JP2001001846A - Transmission system for sensor information - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid lowering of control performance of a device in a sensor information receiving side, which is caused by shift of receiving cycles of sensor information. SOLUTION: An absolute steering angle value θ is calculated with a prescribed cycle and a count value C is updated, in a sensor unit (a step S1, a step S2). When a variation Δθ of a difference between an absolute steering angle value θOLD at the time of transmitting the last absolute steering angle value θand an absolute sreering angle value θNOW at this time comes to a threshold value Δθα or more (a step S3), or when the count value C exceeds a CMAX (a step S4), the absolute steering angle value θNOW at this time is transmitted to a vehicle behavior controller (a step S5). Since the transmission cycle of the absolute steering angle value θ is shortened corresponding to increase of a changing ratio of the angle value θ per unit time and since an absolute steering angle value transmitting frequency transmitted to the vehicle behavior controller is increased thereby, a load in a communication line is restrained from increasing, and worsening of control performance is prevented from being generated by a reason why the absolute sreeing angle value θ is not received in the vehicle behavior controller.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensor information transmission system for transmitting sensor information of a vehicle sensor to a data processing device via a communication line.

[0002]

2. Description of the Related Art Generally, in vehicles, CAN (Co)
Data transmission between devices such as a control device is performed via a communication line such as a controller area network. When data transmission is performed using this CAN, the transmission side waits until the line becomes idle, and when data transmission competes with another device, the data having the higher priority is transmitted. Is transmitted preferentially for data transmission.

[0003]

By the way, for example, a sensor device for transmitting a steering angle value detected by a steering angle sensor, a control device for performing predetermined control processing based on the steering angle value detected by the steering angle sensor, and the like. Is connected by CAN, and when the detection signal of the steering angle sensor is transmitted from the sensor device to the control device via CAN, the sensor device attempts to transmit the steering angle value to the control device at a predetermined period ΔT. Also cannot send detection signals depending on the line usage,
The control device on the receiving side may not be able to receive the steering angle value at the constant period ΔT.

[0004] Further, the receiving cycle of the steering angle value in the receiving apparatus may not be constant due to a shift in the sending and receiving cycle of the sending and receiving sides. Also, when the transmitting side detects that the receiving side was unable to receive the steering angle value, such as when the signal value changed due to surge noise or the like while the sensor device was outputting the steering angle value. Then, the same data is transmitted again by the sensor device. In other words, there is a problem that the timing at which the sensor device calculates the steering angle value and prepares to transmit it as sensor information does not always coincide with the reception timing at which the receiving side receives the steering angle value.

[0005] Therefore, for example, in a case where a control device on the receiving side calculates a difference value at a predetermined period ΔT based on a received steering angle value and performs control processing based on the difference value. If the steering angle value cannot be received at the fixed period ΔT, the steering angle value received previously may be erroneously recognized as the steering angle value received this time, and the difference value of the same steering angle value may be taken. .

Also, since the reception timing of the previous steering angle value was delayed, during the period ΔT for calculating the difference value in the control device,
If the steering angle value with the delayed reception timing and the steering angle value with the true timing are continuously received, the steering angle value received two times before is recognized without recognizing the steering angle value with the delayed reception timing. Since the previous value and the latest steering angle value are erroneously recognized as the current value and the difference value is obtained, the steering angle value actually changes with a constant slope and even if the difference value is constant, the difference is calculated. There is a problem that the value is calculated to be larger than the actual value.

That is, as shown in FIG. 6, there is a case where the calculation timing of the steering angle value by the sensor device on the transmitting side does not coincide with the reception timing of the steering angle value by the control device on the receiving side. Therefore, when the actual steering angle value is 150 degrees, the transmission side recognizes the steering angle value as 150 degrees, but if the reception timing on the control device side is delayed, the control device sets the current value to 140 degrees. Misrecognized as a degree. At this time,
Since the control unit recognizes the previous value as 140 degrees,
The difference value is erroneously recognized as zero.

When a 150 ° steering angle value whose reception timing is delayed is received with a delay, a 160 ° steering angle value is subsequently received at a true timing. And the steering angle value of 160 degrees are read. Therefore, since the 160 ° steering angle value read later is recognized as the current value, a difference value between 140 ° misrecognized as the previous steering angle value and the current steering angle value of 160 ° is obtained. Therefore, although the difference value is actually constant (in this case, 10 degrees), the difference value is erroneously recognized as 20 degrees, and the control process is performed based on this.

