JP2006111211A - 車輌用制御装置 - Google Patents
車輌用制御装置 Download PDFInfo
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- JP2006111211A JP2006111211A JP2004303027A JP2004303027A JP2006111211A JP 2006111211 A JP2006111211 A JP 2006111211A JP 2004303027 A JP2004303027 A JP 2004303027A JP 2004303027 A JP2004303027 A JP 2004303027A JP 2006111211 A JP2006111211 A JP 2006111211A
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- 238000004891 communication Methods 0.000 claims abstract description 65
- 230000005856 abnormality Effects 0.000 claims abstract description 55
- 230000002159 abnormal effect Effects 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 abstract description 6
- 230000003247 decreasing effect Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 36
- 230000008569 process Effects 0.000 description 22
- 230000000087 stabilizing effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 239000008186 active pharmaceutical agent Substances 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1641—Error detection by comparing the output of redundant processing systems where the comparison is not performed by the redundant processing components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Power Steering Mechanism (AREA)
Abstract
【解決手段】左右前輪の目標転舵角Δδtが受信され(S230)、推定目標転舵角Δδthが演算され(S240)、目標転舵角Δδtと推定目標転舵角Δδthとの差の大きさが異常判定基準値βよりも大きいか否かにより転舵制御の禁止条件が成立しているか否か判別され(S250、260)、禁止条件が成立していないときには左右前輪の転舵角が目標転舵角Δδtになるよう転舵制御が実行され(S330)、禁止条件が成立しているときには転舵制御が禁止されており車輪の制駆動力のみの制御による代替の挙動制御が実行されるべきことを示す指令信号がCAN62を経て挙動制御用電子制御装置52へ送信される(S280)。
【選択図】図4
Description
本発明の一つの好ましい態様によれば、上記請求項1乃至8の構成に於いて、第一の演算制御装置は車輌の挙動を安定化させるための操舵輪の修正転舵角を第一の目標制御量として演算し、第二の演算制御装置は第一の目標制御量に基づいて操舵輪の転舵角を制御するよう構成される(好ましい態様1)。
Mts=(1−Rb)Mt ……(1)
Mts=Rb・Mt ……(2)
Δδt>Δδth+β ……(3)
Δδt<Δδth−β ……(4)
Δδt>Δδth+α ……(5)
Δδt<Δδth−α ……(6)
16 電動式パワーステアリング装置
24 転舵角可変装置
34 舵角制御用電子制御装置
40 電動式パワーステアリング装置(EPS)制御用電子制御装置
42 制動装置
52 挙動制御用電子制御装置
60 操舵角センサ
62 CAN
64 横加速度センサ
66 ヨーレートセンサ
68 車速センサ
70 圧力センサ
72FL〜72RR 圧力センサ
Claims (8)
- 通信手段により互いに通信可能に接続された第一及び第二の演算制御装置を有し、前記第一の演算制御装置は検出手段により検出された車輌状態量に基づき前車輌制御の第一の目標制御量を演算し、前記第二の演算制御装置は前記通信手段を介して前記第一の演算制御装置より入力される前記第一の目標制御量に基づき車輌制御を行う車輌用制御装置に於いて、前記第二の演算制御装置は車輌制御の第二の目標制御量を演算し、前記第一の目標制御量と前記第二の目標制御量とを比較し、該比較結果に応じて車輌制御の態様を変更することを特徴とする車輌用制御装置。
- 前記第二の演算制御装置は前記第一の目標制御量が前記第二の目標制御量と異なるときには前記第一の目標制御量よりも大きさが低減された補正目標制御量に基づき車輌制御を行うことにより前記車輌制御の態様を変更することを特徴とする請求項1に記載の車輌用制御装置。
- 前記通信手段により前記第一及び第二の演算制御装置と通信可能に接続された第三の演算制御装置を有し、前記第三の演算制御装置は前記通信手段を介して前記第一の演算制御装置より入力される前記第一の目標制御量と通信経路を介して前記第二の演算制御装置より入力される前記第一の目標制御量とを比較し、該比較結果に基づき前記車輌制御の可否を判定することを特徴とする請求項1又は2に記載の車輌用制御装置。
- 前記第二の演算制御装置は前記通信経路を介して前記第三の演算制御装置より入力される前記判定の結果が可である場合にのみ前記車輌制御を行うことを特徴とする請求項3に記載の車輌用制御装置。
- 前記通信経路を介して行われる前記第二の演算制御装置と前記第三の演算制御装置との間にて行われる通信の速度は、前記通信手段を介して行われる前記第一の演算制御装置と前記第三の演算制御装置との間にて行われる通信の速度よりも速いことを特徴とする請求項3又は4に記載の車輌用制御装置。
- 前記第一及び第二の目標制御量の比較に於いては、前記第一及び第二の目標制御量の偏差の大きさが異常判定基準値よりも大きい場合に前記第一の目標制御量が異常であると判定されることを特徴とする請求項1乃至5に記載の車輌用制御装置。
- 前記異常判定基準値は車速が高いときには車速が低いときに比して小さいことを特徴とする請求項6に記載の車輌用制御装置。
- 前記第一及び第二の目標制御量の比較に於いては、前記第一及び第二の目標制御量の偏差の大きさが前記異常判定基準値よりも小さい無効判定基準値よりも大きい場合に前記第一の目標制御量が無効であると判定され、前記第二の演算制御装置は前記第一の目標制御量よりも大きさが低減された補正目標制御量に基づき車輌制御を行うことを特徴とする請求項6又は8に記載の車輌用制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004303027A JP4109238B2 (ja) | 2004-10-18 | 2004-10-18 | 車輌用制御装置 |
KR1020077008669A KR100866816B1 (ko) | 2004-10-18 | 2005-10-18 | 연산 제어 장치간의 통신 수단에 있어서의 통신 이상에신속히 대응하는 차량용 제어 장치 |
