JP2009090829A - On-vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-vehicle control device capable of dealing with a problem wherein a record value of a wheelbase recorded on a recording medium of an on-vehicle device becomes significantly different from the wheelbase of a vehicle on which it is mounted. <P>SOLUTION: The on-vehicle control device for conducting various ABS controls 261, 262 of the vehicle based on the record value of the wheelbase obtains (20) a measured value of the wheelbase of the vehicle of its own and, based on the fact case that the obtained measured value is not included in a first range including the record value, an abnormality counter process about the first ABS control 261 is executed (24). Based on the fact that the obtained measured value is not included in a second range including the record value, an abnormality counter process about the second ABS control 262 is executed (25). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle control device that performs control based on a wheel base value of a vehicle.

  Conventionally, various in-vehicle control devices that perform control based on a value of a vehicle wheel base (a distance from an axle of a front wheel to an axle of a rear wheel, hereinafter also referred to as W / B) have been proposed (for example, Patent Document 1). To 3). These in-vehicle control devices have a recording medium in which wheel base values of the host vehicle are stored in advance, and use the wheel base recording values in the recording medium for control.

The recorded value of such a wheel base is different for each vehicle type on which the in-vehicle control device is mounted. Also, in response to the fact that the wheelbase may differ depending on the model number even for the same type of vehicle, in recent years, the recorded value of the wheelbase is set so that it differs depending on the model number even if the vehicle of the same type is installed. May have been.
Japanese Patent Laid-Open No. 2-63956 JP-A-6-107156 JP 2001-187775 A

  However, the vehicle-mounted control device may be transferred from one vehicle to another vehicle. In particular, it can happen that a vehicle having a vehicle-mounted control device is transferred to a vehicle of the same type and another model number. If transfer is performed, the recorded value of the wheelbase recorded on the recording medium of the in-vehicle device may be significantly different from the wheelbase of the vehicle on which it is mounted. In this case, the control of the vehicle is adversely affected. There is a possibility.

  In view of the above points, the present invention provides an in-vehicle control device that can cope with a situation in which a recorded value of a wheel base recorded on a recording medium of an in-vehicle device greatly differs from a wheel base of a vehicle on which the vehicle is mounted. For the purpose.

  In order to achieve the above object, the in-vehicle control device according to claim 1 has a recording medium in which a wheel base recording value indicating a wheel base of the vehicle is recorded in advance, and the wheel base recording value recorded in the recording medium. It is about the vehicle-mounted control apparatus which performs 1st control using.

  This in-vehicle control device acquires a wheelbase value when the vehicle is used, and whether or not the acquired wheelbase value is included in the first wheelbase range set to include the above-described wheelbase recorded value. judge. And when the said wheelbase value is not contained in the said 1st wheelbase range, the abnormality countermeasure process about 1st control is performed.

  Here, the abnormality countermeasure process for the first control refers to a process for prohibiting the use of the wheelbase recorded value for the first control or giving a warning for using the wheelbase recorded value.

  Thus, by comparing the acquired wheel base value with the pre-recorded wheel base recorded value, the wheel base recorded value is greatly different from the actual wheel base of the host vehicle, that is, the wheel base recorded. It can be detected that the value does not adequately represent the actual vehicle wheelbase. Further, if the use of the wheel base recorded value for the first control is prohibited based on the detection, the first control of the inappropriate vehicle is performed based on the wheel base recorded value greatly deviating from the reality. Nothing will happen. Further, if a warning is given to the use of the wheelbase recording value based on the detection, it is possible to prompt the occupant of the vehicle to take some measures.

  Further, in such a technique for detecting that the recorded value is inappropriate by comparing the wheel base recorded value with the wheel base value, the in-vehicle control device records on the recording medium as described in claim 2. The vehicle may further have a function of performing second control different from the first control described above on the vehicle based on the recorded wheelbase value. In this case, based on the fact that the acquired wheelbase value is not included in the second range including the wheelbase recorded value, the use of the wheelbase recorded value for the second control is prohibited, or the wheelbase Processing for giving a warning for using the recorded value (that is, abnormality countermeasure processing for the second control) may be executed.

  As described above, when the wheelbase recorded value is used for different controls, the comparison between the wheelbase recorded value and the wheelbase value and the abnormality countermeasure processing based on the comparison are performed for each control, and the comparison method for each control. By changing the above, it is possible to switch between execution and non-execution of the abnormality countermeasure processing for the control according to the nature of each control mounted on the vehicle.

  Moreover, the vehicle-mounted control apparatus may acquire the above-mentioned wheel base value by measuring the wheel base of a vehicle. In this case, when the measured wheelbase value is included in the discrete wheelbase range that is set discretely from the first wheelbase range, the reference number of times set for the first control continues. In addition, the in-vehicle control device may determine that the measured wheelbase value is not included in the first wheelbase range.

  In this way, a discrete wheelbase range that is separated from the first wheelbase range is provided in advance, and the measured wheelbase is determined based on the fact that the measured wheelbase value continuously enters the discrete wheelbase range a reference number of times. By determining that the value is not included in the first wheelbase range, it is possible to improve the reliability of the wheelbase value used as a comparison target of the wheelbase recorded value.

  The first control is a control that switches between a braking-oriented vehicle control that emphasizes braking rather than stability and a stability-oriented vehicle control that emphasizes stability rather than braking performance by detecting the slip ratio of the vehicle and comparing it with a threshold value. There may be.

  In this case, the in-vehicle control device determines which of the plurality of discretely set wheelbase ranges the acquired wheelbase value is included in, and the wheelbase value is larger among the plurality of wheelbase ranges. In the case where the wheel base value is included, the braking-oriented vehicle control may be used more frequently than the stability-oriented vehicle control as compared with the case where the wheel base value is included in the smaller one of the plurality of wheel base ranges.

  By doing in this way, appropriate vehicle control according to the stability of vehicles which changes with wheel bases can be performed.

  Further, the in-vehicle control device determines whether the vehicle speed during the traveling is equal to the difference between the time when the vibration is generated on the front wheel of the vehicle while the vehicle is traveling and the time when the vibration corresponding to the vibration is generated on the rear wheel of the vehicle. And the value resulting from the multiplication may be used as the wheelbase value.

(First embodiment)
Hereinafter, an embodiment of the present invention will be described. In FIG. 1, the structure of the vehicle-mounted control system 1 which concerns on this embodiment is shown. The in-vehicle control system 1 includes a wheel speed sensor 11, a vehicle body acceleration sensor 13, a brake actuator 14, an alarm device 15, and a control device 16.

  The wheel speed sensor 11 is for each of four wheels (that is, the right front wheel FR, the left front wheel FL, the right rear wheel RR, and the left rear wheel RL) of the vehicle (hereinafter referred to as the host vehicle) on which the in-vehicle control system 1 is mounted. This is a device that detects the speed of the wheel and outputs it to the control device 16. The vehicle body acceleration sensor 13 is a device that detects the movement acceleration in the front-rear direction of the vehicle and outputs it to the control device 16.

  The brake actuator 14 is a device that generates a braking force on each wheel FR, FL, RR, RL by supplying brake fluid to a wheel cylinder corresponding to each wheel FR, FL, RR, RL. The brake actuator 14 can adjust the hydraulic pressure of the supplied brake fluid independently for each wheel FR, FL, RR, RL in accordance with control from the control device 16. The alarm device 15 includes a lamp, a display, a speaker, and the like, and transmits an alarm to the user by light, video, sound, or the like according to control from the control device 16.

  The control device 16 is a known microcomputer having a CPU 61, a RAM 62, a ROM 63, a flash memory 64, and the like. The CPU 61 executes a program recorded in the ROM 63, and when executing the program, writes data to and reads data from the RAM 62 and the flash memory 64 as necessary, reads the data from the ROM 63, and the wheel speed sensor. 11. A signal from the vehicle body acceleration sensor 13 is acquired, and the brake actuator 14 and the alarm device 15 are controlled.

  Specifically, the control device 16 performs ABS (anti-lock brake) control of the host vehicle. As will be described later, in this ABS control, a W / B (wheel base) recording value 63a stored in a ROM (corresponding to an example of a recording medium) 63 is used.

  The W / B recorded value 63a is a predetermined value indicating the wheel base of the vehicle. The W / B recorded value 63a is recorded in advance in the ROM 63 (for example, when the control device 16 is manufactured, when the in-vehicle control system 1 is mounted on the host vehicle, etc.).

  The value of the W / B recording value 63a is one of a plurality of W / B reference values for the control device 16. The W / B reference value for a certain control device is determined in advance according to the wheelbase variation in the vehicle type on which the control device is assumed to be mounted. That is, the value is determined in advance so as to be set as a W / B recording value in any of the vehicles of the vehicle type.