Further, for example, in a vehicle behavior control device for performing vehicle side slip suppression control, a target yaw rate is generated based on a steering angle. There is a problem that the angle is incorrectly recognized as not changing and the target yaw rate is fixed. Therefore, the present invention has been made focusing on the above-mentioned conventional unsolved problems,
It is an object of the present invention to provide a sensor information transmission system capable of avoiding a decrease in processing accuracy in a device that receives sensor information due to a shift in a sensor information reception cycle.

[0010]

To achieve the above object, a sensor information transmission system according to a first aspect of the present invention has a vehicle sensor for detecting a vehicle behavior, and the vehicle information is detected by the vehicle sensor. A sensor device that transmits sensor information via a communication line, a data processing device that receives the sensor information via the communication line, and executes a predetermined arithmetic process at a predetermined processing cycle based on the sensor information; , The sensor device transmits the sensor information at a cycle corresponding to a change amount of the sensor information per unit time.

According to the first aspect of the invention, when the sensor information is transmitted from the sensor device to the data processing device, the sensor information is transmitted at a period corresponding to a change amount per unit time of the sensor information. Here, for example, when transmitting sensor information from the sensor information via the communication line, if the transmission timing of the sensor information is delayed due to a busy communication line or the like, the sensor information does not change in the data processing device. May be mistakenly recognized.

However, the sensor information is transmitted at a cycle corresponding to the amount of change per unit time. For example, in processing of the sensor information of the data processing device, the amount of change of the sensor information per unit time is determined by the sensor information reception timing. Is transmitted in a relatively short cycle when the amount of change has a delay, and is transmitted in a relatively long cycle when the amount of change is relatively insignificant. Reception can be performed more reliably, and the accompanying steady increase in the amount of information on the communication line can be suppressed.

[0013] A sensor information transmission system according to claim 2 of the present invention is characterized in that a transmission cycle of the sensor information is shorter than a preset maximum cycle. In the invention according to the second aspect, the transmission period of the sensor information is set to be equal to or less than the maximum period, so that the sensor information is transmitted at least at the maximum period. Therefore, for example, even when applied to a system that performs abnormality monitoring based on whether or not sensor information has been transmitted, abnormality monitoring can be performed without any problem.

[0014] The sensor information transmission system according to claim 3 of the present invention is characterized in that a transmission cycle of the sensor information is longer than a predetermined minimum cycle. In the invention according to the third aspect, the transmission period of the sensor information is set to be equal to or longer than the minimum period, so that the sensor information is transmitted at the minimum period or longer. Therefore,
By transmitting the sensor information in a very short period, it is possible to limit a steady increase in the amount of information on the communication line.

According to a fourth aspect of the present invention, in the sensor information transmission system, the sensor device shortens the transmission cycle of the sensor information as the change amount of the sensor information per unit time increases. Features. In the invention according to the fourth aspect, the transmission period of the sensor information becomes shorter as the change amount of the sensor information per unit time becomes larger. Here, if the timing at which the sensor information is received by the data processing device shifts and a difference occurs between the sensor information recognized by the data processing device and the sensor information transmitted by the sensor device, the vehicle sensor detects the shift. There will be a deviation between the actual value that is present and the value that is recognized by the data processing device. This shift increases as the amount of change in the sensor information per unit time increases, but as the amount of change increases, the sensor information is transmitted in a shorter cycle, and the data processing device can more reliably receive the sensor information. Therefore, it is possible to suppress a difference between the sensor information recognized by the data processing device and the actual value, and to suppress a decrease in the processing performance of the data processing device.

Further, in the sensor information transmission system according to a fifth aspect of the present invention, the vehicle sensor is a steering angle sensor, and the data processing device is configured to detect a unit time of a steering angle detection value of the steering angle sensor. It is characterized in that a change amount per hit is calculated, and a side slip suppression control of the vehicle is performed based on the change amount. According to a fifth aspect of the present invention, the vehicle sensor is a steering angle sensor, and the data processing device suppresses side slip of the vehicle based on a change per unit time of a steering angle detection value detected by the steering angle sensor. Control. In the sensor device, the transmission cycle is shortened as the amount of change in the detected steering angle of the steering angle sensor per unit time increases, so that the data processing device can more reliably receive the sensor information. When the amount of change in the detected angle value per unit time is small, the transmission cycle is long, so that it is possible to suppress a steady increase in the amount of information on the communication line.

