JP2002267683A - Device for detecting in yaw rate sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for detecting abnormalities in a yaw rate sensor capable of reliably preventing abnormal error detection in the yaw rate sensor by making the conditions of abnormality diagnosis of the yaw rate sensor different from the usual conditions of abnormality diagnosis in the case where the presence of a possibility that a vehicle is on a turn table is judged by the state of forward movement of the vehicle. SOLUTION: In the case where it is judged that the vehicle is moving forward after backward movement i.e., that there is a possibility that the vehicle is on a turn table, in an abnormality diagnosis processing to deal with to a turn table, processings are performed under the conditions of the sensor abnormality diagnosis different from the normal conditions such as delay in the period of diagnosis on whether the yaw rate sensor 9 is abnormal or not, temporary prohibition of the sensor abnormality diagnosis, rise in a threshold for judging sensor abnormality used for the sensor abnormality diagnosis, the monitoring of the degree of reduction in sensor values in a plurality of times of sensor abnormality diagnosis processing, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a yaw rate sensor abnormality detecting device for detecting a yaw rate (angular velocity around a vertical axis passing through the center of gravity of a vehicle) used as input information of a control unit in vehicle behavior control or the like. .

[0002]

2. Description of the Related Art For example, when a yaw rate sensor used in a vehicle behavior control system is abnormal and has an offset error that results in a value higher than the actual value, the vehicle behavior control is performed using this sensor signal. When the control is performed, control is performed so as to apply the yaw motion of the vehicle when traveling straight on a flat road, or control is performed such that the yaw motion is applied more than necessary at the time of turning. Therefore, it is detected that the yaw rate sensor is abnormal, and when the sensor abnormality is detected,
Countermeasures against sensor abnormalities such as turning on warning lamps and stopping vehicle behavior control are taken.However, to minimize the adverse effects of sensor abnormalities, ensure that sensor abnormalities are detected as early as possible and without erroneous detection. Need to be detected.

[0003] As a device for detecting an abnormality of the yaw rate sensor, a device described in, for example, JP-A-6-107208 is conventionally known. The purpose of this publication is to propose an abnormality detection device for a vehicle yaw rate sensor that does not erroneously detect a sensor failure even when the vehicle is rotated, such as when the vehicle is mounted on a turntable, If the vehicle speed is substantially zero and the output from the yaw rate sensor is equal to or greater than a first predetermined value, the sensor is diagnosed as normal, while the detected vehicle speed is not substantially zero and the output from the sensor is the first. A technique is described in which the sensor is diagnosed as abnormal when the value is equal to or greater than a predetermined value of 2.

[0004]

However, in the conventional yaw rate sensor abnormality detecting device, when the condition for starting the sensor abnormality diagnosis that the vehicle speed is not substantially zero is satisfied, the sensor output cannot be normally large. When the value becomes the value, the yaw rate sensor is diagnosed as abnormal, so when the vehicle is stopped and rotating on a turntable in a multi-story parking lot or the like, the condition for starting the sensor abnormality diagnosis is determined. Although a certain vehicle speed condition is not satisfied and erroneous detection of sensor failure can be prevented, if the vehicle is started before the rotating turntable is completely stopped, the vehicle speed at which sensor abnormality diagnosis is started When the condition is satisfied and the sensor output is equal to or more than the second predetermined value due to the rotation of the turntable, there is a problem that a sensor abnormality is erroneously detected. .

FIG. 9 is a diagram showing yaw rate characteristics and vehicle speed characteristics when a vehicle mounted on a turntable rotates together with the turntable and the vehicle is started before the rotation of the turntable is completely stopped. In FIG. 9, the solid line characteristic of the yaw rate indicates the yaw rate sensor signal value ψsen (= rotational speed of the turntable), and the dotted line characteristic of the yaw rate indicates the yaw rate sensor offset operation value フ ィ ル タ off (the first-order lag to the yaw rate sensor signal value ψsen). , And the horizontal linear characteristic of the yaw rate indicates the yaw rate sensor offset threshold ψcof.

That is, during rotation of the turntable, a yaw rate corresponding to the rotation speed of the turntable is generated in the vehicle, and both the yaw rate sensor signal value ψsen and the yaw rate sensor offset calculation value ψoff have large values. Then, as shown in the vehicle speed characteristic, when the vehicle is started at the time A at which the rotation of the rotating turntable does not completely stop, the vehicle speed condition for starting the sensor abnormality diagnosis is satisfied, and the yaw rate sensor offset is established. The calculated value ψoff is equal to or larger than the yaw rate sensor offset threshold ψcof, and the sensor is erroneously detected as a sensor abnormality. By the way, if the vehicle is started at any time before reaching the point B even if the vehicle is started later than the point A, it is erroneously detected as a sensor abnormality. As a result, a warning is issued by stopping the system or turning on a warning lamp unnecessarily.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems. An object of the present invention is to provide a case where it is determined that there is a possibility that a vehicle is on a turntable depending on the progress of the vehicle. Another object of the present invention is to provide a yaw rate sensor abnormality detection device that can reliably prevent erroneous detection of a yaw rate sensor abnormality by setting a yaw rate sensor abnormality diagnosis condition different from a normal abnormality diagnosis condition.

[0008]

According to the first aspect of the present invention, there is provided a vehicle speed detecting means for detecting a vehicle speed, a yaw rate sensor for detecting a yaw rate,
When the yaw rate sensor value from the yaw rate sensor when it is determined that the vehicle has shifted from the stop state to the start state by the vehicle speed detection is equal to or greater than a set sensor abnormality diagnosis threshold value, the yaw rate sensor is diagnosed as abnormal. A yaw rate sensor abnormality detection device, comprising: a vehicle traveling direction determining means for diagnosing whether the traveling direction of the vehicle is forward or backward, and wherein the vehicle traveling direction is determined by the vehicle traveling direction determining means. Then, when it is determined that the vehicle is going forward, a first turntable abnormality diagnosis for delaying the diagnosis timing of whether the yaw rate sensor is abnormal or prohibiting the diagnosis of whether the yaw rate sensor is abnormal is performed. Means are provided.

According to a second aspect of the present invention, in the yaw rate sensor abnormality detecting device according to the first aspect, the first
The turntable correspondence abnormality diagnosis means delays the sensor abnormality diagnosis time until the vehicle speed reaches the set vehicle speed when it is determined that the vehicle is going forward after traveling backward, or
It is a means for prohibiting sensor abnormality diagnosis.

According to the third aspect of the present invention, a vehicle speed detecting means for detecting a vehicle speed, a yaw rate sensor for detecting a yaw rate, and a yaw rate sensor for detecting that the vehicle has shifted from a stop state to a start state based on the vehicle speed detection A yaw rate sensor abnormality detecting device that diagnoses that the yaw rate sensor is abnormal when the yaw rate sensor value from the sensor is equal to or greater than a set sensor abnormality diagnosis threshold value. Is provided with vehicle traveling direction determining means for diagnosing whether the vehicle is moving forward or backward, and when it is determined by the vehicle traveling direction determining means that the vehicle is going to move forward after moving backward, a sensor abnormality determination threshold is set. A first turntable corresponding abnormality diagnosis means for increasing the size is provided.