  In this embodiment, the W / B reference values are 3 meters, 4 meters, 5 meters, and 6 meters. This indicates that wheelbase variations of the same type of vehicle as the host vehicle of the present embodiment are 3 meters, 4 meters, 5 meters, and 6 meters.

  Note that, normally, the value of the W / B recorded value 63a matches the actual wheelbase of the host vehicle. However, when the control device 16 is originally mounted on another vehicle of the same type and later transferred to the host vehicle, the value of the W / B recorded value 63a is the actual wheelbase of the host vehicle. Does not necessarily match. If the actual wheelbase of the host vehicle is different from the W / B recorded value 63a, the ABS control performed by the control device 16 may not be suitable for the characteristics of the host vehicle.

  The control device 16 according to the present embodiment determines whether or not the W / B recorded value 63a is suitable for the host vehicle. If the W / B recorded value 63a is not suitable, the control device 16 performs various abnormality countermeasure processing. Hereinafter, the operation of the control device 16 will be described in detail.

  FIG. 2 is a block diagram showing various processes realized by the CPU 61 of the control device 16 executing programs and the relationship between these processes. The CPU 61 performs a W / B measurement process 20, a W / B read process 21, a first validity determination process 22, a second validity determination process 23, a first abnormality determination process 24, a second abnormality determination process 25, and an ABS control process 26. Execute. The W / B reading process 21 is a process for reading the W / B recording value 63 a in the ROM 63.

  The W / B measurement process 20 is a process for repeatedly detecting the actual wheelbase of the host vehicle. In the present embodiment, in this W / B measurement process 20, the CPU 61 determines the difference between the time when the vibration is generated on the front wheel of the vehicle and the time when the vibration corresponding to the vibration is generated on the rear wheel of the vehicle. The speed of the vehicle body is multiplied, and the result of the multiplication is a wheel base measurement value (hereinafter referred to as a W / B measurement value; this corresponds to an example of a wheel base value in the claims). .

  Details of the W / B measurement process 20 will be described below. As sub-processes for the W / B measurement process 20, the CPU 61 executes the vehicle state validity determination process shown in FIGS. 3 and 4 and the W / B length calculation process shown in FIGS. . Hereinafter, the vehicle state validity determination process and the W / B length calculation process will be described with reference to the timing chart shown in FIG.

  The vehicle state validity determination process is a process for determining whether or not the vehicle state is stable when vibrations of the wheels FL, FR, RL, and RR are detected. The W / B length calculation process is a process for calculating a wheelbase measurement value, which will be described later, based on various data detected while the vehicle is traveling. In the timing chart shown in FIG. 8, for convenience of explanation, unless the wheels FR, FL, RR, RL step on a foreign object on the road surface, the vehicle body acceleration of the vehicle and the wheel speeds of the wheels FR, FL, RR, RL are shown. There shall be no change.

  First, the vehicle state validity determination process shown in FIGS. 3 and 4 will be described together with the timing chart shown in FIG. The CPU 61 executes a vehicle state validity determination process every predetermined cycle (for example, every 0.01 seconds). In this vehicle state validity determination process, the CPU 61 calculates the vehicle body acceleration GX based on the input signal from the vehicle body acceleration sensor 13 (step S10). Subsequently, the CPU 61 determines whether or not vibrations of the front wheels FR and FL are detected in a W / B length calculation process described later, that is, whether or not a front wheel vibration detection flag described later is set to “ON”. (Snubbing S11).

  When the determination result in step S11 is negative, the CPU 61 acquires the maximum value of the vehicle body acceleration GX during the period from the negative determination to the time point back by the front first predetermined time TF1 as GXTF1, and records it in the RAM 62. (Step S12). The process of step S12 is repeated until immediately before an affirmative determination is made in step S11. Therefore, the value of GXTF1 immediately after the affirmative determination is made in step S11 is the vehicle body detected in step S10 within the first predetermined time TF1 immediately before the front wheel FR, FL when vibrations of the front wheels FR and FL are detected. It is the largest value of the acceleration GX. After step S12, the CPU 61 proceeds to step S24, which will be described later.

  On the other hand, if the determination result of step S11 is affirmative, the CPU 61 acquires the maximum value GXTF2 of the vehicle body acceleration GX within the front second predetermined time TF2 immediately after the vibrations of the front wheels FR and FL are detected (step S13). ). Specifically, when the CPU 61 detects the vibrations of the front wheels FR and FL, the largest value among the vehicle body accelerations GX detected in step S10 within the front second predetermined time TF2 immediately after that is detected as the maximum value. It is stored in a predetermined area of the RAM 62 as GXTF2.

  As will be described in detail later, vibrations of the front wheels FR and FL are detected based on input signals from the wheel speed sensors 11 for the front wheels FR and FL. When the front wheels FR and FL vibrate in this way, the vehicle body acceleration GX of the vehicle also changes based on the vibration of the front wheels FR and FL. That is, the vehicle state changes. However, the timing for outputting a signal to the CPU 61 based on the vibration of the front wheels FR and FL is slightly different between the wheel speed sensor 11 and the vehicle body acceleration sensor 13.

  For this reason, in the present embodiment, the CPU 61 is within the front predetermined time (front first predetermined time TF1 and front second predetermined time TF2) before and after detecting the vibration of the front wheels FR and FL based on the input signal from the wheel speed sensor 11. Thus, a change in the vehicle body acceleration GX is detected based on an input signal from the vehicle body acceleration sensor 13. When a change in the vehicle body acceleration GX (a change in the vehicle state) is detected, it is determined that the front wheels FR and FL have vibrated. Note that the front first predetermined time TF1 and the front second predetermined time are determined. TF2 is set so that the sum of these becomes approximately 0.1 seconds, for example.

  Subsequent to step S13, as shown in FIG. 8 (b), the CPU 61 detects the front wheels FR and FL during the period from when the vibrations of the front wheels FR and FL are detected until the preset front detection time TF3 elapses. Maximum values (maximum front wheel acceleration) DVWFRTF3 and DVWFLTF3 of wheel accelerations DVWFR and DVWFL are acquired (step S14). It should be noted that the wheel accelerations DVWFR and DVWFL of the front wheels FR and FL are detected by executing respective processes of steps S30 and S31 of the W / B length calculation process described later. Further, the post-front detection time TF3 is set to be shorter than the front second predetermined time TF2.

  Then, the CPU 61 determines whether or not vibrations of the rear wheels RR and RL are detected in a W / B length calculation process described later (that is, whether a rear wheel vibration detection flag described later is set to “ON”). Is determined (step S15).

  When this determination result is a negative determination, the CPU 61 acquires, as GXTR1, the maximum value of the vehicle body acceleration GX during a period from the negative determination to the time point that is back by the first rear predetermined time TR1 (step S1). Step S16). The process of step S16 is repeated until immediately before an affirmative determination is made in step S15. Therefore, the value of GXTR1 immediately after the affirmative determination is made in step S15 is detected in step S10 within the rear first predetermined time TR1 immediately before that when the vibrations of the rear wheels RR and RL are detected. It is the largest value among the vehicle body accelerations GX. After step S16, the CPU 61 proceeds to step S24, which will be described later.

On the other hand, when the determination result in step S15 is affirmative, the CPU 61 acquires the maximum value GXTR2 of the vehicle body acceleration GX within the rear second predetermined time TR2 immediately after the vibration of the retrospective RR and RL is detected ( Step S17). Specifically, the CPU 61 determines the rear wheels RR and RL.
Is detected, the largest value among the vehicle body accelerations GX detected at step S10 within the second rear predetermined time TR2 immediately after that is stored as a maximum value GXTR2 in a predetermined area of the RAM 42.

  Here, the vibration of the rear wheels RR and RL is detected based on the input signal from the wheel speed sensor 11 for the rear wheels RR and RL, similarly to the vibration detection of the front wheels FR and FL. Thus, when the rear wheels RR and RL vibrate, the vehicle body acceleration GX of the vehicle also changes based on the vibrations of the rear wheels RR and RL. That is, the vehicle state changes. However, the timing at which a signal is output to the CPU 61 based on the vibration of the RR and RL is somewhat different between the wheel speed sensor 11 and the vehicle body acceleration sensor 13.

  Therefore, in the present embodiment, the CPU 61 determines the rear predetermined time before and after detecting the vibrations of the rear wheels RR and RL based on the input signal from the wheel speed sensor 11 (the rear first predetermined time TR1 and the rear second predetermined time). Within time TR2), a change in the vehicle body acceleration GX is detected based on an input signal from the vehicle body acceleration sensor 13. When a change in the vehicle body acceleration GX (change in the vehicle state) is detected, it is determined that the rear wheels RR and RL vibrate. Note that the rear first predetermined time TR1 and the rear first 2 The predetermined time TR2 is set so that the total of these is about 0.1 seconds.