At this time, when the amount of change in the detected steering angle per unit time is small, the transmission cycle is long, and the data processing apparatus may not newly receive sensor information during the reading cycle of sensor information. Is not received means that the detected steering angle has not changed, so that there is no problem even if processing is performed based on the sensor information received last time.

[0018]

According to the sensor information transmission system according to the first to fifth aspects of the present invention, the sensor device transmits the sensor information to the data processing device at a period corresponding to the amount of change per unit time of the sensor information. As a result, the sensor information is transmitted at a cycle suitable for the amount of change per unit time, thereby suppressing a steady increase in the load on the communication line and reducing the processing performance of the data processing device due to the communication delay. Can be suppressed from decreasing.

In particular, according to the sensor information transmission system according to the second aspect, the transmission period of the sensor information is set to be shorter than the maximum period, so that the sensor information is transmitted at the maximum period even when the sensor information does not change. Therefore, even when abnormality monitoring is performed using sensor information on the data processing device side, the monitoring can be performed without any trouble. According to the sensor information transmission system according to the third aspect, the transmission cycle of the sensor information is set to be equal to or longer than the minimum cycle, so that the sensor information is transmitted at an extremely short cycle, thereby increasing the load on the communication line. Can be avoided.

Further, according to the sensor information transmission system according to the fourth aspect, the transmission cycle is shortened as the amount of change per unit time of the sensor information increases, so that the processing performance of the data processing device is reduced. Can be suppressed. Furthermore, according to the sensor information transmission system of the fifth aspect, the detection value of the steering angle sensor is transmitted according to the amount of change per unit time, so that the data processing device accurately detects the detection value of the steering angle sensor. And the vehicle side slip suppression control can be performed satisfactorily.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing an example of a transmission system according to the present invention, and this transmission system is mounted on a vehicle. A sensor device 10 for detecting a steering angle of a steering shaft (not shown) and a vehicle behavior control device 20 for performing vehicle side slip suppression control based on a steering angle value from the sensor device 10 include a communication line L such as CAN. It is configured to be connected by. The communication line L includes the sensor device 10 and the vehicle behavior control device 20.
Alternatively, a control device 30 that performs data transmission with another control device (not shown) via the communication line L is connected.

The sensor device 10 periodically reads a steering angle sensor 11 for outputting two kinds of pulse signals having different phases according to the rotation of a steering shaft (not shown) and a detection signal from the steering angle sensor 11. And a communication control unit 13 for transmitting the absolute steering angle value θ calculated by the arithmetic processing unit 12 via the communication line L.

The arithmetic processing unit 12 periodically reads the detection signal of the steering angle sensor 11, calculates an absolute steering angle value θ based on the signal, and uses the absolute steering angle value θ as sensor information. The absolute steering angle value θ transmitted to the vehicle behavior control device 20
The sensor information is written in a predetermined storage area so that the sensor information is transmitted in a cycle according to the change amount Δθ of the absolute steering angle value θ which is the absolute value of the difference between the absolute steering angle value θ calculated this time and the communication. A transmission instruction is issued to the control unit 13.

The communication control unit 13 includes the arithmetic processing unit 1
When the transmission instruction is received from 2, the sensor information written in the storage area is transmitted via the communication line L. At this time, when another control device connected to the communication line L uses the communication line L, the communication control unit 13 waits until the communication line L becomes empty, When the transmission data conflicts with the transmission data, the device that transmits the transmission data with the higher priority performs the data transmission preferentially.

On the other hand, the vehicle behavior control device 20 includes a communication control unit 21 that receives sensor information from the sensor device 10 and writes the received sensor information into a predetermined storage area.
The absolute steering angle value θ, which is the sensor information received in step 1, is read at a predetermined period (for example, about 10 ms).
And an arithmetic processing unit 22 for performing a side slip suppression control process described later.

The control unit 30 controls a data transmission via the communication line L. The control unit 30 performs a predetermined process based on the data received by the communication control unit 31. And an arithmetic processing unit 32 that performs predetermined processing to generate transmission data to be transmitted via the communication line L. The communication control unit 21 of the vehicle behavior control device 20 and the communication control unit 31 of the control device 30 are, like the communication control unit 13, the arithmetic processing units 22 and 32.
Is transmitted via the communication line L and the transmission data is received via the communication line L. When transmitting data, if another control device connected to the communication line L is using the communication line L, the control device waits until the communication line L becomes empty, and competes with another control device. In such a case, transmission with a higher priority is performed with priority according to the priority.