According to a fourth aspect of the present invention, there is provided a vehicle speed detecting means for detecting a vehicle speed, a yaw rate sensor for detecting a yaw rate, and a yaw rate sensor for detecting that the vehicle has shifted from a stopped state to a starting state based on the detected vehicle speed. A yaw rate sensor abnormality detecting device that diagnoses that the yaw rate sensor is abnormal when the yaw rate sensor value from the sensor is equal to or greater than a set sensor abnormality diagnosis threshold value. Is provided with vehicle traveling direction determining means for diagnosing whether the vehicle is moving forward or backward, and if it is determined by the vehicle traveling direction determining means that the vehicle is going to move forward after moving backward, whether the yaw rate sensor is abnormal Diagnose multiple times,
If the yaw rate deviation, which is the difference between the previously detected yaw rate sensor value and the next detected yaw rate sensor value in a plurality of diagnoses, is greater than or equal to a set value in the yaw rate decreasing direction, the yaw rate sensor is diagnosed as normal. A second turntable corresponding abnormality diagnosis means is provided.

According to a fifth aspect of the present invention, in the yaw rate sensor abnormality detecting device according to any one of the first to fourth aspects, the vehicle traveling direction determining means detects the traveling direction from the shift position of the transmission, and It is characterized by a means for determining that the vehicle has reached the reverse position when a predetermined period of time has elapsed since the reverse position.

According to a sixth aspect of the present invention, in the yaw rate sensor abnormality detecting device according to any one of the first to fifth aspects, the turntable-corresponding abnormality diagnosis means determines that the vehicle has reached the reverse position and then moves forward. When the set time has elapsed after the position has been reached, the sensor abnormality diagnosis mode corresponding to the turntable is terminated, and the sensor abnormality diagnosis mode is shifted to a normal sensor abnormality diagnosis mode in which the sensor abnormality diagnosis is performed. It is characterized by the following.

[0014]

According to the first aspect of the present invention, the yaw rate sensor value from the yaw rate sensor when the sensor abnormality diagnosis means determines that the vehicle has shifted from the stop state to the start state by detecting the vehicle speed. Is greater than or equal to the set sensor abnormality diagnosis threshold, it is diagnosed that the yaw rate sensor is abnormal.

On the other hand, when it is determined by the vehicle traveling direction determining means that the vehicle is going to move forward after moving backward, the first turntable corresponding abnormality diagnostic means diagnoses whether the yaw rate sensor is abnormal. Diagnosis of whether the timing is delayed or whether the yaw rate sensor is abnormal is prohibited.

That is, paying attention to the fact that the vehicle normally moves backward and rides on the turntable. If the vehicle stops after moving backward, if the vehicle starts moving forward within a certain period of time, the vehicle moves on the turntable. It can be determined that it may be listed. In this case, even if the vehicle is started before the rotation of the turntable stops, after the diagnosis time is delayed or after the diagnosis is prohibited, the vehicle has already completely descended from the turntable. The yaw rate (yaw rate sensor value) generated by the rotation of the motor has disappeared.

Therefore, if it is determined that there is a possibility that the vehicle is on the turntable depending on the progress of the vehicle, the unusual yaw rate of delaying the abnormality diagnosis timing or prohibiting the abnormality diagnosis is determined. By using the sensor abnormality diagnosis condition, erroneous detection of a yaw rate sensor abnormality can be reliably prevented.

According to the second aspect of the present invention, in the first turntable corresponding abnormality diagnosis means,
When it is determined that the vehicle is going to move forward, the sensor abnormality diagnosis timing is delayed until the vehicle speed reaches the set vehicle speed, or the sensor abnormality diagnosis is prohibited.

That is, it is conceivable that the start timing of the sensor abnormality diagnosis is determined by the delay time or the prohibition time from the start. However, if the delay time or the prohibition time is set to a long time, the vehicle can surely get off the turntable. However, when the yaw rate sensor is abnormal, the abnormality diagnosis is delayed. If the delay time or the prohibition time is set to a short time, the abnormality diagnosis can be performed early when the yaw rate sensor is abnormal, but there is a concern that the sensor abnormality diagnosis will be started when the vehicle does not get off the turntable. is there.

On the other hand, by setting the start timing of the sensor abnormality diagnosis to be a start timing determined by the vehicle speed, the start timing is determined by the rotation of the turntable when the vehicle has definitely got off the turntable, that is, when the sensor is normal. At the time when the yaw rate sensor value decreases, the sensor abnormality can be diagnosed. Here, the set vehicle speed is
The range is 10 km / h or less where the vehicle is less likely to be unstable, and preferably about 5 km / h in consideration of early diagnosis.

According to the third aspect of the present invention, the sensor abnormality diagnostic means sets a yaw rate sensor value from the yaw rate sensor when the vehicle speed is determined to have shifted from the stop state to the start state. When the detected yaw rate sensor is equal to or more than the sensor abnormality diagnosis threshold value, it is diagnosed that the yaw rate sensor is abnormal.

On the other hand, when the vehicle traveling direction determining means determines that the vehicle is going to move forward after the vehicle has moved backward, the first turntable corresponding abnormality diagnosis means determines whether the yaw rate sensor is abnormal. The diagnostic threshold is increased.

That is, paying attention to the fact that the vehicle normally moves backward and rides on the turntable. If the vehicle stops after moving backward, if the vehicle starts moving forward within a certain period of time, the vehicle moves on the turntable. It can be determined that it may be listed. In this case, even if the sensor abnormality diagnosis is started from the time when the vehicle starts before the turntable stops rotating, the sensor abnormality diagnosis threshold value is set to a value sufficiently larger than the normal sensor abnormality diagnosis threshold value. Then, the value surely exceeds the yaw rate (yaw rate sensor value) generated by rotation on the turntable, and substantially when the yaw rate sensor is abnormal, similarly to the delay of the sensor abnormality diagnosis and the prohibition of the sensor abnormality diagnosis. Not diagnosed.

Therefore, when it is determined that there is a possibility that the vehicle is on the turntable depending on the progress of the vehicle, the unusual yaw rate sensor abnormality diagnosis condition of increasing the sensor abnormality diagnosis threshold value is set. By doing so, erroneous detection of a yaw rate sensor abnormality can be reliably prevented.

According to the present invention, the yaw rate sensor value from the yaw rate sensor when the vehicle speed is determined to have shifted from the stop state to the start state by the vehicle speed detection is set by the sensor abnormality diagnosis means. When the detected value is equal to or greater than the detected sensor abnormality diagnosis threshold value, it is diagnosed that the yaw rate sensor is abnormal.

On the other hand, when it is determined by the vehicle traveling direction determining means that the vehicle is going to move forward after moving backward, the second turntable abnormality diagnosis means determines whether the yaw rate sensor is abnormal. Is performed a plurality of times, and when the yaw rate deviation amount, which is the difference between the yaw rate sensor value detected last time in the plurality of diagnoses and the yaw rate sensor value detected in the next time, is equal to or greater than the set value in the yaw rate decreasing direction, the yaw rate The sensor is diagnosed as normal.