  Then, after executing the processing of step S17, the CPU 61 elapses a preset rear side detection time TR3 after the vibrations of the rear wheels RR and RL are detected, as shown in FIG. 8C. The maximum values (maximum rear wheel acceleration) DVWRRTR3 and DVWRLTR3 of the wheel accelerations DVWRR and DVWRL of the rear wheels RR and RL are obtained (step S18). It should be noted that the wheel accelerations DVWRR and DVWRL of the rear wheels RR and RL are detected by executing respective processes of steps S32 and S33 of the W / B length calculation process described later. The rear side detection time TR3 is shorter than the rear side second predetermined time TR2, and is set to the same time as the front side detection time TF3.

  Subsequently, the CPU 61 compares the maximum value GXTF1 acquired in step S12 with the maximum value GXTF2 acquired in step S13, and sets the larger value as the front vibration maximum value GXFmax (step S19). Subsequently, the CPU 61 compares the maximum value GXTR1 acquired in step S16 with the maximum value GXTR2 acquired in step S17, and acquires the larger value as the rear vibration maximum value GXRmax (step S20). .

  Then, the CPU 61 determines whether or not the front vibration maximum value GXFmax set in step S19 is larger than a preset front vibration maximum value threshold value KGXFax (step S21). The front vibration maximum value threshold value KGXFmax is used to determine whether or not the vehicle body acceleration GX of the vehicle has changed due to the vibrations of the front wheels FR and FL, and is set in advance through experiments or simulations.

  If the determination result in step S21 is negative (GXFmax ≦ KGXFmax), the CPU 61 determines that no change in the vehicle body acceleration GX due to the vibrations of the front wheels FR and FL has been detected, and the process is stepped. The process proceeds to S24.

  On the other hand, if the determination result of step S21 is affirmative (GXFmax> KGXFmax), the CPU 61 determines that a change in the vehicle body acceleration GX due to the vibrations of the front wheels FR and FL is detected, and the process proceeds to step S20. It is determined whether the rear vibration maximum value GXRmax set in advance is larger than a preset rear vibration maximum value threshold value KGXRmax (step S22). The rear vibration maximum value threshold value KGXRmax is used to determine whether or not the vehicle body acceleration GX of the vehicle has changed due to the vibrations of the rear wheels RR and RL, and is set in advance through experiments, simulations, or the like.

  When the determination result of step S22 is negative (GXRmax ≦ KGXRmax), the CPU 61 determines that a change in the vehicle body acceleration GX due to the vibration of the rear wheels RR and RL is not detected, and performs the processing. Control goes to step S24.

  On the other hand, if the determination result in step S22 is affirmative (GXRmax> KGXRmax), the CPU 61 determines that a change in the vehicle body acceleration GX due to the vibration of the rear wheels RR and RL has been detected, and the vehicle state The validity determination flag SJFLG is set to “ON” (step S23). Thereafter, the CPU 61 ends the vehicle state validity determination process. The east state validity determination flag SJFLG changes the vehicle body acceleration GX based on the vibration of the front wheels FR and FL, and changes the rear wheel RR and RL. This is a flag that is set to “ON” when the vehicle body acceleration GX of the vehicle changes based on vibration. If this vehicle state validity determination flag SJFLG is set to “ON”, step S59 in FIG. Execution is allowed.

  In step S24, the CPU 61 sets the vehicle state validity determination flag SJFLG to “OFF”. Thereafter, the CPU 61 ends the vehicle state determination processing routine.

  Next, the W / B length calculation processing shown in FIGS. 5 and 6 will be described with reference to the timing chart shown in FIG. The CPU 61 executes a W / B length calculation process at predetermined intervals (eg, every 0.01 seconds). In the W / B length calculation process, the CPU 61 detects the wheel speeds VWFR and VWFL of the front wheels FR and FL based on the input signals from the wheel speed sensors 11 for the front wheels FR and FL, respectively (step S30). ).

  Subsequently, the CPU 61 differentiates the wheel speeds VWFR and VWFL of the front wheels FR and FL detected in step S30, thereby detecting the wheel accelerations DVWFR and DVWFL of the front wheels FR and FL by calculation (step S31).

  Then, the CPU 61 detects the wheel speeds VWRR and VWRL of the rear wheels RR and RL based on the input signal from the wheel speed sensor 11 for the rear wheels RR and RL, respectively (step S32).

  Subsequently, the CPU 61 differentiates the wheel speeds VWRR and VWRL of the rear wheels RR and RL detected in step S32, thereby detecting the wheel accelerations DVWRR and DVWRL of the rear wheels RR and RL by calculation (step S33). .

  Subsequently, the CPU 61 performs various processes on the basis of the wheel speed having the smallest value among the wheel speeds VWFR, VWFL, VWRR, VWRL of the wheels FR, FL, RR, RL detected in steps S30, S32. The vehicle speed VS of the vehicle is detected by calculation (step S34). The CPU 61 has the largest wheel speed, the second largest wheel speed, the third largest wheel speed, and the vehicle transportation speed VWFR of each wheel FR, FL, RR, RL. , VWFL, VWRR, and VWRL, and the vehicle body speed VS may be detected by calculation based on one of the average values. In other processes of the CPU 61 described later, the vehicle body speed is similarly calculated.

  Then, the CPU 61 calculates the absolute value of the wheel speed difference between the wheel speed VWFR of the right front wheel FR detected in step S30 and the wheel speed VWFL of the left front wheel FL, and the absolute value is set in advance to the turning amount threshold value KR. It is determined whether or not this is the case (step S35). When the vehicle turns, a wheel speed difference occurs between the right front wheel FR and the left front wheel FL. Therefore, in this embodiment, the CPU 61 calculates the wheel speed difference between the wheel speed VWFR of the right front wheel FR and the wheel speed VWFL of the left front wheel FL, and when the absolute value of the calculation result is equal to or greater than the turning amount threshold value KR, the CPU 61 It is determined that the vehicle is turning.

If the determination result in step S35 is affirmative, the CPU 61 determines that the vehicle is turning, and proceeds to step S37, which will be described later. On the other hand, when the determination result of step S35 is negative, the CPU 61 determines that the vehicle is not turning, and detects from the brake switch SW1 (not shown) that detects whether or not the brake pedal has been depressed. (Step S36), that is, the CPU 61 determines whether or not a brake pedal (not shown) has been depressed. If the determination result in step S36 is affirmative, the CPU 61 determines that the braking force is applied to each wheel FR, FL, RR, RL by the brake actuator 14, and the process proceeds to step S37 described later. Transition.

  In step S37, the CPU 61 sets the calculation processing flag FWBCAL indicating whether or not the processing in step S59 is being executed to “OFF”, and then ends the W / B length calculation processing.

  On the other hand, when the determination result of step S36 is negative, the CPU 61 determines whether or not the calculation processing flag FWBCAL is set to “ON” (step S38). If this determination result is a negative determination (FWBCAL = “OFF”), the CPU 61 determines whether the wheel accelerations DVWFR, DVWFL of the front wheels FR, FL detected in step S31 are equal to or greater than a preset front wheel acceleration threshold value KDVWF. It is determined whether or not (step S39).

  The front wheel acceleration threshold value KDVWF is a value for determining whether or not vibrations of the front wheels FR and FL are detected from the wheel accelerations DVWFR and DVWFL of the front wheels FR and FL, and is set in advance through experiments or simulations. Therefore, when the determination process in step S39 is affirmative, the CPU 61 has detected the vibrations of the front wheels FR and FL.

  If the determination result in step S39 is negative (DVWFR and DVWFL <KDVWF), the CPU 61 determines that the vibration of the front wheels FR and FL could not be detected, and sets the front wheel vibration detection flag FVflg to “OFF”. At the same time, the posterior vibration detection flag RVflg is set to “OFF” (step S40), and then the CPU 61 ends the W / B length calculation process. The front wheel vibration detection flag FVflg is a flag that is set to “ON” when vibrations of the front wheels FR and FL are detected (that is, when a determination process in step S39 described later is affirmative determination). Further, the rear wheel vibration detection flag RVflg is a flag that is set to “ON” when vibrations of the rear wheels RR and RL are detected (that is, when a determination process in step S51 described later becomes an affirmative determination). is there.

  On the other hand, if the determination result in step S39 is affirmative (DVWFR or DVWFL ≧ KDVWF), the CPU 61 determines that the front wheels FR and FL vibrate, sets the front wheel vibration detection flag FVflg to “ON”, and The rear wheel vibration detection flag RVflg is set to “OFF” (step S41).