FIG. 2 shows the arithmetic processing unit 12 of the sensor device 10.
It is a flowchart which shows an example of the processing procedure of the sensor information generation processing performed in FIG. The arithmetic processing unit 12 executes this sensor information generation processing at an interrupt timing of a predetermined cycle set in advance, and this cycle is the minimum cycle T _MIN (for example, 1 ms) for transmitting the sensor information to the control device 20. Degree).

First, in step S1, the steering angle sensor 11
And the absolute steering angle value θ is calculated based on the detection signal. That is, the rotation direction and the rotation angle of the steering wheel (not shown) are obtained based on the detection signal composed of the two types of pulse signals, and integrated with the previously calculated absolute steering angle value θ _n-1 according to the detected rotation direction. Then, the current absolute steering angle value θ _NOW is calculated.

Next, the process proceeds to step S2, where the count value C is updated to C = C + 1, and then the process proceeds to step S3. In step S3, the difference between the absolute steering angle value theta _{the NOW} calculated in absolute steering angle value theta _OLD and step S1 is a value when transmitting the absolute steering angle value to the previous vehicle behavior control device 20 stored in advance Of the absolute steering angle value, that is, the change amount Δθ of the absolute steering angle value (= | θ _NOW −θ _OLD |), and determines whether or not this is equal to or greater than a preset threshold value Δθα (| θ _NOW −θ
_OLD | ≧ Δθα).

Here, the threshold value Δθα is used to determine whether the variation Δθ from the absolute steering angle value θ _OLD at the time when the absolute steering angle value was previously transmitted to the vehicle behavior control device 20 is large. This is the threshold. For example, it is set based on the reading cycle of the absolute steering angle value θ in the vehicle behavior control device 20 that performs the side slip suppression control process based on the absolute steering angle value θ, and is set to, for example, about 2 degrees.

Then, | θ _NOW −
If θ _OLD | ≧ Δθα is not satisfied, the process proceeds to step S4, and is the count value C equal to or greater than C _MAX (C ≧ C _MAX )
Is determined, and if C ≧ C _MAX is not satisfied, the process is terminated. Here, the C _MAX is a value defining the maximum period T _MAX of the transmission period of the sensor information, for example, 10ms
Set to about.

On the other hand, in step S3, | θ _NOW -θ
_OLD | ≧ Δθα, or C ≧ at step S4
Proceeds to step S5 when it is C _MAX, performs transmission processing of the sensor information. That is, the absolute steering angle value θ _NOW calculated in step S1 is written in a predetermined storage area of the communication control unit 13, and the communication control unit 13 is instructed to transmit sensor information.

Then, the process proceeds to step S6, where the counter value C is reset to C = 0, the absolute steering angle value θ _NOW calculated in step S1 is updated and stored as θ _OLD , and the process is terminated. FIG. 3 is a flowchart illustrating an example of the side slip suppression control process executed by the arithmetic processing unit 22 of the vehicle behavior control device 20.

The arithmetic processing section 22 executes this side slip suppression control processing at a preset interrupt timing of a predetermined cycle. Then, in step 11, the communication control unit 22 reads the absolute steering angle value θ received via the communication line L and written in a predetermined storage area. Next, the process proceeds to step S12, in which the previously read absolute steering angle value θ held in advance and the currently read absolute steering angle value θ are compared to determine whether the absolute steering angle value has changed. . When the absolute steering angle value has changed, the process proceeds to step S13, and the absolute steering angle value θ at the time of the previous reading and the absolute steering angle value θ currently read at this time are processed in the same manner as in the known side slip suppression control process. , That is, the target yaw rate is calculated based on the steering angle difference value and stored in a predetermined storage area.
Move to 4. On the other hand, if the absolute steering angle value has not changed in the process of step S12, the process proceeds to step S12.
Go to 14.

In step S14, a left and right braking force difference for realizing this is calculated based on the target yaw rate stored in the predetermined storage area, and the difference is allocated to each wheel to apply the braking force to each wheel. Is calculated, and a hydraulic circuit (not shown) is controlled so as to apply the braking force, thereby controlling the braking force generated in the wheel cylinder of each wheel. Next, the operation of the above embodiment will be described.