That is, when it can be determined that there is a possibility that the vehicle is on the turntable, and when the yaw rate sensor is normal, if the diagnosis of whether the yaw rate sensor is abnormal is made a plurality of times, As the vehicle moves away from the center position of the turntable during a plurality of diagnoses, the detected yaw rate sensor value decreases. That is, when the yaw rate deviation, which is the difference between the previously detected yaw rate sensor value and the next detected yaw rate sensor value, becomes greater than or equal to a set value in the yaw rate decreasing direction, the absolute value of the yaw rate sensor value is used to diagnose the sensor abnormality. Even when the value is larger than the value, it can be quickly diagnosed that the sensor is normal.

Therefore, when it is determined that there is a possibility that the vehicle is on the turntable depending on the progress of the vehicle, it is different from the usual case that the decrease in the yaw rate sensor value is checked in a plurality of abnormality diagnoses. By using the abnormality diagnosis condition, erroneous detection of a yaw rate sensor abnormality can be reliably prevented.

According to a fifth aspect of the present invention, the vehicle traveling direction judging means detects the traveling direction from the shift position of the transmission and, when a predetermined time has elapsed since the vehicle was in the reverse position, the reverse position. It is determined that it has become.

That is, in the case of a vehicle equipped with an automatic transmission, even when the vehicle normally enters the drive range (D range) from the parking range (P range), it passes through the reverse range (R range) halfway.

Therefore, when the traveling direction is detected from the shift position of the transmission, as described above, even when the range is momentarily changed to the R range when the range is selected from the P range to the D range, the reverse position is determined. Misjudgment can be prevented.

According to the present invention, the first turntable abnormality diagnosis means or the second turntable abnormality diagnosis means determines that the vehicle has reached the reverse position, and then moves forward. If the set time has elapsed after the position has been reached, the sensor abnormality diagnosis mode corresponding to the turntable is terminated, and the mode is shifted to the normal sensor abnormality diagnosis mode in which the sensor abnormality diagnosis unit performs the sensor abnormality diagnosis.

That is, even when parking in a normal parking lot, since parking is performed in reverse and the vehicle is started forward, it is indistinguishable that the vehicle is parked on the turntable by reverse and started from the turntable forward. But usually
When switching from the reverse position to the forward position on the turntable, the vehicle starts immediately after the turntable stops rotating.Therefore, it is determined that the reverse position has been reached. It can be determined that the vehicle is parked in the parking lot.

Therefore, after the determination of the reverse position, if the set time has elapsed since the forward position, the sensor abnormality diagnosis mode corresponding to the turntable is terminated, and the mode is shifted to the normal sensor abnormality diagnosis mode. In the case where the vehicle is switched from the reverse position to the forward position other than at the turntable as in the case of parking in a normal parking lot, it is possible to prevent the sensor abnormality diagnosis timing from being unnecessarily delayed.

[0035]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of a yaw rate sensor abnormality detecting apparatus according to the present invention; A description will be given based on a second embodiment corresponding to claims 4, 5 and 6, and another embodiment corresponding to claim 3.

(First Embodiment) First, the configuration will be described. FIG. 1 shows a vehicle dynamics control (VD) to which the yaw rate sensor abnormality detecting device of the first embodiment is applied.
FIG. 4 is a control system diagram of vehicle dynamics control (C: Vehicle Dynamics Control). The VDC system is a four-wheel vehicle that performs a slip on a slippery road surface or an obstacle during an emergency avoidance of an obstacle in addition to the functions of a TCS / ABS system. This is a vehicle behavior control system that is reduced by independent brake control and engine output control, and achieves both high turning performance and high braking performance to improve running stability.

In FIG. 1, 1 is an engine, 2 is a left front wheel, 3 is a right front wheel, 4 is a left rear wheel, 5 is a right rear wheel, 6 is a brake pedal, 7 is a master cylinder, 8 is a steering angle sensor, 9
Is a yaw rate sensor, 10 is a left front wheel rotation sensor, 11 is a right front wheel rotation sensor, 12 is a left rear wheel rotation sensor, 13 is a right rear wheel rotation sensor, 14 is a pressure sensor, and 15 is VDC / T.
CS / ABS control unit, 16 is an engine control unit, 17 is an automatic transmission control unit, 18 is an electronic control throttle, 19 is a precharge pump, 20 is a VDC / TCS / ABS actuator, 21 is a system failure warning light, and 22 is a system failure warning light. ABS warning light, 23 is VDC warning light, 24 is SLIP indicator light, 25
Is a TCS-OFF indicator light, and 26 is a VDC operation buzzer.

The steering angle sensor 8 detects the amount of operation of the steering wheel by the driver and the steering direction, and outputs the sensor signal to the VD.
Output to C / TCS / ABS control unit 15.

The yaw rate sensor 9 detects the yaw rate of the vehicle, and outputs the sensor signal to VDC / TCS / AB
Output to S control unit 15.

The front left wheel rotation sensor 10, the front right wheel rotation sensor 11, the rear left wheel rotation sensor 12, the rear right wheel rotation sensor 1
3 detects the rotational speeds of the wheels 2, 3, 4, and 5, and outputs the sensor signals to the VDC / TCS / ABS control unit 15.

The pressure sensor 14 detects the hydraulic pressure in the master cylinder 7, that is, the braking force by the driver, and outputs a sensor signal to the VDC / TCS / ABS control unit 15.

The VDC / TCS / ABS control unit 15 receives various sensor signals, information on the engine 1 and the automatic transmission, and determines the running state of the vehicle. Then, calculation of a target brake fluid pressure required for VDC / TCS / ABS control, output of a brake actuator drive signal, and calculation of a target engine torque are performed. Note that this VD
The C / TCS / ABS control unit 15 diagnoses the abnormality of the yaw rate sensor 9, and when the sensor abnormality is diagnosed, detects that the sensor is abnormal and turns on the system failure warning lamp 21. It also has a detection unit (yaw rate sensor abnormality detection device).

The engine control unit 16
Is the VDC / TCS / ABS control unit 15
, A throttle opening control for the throttle motor of the electronic control throttle 18 and a fuel cut control for the injector of the engine 1 are performed.

The precharge pump 19 has a VDC /
During the operation of the TCS, the brake fluid for pressure increase is sucked from the reservoir tank to generate the brake working fluid pressure.

The VDC / TCS / ABS actuator 20 receives the actuator drive signal from the VDC / TCS / ABS control unit 15 and adjusts the brake fluid pressure to the wheel cylinder of each wheel.

Next, the operation will be described.

[Vehicle traveling direction determination processing] FIG.
FIG. 7 is a flowchart showing a flow of a vehicle traveling direction determination process executed by the TCS / ABS control unit 15;
Hereinafter, each step will be described. This process is repeatedly executed at a cycle of 20 msec (vehicle traveling direction determining means).

In step 30, the flag F4 is set to F4 = 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 31, and in the case of NO, the process proceeds to step 37. This flag F4
F4 = 0 indicates a state other than the reverse movement, and F4 = 1 indicates a reverse state.