  Then, the CPU 61 obtains a TVWF that is counted up by a timer (not shown) that measures the passage of time (hereinafter referred to as “front detection time”), and stores the front detection time TVWF in a predetermined area of the RAM 62. (Step S42). Subsequently, the CPU 61 acquires the vehicle body speed at that time (the vehicle body speed detected by the calculation process in step S34) VS, and uses the vehicle body speed VS as the vehicle body speed during front wheel vibration (hereinafter referred to as “front side detection time”). It is stored in a predetermined area of the RAM 62 as VSF (referred to as “vehicle speed”) (step S43).

  Then, the CPU 61 sets the calculation processing flag FWBCAL to “ON” (step S44), and then ends the W / B length calculation processing once.

  On the other hand, if the determination result in step S38 is affirmative (FWBCAL = “ON”), the CPU 61 subtracts the vehicle body speed VS detected in step S34 from the front-side vehicle body speed VSF detected in step S43. Thus, the vehicle body speed change amount HVS is calculated (step S45).

  Then, the CPU 61 determines whether or not the absolute value of the vehicle body speed change amount HVS, which is the calculation result of step S45, is equal to or less than a preset vehicle body speed change amount threshold value KHVS (step S46). The vehicle body speed change threshold value KHVS is a value for stopping the W / B measurement value calculation process described later when the vehicle body speed change amount is large, and is set in advance through experiments, simulations, or the like. If the determination result in step S46 is negative (HVS absolute value> KHVS), the CPU 61 sets the calculation processing flag FWBCAL to “OFF” (step S47), and detects the front wheel vibration detection flag FVflg and the rear wheel. The vibration detection flag RVflg is set to “OFF” (step S48). Thereafter, the CPU 61 ends the W / B length calculation process.

  On the other hand, if the determination result in step S46 is affirmative (HVS absolute value ≦ KHVS), the CPU 61 sets the rear wheel RR and RL wheel accelerations DVWRR and DVWRL detected in step S33 in advance. It is determined whether or not the acceleration threshold value is KDVWR or more (step S51). The rear wheel acceleration threshold value KDVWR is a value for determining whether or not vibrations of the rear wheels RR and RL are detected from the wheel accelerations DVWRR and DVWRL of the rear wheels RR and RL, and is set in advance through experiments or simulations. Is done. Therefore, when the determination process in step S51 is affirmative, the CPU 61 has detected the vibrations of the rear wheels RR and RL.

  If the determination result in step S51 is negative (DVWRR and DVWRL <KDVWR), the CPU 61 determines that the vibrations of the rear wheels RR and RL could not be detected, and sets the rear wheel vibration detection flag RVflg to “OFF”. (Step S52), and then the W / B length calculation process is temporarily terminated.

  On the other hand, if the determination result in step S51 is affirmative (DVWRR or DVWRL ≧ KDVWR), the CPU 61 determines that the rear wheels RR and RL vibrate, and sets the rear wheel vibration detection flag RVflg to “ON”. (Step S53). Then, the CPU 61 subtracts the maximum value DVWRRTR3 of the wheel acceleration DVWRR of the right rear wheel RR acquired in step S18 from the maximum value DVWFRTF3 of the wheel acceleration DVWFR of the right front wheel FR acquired in step S14, and the subtraction result It is determined whether or not the absolute value of the difference is equal to or less than a preset change amount threshold value KDVW (step S54). If the difference between the rear wheel RR and the wheel acceleration DVWRR, DVWRR maximum value DVWRRTR3, DVWRRLTR3 is too large, it is a value for temporarily stopping the W / B measurement value calculation process described later. Set by simulation etc.

  If the determination result in step S54 is affirmative (absolute value of (DVWRRT3-DVWRRRTR3) ≦ KDVW), the CPU 61 proceeds to step S57 to be described later. On the other hand, when the determination result of step S54 is negative ((DVWRTF3-DVWRRRTR3) absolute value> KDVW), the CPU 61 proceeds to step S55. That is, in the present embodiment, the CPU 61 detects the vibration of the right rear wheel RR when the vibration of the right front wheel FR is detected.

  In this step S55, the CPU 61 subtracts the maximum value DVWRLTR3 of the wheel acceleration DVWRL of the left rear wheel RL acquired in step S18 from the maximum value DVWFLTF3 of the wheel acceleration DVWFL of the left front wheel FL acquired in step S14, It is determined whether or not the absolute value of the subtraction result is less than or equal to the change amount threshold value KDVW. If this determination result is a negative determination (absolute value of (DVWFLTF3−DVWRLTR3)> KDVW), the CPU 61 detects the front wheel vibration detection flag FVflg. Also, the rear wheel vibration detection flag RVflg is set to “OFF” (step S56), and the W / B length calculation process is temporarily terminated.

  On the other hand, when the determination result of step S55 is affirmative determination (absolute value of (DVWFLT3-DVWRLTR3) ≦ KDVW), the CPU 61 proceeds to step S57 described later. That is, in the present embodiment, the CPU 61 When vibration of the left front wheel FL is detected, vibration of the left rear wheel RL is detected.

  In step S57, the CPU 61 obtains the time during which the above-mentioned timer is counting up (hereinafter referred to as “rear detection time”) TVWR, and stores the subsequent detection time TVWR in a predetermined area of the RAM 62. The CPU 61 obtains the vehicle body speed at that time (the vehicle body speed detected by the calculation process in step S34) VS, and uses the vehicle body speed VS for the vehicle body speed during rear wheel vibration (hereinafter referred to as “when the rear side is detected”). It is stored in a predetermined area of the RAM 62 as VSR (referred to as “vehicle speed”) (step S58).

  Then, the CPU 61 calculates a W / B measurement value by executing Step S59 (details of which are shown in FIG. 7), and stores the W / B measurement value in a predetermined area of the RAM 62. Subsequently, the CPU 61 sets the calculation processing flag FWBCAL to “OFF” (step S60), and thereafter ends the W / B length calculation processing.

  In this embodiment, although not described in the W / B length calculation process, the elapsed time after the calculation processing flag FWBCAL is set to “ON” in step S44 is equal to or greater than a preset elapsed time threshold value. In this case, the CPU 61 sets the calculation processing flag FWBCAL to “OFF”, and sets the front wheel vibration detection flag FVflg and the rear wheel vibration detection flag RVflg to “OFF”. The elapsed time threshold is determined that the vibration of the rear wheels RR and RL could not be detected when the elapsed time from the detection of the vibrations of the front wheels FR and FL to the detection of the vibrations of the rear wheels RR and RL is too long. This value is set in advance through experiments or simulations.

  Here, as shown in FIG. 8A, when the wheels FR, FL, RR, RL are not stepping on the foreign matter F on the road surface while the vehicle C is traveling, the wheel accelerations DVWFR, DVWFL of the front wheels FR, FL There is almost no change, and there is almost no change in the wheel accelerations DVWRR and DVWRL of the rear wheels RR and RL. Further, there is almost no change in the vehicle body acceleration GX of the vehicle.

  However, as shown in FIG. 8B, when the front wheels FR, FL among the wheels FR, FL, RR, RL have stepped on the foreign matter F on the road surface, the wheel acceleration DVWFR of the front wheels FR, FL The DVWFL greatly changes, and the vehicle body acceleration GX also changes greatly. Moreover, the change in the vehicle body acceleration GX (change in the vehicle state) appears in the front second predetermined time TF2 immediately after the change in the wheel accelerations DVWFR and DVWFL of the front wheels FR and FL is detected. As a result, on the road surface The vibrations of the front wheels FR and FL caused by stepping on the foreign object F are detected.

  Thereafter, as shown in FIG. 8C, when the rear wheels RR and RL among the wheels FR, FL, RR and RL have stepped on the foreign matter F on the road surface, the wheels of the rear wheels RR and RL The accelerations DVWRR and DVWRL change greatly, and the child body acceleration GX also changes greatly. In addition, the change in the vehicle body acceleration GX (change in the vehicle state) appears in the rear first predetermined time TR1 immediately before the change in the wheel accelerations DVWRR and DVWRL of the rear wheels RR and RL is detected. As a result, vibrations of the rear wheels RR and RL caused by stepping on the foreign matter F on the road surface are detected.

  Next, the process executed in step S59 of the W / B length calculation process will be described based on the flowchart shown in FIG.