FIG. 4 shows an absolute steering angle value (FIG. 4A) set as transmission data by the sensor device 10 and an absolute steering angle value (FIG. 4A) received by the communication control unit 21 of the vehicle behavior device 20. FIG. 4B shows the correspondence between the absolute steering angle value (FIG. 4C) read by the arithmetic processing unit 22. In addition,
The suffix of the absolute steering angle value θ indicates the numerical value of the absolute steering angle value. For example, θ ₆ indicates that the absolute steering angle value θ is “6”. The threshold value Δθα = 2.

In the sensor device 10, the sensor information shown in FIG.
The report generation process is executed and a predetermined period T _MINWith steering angle sensor
11 is read, and based on this, the absolute steering angle θ
_NOWIs calculated (step S1), and the counter value C is set to “1”.
Is updated (step S2). Next, this absolute rudder
Angle value θ_NOWAnd the absolute steering angle when the absolute steering angle value was transmitted last time
Value θ_OLDFrom the threshold value Δθα or more.
It is determined whether or not it is (step S3). Figure 4
At time t₁To t_TwoDuring the period, the absolute steering angle value θ is “6”
Since it has been maintained and has not changed, step S3 to step S3
The process proceeds to S4, and the count value C becomes C_MAXWhile not exceeding
Only updates the count value C.

At time t ₂ , the count value C becomes C _MAX
Then, the process proceeds from step S4 to step S5, where the absolute steering angle value θ is transmitted. That is, the absolute steering angle value θ
_NOW is written in a predetermined storage area, and a transmission instruction is issued to the communication control unit 13. As a result, at time t ₂ , the absolute steering angle value θ ₆ is transmitted as sensor information to the vehicle behavior control device 20 via the communication line L, and the absolute steering angle value θ _NOW is not changed but is transmitted. The maximum period T
_MAX is secured.

When the absolute steering angle value θ increases after the time point t ₂ , the change amount Δθ of the absolute steering angle value increases. However, while the change amount Δθ is small, the process proceeds from step S 3 to S 4 to perform absolute steering No angle values are sent. Then, the amount of change Δθ is increased, at time t ₃ | θ _NOW -θ _OLD | becomes a ≧ Derutashitaarufa, shifts from step S3 to step S5 transmits the absolute steering angle value theta ₈ at this point.

Thereafter, the change amount Δθ from the absolute steering angle value θ _OLD when the previous absolute steering angle value was transmitted exceeds the threshold value, and
When | θ _NOW −θ _OLD | ≧ Δθα is satisfied, the absolute steering angle value θ at that time is transmitted to the vehicle behavior control device 20. As the rate of increase of the absolute steering angle value θ increases, | θ _NOW −θ _OLD | ≧
Since Δθα is satisfied, the cycle for transmitting the absolute steering angle value is shortened. However, since the sensor information generation process is executed at the interrupt timing of the minimum cycle T _MIN , the change amount Δθ of the absolute steering angle value exceeds the threshold as shown at time points t ₉ and t _10. The transmission cycle is also the minimum cycle T
Limited to _MIN .

On the other hand, in the vehicle behavior control device 20, the communication control unit 21 receives the sensor information transmitted by the communication control unit 11 of the sensor device 10 via the communication line L, and writes it into a predetermined storage area. The arithmetic processing unit 22 reads the received sensor information, that is, the absolute steering angle value θ at a predetermined cycle (step S11), and performs a predetermined side slip suppression control process based on the read information (steps S12 to S14). Load the theta ₆ in read timing t _11, the read timing of time t _12, the sensor device 1
Since no new sensor information is received from 0, the absolute steering angle value θ ₆ read at time t ₁₁ one cycle before is read.

At this time, the sensor device 10 transmits when the change amount Δθ of the absolute steering angle value θ becomes equal to or larger than the threshold value Δθα. It can be considered that the absolute steering angle value θ is equal to the absolute steering angle value received last time. Therefore, the vehicle behavior control device 20, there is no problem to control calculates a target yaw rate based on the absolute steering angle value theta ₆ in one cycle before the time t ₁₁ the braking force based on this.