In step 31, the shift position is set to the reverse (R
(YES in step S32), the process proceeds to step S32, and in the case of NO, the process proceeds to step S42.

In step 32, the flag F2 is set to F2> 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 34, and in the case of NO, the process proceeds to step 33. This flag F2
Is the elapsed time from when the numerical value enters the reverse state (for example, when F2 = 50, 50 × 20 msec = 1000 ms)
ec = 1sec).

In step 33, when it is first determined in step 31 that the vehicle is moving backward, the flag F2 is set to F2 = 1.

In step 34, after F2 = 1 is set, when it is determined in step 31 that the vehicle is moving backward, the flag F
2 is incremented by one (F2 = n + 1) each time it is determined that the vehicle is moving backward.

At step 35, the flag F2 is set to F2 ≧ 5.
It is determined whether it is 0 or not. If the result is YES, the process proceeds to step 36, and if the result is NO, the process returns to step 30.

In step 36, the flag F4 is set to F4 = 1.
Is set to

In step 37, the shift position is set to forward (D
It is determined whether or not it is a range or the like. If YES, the process proceeds to a step 38, and if NO, the process proceeds to a step 42.

In step 38, the flag F3 is set to F3> 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 40, and in the case of NO, the process proceeds to step 39. This flag F3
Is the elapsed time from when the numerical value shifts from the reverse state to the forward state (for example, if F3 = 1500, 1500 ×
20msec = 30000msec = 30sec).

In step 39, when it is first determined in step 37 that the vehicle is moving forward, the flag F3 is set to F3 = 1.

At step 40, after F3 = 1 is set, when it is determined at step 37 that the vehicle is moving forward, the flag F
3 is incremented by one (F3 = n + 1) each time it is determined that the vehicle is moving forward.

In step 41, the flag F3 is set to F3 ≦ 1.
It is determined whether it is 500 (30 seconds or less). If YES, the process proceeds to a step 43, and if NO, the process proceeds to a step 42.
Proceed to.

In step 42, when it is determined NO in step 31 (when the shift position is not the reverse position), when it is determined in step 37 that it is NO (the shift position is the forward position after the reverse position). If no, the result of the determination in step 41 is NO (the flag F3 is set to F3).
> 1500, that is, when the elapsed time since the transition from reverse to forward has passed 30 seconds), the sensor abnormality diagnosis is performed by the routine of the normal sensor abnormality diagnosis process shown in FIG. Note that when proceeding from step 37 to step 42, the flag F2 is rewritten to 0 when continuing for a set time or more after the backward judgment, and when proceeding from step 41 to step 42, the flags F2, F3, and F4 are set to 0. Rewritten.

In step 43, YES in step 41
(If the flag F3 is F3 ≦ 1500, that is, the elapsed time from shifting from reverse to forward is 30 seconds)
In the following case), the sensor abnormality diagnosis is performed by the routine of the sensor abnormality diagnosis process corresponding to the turntable shown in FIG.

[Normal Sensor Abnormality Diagnosis Processing] FIG.
Each step will be described below with a flowchart showing a flow of a normal routine of a sensor abnormality diagnosis process executed by the C / TCS / ABS control unit 15.
This process is executed at a cycle of 20 msec (sensor abnormality diagnosis means).

In step 44, the yaw rate sensor offset value calculated after the yaw rate sensor signal value {sen} from the yaw rate sensor 9 has been subjected to a filter such as a primary delay, etc.
off (hereinafter referred to as the yaw rate sensor value ψ) is read.

At step 45, it is determined whether or not the vehicle speed V exceeds 0 (zero). If YES, the process proceeds to step 47, and if NO, the process proceeds to step 46. Here, the vehicle speed V is obtained by calculation based on the rotation speed from the rotation sensors 10, 11, 12, and 13 of each wheel, for example, calculation of the average value of the left and right driven wheel speeds (vehicle speed detection means).

In step 46, the flag F1 is set to F1 = 0.
Is set to The flag F1 indicates that the vehicle is stopped when F1 = 0 and that the vehicle is running when F1 = 1.

In step 47, the flag F1 is set to F1 = 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 48, and in the case of NO, the process proceeds to step 51.

In step 48, the yaw rate sensor value ψ
Is greater than or equal to the start sensor abnormality diagnosis threshold value α, and if YES, the process proceeds to step 49,
If no, the process proceeds to step 50.

In step 49, in step 48, ψ> α
Is determined, the yaw rate sensor 9 is diagnosed as abnormal, and a command to turn on the system failure warning light 21 is output.

In step 50, the flag F1 is set to F1 = 1.
Is rewritten as

In step 51, the yaw rate sensor value ψ
Is greater than or equal to the running sensor abnormality diagnosis threshold value β, and if YES, the process proceeds to step 52,
If NO, the process returns to step 44. Here, the relationship between the start-time sensor abnormality diagnosis threshold value α and the traveling-time sensor abnormality diagnosis threshold value β is defined as α <β. This is because it is strange that a large yaw rate appears when the vehicle speed starts near zero, so it is set to a smaller value α than when traveling, and conversely,
During traveling, the value β is set to be larger than that at the start, taking into account the influence of disturbance.

In step 52, ψ> β in step 51
Is determined, the yaw rate sensor 9 is diagnosed as abnormal, and a command to turn on the system failure warning light 21 is output.

[Turntable Corresponding Sensor Abnormality Diagnosis Processing] FIG. 4 is a flowchart showing the flow of the turntable corresponding sensor abnormality diagnostic processing of the first embodiment executed by the VDC / TCS / ABS control unit 15. Will be described. In addition, this processing is 2
It is executed in a cycle of 0 msec (first turntable corresponding sensor abnormality diagnosis means).

In step 53, the yaw rate sensor value ψ
Is read.

In step 54, it is determined whether or not the vehicle speed V is 5 km / h or more. If YES, the process proceeds to a step 57, and if NO, the process proceeds to a step 55.

In step 55, it is determined whether or not the vehicle speed V exceeds 0 (zero). If YES, the process returns to step 40, and if NO, the process proceeds to step 56.

In step 56, the flag F1 is set to F1 = 0.
Is set to The flag F1 indicates that the vehicle is stopped when F1 = 0 and that the vehicle is running when F1 = 1.

At step 57, the flag F1 is set to F1 = 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 58, and in the case of NO, the process proceeds to step 61.

In step 58, the yaw rate sensor value ψ
Is greater than or equal to the start sensor abnormality diagnosis threshold value α, and if YES, the process proceeds to step 59,
If no, the process proceeds to step 60.

In step 59, ψ> α in step 58
Is determined, the yaw rate sensor 9 is diagnosed as abnormal, and a command to turn on the system failure warning light 21 is output.

At step 60, the flag F1 is set to F1 = 1.
Is rewritten as

In step 61, the yaw rate sensor value ψ
Is greater than or equal to the traveling sensor abnormality diagnosis threshold value β, and if YES, the process proceeds to step 62,
If NO, the process returns to step S40. It should be noted that the start sensor abnormality diagnosis threshold α and the traveling sensor abnormality diagnosis threshold β
Is a relation of α <β, as described above.