  In the calculated W / B length calculation processing step S59, the CPU 61 determines whether or not the vehicle state validity determination flag SJFLG is set to “ON” (step S65). When this determination result is a negative determination (SJFLG = “OFF”), the CPU 61 ends the calculated W / B length calculation process. On the other hand, if the determination result in step S65 is affirmative (SJFLG = “ON”), the CPU 61 reads the front detection time TVWF acquired in step S42 from the RAM 62 and the rear side acquired in step S57. The detection time TVWR is read from the RAM 62. Then, the CPU 61 calculates the interval time DTVW by subtracting the front detection time TVWF from the rear detection time TVWR (step S66).

  Subsequently, the CPU 61 reads the front-side vehicle body speed VSF detected at step S43 from the RAM 62 and reads the rear-side vehicle body speed VSR detected at step S58 from the RAM 62. Then, the CPU 61 calculates an average value of the rear detection vehicle body speed VSR and the front detection vehicle body speed VSF, and sets the average value to the average vehicle body speed VSAV (step S67). As described above, in the present embodiment, when detection of the vehicle body speed of the vehicle is executed twice (two times) at the time of setting the wheelbase length, the average vehicle body that is an average value of these vehicle body speeds VSF and VSR. The speed VSAV is calculated.

  Then, the CPU 61 multiplies the interval time DTVW calculated in step S66 by the average vehicle body speed VSAV calculated in step S67 to calculate a calculated wheelbase length LWB, and the W / B measurement value LWB. Is stored in a predetermined area of the RAM 62 (step S68). Thereafter, the CPU 61 ends the process of step S59.

  In the W / B measurement process 20, by performing the process as described above, the wheelbase measurement value can be acquired once every time step S68 is executed.

  Next, the ABS control process 26 will be described. The ABS control processing 26 detects a slip of any of the wheels FR, FL, RR, and RL of the vehicle, and applies a brake to adjust the braking force to the wheel so that the slipped wheel is not locked. This is a process for controlling the actuator 14. As a sub process of the ABS control process 26, the CPU 61 executes a blunting control process 261 and a μ split correspondence control process 262.

  The blunting control process 261 is a process in which, in the ABS control process 26, the detection condition of the wheel slip is made stricter than usual for a certain period, thereby making the lock prevention function difficult to operate during that period. Here, the stricter detection condition of the wheel slip means that, for example, the lock prevention function is activated based on the fact that the difference between the speed of a certain wheel and the speed of the vehicle body of the host vehicle is greater than a certain threshold value. Is equivalent to increasing the threshold value.

In the blunting control process 261, the CPU 61 determines that a point on the road surface where the front wheel is located has a bump when the front wheel slip of the vehicle occurs or when the wheel speed decreases by a predetermined amount or more. . Then, a time t (hereinafter referred to as a dull time) t until the raised portion reaches the rear wheel is set to the vehicle body speed u, the vehicle body acceleration a obtained from the vehicle body acceleration sensor 13, and the wheel base value s. On the basis of,
s = u · t + a · t 2/2
This is calculated using the equation. Accordingly, as shown in the graph of FIG. 9, the blunting time t increases as the value of the wheel base s increases. Further, the conditions for detecting wheel slip are made stricter than usual when the calculated time t has passed and during the margin periods before and after.

  The wheel base value s used by the CPU 61 in the blunting control process 261 is the W / B recording value 63a read by the W / B reading process 21 until command data to be described later is received from the first abnormality determination process 24. is there. However, when command data is received from the first abnormality determination process 24, a value according to the command is used as the wheel base value s. Specifically, the wheel base value s used based on the command from the first abnormality determination process 24 is the W / B recorded value 63a and the W / B measurement value measured by the W / B measurement process 20. One of the based values.

  The μ split correspondence control processing 262 is performed on the right side of a μ split road in which the road surface friction coefficient under the right wheel (hereinafter referred to as right μ) and the road surface friction coefficient under the left wheel (hereinafter referred to as left μ) are different. This is a process of changing the contents of ABS control in two stages according to the difference between μ and left μ, that is, the difference between left and right μ.

  Specifically, the control content is changed as follows using the threshold value KMI for the left-right μ difference. That is, when the left-right μ difference is less than the threshold KMI, independent restriction control (corresponding to an example of braking-oriented vehicle control) is performed, and when the left-right μ difference is equal to or greater than the threshold KMI, select low control (an example of stability-oriented vehicle control). Equivalent).

  Here, in the select low control, the braking force of the wheel and other wheels is controlled in accordance with the slip state of the wheel with the larger slip (that is, the wheel with the smaller road friction coefficient). In the independent restriction control, for a wheel with a larger slip, the braking force of the wheel is controlled according to the slip state of the wheel, and a wheel with a smaller slip (that is, a road surface friction coefficient is large). Side wheel) is smaller than the braking force suitable for the slip state of the wheel, and larger than the braking force suitable for the slip of the wheel on the larger slip side. Control the braking force.

  In the present embodiment, as the amount corresponding to the right and left μ difference, the hydraulic pressure of the wheel to which the high hydraulic pressure is applied to the wheel cylinder is increased, and the low hydraulic pressure is applied to the wheel cylinder. The duration of the period during which the applied wheel hydraulic pressure is decreasing may be used. Further, as a quantity corresponding to the left-right μ difference, a friction coefficient directly under each wheel may be directly detected by a known technique, and the difference may be used as an amount corresponding to the left-right μ difference.

  By such a μ split correspondence control process 262, the braking force of the entire vehicle is higher in the independent restriction control than in the select low control. Further, the stability of the vehicle (that is, the high effect of suppressing the yaw torque) is higher in the select low control than in the independent restriction control. Therefore, when the left-right μ difference is small, ABS control is performed with an emphasis on the braking force of the vehicle, and when the left-right μ difference is large, ABS control is performed with an emphasis on vehicle stability.

  However, in the μ split correspondence control process 262, the CPU 61 changes the value of the threshold value KMI according to the wheel base value s. FIG. 10 shows the relationship between the threshold value KMI and the wheelbase value s. As shown in this figure, the value of W / B is represented by two, a long W / B and a short W / B, and the wheel base value is shorter W / B than when the wheel base value corresponds to long W / B. The threshold value KMI is made smaller in the case corresponding to B (KMIS <KMIL).

  By doing so, the ABS control that emphasizes stability is more frequently used for vehicles with a short wheelbase, and the ABS control that emphasizes braking performance is more frequently used for vehicles with a long wheelbase. This is because the stability of the vehicle differs depending on the wheelbase.

  The wheel base value s used by the CPU 61 in the μ split correspondence control process 262 is the W / B recorded value read by the W / B read process 21 until command data to be described later is received from the second abnormality determination process 25. 63a. However, when command data is received from the second abnormality determination process 25, a value according to the command is used as the wheel base value s. Specifically, the wheel base value s used based on the command from the second abnormality determination process 25 is the W / B recorded value 63a and the W / B measurement value measured by the W / B measurement process 20. One of the based values.

  Note that the blunting control process 261 is described in detail in Patent Document 1, and switching between the select low control and the independent restriction control according to the left / right μ difference in the μ split correspondence control process 262 is described in detail in Patent Document 2. Has been.

  Next, the first validity determination process 22 will be described. The first validity determination process 22 is so reliable that the W / B measurement value repeatedly calculated in the W / B measurement process 20 can be used for the first abnormality determination process 24 for the W / B recording value 63a. This is a process for determining whether or not there is a certain standard.

  Specifically, by executing the first validity determination process 22, the CPU 61 determines a predetermined range group A (specifically, an A1 range of 2.9 to 3.1 meters, 3.9 meters). A specific range of A2 range of 4.1 meters or less, A3 range of 4.9 meters or more and 5.1 meters or less, and A4 range of 5.9 meters or more and 6.1 meters or less) When the repeatedly acquired W / B measurement value belongs continuously for the reference number A or more, it is determined that the reliability of the W / B measurement value is high, that is, effective. The range of A1 to A4 is determined according to the measurement error of the W / B measurement shown in the embodiment of FIG.

  Here, each category of the ranges A1 to A4 has a one-to-one correspondence with the W / B reference value (3 meters, 4 meters, 5 meters, 6 meters) of the W / B recording value 63a described above. . Further, each of the A1 range to the A4 range is a discrete range that includes a corresponding W / B reference value among the plurality of W / B reference values and does not include other W / B reference values.

  Accordingly, these A1 range to A4 range are provided in a one-to-one correspondence with a plurality of vehicle types having different wheel bases in one vehicle type. Therefore, in order to be used for determining whether or not the W / B measurement value is appropriate in the first abnormality determination process 24 to be described later, a plurality of ranges are divided by applying the W / B measurement value and the W / B recording value 63a. It will be directly related to the design variations for one vehicle type. As a result, the determination as to whether or not the measured value is appropriate conforms to the design specifications of the entire vehicle model.