CN200580035626A CN100579846C (zh) | 2004-10-18 | 2005-10-18 | 对计算控制设备间的通信装置中的通信异常作出迅速应对的车辆用转向控制设备 |
US11/664,936 US8478487B2 (en) | 2004-10-18 | 2005-10-18 | Control device for vehicles to make rapid counter-measure against communication abnormality in communication means between calculation control devices |
PCT/JP2005/019459 WO2006043693A1 (ja) | 2004-10-18 | 2005-10-18 | 演算制御装置間の通信手段に於ける通信異常に迅速に対応する車輌用制御装置 |
EP05795241A EP1803628B1 (en) | 2004-10-18 | 2005-10-18 | Vehicle control apparatus for quickly dealing with communication abnormality in communication means between calculation control devices |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004303027A JP4109238B2 (ja) | 2004-10-18 | 2004-10-18 | 車輌用制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006111211A true JP2006111211A (ja) | 2006-04-27 |
JP4109238B2 JP4109238B2 (ja) | 2008-07-02 |
Family
ID=36203100
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004303027A Expired - Fee Related JP4109238B2 (ja) | 2004-10-18 | 2004-10-18 | 車輌用制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8478487B2 (ja) |
EP (1) | EP1803628B1 (ja) |
JP (1) | JP4109238B2 (ja) |
KR (1) | KR100866816B1 (ja) |
CN (1) | CN100579846C (ja) |
WO (1) | WO2006043693A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009061940A (ja) * | 2007-09-06 | 2009-03-26 | Toyota Motor Corp | 車両走行制御装置 |
JP2013035510A (ja) * | 2011-08-10 | 2013-02-21 | Toyota Motor Corp | 車両制御システムおよび車両制御方法 |
JP5666010B2 (ja) * | 2011-10-24 | 2015-02-04 | 三菱電機株式会社 | 電動パワーステアリング装置 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4569623B2 (ja) * | 2007-12-20 | 2010-10-27 | 株式会社デンソー | 車両監査装置およびそれを用いた車両制御システム |
DE102008043712B3 (de) * | 2008-11-13 | 2010-04-08 | Ford Global Technologies, LLC, Dearborn | Verfahren sowie Sicherheits- und Warnsystem zum Ermitteln bzw. Erfassen einer zu geringen Reifen-zu-Boden-Haftung und/oder einer erhöhten Innenreibung eines Lenkmechanismus |
EP2374693B1 (en) * | 2008-12-26 | 2015-08-26 | Toyota Jidosha Kabushiki Kaisha | Driving support system of vehicle |
US8738219B2 (en) * | 2009-08-24 | 2014-05-27 | Robert Bosch Gmbh | Good checking for vehicle longitudinal acceleration sensor |
US8401730B2 (en) * | 2009-08-24 | 2013-03-19 | Robert Bosch Llc | Good checking for vehicle lateral acceleration sensor |
US8467929B2 (en) * | 2009-08-24 | 2013-06-18 | Robert Bosch Gmbh | Good checking for vehicle wheel speed sensors |
US8494708B2 (en) * | 2009-08-24 | 2013-07-23 | Robert Bosch Gmbh | Good checking for vehicle yaw rate sensor |
US8754764B2 (en) * | 2009-08-24 | 2014-06-17 | Robert Bosch Gmbh | Good checking for vehicle pressure sensor |
US8935037B2 (en) * | 2009-08-24 | 2015-01-13 | Robert Bosch Gmbh | Good checking for vehicle steering angle sensor |
WO2011161779A1 (ja) | 2010-06-23 | 2011-12-29 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5338983B2 (ja) | 2010-06-23 | 2013-11-13 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5430505B2 (ja) | 2010-06-25 | 2014-03-05 | トヨタ自動車株式会社 | 車両の制御装置 |
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US4621327A (en) * | 1984-06-13 | 1986-11-04 | Nartron Corporation | Electronic power steering method and apparatus |
JPH0796388B2 (ja) * | 1987-04-13 | 1995-10-18 | 株式会社日立製作所 | 電動式パワ−ステアリング装置 |
JPH0829719B2 (ja) * | 1989-03-22 | 1996-03-27 | 本田技研工業株式会社 | 前後輪操舵装置 |
JPH03286340A (ja) * | 1990-04-03 | 1991-12-17 | Japan Electron Control Syst Co Ltd | Cpuの異常診断装置 |
