is a defect. The control device according to claim 1, wherein the control device is a control device. 9. The control device according to claim 1, wherein when the brake is operated, the brake operation period target value is set to an idling value. 10. The method is characterized in that the changing speed of the operating parameter is limited by limiting the acceleration of the vehicle, or the changing speed of the control deviation and the manipulated variable is limited, or the control parameter changes correspondingly. The control device according to any one of claims 1 to 9.