JP2013169851A - Electronic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic device capable of reducing the number of harnesses, and controlling an object to be controlled by a safe system with redundancy without causing any control delay.SOLUTION: A first accelerator sensor 3 is electrically connected to an electronic device 10 so as to be capable of outputting a first signal via exclusive lines 5a-5c. A second accelerator sensor 4 is electrically connected to the electronic device 10 so as to be capable of outputting a second signal via an exclusive line 8a and multiplex communication buses 8b-8d, etc. A control circuit 11 performs the drive control of a driving motor 1 according to the first signal inputted via an exclusive line 5c or the like. Furthermore, the control circuit 11 detects that one of the first and second signals is abnormal based on the result of comparison between the first signal and the second signal inputted via the multiplex communication bus 8d or the like.

Description

  The present invention relates to an electronic device that controls a control target using signals from two sensors that detect an input state of an input means.

  2. Description of the Related Art Conventionally, as an electronic device that controls an object to be controlled using signals from two sensors that detect an input state of an input unit, a throttle control device having a dual system sensor disclosed in Patent Document 1 is known. Yes. The throttle control device includes a first accelerator sensor and a second accelerator sensor as a dual sensor that detects an operation amount of an accelerator pedal and outputs an accelerator sensor output. Then, by comparing the sensor output from the first accelerator sensor and the sensor output from the second accelerator sensor with the upper limit value of the normal output range and the lower limit value of the normal output range, the sensor output becomes the normal output range. Whether or not the abnormality is out of the range is determined.

JP 09-158765 A

  By the way, the EV (Electric Vehicle) of the vehicle improves the degree of freedom of arrangement of on-vehicle equipment to be controlled, for example, a drive motor, etc., so that the control target and the electronic device that controls the control target are controlled. There is a case where an input means (for example, an accelerator pedal) for inputting business information is disposed at a position away from the input means. In this case, the harness length of the harness (power supply line, ground line, signal line, etc.) that electrically connects the input means and the controlled object becomes long. In particular, an important input means such as an accelerator pedal requires twice as many harnesses as described above in order to use two sensors. As the harness length becomes longer, it is difficult to reduce weight and size. In addition, the manufacturing cost increases due to the deterioration of wiring workability and the like.

  In addition, a structure in which a vehicle body that has conventionally been a monocoque structure is divided into a plurality of frames by EV conversion or the like, and when the control target and the input means are mounted on different frames, wiring of each harness is possible. It is necessary to provide a relay connector at each end. In this case, there is a problem that if a double number of harnesses are used to use two sensors as described above, twice the number of relay connectors is required.

  On the other hand, since many control target devices are mounted like a plurality of in-vehicle devices mounted on a vehicle, a multiplex communication bus may be employed as a communication means for each control target device. Therefore, the number of harnesses can be reduced by using this multiplex communication bus for communication between the input means and the controlled object. However, when a multiplex communication bus is used, a control delay occurs depending on the communication status of other devices that share the multiplex communication bus. For this reason, there is a problem that a multiplex communication bus cannot be used for control communication in which control delay is difficult to allow because high-precision control is required. Further, in order to eliminate such a control delay, there is a problem in that the cost increases if provision of the transmission guarantee time of the multiplex communication bus is provided.

  The present invention has been made to solve the above-described problems, and the object of the present invention is to control a controlled object with a redundant and safe system without reducing the number of harnesses and causing a control delay. It is an object of the present invention to provide an electronic device.

In order to achieve the above object, an electronic device according to claim 1 of the claims includes a first sensor (3) and a second sensor (4) for detecting an input state of the input means (2). An electronic device (10, 10a) having a control means (11) for controlling a control target (1) according to the input state using a signal, wherein the first signal from the first sensor is a dedicated line The second signal from the second sensor is input to the control means via a multiplex communication bus (8d), and the control means receives the first signal. In response, the control object is controlled, and based on the comparison result between the first signal and the second signal, an abnormal signal for detecting that one of the first signal and the second signal is abnormal It is provided with a detection means (11) .
In addition, the code | symbol in the parenthesis of a claim and the said means shows a corresponding relationship with the specific means as described in embodiment mentioned later.

  According to the first aspect of the present invention, the control means controls the controlled object in accordance with the first signal input via the dedicated line. Further, the abnormal signal detecting means detects that either one of the first signal and the second signal is abnormal based on a comparison result between the first signal and the second signal input via the multiplex communication bus. Detect that there is.