In step 62, in step 61, ψ> β
Is determined, the yaw rate sensor 9 is diagnosed as abnormal, and a command to turn on the system failure warning light 21 is output.

[Vehicle Traveling Direction Judgment Operation] First, when the driver performs a shift operation (select operation) to enter the R range, in the flowchart of FIG.
The flow proceeds from step 31 to step 32 to step 33 to step 35. When the vehicle enters a state where the vehicle moves backward while the vehicle is in the R range, step 30 → step 31 → step 32 → step 3 in the flowchart of FIG.
The flow from 4 to step 35 is repeated, and in step 35, the elapsed time since entering the R range is 1se
When c has elapsed, the routine proceeds to step 36, where the flag F4 representing the reverse state is rewritten to F4 = 1. Note that R
When it is determined that the shift position is not the reverse position in step 31 outside the range, or when it is determined in step 31 that the shift position is not the reverse position while the elapsed time since entering the R range is 1 second. , Step 31
Then, the routine proceeds to step 42, where the normal sensor abnormality diagnosis processing of FIG. 3 is executed.

After the flag F4 has been rewritten to F4 = 1, if the vehicle remains in the R range and keeps moving backward or in the N range, the flow chart shown in FIG. → The flow proceeds to step 42, and the normal sensor abnormality diagnosis processing of FIG. 3 is executed.

Then, after the flag F4 is rewritten to F4 = 1, if the driver enters the D range with the intention of starting, the flow goes from step 37 to step 38 → step 39 → step 41 in the flowchart of FIG. In step 41, the flag F3 is set to F3 ≦ 1500,
In other words, the elapsed time from the transition from reverse to forward is 30
When the time is equal to or less than sec, the sensor abnormality diagnosis is executed by the routine of the sensor abnormality diagnosis process corresponding to the turntable shown in FIG.

Further, at step 41, the flag F
3 is F3> 1500, that is, if 30 seconds has elapsed since the transition from the reverse to the forward, step 41
Then, the routine proceeds to step 42, where the normal sensor abnormality diagnosis processing of FIG. 3 is executed.

[Normal Sensor Abnormality Diagnosis Operation] When the vehicle is stopped, the flow proceeds from step 44 to step 45 to step 46 in the flowchart of FIG. 3, and the abnormality diagnosis of the yaw rate sensor 9 is not performed.

When the vehicle starts, the flow proceeds from step 44 to step 45 to step 47 to step 48 in the flowchart of FIG. 3. In step 48, the yaw rate sensor value ψ exceeds the sensor abnormality diagnosis threshold value α for starting. The yaw rate sensor 9
Is diagnosed.

While the vehicle is running, the flow proceeds to step 44 → step 45 → step 47 → step 51 in the flow chart of FIG. 3. In step 51, the yaw rate sensor value ψ exceeds the running sensor abnormality diagnosis threshold β. The yaw rate sensor 9
Is diagnosed.

[Turntable Correspondence Sensor Abnormality Diagnosis Operation] As shown in FIG. 2, when the shift position shifts from the reverse position to the forward position, the turntable correspondence sensor abnormality diagnosis of FIG. 4 is performed. At the time of abnormality diagnosis, the vehicle only entered the D range and did not satisfy the vehicle speed condition of 5 km / h or more.
Since the operation is stopped, step 53 in FIG.
5 → Go to step 56, and in step 56, the flag F1 is set to F1 = 0.

As long as the vehicle speed does not satisfy the vehicle speed condition of 5 km / h or more even if the vehicle is started, in the flowchart of FIG.
Is repeated. That is, in the normal sensor abnormality diagnosis processing shown in FIG. 2, the abnormality diagnosis of the yaw rate sensor 9 is performed immediately after the vehicle is started. No abnormality diagnosis of the sensor 9 is performed.

Then, in the first control cycle in which the vehicle is started and the vehicle speed condition of 5 km / h or more is satisfied, the flow proceeds from step 53 to step 57 to step 58 in the flowchart of FIG. , Step 58
Then, the abnormality diagnosis of the yaw rate sensor 9 is performed by judging whether or not the yaw rate sensor value 上 exceeds the sensor abnormality diagnosis threshold value α at the time of starting.

Then, in the second and subsequent control cycles in which the vehicle is started and the vehicle speed condition of 5 km / h or more is satisfied, the flow proceeds from step 53 to step 57 to step 61 in the flowchart of FIG. In step 61, abnormality diagnosis of the yaw rate sensor 9 is performed by judging whether or not the yaw rate sensor value っ て is greater than the traveling sensor abnormality diagnosis threshold value β.

That is, as shown in FIG.
When the vehicle is started after a certain stop time Tt (<Ttt) has elapsed, instead of starting the sensor abnormality diagnosis at the time of starting, the start of the sensor abnormality diagnosis is waited until the vehicle speed reaches 5 km / h ( When the vehicle speed reaches 5km / h, the sensor abnormality diagnosis will be started.
When the yaw rate sensor 9 is normal due to the delay in the start of the sensor abnormality diagnosis, the yaw rate sensor value ψ decreases during the delay time until the yaw rate sensor 9, and the yaw rate sensor value 確 実 surely becomes the starting sensor abnormality diagnosis threshold. Is equal to or less than the value α.

Further, when the vehicle shifts from the reverse state to the start state, the sensor abnormality diagnosis processing corresponding to the turntable due to the delay is performed as described above. However, when 30 seconds elapse after the start state, FIG. In the flow chart of step 30 → step 37 → step 38
The flow proceeds from step 40 to step 41 to step 42, and shifts to the normal sensor abnormality diagnosis processing mode shown in FIG.

Next, the effects will be described.

(1) If it is determined that the vehicle is going to move forward after traveling backward, that is, if it is determined that the vehicle may be on the turntable, the yaw rate sensor 9 Since the processing is performed based on a sensor abnormality diagnosis condition different from the normal condition in which the diagnosis timing of whether the sensor is abnormal is delayed, erroneous detection of abnormality of the yaw rate sensor 9 can be reliably prevented.

That is, paying attention to the fact that the vehicle normally moves backwards and puts on the turntable. If the vehicle stops after moving backward, if the vehicle starts moving forward within a certain period of time, the vehicle moves on the turntable. It can be determined that it may be listed. In that case, even if the vehicle was started before the rotation of the turntable stopped, after the diagnosis time was delayed, the vehicle had already completely descended from the turntable, so the rotation was generated on the turntable. The yaw rate (yaw rate sensor value ψ) is gone.

(2) In the abnormality diagnosis processing corresponding to the turntable of the first embodiment, when it is determined that the vehicle is going to move forward after moving backward, the sensor abnormality diagnosis is performed until the vehicle speed V reaches the set vehicle speed (5 km / h). Since the timing is delayed, it is possible to diagnose the sensor abnormality when the vehicle surely gets off the turntable, that is, when the yaw rate sensor value generated by the rotation of the turntable when the sensor is normal decreases. it can.

In other words, it is conceivable to determine the start timing of the sensor abnormality diagnosis based on the delay time from the start. However, if the delay time is set to a long time, the vehicle will surely get off the turntable. When the yaw rate sensor is abnormal, the abnormality diagnosis is delayed.
If the delay time is set to a short time, the abnormality diagnosis can be performed early when the yaw rate sensor is abnormal, but there is a concern that the sensor abnormality diagnosis may be started when the vehicle does not get off the turntable.