  FIG. 11 shows a flowchart of the first validity determination process 22. The CPU 61 executes the process of this flowchart once every time step S68 of FIG. 7 is executed once. In one execution of this process, the CPU 61 first determines whether or not the W / B measurement value has been determined to be valid in step S105, and ends if it has already been determined. Note that the determination that the W / B measurement value is valid is performed only in any one of steps S145, S165, S185, and S196.

  If it is before the determination of validity, the latest W measured by the W / B measurement processing 20 for each of the range A1, the range A2, the range A3, and the range A4 by the processing of steps S110, S115, S120, and S125. It is determined whether the / B measurement value belongs.

  If it is determined that it belongs to the range A1 (see step S110), then in step S130, the determination counter A1 indicates that the first effective W / B value = 3, that is, the true value of the W / B value is 3. The value is incremented by 1, and then, in step S130, the values of the other determination counters A2, A3, A4 are cleared to zero.

  Here, the determination counter A2 is a counter indicating that the first effective W / B value = 4, and the determination counter A3 is a counter indicating that the first effective W / B value = 5. The counter A4 is a counter indicating that the first effective W / B value = 6. Note that the values of the determination counters A1 to A4 are recorded in the flash memory 64, and are set to zero when the vehicle is IGON.

  Subsequently, in step S140, it is determined whether or not the value of the determination counter is greater than or equal to the reference number A (3 in this example). If it is less than the reference number A, the process ends. S145 is executed. In step S145, it is determined that the W / B measurement value is valid, the first valid W / B value is set to 3 meters, and the process ends.

  If it is determined that it belongs to the range A2 (see step S115), then in step S150, the value of the determination counter A2 is incremented by 1, and then in step S155, the values of the other determination counters A1, A3, A4 are increased. Clear to zero.

  Subsequently, in step S160, it is determined whether or not the value of the determination counter is greater than or equal to the reference number A. If it is less than the reference number A, the process ends. In step S165, it is determined that the W / B measurement value is valid, the first valid W / B value is set to 4 meters, and the process ends.

  If it is determined that it belongs to the range A3 (see step S120), then in step S170, the value of the determination counter A3 is incremented by 1, and then in step S175, the values of the other determination counters A1, A2, A4 are increased. Clear to zero.

  Subsequently, in step S180, it is determined whether or not the value of the determination counter is equal to or greater than the reference number A. If it is less than the reference number A, the process ends. If it is equal to or greater than the reference number A, step S185 is subsequently executed. In step S185, it is determined that the W / B measurement value is valid, the first valid W / B value is set to 5 meters, and the process ends.

  If it is determined that it belongs to the range A4 (see step S125), then in step S190, the value of the determination counter A4 is incremented by 1, and then in step S192, the values of the other determination counters A1, A2, A3 are increased. Clear to zero.

  Subsequently, in step S194, it is determined whether or not the value of the determination counter is equal to or greater than the reference number A. If it is less than the reference number A, the process ends. If it is equal to or greater than the reference number A, step S196 is subsequently executed. In step S196, it is determined that the W / B measurement value is valid, the first valid W / B value is set to 6 meters, and then the process ends.

  If the W / B measurement value does not belong to any of the ranges A1 to A4, all the values of the determination counters A1, A2, A3, and A4 are cleared to zero in step S198, and then the process ends.

  When the CPU 61 repeatedly performs the above processing, for example, when W / B measurement values of 3.09, 2.95, and 3.03 are continuously acquired by the W / B measurement processing 20, step S105 → After the loop of S110 → S130 → S135 → S140 is repeated three times, the determination result becomes affirmative in step S140, and the effective W / B is determined to be 3 meters in step S145.

  However, for example, when W / B measurement values of 3.09, 3.11, and 3.03 are continuously acquired by the W / B measurement process 20, the determination counter A1 is set to 1 in step S130 in the process of the first flowchart. However, in the processing of the next flowchart, the determination counter A1 is cleared to zero in step S198. Therefore, in the process of the third flowchart, although the determination counter A1 is increased to 1 in step S130, it is not determined that the W / B measurement value is still valid.

  For example, when W / B measurement values of 3.09, 4.95, and 3.03 are continuously acquired by the W / B measurement process 20, the determination counter A1 is set to 1 in step S130 in the process of the first flowchart. Although it increases, in the process of the next flowchart, the determination counter A3 is increased to 1 in step S170, and the determination counter A1 is cleared to zero in step S175. Therefore, in the process of the third flowchart, although the determination counter A1 is increased to 1 in step S130, it is not determined that the W / B measurement value is still valid.

  Note that once the validity of the W / B measurement value is determined, the determination result in step S105 is always negative, so the first effective W / B value does not change. Note that the first effective W / B value corresponds to a W / B measurement value for which the validity has been determined. In other words, the first effective W / B value is a value representing the range when a plurality of W / B measurement values enter a certain range several times. The first effective W / B value is a value representative of the W / B measurement values when the plurality of W / B measurement values enter a certain range several times. This first effective W / B value is recorded in the flash memory 64.

  Further, the width of the interval between the range A1 and the range A2, the width of the interval between the range A2 and the range A3, and the width of the interval between the range A3 and the range A4 are measured by the W / B measurement processing 20. Depending on the accuracy, it is determined in advance so as to increase as the accuracy increases.

  Next, the second validity determination process 23 will be described. The second validity determination process 23 is so reliable that the W / B measurement value repeatedly calculated in the W / B measurement process 20 can be used for the second abnormality determination process 25 for the W / B recording value 63a. This is processing for determining whether or not there is a criterion different from the first validity determination processing 22.

  Specifically, by executing the second validity determination process 23, the CPU 61 allows a plurality of large and small range groups B (specifically, not less than 2.7 meters and not more than 4.3 meters) to be set in advance discretely. W / B measurement values that are repeatedly acquired belong to a specific one of a range B1 and a range B2 of a range of 4.7 to 6.3 meters). Sometimes, it is determined that the reliability of the W / B measurement value is high, that is, effective.

  Here, the B1 range and the B2 range are paired with a category (that is, a category of long or short) for distribution of control contents in the μ split correspondence control process 262 (that is, switching of the value of the threshold value KMI). 1 is provided.

  Therefore, a plurality of ranges B1 and B2 in which the W / B measurement value and the W / B recording value 63a are applied to be used for determining whether or not the W / B measurement value is appropriate in the second abnormality determination process 25 described later. The classification is directly related to the distribution of the control contents of the vehicle in the μ split correspondence control process 262. As a result, the determination of whether or not the W / B measurement value is appropriate is adapted to the control characteristics of the use target of the W / B measurement value.

  FIG. 12 shows a flowchart of the second validity determination process 23. The CPU 61 executes the process of this flowchart once in parallel with the first validity determination process 22 every time step S68 of FIG. 7 is executed once. In one execution of this process, the CPU 61 first determines whether or not the W / B measurement value is determined to be valid in step S305, and ends after the determination. Note that the determination that the W / B measurement value is valid is performed only in one of steps S335 and S355.

  The determination of the validity of the W / B measurement value in the first validity determination process 22 is a determination that it is effective for the first abnormality determination process 24, and the W / B measurement value in the second validity determination process 22 is determined. Since the determination of effectiveness is a determination that it is effective for the second abnormality determination process 25, these two determinations are irrelevant.

  If it is before the determination of validity, it is determined whether or not the latest W / B measurement value measured by the W / B measurement process 20 belongs to each of the ranges B1 and B2 by the processes of steps S310 and S315. To do.

  If it is determined that it belongs to the range B1 (see step S310), then in step S320, the value of the determination counter B1 indicating that the second effective W / B value = the short value is increased by 1, and then the step In S325, the determination counter B2 indicating that the second effective W / B value = the long value is cleared to zero.

  Subsequently, in step S330, it is determined whether or not the value of the determination counter is equal to or greater than the reference number B. If it is less than the reference number B, the process ends. In step S335, it is determined that the W / B measurement value is valid, the second valid W / B value is set to the short value, and the process ends.

  If it is determined that it belongs to the range B2 (see step S315), then, in step S340, the value of the determination counter B2 is incremented by 1, and then in step S345, the value of the determination counter B1 is cleared to zero.

  Subsequently, in step S350, it is determined whether or not the value of the determination counter is equal to or greater than the reference number B. If it is less than the reference number B, the process ends. In step S355, it is determined that the W / B measurement value is valid, the second valid W / B value is set to a long value, and the process ends.

  If the W / B measurement value does not belong to either of the ranges B1 and B2, the values of the determination counters B1 and B2 are cleared to low in steps S360 and S365, and the process ends.