Since the first signal input via the dedicated line does not cause a control delay unlike the second signal input via the multiplex communication bus, the input state of the input means is input via the dedicated line. By detecting based on the first signal, the control target can be controlled without causing a control delay according to the input state. Since the input state of the input means is detected separately for both the first signal and the second signal, an abnormality detection configuration capable of detecting any abnormality of both signals based on the comparison result is realized. Can do. Furthermore, since the second signal is input via the multiplex communication bus, the number of harnesses can be reduced as compared with the case where a dedicated line is used.
Therefore, the number of harnesses can be reduced and the controlled object can be controlled by a safe system having redundancy without causing a control delay.

  As in the invention of claim 2, the control target may be one of a plurality of in-vehicle devices mounted on a vehicle and sharing a multiplex communication bus. As a result, the number of harnesses can be reduced, and the in-vehicle device to be controlled can be controlled by a safe system with redundancy without causing a control delay.

  In the invention of claim 3, the abnormal signal detecting means compares the first signal immediately after the control object is controlled by the control means with the second signal. That is, since the controlled object is controlled according to the first signal immediately after the input before being compared with the second signal without waiting for the abnormality determination result, according to the first signal after being compared with the second signal Compared with the case of controlling the controlled object, the response of the controlled object according to the input state can be improved. Even if the control target is controlled according to the abnormal first signal, the abnormality is detected immediately after that, so that the influence of the abnormal first signal can be reliably suppressed.

  According to a fourth aspect of the present invention, the abnormal signal detecting means detects a difference between a timing at which the value of the first signal exceeds any threshold and a timing at which the value of the second signal exceeds the threshold (hereinafter referred to as a first timing difference). Or based on the difference between the timing at which the value of the first signal falls below any threshold and the timing at which the value of the second signal falls below this threshold (hereinafter referred to as the second timing difference). It is detected that one of the second signals is abnormal.

  If both signals are normal, the second signal changes in the same way with a slight delay from the first signal, and therefore the first timing difference and the second timing difference are within a predetermined period. Therefore, the abnormality can be easily detected by detecting whether one of the first timing difference and the second timing difference is out of the predetermined period.

  In the invention of claim 5, when the detected change amount does not exceed the change amount threshold value, that is, when the signal state is not expected because the input state does not change abruptly, the control means immediately after controlling the control target. Since the first signal is compared with the second signal, the responsiveness of the controlled object according to the input state can be improved as in the invention of claim 5.

  On the other hand, when the detected change amount exceeds the change amount threshold value, that is, when a signal abnormality is assumed because the input state changes suddenly, the first signal before the control target is controlled by the control means is changed. Since it is compared with the two signals, the control based on the first signal that may be abnormal is surely suppressed, so that safety can be further improved.

  In the invention of claim 6, when the detected vehicle speed is equal to or lower than the predetermined speed threshold value, that is, when the vehicle is traveling at a low speed, the control means immediately after controlling the control object regardless of the detected change amount. The first signal is compared with the second signal.

  As a result, even if the input state changes suddenly, such as during low-speed driving, if the driving situation has little impact on safety, the first immediately after input before being compared with the second signal without waiting for the abnormality determination result Since the controlled object is controlled according to one signal, the responsiveness of the controlled object according to the input state can be improved without deteriorating safety.

  As in the seventh aspect of the invention, the object to be controlled is preferably a motor in which the driving force of the wheel is controlled in accordance with the amount of depression of an accelerator pedal as input means. As a result, even for input means that require control in a safe system with redundancy such as an accelerator pedal, the drive motor has redundancy without causing a control delay depending on the input state. Can be controlled by a secure system.

  As in the invention of claim 8, the control object is preferably a brake device that controls the braking force generated on the wheel in accordance with the amount of depression of the brake pedal as input means. As a result, even if the input means requires control with a safe system with redundancy, such as a brake pedal, the braking force can be safely applied with redundancy without causing a control delay depending on the input state. Can be controlled by a simple system.