(3) The traveling direction is detected from the shift position of the transmission, and when a predetermined time (1 second) has elapsed since the transmission was shifted to the reverse position (R range), it was determined that the vehicle was in the reverse position. Even if the traveling direction is detected from the shift position of the machine, even when the range is momentarily changed to the R range when selecting from the P range to the D range, it is possible to prevent erroneous determination that the vehicle has reached the reverse position.

That is, in the case of a vehicle equipped with an automatic transmission, even when the vehicle is normally shifted from the P range to the D range, it passes through the R range halfway, and in this case, it is not determined that the vehicle has reached the reverse position.

(4) If it is determined that the vehicle has reached the reverse position and the set time (30 seconds) has elapsed after the vehicle has reached the forward position, the sensor abnormality diagnosis mode corresponding to the turntable shown in FIGS. 3 and 4 will be described. Is terminated, and the mode shifts to the normal sensor abnormality diagnosis mode in which the sensor abnormality diagnosis is performed by the normal routine shown in FIG.
When switching from the reverse position to the forward position other than the turntable, such as when parking in a normal parking lot,
Unnecessarily delaying the sensor abnormality diagnosis time can be prevented.

That is, even in the case of parking in a normal parking lot, since the vehicle is parked in the reverse direction and started in the forward direction, it is indistinguishable from parking in the turntable in the reverse direction and trying to start in the forward direction from the turntable. But usually
When switching from the reverse position to the forward position on the turntable, the vehicle will start immediately after the rotation of the turntable stops. It can be determined that the vehicle is parked in the parking lot.

(Second Embodiment) In the second embodiment, when it is determined that the vehicle is going to move forward after moving backward,
Diagnosis of whether the yaw rate sensor 9 is abnormal is performed three times, and the yaw rate deviation between the previously detected yaw rate sensor value ψ and the presently detected yaw rate sensor value で in the three diagnoses is set in the yaw rate decreasing direction △. In the above case, the yaw rate sensor 9 performs an abnormality diagnosis process corresponding to a turntable for diagnosing that the yaw rate sensor 9 is normal.

First, the configuration will be described. Since the configuration of the second embodiment is the same as that of the first embodiment (FIG. 1), illustration and description are omitted.

Next, the operation will be described.

FIG. 6 is a flow chart showing the flow of the turntable sensor abnormality diagnosis processing of the second embodiment executed by the VDC / TCS / ABS control unit 15. Will be described. In addition, this processing is 2
This is executed at a cycle of 0 msec (second turntable corresponding sensor abnormality diagnosis means).

First, the vehicle traveling direction determination processing shown in FIG. 2 of the first embodiment and the normal sensor abnormality diagnosis processing shown in FIG. 3 are performed in the same manner in the second embodiment, so illustration and description are omitted. . Hereinafter, the turntable corresponding sensor abnormality diagnosis processing performed in the second embodiment will be described in place of FIG. 4 of the first embodiment.

In step 70, the yaw rate sensor value ψ
Is read.

At step 71, it is determined whether or not the vehicle speed V exceeds 0 (zero). If YES, the process proceeds to step 73, and if NO, the process proceeds to step 72.

In step 72, the flag F1 is set to F1 = 0.
And returns to step 40. This flag F1 is
F1 = 0 indicates that the turntable corresponding sensor abnormality is being diagnosed, and F1 = 1 indicates that the normal vehicle traveling sensor abnormality is being diagnosed.

In step 73, the flag F1 is set to F1 = 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 76, and in the case of NO, the process proceeds to step 74.

In step 74, the yaw rate sensor value ψ
Is greater than or equal to the traveling sensor abnormality diagnosis threshold value β, and if YES, the process proceeds to step 75,
If NO, the process returns to step S40.

In step 75, in step 74, ψ> β
Is determined, the yaw rate sensor 9 is diagnosed as abnormal, and a command to turn on the system failure warning light 21 is output.

In step 76, the flag F4 is set to F4 = 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 77, and in the case of NO, the process proceeds to step 81. Here, the flag F4 indicates that F4 = 0 indicates that the first diagnosis has not been processed.
= 1 indicates that the first diagnosis processing has been completed.

In step 77, the yaw rate sensor value ψ
It is determined whether or not 1 exceeds the start-time sensor abnormality diagnosis threshold value α. If YES, the process proceeds to a step 79, and if NO, the process proceeds to a step 78.

In step 78, the flag F1 is set to F1 = 1.
And returns to step 40.

At step 79, the yaw rate sensor value ψ1 read in the first diagnosis is rewritten to ψA,
Return to step 40.

In step 80, the flag F1 is set to F1 =
0, the flag F4 is rewritten to F4 = 1.

In step 81, it is determined whether the vehicle speed V is 5 km / h or more. If YES, the process proceeds to step 82, and if NO, the process returns to step 40.

In step 82, the flag F5 is set to F5 = 0.
It is determined whether it is or not. In the case of YES, the process proceeds to step 83, and in the case of NO, the process proceeds to step 86. Here, the flag F5 indicates that F5 = 0 indicates that the second diagnosis has not been processed.
= 1 indicates that the second diagnosis processing has been completed.

In step 83, it is determined whether or not the yaw rate sensor value ψ2 read at the time when the vehicle speed V becomes 5 km / h exceeds the start-time sensor abnormality diagnosis threshold value α. The process proceeds to step 86 if NO.

In step 84, the yaw rate sensor value ψ2 read in the second diagnosis is rewritten to ψB,
Proceed to step 85.

At step 85, it is determined whether ψA−ψB <△ ψ, and if YES, the process proceeds to step 87, where
If NO, the process proceeds to step 86. Here, the set value △ ψ
Is set to a value representing the yaw rate decreasing direction.

In step 86, when it is determined in step 83 that the sensor is normal, or in step 85, the yaw rate sensor value ψB read in the second diagnosis is decreased from the yaw rate sensor value ψA read in the first diagnosis. If it is determined that the sensor is normal because the degree is equal to or larger than the set value △ ψ, the flag F1 is rewritten to F1 = 1, the flag F4 is rewritten to F4 = 0, and the process returns to step S40.

In step 87, the flag F1 is set to F1 =
0, the flag F5 is rewritten to F5 = 1.

At step 88, it is determined whether or not the vehicle speed V is equal to or higher than 10 km / h. If YES, the process proceeds to step 89, and if NO, the process returns to step 40.

In step 89, it is determined whether or not the yaw rate sensor value # 3 read at the time when the vehicle speed V becomes 10 km / h exceeds the sensor abnormality diagnosis threshold value α at the time of starting. If NO, go to step 92.

In step 90, the yaw rate sensor value $ 3 read in the third diagnosis is rewritten to $ C.
Proceed to step 91.

At step 91, it is determined whether or not ψB−ψC <△ ψ. If YES, the process proceeds to step 93, where
If no, the process proceeds to step 92.