  When the CPU 61 repeatedly performs the above processing, for example, when W / B measurement values of 6.09, 5.95, and 6.03 are continuously acquired by the W / B measurement processing 20, step S305 → After the loop of S310.fwdarw.S315.fwdarw.S340.fwdarw.S345.fwdarw.S350 is repeated three times, the determination result becomes affirmative in step S350, and the effective W / B is fixed to a long value in step S355.

  However, for example, when W / B measurement values of 4.30, 4.25, and 4.35 are continuously acquired by the W / B measurement processing 20, the determination counter in step S320 in the processing of the first and second flowcharts. Although B1 increases from 0 to 2, the determination counter B1 is cleared to zero in step S360 in the process of the third flowchart. Therefore, in this case, it is not determined that the W / B measurement value is still valid.

  Note that once the validity of the W / B measurement value is confirmed, the determination result in step S305 is always negative, so the second effective W / B value does not change. Note that the second effective W / B value corresponds to a W / B measurement value for which the validity has been determined. In other words, the second effective W / B value is a value representing the range when a plurality of W / B measurement values enter a certain range several times. The second effective W / B value is a value representative of the W / B measurement values when the plurality of W / B measurement values enter a certain range several times. This second effective W / B value is recorded in the flash memory 64.

  In addition, the width of the range between the B1 range and the B2 range is determined in advance according to the measurement accuracy by the W / B measurement process 20 so that it increases as the accuracy increases.

  From a certain point of view, the first validity determination process 22 and the second validity determination process 23 correspond to an example of the first reference number, and the reference number B corresponds to an example of the second reference number. The range group A corresponds to an example of a plurality of first type ranges, and the range group B corresponds to an example of a plurality of second type ranges. From another viewpoint, the reference number B corresponds to an example of the first reference number, the reference number A corresponds to an example of the second reference number, and the range group B includes a plurality of ranges of the first type. The range group A corresponds to an example of a plurality of second type ranges. In the present embodiment, the reference times A and B are both three.

  Next, the first abnormality determination process 24 will be described. Hereinafter, the values in square brackets [] indicate numerical examples. In the first abnormality determination process 24, the effective W / B value [3 meters] determined to be effective in the first validity determination process 22 includes a predetermined range P [2.9 to 3.1 meter] is determined. If included, normal processing is performed, and if not included, abnormality countermeasure processing is performed.

  Here, the predetermined range P is specifically a range including the value of the W / B recording value 63a in the above-described range group A. By executing the first abnormality determination process 24, the CPU 61 determines that the predetermined range P [2.9 to 3.1 meters] and the W / B measurement value belong in the first validity determination process 22. It is determined whether or not the range [2.9 to 3.1 meters] is the same. If they are the same, normal processing is performed, and if they are not the same, abnormality countermeasure processing is performed. For example, when the effective W / B value is 3 meters and the predetermined range P including the W / B recorded value 63a is 3.9 to 4.1 meters, the abnormality countermeasure processing is performed.

  FIG. 13 shows a flowchart of the first abnormality determination process 24. The CPU 61 starts the process of this flowchart based on the determination of the validity of the W / B measurement value in the first validity determination process 22. In the execution of this flowchart, first, in step S410, it is determined whether or not the W / B recorded value 63a and the first effective W / B value are the same. Is executed, the first abnormality determination process 24 is terminated. If not, the abnormality countermeasure process is subsequently executed in step S430, and then the first abnormality determination process 24 is terminated.

  Here, normal processing and abnormality countermeasure processing will be described. In the normal processing, data for instructing to use the W / B recording value 63a as the wheel base value s is passed to the blunting control processing 261. Accordingly, the blunting control process 261 continues the control using the W / B recording value 63a as the wheel base value s.

  In the abnormality countermeasure processing, the CPU 61 uses the alarm device 15 to notify the abnormality that the W / B recorded value is not appropriate, that is, to warn the driver, to turn on the warning lamp, to the light, or to the image, sound. Etc. In this way, it is possible to prompt the occupant to take some measures.

  Further, the CPU 61 passes data for instructing prohibition of the execution of the blunting control process 261 to the blunting control process 261 in the abnormality countermeasure process. In this way, the CPU 61 does not execute the blunting control process 261. As a result, the inappropriate vehicle blunting control process 261 based on the W / B recorded value 63a greatly deviating from the actual wheel base of the host vehicle is not performed.

  Next, the second abnormality determination process 25 will be described. The second abnormality determination process 25 determines whether or not the W / B measurement value determined to be effective in the second validity determination process 23 is included in a predetermined range Q including the W / B recorded value 63a. If included, normal processing is performed, and if not included, abnormality countermeasure processing is performed.

  Here, the predetermined range Q is specifically a range including the value of the W / B recording value 63a in the above-described range group B. By executing the second abnormality determination process 25, the CPU 61 determines whether or not the predetermined range Q is the same as the range in which the W / B measurement value is determined to belong in the second validity determination process 23. If they are the same, normal processing is performed, and if they are not the same, abnormality countermeasure processing is performed.

  FIG. 14 shows a flowchart of the second abnormality determination process 25. The CPU 61 starts the process of this flowchart based on the determination of the validity of the W / B measurement value in the second validity determination process 23. In the execution of this flowchart, first, in step S510, it is determined whether or not the W / B recording value 63a is either 3.0 meters or 4.0 meters. If the determination result is affirmative. Subsequently, step S520 is executed, and if negative, step S535 is subsequently executed. This determination is a determination as to whether the range Q including the W / B recording value 63a is the B1 range indicating short or the B2 range indicating long.

  In step S520, it is determined whether or not the second effective W / B value is a short value. If the second effective W / B value is a short value, then normal processing is executed in step S525. Take corrective action.

  In step S535, it is determined whether or not the second effective W / B value is a long value. If the second effective W / B value is a long value, normal processing is subsequently executed in step S540, and if it is a short value, step S545 is subsequently performed. Execute the error countermeasure process.

  Here, the content of the normal process is the same as the normal process in the first abnormality determination process 24. In the abnormality countermeasure processing, the CPU 61 uses the alarm device 15 to notify the abnormality that the W / B recording value is not appropriate, that is, to give a warning to the driver, to turn on the warning lamp, Perform by video, sound, etc. Furthermore, the CPU 61 passes data instructing prohibition of the execution of the μ split correspondence control process 262 to the μ split correspondence control process 262 in the abnormality countermeasure process. By doing so, the CPU 61 does not execute the μ split correspondence control process 262. As a result, the inappropriate μ-split correspondence control process 262 for the vehicle based on the W / B recorded value 63a greatly deviating from the actual wheel base of the host vehicle is not performed. After steps S525, S530, S540, and S545, the execution of the second abnormality determination process 25 ends.

  From a certain point of view, the predetermined range P corresponds to an example of the first range, and the predetermined range Q corresponds to an example of the second range. From another viewpoint, the predetermined range Q corresponds to an example of the first range, and the predetermined range P corresponds to an example of the second range.

  Further, from a certain point of view, the predetermined range P corresponds to an example of the first wheel base range, and among the above-described range group A, each of the range groups that do not overlap the predetermined range P is a discrete wheel base range. The predetermined range Q corresponds to an example of the second wheelbase range.

  From another point of view, the predetermined range Q corresponds to an example of the first wheelbase range, and among the above-described range group B, each of the range groups that do not overlap the predetermined range Q is a discrete wheelbase. The range corresponds to an example, and the predetermined range P corresponds to an example of the second wheelbase range.

  As described above, the control device 16 that performs the vehicle blunting control process 261 based on the W / B recorded value 63a acquires the W / B measured value of the host vehicle, and the acquired measured value is the W / B recorded value. Based on the fact that the value 63a is not included in the range P (see step S410 in FIG. 13), an abnormality countermeasure process for the blunting control process 261 is performed (see step S430).

  Further, the control device 16 that performs the μ split correspondence control process 262 of the vehicle based on the W / B recorded value 63a acquires the W / B measured value of the own vehicle, and the acquired measured value is the W / B recorded value. Based on the fact that it is not included in the range Q including 63a (see steps S520 and S535 in FIG. 14), an abnormality countermeasure process for the blunting control process 261 is performed (see steps S530 and S545).

  Thus, by comparing the measured W / B value with the W / B recorded value 63a, the W / B recorded value 63a is greatly different from the actual wheelbase of the host vehicle, that is, W / B. It can be detected that the recorded value 63a does not properly represent the actual vehicle wheelbase.

  The range P [2.9 to 3.1 meters] in the blunting control process 261 is different from the range Q [2.7 to 4.3 meters] in the μ split correspondence control process 262. In this way, when the W / B recorded value 63a is used for two different controls, the W / B recorded value 63a and the W / B measured value are compared and abnormality countermeasure processing based on the comparison is performed for each control. Also, by changing the comparison method for each control (in this embodiment, the difference between the ranges P and θ), switching between execution and non-execution of the abnormality countermeasure processing according to the nature of each control mounted on the vehicle Will be able to.