1 is a block diagram illustrating a schematic configuration of an electronic device according to a first embodiment. It is a flowchart which shows the flow of the drive control process in 1st Embodiment. It is a block diagram which shows schematic structure of the electronic device which concerns on 2nd Embodiment. It is a flowchart which shows the flow of the drive control process in 2nd Embodiment. It is a flowchart which shows the flow of the abnormality determination process in 3rd Embodiment. It is explanatory drawing explaining the case where a 1st signal and a 2nd signal are normal. It is explanatory drawing explaining the case where a 2nd signal is abnormal. It is explanatory drawing explaining the case where a 1st signal is abnormal.

[First Embodiment]
Hereinafter, an electronic device according to a first embodiment of the present invention will be described with reference to the drawings.
An electronic device 10 shown in FIG. 1 is a device that controls driving of a driving motor 1 that is mounted on an electric vehicle and transmits driving force to wheels according to the amount of depression of an accelerator pedal 2, and the electronic device 10 includes: Two sensors (hereinafter referred to as a first accelerator sensor 3 and a second accelerator sensor 4) that detect the depression amount of the accelerator pedal 2 and output a detection signal corresponding to the detection result to the electronic device 10 are electrically connected. ing. In this embodiment, the reliability of the electronic device 10 or the like is improved by applying a dual system sensor having two sensors in this way. The drive motor 1 may correspond to an example of “control target” recited in the claims, and the accelerator pedal 2 may correspond to an example of “input means” recited in the claims. The first accelerator sensor 3 corresponds to an example of “first sensor” recited in the claims, and the second accelerator sensor 4 corresponds to an example of “second sensor” recited in the claims. Can do.

  The first accelerator sensor 3 and the second accelerator sensor 4 are disposed in the vicinity of the accelerator pedal 2, that is, in front of the driver's seat of the vehicle, and the drive motor 1 and the electronic device 10 are disposed on the rear side of the vehicle. Therefore, the first accelerator sensor 3 can output a detection signal (hereinafter referred to as a first signal) to the electronic device 10 via the dedicated lines (direct lines) 5a to 5c and the relay connectors 6a and 6b. Electrically connected. The second accelerator sensor 4 is electrically connected to another electronic device 7 via a dedicated line 8a. The other electronic device 7 is connected to the multiplex communication buses 8b to 8d and the relay connectors 9a and 9b. The electronic device 10 is electrically connected. Other electronic devices convert the analog value received from the second accelerator sensor 4 into a digital value and then output signals to the multiplex communication buses 8b to 8d. That is, the second accelerator sensor 4 can output the detection signal (hereinafter referred to as a second signal) to the electronic device 10 via the dedicated line 8a, the multiplex communication buses 8b to 8d, and the relay connectors 9a and 9b. Connected.

Next, the configuration of the electronic device 10 will be described.
The electronic device 10 mainly includes a control circuit 11 that performs overall control, and a drive circuit 12 that is controlled by the control circuit 11. The control circuit 11 is composed of a microcomputer composed of a CPU, a ROM, a RAM, and the like, and peripheral circuits. The control circuit 11 is driven by performing a drive control process to be described later according to the first signal and the second signal described above. The circuit 12 is controlled. The drive circuit 12 is a circuit that drives and controls the drive motor 1 in accordance with a control signal input from the control circuit 11. Drive power from a battery (not shown) is supplied to the drive motor 1 in accordance with the control signal. It is configured to supply. Note that a configuration in which another drive circuit for boosting the voltage is connected between the drive circuit 12 and the drive motor 1 may be employed.

  The first signal from the first accelerator sensor 3 is acquired by the analog input unit 13, converted into a digital value by the AD conversion unit 14, and input to the control circuit 11. The second signal from the second accelerator sensor 4 is extracted from each signal acquired by the digital input unit 15 by the extraction unit 16 and input to the control circuit 11.

Next, the drive control process of the drive motor 1 performed by the control circuit 11 will be described with reference to FIG. FIG. 2 is a flowchart showing the flow of drive control processing in the first embodiment.
When the drive power can be supplied to the drive motor 1 in accordance with the operation of the ignition switch or the like, the control circuit 11 starts the drive control process. First, the analog value input process shown in step S101 is performed. The first signal from the accelerator sensor 3 is acquired by the analog input unit 13 through the dedicated lines 5 a to 5 c and the like, converted into a digital value by the AD conversion unit 14, and input to the control circuit 11. Then, the control signal output process shown in step S103 is performed, and the control signal set according to the first signal is output to the drive circuit 12. Thereby, in the drive circuit 12, drive power corresponding to the input control signal is supplied to the drive motor 1. In this way, the drive motor 1 is driven to rotate in accordance with the drive signal, whereby the drive of the drive motor 1 according to the depression amount of the accelerator pedal 2 is realized.