Further, in the sensor device 10, when the change amount Δθ of the absolute steering angle value is smaller than the threshold value Δθα, the absolute steering angle value θ is regarded as not changing and the absolute steering angle value is not transmitted. The absolute steering angle value read by the vehicle behavior control device 20 becomes the same as the previous value. Therefore, the process directly proceeds to step S14 from the process in step S12, and the braking force control process is performed based on the target yaw rate at the time of the previous calculation. Therefore, since it is not necessary to calculate the target yaw rate for a minute change in the absolute steering angle value θ, the processing load on the vehicle behavior control device 20 is reduced accordingly.

The communication line L is busy.
Time t when the sensor device 10 is at a predetermined transmission timing.
_FourCan not transmit sensor information, and sensor information θ
_{twenty two}When the transmission timing of the vehicle is delayed, the vehicle behavior control device 20
But this sensor information θ_{twenty two}Is delayed
Will be. However, the vehicle behavior control device 20
Is the time t according to the read cycle.₁₃With sensor information
From the time t_FourTransmission of sensor information by
Time t₁₃Reading sensor information in
Before the timing, that is, at time t_FiveSensors at
If the information is transmitted normally, the vehicle behavior control device
20 is time t_FiveSensor information θ transmitted by _{twenty four}Read
Therefore, if communication delay of sensor information occurs
However, it has no effect on the vehicle behavior control device 20.
No.

On the other hand, from the state where communication is normally performed
Time t_FiveWith sensor information θ_{twenty four}Transmission timing is vehicle behavior
Time t of the control device 20₁₃Later than the read timing of
Then, the vehicle behavior control device 20 sets the time t₁₃Read
Sensor information θ _{twenty four}Can't read
No. However, at time t_FourSent at the transmission timing
Sensor information θ_{twenty two}The sensor information.
Report θ_{twenty two}The processing is performed based on

[0046] At this time, since the change amount Δθ in the sensor device 10 absolute steering angle value is to transmit the sensor information at the timing of exceeding the threshold Derutashitaarufa, sensor information to be read at time t ₁₃ (i.e., the time The error between the sensor information θ ₂₂ transmitted at t ₄ and the true sensor information (that is, θ ₂₄ ) is a threshold Δθα. Therefore, the vehicle behavior control device 20 can obtain the absolute steering angle value θ within the range of the error of the threshold value Δθα at the maximum.

At this time, when the change amount Δθ of the absolute steering angle value exceeds the threshold value Δθα, the absolute steering angle value is transmitted, and as the rate at which the absolute steering angle value θ changes per unit time increases. Since the transmission cycle is shortened, in the vehicle behavior control device 20, the number of times sensor information is received increases as the rate at which the absolute steering angle value θ changes per unit time increases. That is, for example time from time t ₁₃ t
In one period of the vehicle behavior control device 20 of the _14, the sensor information is transmitted from the sensor unit 10 at time _{t 6, t 7, t 8} . Therefore, the opportunity to receive the sensor information during one cycle in the vehicle behavior control device 20 increases, so that even if the reception timing of the sensor information is delayed, the true sensor information and the sensor information recognized by the vehicle behavior control device 20 are different. Can be suppressed.

When the error of the sensor information recognized by the vehicle behavior control device 20 when the communication delay occurs is large, that is, when the variation Δθ of the absolute steering angle value is large, the transmission cycle is shortened. When the variation Δθ of the absolute steering angle value where the error when the communication delay occurs is small is small, the transmission cycle is increased, so that the steady increase in the amount of information on the communication line L is suppressed, and the communication delay is reduced. The effect on the vehicle behavior control device 20 due to the above can be suppressed.

When the rate of change of the absolute steering angle value θ per unit time increases, the sensor device 10
, The transmission period of the sensor information is shortened, and therefore the amount of information transmitted through the communication line L is increased. However, the transmission period of the sensor information is set to the minimum period T _MIN
Since the restriction is made as described above, it is possible to prevent the load on the communication line L from increasing.

Since the maximum period _TMAX is provided in the transmission period of the sensor information in the sensor device 10, even if the absolute steering angle value θ does not change, the transmission is performed at the maximum period _TMAX . Therefore, for example, even when the abnormality monitoring of the sensor device 10 is performed based on whether the sensor information is received from the sensor device 10, the present invention can be sufficiently applied.

In the above embodiment, the execution cycle of the sensor information generation processing in the sensor device 10 is set according to the minimum cycle T _MIN , and the sensor information is generated when the counter value C exceeds C _{MAX. Has been} described so as to define the maximum period T _MAX by transmitting
The present invention is not limited to this, and the point is that the sensor information may be transmitted with the characteristics shown in FIG.