  Further, the control device 16 repeatedly acquires the W / B measurement value, and based on the fact that the repeatedly acquired W / B measurement value belongs to one of a plurality of ranges continuously for the reference number of times (FIG. 11). Steps S140, S160, S180, S190, see Steps S330 and S345 in FIG. 12), it is determined whether the one range is the same as the range to which the W / B recording value 63a belongs (Step in FIG. 13). S410 and steps S520 and S535 in FIG. 14), based on the fact that they are not the same, an abnormality countermeasure process for each control is performed.

  Thus, the range groups A and B are provided in advance, and the W / B recorded value 63a and the W / B are recorded on the basis that the W / B measurement value continuously enters a specific one of them. By comparing the B measurement value, the reliability of the W / B measurement value used as the comparison target of the W / B recorded value 63a can be increased.

  The contents of the range group A for the blunting control process 261 and the range group B of the μ split correspondence control process 262 are different. With this configuration, it is possible to set a plurality of first type ranges and a plurality of second type ranges suitable for different controls.

  In the above embodiment, the control device 16 corresponds to an example of an in-vehicle control device, and each of the RAM 62 and the ROM 63 corresponds to an example of a recording medium. Further, the CPU 61 functions as an example of a wheelbase acquisition unit by executing the W / B measurement process 20.

  From a certain point of view, the CPU 61 functions as an example of the first control unit by executing the blunting control process 261, and functions as an example of the second control unit by executing the μ split correspondence control process 262. The first validity determination process 22 and the first abnormality determination process 24 function as an example of a first determination unit, and the second validity determination process 23 and the second abnormality determination process 25 execute the second determination. It functions as an example of means.

  From another viewpoint, the CPU 61 functions as an example of the first control unit by executing the μ split correspondence control process 262, and functions as an example of the second control unit by executing the blunting control process 261. Then, the second validity determination process 23 and the second abnormality determination process 25 function as an example of the first determination means, and the first validity determination process 22 and the first abnormality determination process 24 execute the second It functions as an example of determination means.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, in the above-described embodiment, the CPU 61 passes command data using the W / B recording value 63a to the blunting control process 261 or the μ split correspondence control process 262 in the normal process. However, the CPU 61 may pass the command data using the effective W / B value to the blunting control process 261 or the μ split correspondence control process 262 in the normal process.

  Further, whether or not the W / B measurement value is valid is determined depending on whether or not the value of the determination counter is equal to or greater than the reference number A, but the W / B measurement value is stored for the reference number of times. It may be determined whether or not each of the ranges A1 to A4 belongs at a time.

  In addition, the CPU 61 may not notify the abnormality in the abnormality countermeasure process. In that case, it is essential to prohibit the use of the W / B recording value 63a for the target control processing.

  As a method for prohibiting the use of the W / B recorded value 63a for the target control process, for example, there is a method for prohibiting the execution of the target control as in the above embodiment. In addition, there is a method in which the command data used for the target control is the effective W / B value instead of the W / B recording value 63a. When the W / B recording value 63a is recorded in the flash memory 64, there is a method of rewriting the W / B recording value 63a with an effective W / B value.

  Further, the CPU 61 may use the W / B recording value 63a as it is for the target control in the abnormality countermeasure process. In that case, it is essential to notify the abnormality.

  In the above embodiment, the control target is the ABS control. However, the control using the W / B recording value 63a is not limited to the ABS control, and may be any control.

  In the above embodiment, the control device 16 uses the W / B recorded value 63a in two different controls, and determines the appropriateness of the W / B recorded value 63a for each control. However, the control device 16 may use the W / B recording value 63a in only control, and determine the appropriateness of the W / B recording value 63a only for the control.

  Further, in the W / B measurement process 20, the control device 16 may acquire the wheel base measurement value by another method when the vehicle is used (for example, during travel). The control device 16 measures the measured value by itself, but does not measure the measured value by itself, but when the vehicle is used by the other measuring device (for example, a measuring device outside the vehicle) (for example, when traveling). ) The measurement value may be acquired by communication.

  In the above embodiment, each function realized by the CPU 61 of the control circuit 16 executing a program uses hardware having those functions (for example, an FPGA capable of programming a circuit configuration). May be realized.

It is a block diagram which shows the hardware constitutions of the vehicle-mounted control system. It is a block diagram which shows the relationship between the various processes which CPU61 of the control apparatus 16 performs. 7 is a flowchart showing a part of a vehicle state validity determination process as a part of W / B measurement process 20; 7 is a flowchart showing a part of a vehicle state validity determination process as a part of W / B measurement process 20; 7 is a flowchart showing a part of a W / B length calculation process as a part of the W / B measurement process 20. 7 is a flowchart showing a part of a W / B length calculation process as a part of the W / B measurement process 20. 7 is a flowchart showing a part of a W / B length calculation process as a part of the W / B measurement process 20. 3 is a timing chart showing a relationship between movement of a vehicle C and vibration timing. It is a figure which shows the relationship between the wheel base value s in the blunting control process 261, and the blunting time t. It is a figure which shows the relationship between the threshold value KMI and a wheelbase value. 4 is a flowchart of first validity determination processing 22. 10 is a flowchart of second validity determination processing 23; 5 is a flowchart of first abnormality determination processing 24. 10 is a flowchart of second abnormality determination processing 25.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle-mounted control system, 11 ... Wheel speed sensor, 13 ... Body acceleration sensor,
14 ... Brake actuator, 15 ... Alarm device, 16 ... Control device,
20 ... W / B measurement processing, 21 ... W / B reading processing, 22 ... first validity determination processing,
23 ... second validity determination process, 24 ... first abnormality determination process, 25 ... second abnormality determination process,
26 ... ABS control processing, 261 ... blunting control processing, 262 ... μ split correspondence control processing,
61 ... CPU, 62 ... RAM, 63 ... ROM, 63a ... W / B recording value,
64: Flash memory.

Claims (5)

A recording medium in which a wheelbase recording value indicating a vehicle wheelbase is recorded in advance;
First control means for performing first control using a wheelbase recording value recorded on the recording medium;
Wheelbase acquisition means for acquiring a wheelbase value when using the vehicle;
It is determined whether or not the wheel base value acquired by the wheel base acquisition means is included in a first wheel base range set to include the wheel base recorded value with respect to the previously recorded wheel base recorded value. First determining means for
When the wheel base value is not included in the first wheel base range by the first determination means,
An abnormality countermeasure process for prohibiting the use of the pre-recorded wheelbase recording value for the first control or performing a warning process for using the pre-recorded wheelbase recording value for the first control And an on-vehicle control device. Second control means for performing second control using the wheelbase recorded value recorded on the recording medium;
Whether the wheel base value acquired by the wheel base acquisition means is included in a second wheel base range that is set for the previously recorded wheel base recorded value and is different from the first wheel base range Second determination means for determining whether or not,
When the wheel base value is not included in the second wheel base range in the second determination means,
An abnormality countermeasure process for prohibiting the use of the pre-recorded wheelbase recording value for the second control or performing a warning process for using the pre-recorded wheelbase recording value for the second control The vehicle-mounted control apparatus according to claim 1, further comprising: means. The wheelbase acquisition means is a measurement means for acquiring the wheelbase value by measuring the wheelbase of the vehicle,
When the measured wheelbase value is included in a discrete wheelbase range that is discretely set with respect to the first wheelbase range for a reference number of times set for the first control. In addition,
The in-vehicle control device according to claim 1, wherein the first determination unit determines that the wheel base value acquired by the wheel base acquisition unit is not included in the first wheel base range. The first control includes
It is a control that switches between a braking-oriented vehicle control that emphasizes braking performance over stability and a stability-oriented vehicle control that emphasizes stability over braking performance and detects the slip ratio of the vehicle and compares it with a threshold value.
The first determination means determines whether the wheelbase value is included in a plurality of discretely set wheelbase ranges of large and small,
When the wheelbase value is included in the larger one of the plurality of wheelbase ranges, compared to the case where the wheelbase value is included in the smaller one of the plurality of wheelbase ranges,
The in-vehicle control device according to claim 1, wherein the threshold value is set so that the braking-oriented vehicle control is used more frequently than the stability-oriented vehicle control. The wheelbase acquisition means calculates the vehicle speed during traveling by the difference between the time when vibration occurs on the front wheel of the vehicle while the vehicle is traveling and the time when vibration corresponding to the vibration occurs on the rear wheel of the vehicle. The in-vehicle control device according to any one of claims 1 to 4, wherein multiplication is performed and the result is used as the acquired wheel base value.

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