  As described above, after the control signal is output, the digital value input process shown in step S105 is performed. In this process, the second signal from the second accelerator sensor 4 is extracted as a digital value by the extraction unit 16 from each signal acquired by the digital input unit 15 via the multiplex communication buses 8b to 8d, etc. Input to the control circuit 11.

  Thus, when the second signal from the second accelerator sensor 4 is input, the comparison process shown in step S107 is performed. In this process, the value of the first signal corresponding to the control signal output in step S103, that is, the value (voltage value) of the first signal immediately after driving control of the driving motor 1 is input in step S105. The value of the second signal (voltage value) is compared, and the difference is calculated as a comparison result.

  Subsequently, in the determination process shown in step S109, it is determined whether or not the difference calculated as described above is within a predetermined value set in advance. Here, if there is no abnormality in the first accelerator sensor 3 and the second accelerator sensor 4 and the difference between the value of the first signal and the value of the second signal is within the predetermined value, it is determined that both signals are not abnormal. (No in S109). And it determines with No in step S111 and the process from step S101 is repeated until the drive motor 1 is stopped according to operation, such as an ignition switch. The control circuit 11 that performs the comparison process shown in step S107 and the determination process shown in step S109 may correspond to an example of “abnormal signal detection means” recited in the claims.

  On the other hand, for example, when the difference between the value of the first signal and the value of the second signal exceeds the predetermined value due to an abnormality in the first accelerator sensor 3, at least one of the two signals is abnormal. (Yes in S109). Further, when the difference between the value of the first signal and the value of the second signal exceeds the predetermined value due to the abnormality in the second accelerator sensor 4, it is similarly determined as abnormal. In this case, the retreat travel process shown in step S113 is performed, and as the retreat travel, for example, the drive signal is set so that the drive of the drive motor 1 is restricted, and safety is ensured.

  As described above, in the electronic device 10 according to the present embodiment, the control circuit 11 drives and controls the drive motor 1 according to the first signal input via the dedicated line 5c and the like. The control circuit 11 determines whether one of the first signal and the second signal is based on the comparison result between the first signal and the second signal input via the multiplex communication bus 8d or the like. Detect that it is abnormal.

Since the first signal input through the dedicated line 5c or the like does not cause a control delay unlike the second signal input through the multiplex communication bus 8d or the like, the amount of depression of the accelerator pedal 2 can be set as follows. By detecting based on the 1st signal input via 5c etc., the drive motor 1 can be controlled, without producing control delay according to the said depression amount. Since the depression amount of the accelerator pedal 2 is detected separately for both the first signal and the second signal, an abnormality detection configuration capable of detecting any abnormality of both signals based on the comparison result is realized. be able to. Furthermore, since the second signal is input via the multiplex communication bus 8d or the like, the number of harnesses can be reduced as compared with the case where a dedicated line is used.
Therefore, the number of harnesses can be reduced and the drive motor 1 can be controlled by a safe system with redundancy without causing a control delay.

  In particular, in the comparison process, the first signal immediately after the control circuit 11 controls the driving motor 1 is compared with the second signal. That is, since the driving motor 1 is controlled according to the first signal immediately after the input before being compared with the second signal without waiting for the abnormality determination result, the first signal after being compared with the second signal Accordingly, the response of the driving motor 1 according to the amount of depression of the accelerator pedal 2 can be improved as compared with the case where the driving motor 1 is controlled. Even if the drive motor 1 is controlled in response to the abnormal first signal, the abnormality is detected immediately after that, so that the influence of the abnormal first signal can be reliably suppressed.

  Further, the control target is a driving motor 1 in which the driving force of the wheel is controlled according to the depression amount of the accelerator pedal 2 as an input means, and in a safe system having redundancy like the accelerator pedal 2. Even if the input means requires control, the drive motor 1 can be controlled by a safe system having redundancy without causing a control delay in accordance with the input state.