That is, when the horizontal axis represents the change amount Δθ of the absolute steering angle value since the previous transmission of the absolute steering angle value and the vertical axis represents the cycle, when the change amount Δθ is less than the minimum change amount Δθ _MIN , the period up to the period T _MAX, and the when the change amount [Delta] [theta] is equal to or greater than the maximum change amount [Delta] [theta] _MAX, the period is a minimum period T _MIN next, when the amount of change [Delta] [theta] is smaller than the maximum change amount [Delta] [theta] _MAX greater than the minimum change amount [Delta] [theta] _MIN is The cycle is the maximum cycle T
The value may be between _MAX and the minimum period T _MIN , and the period may be reduced as the change amount Δθ increases.

In the above embodiment, the fact that the sensor information is not newly received by the data processing device 10 can be regarded as that the sensor information, that is, the absolute steering angle value θ has not changed. In the communication control device 21 of the vehicle behavior control device 20, when the sensor information is received via the communication line L, for example, a flag is set.
It is determined whether or not the flag has been set. If the flag has been set, the flag is reset and the processing of steps S12 and S13 is executed to calculate the target yaw rate. Conversely, the flag is set. If not, steps S12 and S12 in FIG.
The comparison process of the thirteenth steering angle value and the target yaw rate calculation process may be omitted.

In the above embodiment, the case where the absolute steering angle θ is calculated based on the detection signal of the steering angle sensor 11 and is transmitted is described. However, the calculation is performed based on the detection signal. The present invention can also be applied to a case where the set rotation angle is transmitted. Also, the steering angle sensor 1
The present invention is not limited to the above, and can be applied to other sensors such as a longitudinal acceleration sensor, a lateral acceleration sensor, a vehicle speed sensor, and the like. In particular, control is performed based on a difference value between continuously changing sensor values. It is effective if applied to a transmission system.

Further, in the sensor device 10, the case where the sensor information of only the steering angle sensor 11 is transmitted has been described, but the present invention is also applied to the case where the sensor information of a plurality of sensors is transmitted from the sensor device 10. be able to. Also, a case has been described in which a vehicle behavior control device that performs a vehicle side-slip suppression control process is applied as a data processing device. However, the present invention is not limited to this, and any device that performs a process using the steering angle θ may be applied. it can.

Further, in the above embodiment, the case where CAN is applied as a communication line has been described, but the present invention is not limited to this.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating an example of a schematic configuration of a transmission system according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating an example of a processing procedure of a sensor information generation process.

FIG. 3 is a flowchart illustrating an example of a procedure of a side slip suppression control process.

FIG. 4 is a time chart for explaining the operation of the present invention;

FIG. 5 is a characteristic diagram showing a characteristic of a cycle with respect to a change amount Δθ of an absolute steering angle value.

FIG. 6 is a time chart for explaining the conventional operation.

[Explanation of symbols]

 Reference Signs List 10 sensor device 11 steering angle sensor 12 arithmetic processing unit 13 communication control unit 20 vehicle behavior control device 30 control device 21, 31 communication control unit 22, 32 arithmetic processing unit

Claims (5)

[Claims] 1. A sensor device having a vehicle sensor for detecting a vehicle behavior and transmitting sensor information detected by the vehicle sensor via a communication line, and receiving the sensor information via the communication line. A data processing device that performs a predetermined arithmetic processing at a predetermined processing cycle based on the sensor information, and a sensor information transmission system, wherein the sensor device transmits the sensor information per unit time of the sensor information. A sensor information transmission system, wherein the sensor information is transmitted at a cycle corresponding to a change amount. 2. The sensor information transmission system according to claim 1, wherein a transmission cycle of the sensor information is set to be equal to or shorter than a preset maximum cycle. 3. The sensor information transmission system according to claim 1, wherein a transmission cycle of the sensor information is longer than a predetermined minimum cycle. 4. The sensor device according to claim 1, wherein the sensor device shortens a transmission cycle of the sensor information as a change amount of the sensor information per unit time increases. Transmission system for sensor information as described. 5. The vehicle sensor is a steering angle sensor, and the data processing device calculates a change amount per unit time of a steering angle detection value of the steering angle sensor, and based on the change amount. The sensor information transmission system according to claim 4, wherein side slip suppression control of the vehicle is performed.