In step 92, when it is determined in step 89 that the sensor is normal, or in step 91, the yaw rate sensor value ψC read in the third diagnosis is decreased from the yaw rate sensor value ψB read in the second diagnosis. When it is determined that the sensor is normal because the degree is equal to or greater than the set value △ ψ, the flag F1 is rewritten to F1 = 1, the flag F4 is rewritten to F4 = 0, and the flag F
5 is rewritten to F5 = 0, and the process returns to step 40.

In step 93, in step 91, ΔB−
When it is determined that ψC <△ ψ, the yaw rate sensor 9 is diagnosed as abnormal, and a command to turn on the system failure warning lamp 21 is output.

[Turntable Correspondence Sensor Abnormality Diagnosis Operation] First, in the case where the vehicle is moved backward and then started, the state shown in FIG.
The turntable corresponding sensor abnormality diagnosis processing of the flowchart shown in FIG.

That is, when the driver shifts to the D range with the vehicle stopped, the flow proceeds from step 70 to step 71 to step 72 in the flowchart of FIG.
1 = 0 is set.

Thereafter, when the vehicle is started at the time when the yaw rate is generated due to the rotation of the turntable, FIG.
In the flowchart of FIG.
1 → step 73 → step 76 → step 77. In step 77, ψ1> α. Therefore, the flow proceeds from step 77 to step 79 → step 80. In step 79, ψ1 is set to ψA. Is rewritten to F4 = 1 in step 80 (first diagnosis processing).

Next, until the vehicle speed V becomes 5 km / h after the vehicle starts, step 70 in the flowchart of FIG.
The flow of going to step 71 → step 73 → step 76 → step 81 is repeated.

When the vehicle speed V reaches 5 km / h, the process proceeds from step 81 to step 82 → step 83. If the yaw rate is generated by the rotation of the turntable in step 83, the process proceeds from step 83 to step 84. Or to step 85, and in step 85, ψA-
If ψB <△ ψ, at step 87 F5 becomes F
Rewritten to 5 = 1 (second diagnostic processing).

Next, until the vehicle speed V becomes 10 km / h, the flow of step 70 → step 71 → step 73 → step 76 → step 81 → step 82 → step 88 in the flowchart of FIG. 6 is repeated. .

When the vehicle speed V reaches 10 km / h, the process proceeds from step 88 to step 89. If the yaw rate is generated by the rotation of the turntable in step 89, the process proceeds from step 89 to step 90 → step 91. When ψB−ψC ≧ △ ψ in step 91, based on the diagnosis that the yaw rate sensor 9 is normal, F1 = 1, F4 = 0, F5 in step 92.
= 0 (third diagnosis processing).

By rewriting F1 = 1 in step 92, from the next control cycle, the flow proceeds to step 70 → step 71 → step 73 → step 74 in the flowchart of FIG.
In step 4, the abnormality diagnosis of the yaw rate sensor 9 is performed by determining whether or not the yaw rate sensor value っ て is greater than the running sensor abnormality diagnosis threshold value β.

That is, as shown in FIG.
When the vehicle starts after a certain stop time Tt (<Ttt), the first sensor abnormality diagnosis processing is performed at the time of starting, and the second sensor abnormality diagnosis is performed at the time of vehicle speed of 5 km / h. A diagnosis process is performed, and a third sensor abnormality diagnosis process is performed when the vehicle speed is 10 km / h. Then, in the third sensor abnormality diagnosis processing, ψB−ψC ≧ △ ψ
In the case of, it is diagnosed that the yaw rate sensor 9 is normal. In other words, the yaw rate sensor value ψ exceeds the start-time sensor abnormality diagnosis threshold value α at any of the points, but when the yaw rate sensor 9 is normal, the yaw rate sensor value 低下 decreases in the middle. Thus, by confirming the decrease in the yaw rate sensor value ψ, it can be diagnosed that the yaw rate sensor 9 is normal at an early stage.

It should be noted that, even if the yaw rate sensor 9 is diagnosed to be normal in step 77 or step 83, F1 is determined in step 78 or step 86.
= 1, the flow proceeds from the next control cycle to step 70 → step 71 → step 73 → step 74 in the flowchart of FIG. 6. In step 74, the yaw rate sensor value ψ is The abnormality diagnosis of the yaw rate sensor 9 is performed by determining whether or not the value exceeds the abnormality diagnosis threshold value β.

Further, if ψB−ψC <ス テ ッ プ in step 91 despite the third diagnosis processing, the system determines in step 93 that the yaw rate sensor 9 is abnormal. A command to turn on fail warning light 21 is output.

Next, effects will be described.

In the yaw rate sensor abnormality detecting device of the second embodiment, the following effects can be obtained in addition to the effects (3) and (4) of the first embodiment.

(5) If it is determined that the vehicle is going to move forward after moving backward, that is, if it is determined that the vehicle may be on the turntable, the yaw rate sensor 9 The yaw rate deviation between the previously detected yaw rate sensor value ψ and the currently detected yaw rate sensor value で in the three diagnoses is greater than or equal to the set value △ ψ in the decreasing direction. In the above, the process is performed under a sensor abnormality diagnosis condition different from the normal condition in which the yaw rate sensor 9 is diagnosed to be normal.

That is, when it can be determined that the vehicle is likely to be on the turntable, when the yaw rate sensor 9 is normal, the diagnosis of whether the yaw rate sensor 9 is abnormal is made a plurality of times. When the vehicle moves away from the center position of the turntable during a plurality of diagnoses, the detected yaw rate sensor value ψ
Decreases. That is, when the yaw rate deviation between the previously detected yaw rate sensor value ψ and the presently detected yaw rate sensor value に な る becomes greater than or equal to the set value に in the decreasing direction, the absolute value of the yaw rate sensor value ψ becomes the starting sensor abnormality diagnosis threshold value. Even if it is larger than α, it can be quickly diagnosed that the sensor is normal.

(Other Embodiments) The yaw rate sensor abnormality detecting device of the present invention has been described based on the first and second embodiments, but the specific configuration is limited to these embodiments. Instead, modifications and additions of the design are allowed without departing from the gist of the present invention described in each claim of the claims.

For example, in the first embodiment and the second embodiment,
Although the example of the yaw rate sensor abnormality detection device applied to the vehicle dynamics control control system has been described, the invention can be applied to any on-vehicle control system that uses a sensor signal from the yaw rate sensor as input information.

In the first embodiment, when it is determined that the vehicle is going to move forward after the vehicle has moved backward, the timing for diagnosing whether the yaw rate sensor is abnormal is determined by the vehicle speed V.
However, a preferred example in which the vehicle speed is delayed until the set vehicle speed of 5 km / h set in consideration of the early diagnosis has been described. However, as the set vehicle speed, if the vehicle is less than 10 km / h, the vehicle is less likely to be unstable. It is not limited to 5km / h. Further, the sensor abnormality diagnosis may be delayed by setting a delay time from when it is determined that the vehicle is about to start to a set time.

Further, if the vehicle is going to move forward after moving backward, that is, if there is a possibility that the vehicle is on the turntable, the sensor abnormality diagnosis is performed until the set vehicle speed is reached or the set time elapses. Even if it is prohibited, substantially the same effect as in the case of delay can be obtained only by changing the wording.