EP0536590B1 (en) * | 1991-10-10 | 1995-05-24 | Koyo Seiko Co., Ltd. | Electric power steering apparatus |
JP3079282B2 (ja) * | 1992-02-04 | 2000-08-21 | 光洋精工株式会社 | 電動パワーステアリング装置 |
US5360077A (en) * | 1992-06-01 | 1994-11-01 | Koyo Seiko Co., Ltd. | Electric power steering apparatus |
US5504679A (en) * | 1993-02-15 | 1996-04-02 | Mitsubishi Denki Kabushiki Kaisha | Control apparatus for motor-driven power steering system of motor vehicle |
JPH06298105A (ja) | 1993-04-15 | 1994-10-25 | Nippondenso Co Ltd | 後輪操舵装置の制御システム |
JPH06305439A (ja) * | 1993-04-27 | 1994-11-01 | Toyota Motor Corp | 電動式パワーステアリング装置 |
JP3521245B2 (ja) * | 1994-11-21 | 2004-04-19 | 光洋精工株式会社 | 電動パワーステアリング装置 |
DE4446582B4 (de) * | 1994-12-24 | 2005-11-17 | Robert Bosch Gmbh | Fahrdynamikregelsystem |
JP3991384B2 (ja) * | 1996-07-15 | 2007-10-17 | 株式会社デンソー | 電子制御装置 |
JPH1134892A (ja) * | 1997-07-24 | 1999-02-09 | Honda Motor Co Ltd | 電動パワーステアリング装置 |
JP4029522B2 (ja) * | 1999-07-02 | 2008-01-09 | 日本精工株式会社 | 電動パワーステアリング装置の制御装置 |
JP3777398B2 (ja) * | 2000-04-26 | 2006-05-24 | 株式会社ジェイテクト | 車両用操舵制御装置 |
JP2002108835A (ja) * | 2000-09-29 | 2002-04-12 | Mitsubishi Electric Corp | 車載電子制御装置 |
US6760653B2 (en) * | 2001-05-15 | 2004-07-06 | Trw Inc. | Electric power assisted steering system having a single integrated circuit with two processors |
JP3967599B2 (ja) * | 2002-01-28 | 2007-08-29 | 株式会社デンソー | 車両用電子制御装置 |
DE60326126D1 (de) * | 2002-03-18 | 2009-03-26 | Nsk Ltd | Elektrische servolenksteuervorrichtung |
FR2843341B1 (fr) * | 2002-08-08 | 2005-04-15 | Renault Sa | Systeme de controle distribue pour un dispositif de direction et un dispositif de freinage electriques, notamment pour vehicules |
JP4382345B2 (ja) | 2002-12-13 | 2009-12-09 | 本田技研工業株式会社 | 車両用操舵装置 |
JP4050196B2 (ja) * | 2003-07-09 | 2008-02-20 | 三菱電機株式会社 | 監視制御回路を有する電子制御装置 |
US6988027B2 (en) * | 2003-08-27 | 2006-01-17 | Honda Motor Co., Ltd. | Electric power steering system |
-
2004
- 2004-10-18 JP JP2004303027A patent/JP4109238B2/ja not_active Expired - Fee Related
-
2005
- 2005-10-18 WO PCT/JP2005/019459 patent/WO2006043693A1/ja active Application Filing
- 2005-10-18 EP EP05795241A patent/EP1803628B1/en active Active
- 2005-10-18 US US11/664,936 patent/US8478487B2/en active Active
- 2005-10-18 KR KR1020077008669A patent/KR100866816B1/ko active IP Right Grant
- 2005-10-18 CN CN200580035626A patent/CN100579846C/zh active Active
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009061940A (ja) * | 2007-09-06 | 2009-03-26 | Toyota Motor Corp | 車両走行制御装置 |
JP2013035510A (ja) * | 2011-08-10 | 2013-02-21 | Toyota Motor Corp | 車両制御システムおよび車両制御方法 |
JP5666010B2 (ja) * | 2011-10-24 | 2015-02-04 | 三菱電機株式会社 | 電動パワーステアリング装置 |
US9061703B2 (en) | 2011-10-24 | 2015-06-23 | Mitsubishi Electric Corporation | Electric power steering apparatus |
KR101555122B1 (ko) | 2011-10-24 | 2015-09-22 | 미쓰비시덴키 가부시키가이샤 | 전동 파워 스티어링 장치 |
Also Published As
Publication number | Publication date |
---|---|
EP1803628A4 (en) | 2008-06-25 |
CN101044052A (zh) | 2007-09-26 |
JP4109238B2 (ja) | 2008-07-02 |
EP1803628A1 (en) | 2007-07-04 |
KR100866816B1 (ko) | 2008-11-04 |
US8478487B2 (en) | 2013-07-02 |
WO2006043693A1 (ja) | 2006-04-27 |
EP1803628B1 (en) | 2012-08-29 |
KR20070052353A (ko) | 2007-05-21 |
CN100579846C (zh) | 2010-01-13 |
US20080195275A1 (en) | 2008-08-14 |
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