In addition, if the vehicle is going to move forward after moving backward, that is, if the vehicle is likely to be on the turntable, as shown in FIG. The sensor abnormality determination threshold α may be increased to the sensor abnormality determination threshold α ′ until the time elapses. Also in this case, if the sensor abnormality determination threshold value α ′ is set to a sufficiently high value, the same effect as the delay or prohibition of the sensor abnormality diagnosis can be obtained (corresponding to claim 3).

In the first and second embodiments, the example in which the sensor abnormality diagnosis processing is performed at a cycle of 20 msec has been described. However, the processing cycle is set to 10 ms as in other on-vehicle control systems such as ABS control.
ec, and in this case, step 41 or step 5
Correct the count value such as 1.

The second embodiment shows an example in which, when it is determined that the yaw rate sensor 9 is abnormal after the vehicle has moved backward, it is determined whether the yaw rate sensor 9 is abnormal three times. Any number of times may be used as long as the vehicle speed is 0 km / h, vehicle speed 5 km / h, vehicle speed 10 km / h, and vehicle speed V. An example of performing a diagnosis may be used.

[Brief description of the drawings]

FIG. 1 is a control system diagram of a vehicle dynamics control to which a yaw rate sensor abnormality detection device according to a first embodiment is applied.

FIG. 2 is a flowchart illustrating a flow of a vehicle traveling direction determination process executed by a VDC / TCS / ABS control unit according to the first embodiment.

FIG. 3 is a flowchart showing a flow of a normal sensor abnormality diagnosis process executed by the VDC / TCS / ABS control unit of the first embodiment.

FIG. 4 is a flowchart showing a flow of a turntable corresponding sensor abnormality diagnosis process executed by the VDC / TCS / ABS control unit of the first embodiment.

FIG. 5 is a time chart showing a turntable corresponding sensor abnormality diagnosis operation of the first embodiment.

FIG. 6 is a flowchart illustrating a flow of a turntable corresponding sensor abnormality diagnosis process executed by the VDC / TCS / ABS control unit of the second embodiment.

FIG. 7 is a time chart showing a turntable corresponding sensor abnormality diagnosis operation of the second embodiment.

FIG. 8 is a diagram illustrating a turntable-related sensor abnormality diagnosis by temporarily increasing a sensor abnormality determination threshold when the vehicle is going to move forward after moving backward, that is, when the vehicle may be on the turntable. It is a time chart which shows an effect.

FIG. 9 is a time chart showing a sensor abnormality diagnosis operation when a vehicle starts without stopping rotation of a turntable in a conventional yaw rate sensor abnormality detection device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Engine 2 Left front wheel 3 Right front wheel 4 Left rear wheel 5 Right rear wheel 6 Brake pedal 7 Master cylinder 8 Steering angle sensor 9 Yaw rate sensor 10 Left front wheel rotation sensor 11 Right front wheel rotation sensor 12 Left rear wheel rotation sensor 13 Right rear wheel rotation Sensor 14 Pressure sensor 15 VDC / TCS / ABS control unit 16 Engine control unit 17 Automatic transmission control unit 18 Electronic control throttle 19 Precharge pump 20 VDC / TCS / ABS actuator 21 System fail warning light 22 ABS warning light 23 VDC warning light 24 SLIP indicator light 25 TCS-OFF indicator light 26 VDC operation buzzer

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) B62D 137: 00 ZYW G01P 15/00 J

Claims (6)

[Claims] 1. A vehicle speed detecting means for detecting a vehicle speed, a yaw rate sensor for detecting a yaw rate, and a yaw rate sensor value from the yaw rate sensor when it is determined that the vehicle has transitioned from a stopped state to a start state by vehicle speed detection. A yaw rate sensor abnormality detecting device for diagnosing that the yaw rate sensor is abnormal when the sensor abnormality diagnostic threshold value is equal to or more than a set threshold value. When the vehicle traveling direction determining means determines that the vehicle is going to move forward, the vehicle traveling direction determining means delays the diagnosis timing of whether the yaw rate sensor is abnormal, Alternatively, a first turntable abnormality diagnosis means for prohibiting diagnosis of whether the yaw rate sensor is abnormal is provided. Yaw rate sensor abnormality detecting apparatus characterized by digit. 2. The yaw rate sensor abnormality detection device according to claim 1, wherein the first turntable corresponding abnormality diagnosis means sets the vehicle speed to the set vehicle speed when it is determined that the vehicle is going forward after traveling backward. Delays the sensor abnormality diagnosis time until
Alternatively, the yaw rate sensor abnormality detecting device is means for prohibiting sensor abnormality diagnosis. 3. A vehicle speed detecting means for detecting a vehicle speed; a yaw rate sensor for detecting a yaw rate; and a yaw rate sensor value from the yaw rate sensor when it is determined that the vehicle has shifted from a stop state to a start state by vehicle speed detection. A yaw rate sensor abnormality detecting device for diagnosing that the yaw rate sensor is abnormal when the sensor abnormality diagnostic threshold value is equal to or more than a set threshold value. A first turntable for increasing a sensor abnormality determination threshold value when the vehicle traveling direction determining means determines that the vehicle is going forward after the vehicle has moved backward. A yaw rate sensor abnormality detection device provided with a corresponding abnormality diagnosis means. 4. A vehicle speed detecting means for detecting a vehicle speed, a yaw rate sensor for detecting a yaw rate, and a yaw rate sensor value from the yaw rate sensor when it is determined that the vehicle has shifted from a stop state to a start state by the vehicle speed detection. A yaw rate sensor abnormality detecting device for diagnosing that the yaw rate sensor is abnormal when the sensor abnormality diagnostic threshold value is equal to or more than a set threshold value. When the vehicle traveling direction determining unit determines that the vehicle is going to move forward after the vehicle has moved backward, the vehicle traveling direction determining unit performs a plurality of diagnoses as to whether or not the yaw rate sensor is abnormal. In addition, the yaw rate sensor value detected last time in multiple diagnoses and the yaw rate sensor value detected in the next When the yaw rate deviation is equal to or greater than the set value of the yaw rate decreasing direction is, the yaw rate sensor abnormality detecting apparatus characterized in that a second turntable corresponding abnormality diagnosis means for diagnosing a yaw rate sensor is normal. 5. The yaw rate sensor abnormality detecting device according to claim 1, wherein the vehicle traveling direction judging means detects a traveling direction from a shift position of the transmission and a predetermined time after the vehicle reaches a reverse position. A yaw rate sensor abnormality detection device, which is means for determining that the vehicle has reached a reverse position when the time has elapsed. 6. The yaw rate sensor abnormality detecting device according to claim 1, wherein the turntable-corresponding abnormality diagnosis means determines that the vehicle has reached a reverse position and then sets a predetermined time after the vehicle has reached a forward position. When the elapsed time has elapsed, the yaw rate sensor terminates the sensor abnormality diagnosis mode corresponding to the turntable and shifts to a normal sensor abnormality diagnosis mode in which the sensor abnormality diagnosis means performs the sensor abnormality diagnosis. Anomaly detection device.