[Second Embodiment]
Next, an electronic device according to a second embodiment of the present invention will be described with reference to FIGS. FIG. 3 is a block diagram illustrating a schematic configuration of the electronic device according to the second embodiment. FIG. 4 is a flowchart showing a flow of drive control processing in the second embodiment.
The electronic device 10a according to the second embodiment employs a new vehicle speed sensor 20, and the drive control process is replaced with the flowchart shown in FIG. 2 in order to appropriately improve the safety and responsiveness in the drive control process. 4 is mainly different from the electronic device according to the first embodiment in that it is implemented based on the flowchart shown in FIG. Therefore, substantially the same components as those of the electronic device of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  As shown in FIG. 3, the electronic device 10 a includes an input unit 17 that inputs a vehicle speed signal from a vehicle speed sensor 20 that detects a vehicle speed V of the vehicle to the control circuit 11. And in the drive control processing in this embodiment, in order to improve safety, when the first signal changes rapidly, the first signal before controlling the drive motor 1 is compared with the second signal. Abnormality judgment is made. Furthermore, in the drive control process in the present embodiment, in order to improve the responsiveness, the first signal immediately after controlling the driving motor 1 is compared with the second signal during low-speed traveling, regardless of the change in the first signal. Is judged as abnormal. The vehicle speed sensor 20 corresponds to an example of “vehicle speed detection means” described in the claims, and the vehicle speed V can correspond to an example of “detected vehicle speed” described in the claims.

Hereinafter, in the present embodiment, the drive control process of the drive motor 1 performed by the control circuit 11 will be described in detail with reference to the flowchart shown in FIG.
As in the first embodiment, the drive control process is started in the control circuit 11. First, the analog value input process shown in step S 201 is performed, and the first signal from the first accelerator sensor 3 is sent to the dedicated lines 5 a to 5 a. It is acquired by the analog input unit 13 via 5c and the like, converted to a digital value by the AD conversion unit 14, and input to the control circuit 11.

  Next, in the determination process shown in step S203, it is determined whether or not the vehicle speed V of the vehicle is equal to or less than a predetermined speed threshold value Vt. Here, the predetermined speed threshold value Vo is set to a value that is regarded as low-speed traveling, for example, 20 km / h. If the vehicle speed V of the vehicle exceeds the predetermined speed threshold value Vo, the process proceeds to step S203. Is determined as No.

  Next, the signal change amount calculation process shown in step S205 is performed, and the difference between the first signal input in step S201 and the first signal input in the previous step S201 is calculated as the change amount ΔS. Subsequently, in the determination process shown in step S207, it is determined whether or not the change amount ΔS calculated as described above is less than the change amount threshold value ΔSt. Here, the change amount threshold value ΔSt is set to a value at which the first signal is regarded as abnormal based on the change amount. The control circuit 11 that performs the signal change amount calculation processing corresponds to an example of the “change amount detection unit” recited in the claims, and the change amount ΔS is the “detection change” recited in the claims. It may correspond to an example of “amount”.

  If the change amount ΔS is less than the change amount threshold value ΔSt (Yes in S207), the processing from Steps S209 to S215 is performed in the same manner as the processing from Steps S103 to S109. If the difference calculated in the comparison process shown in step S215 is within a predetermined value, it is determined that both signals are not abnormal (No in S215). And it determines with No in step S217 until the drive motor 1 is stopped according to operation of an ignition switch etc., and the process from step S201 is repeated. On the other hand, when the difference between the value of the first signal and the value of the second signal exceeds the predetermined value (Yes in S215), the same process as the retreat travel process shown in step S113 is performed in the retreat travel process shown in step S219. The

  If the change amount ΔS is equal to or greater than the change amount threshold value ΔSt in the determination process shown in step S207 described above (No in S207), the second signal from the second accelerator sensor 4 is converted into a digital value before the control signal output process. Until it is input, the determination of No is repeated in the determination process shown in step S221. Then, when the second signal is input (Yes in S221), the processing from step S223 to S227 is performed in the same manner as the processing from step S105 to S109. If the difference calculated in the comparison process shown in step S225 is within a predetermined value, it is determined that both signals are not abnormal (No in S227), and the control signal output process shown in step S229 is performed in step S103. This is the same as the control signal output processing shown. On the other hand, when the difference between the value of the first signal and the value of the second signal exceeds the predetermined value (Yes in S227), the same process as the retreat travel process shown in step S113 is performed in the retreat travel process shown in step S219. The

  On the other hand, when the vehicle speed V of the vehicle is equal to or lower than the predetermined speed threshold value Vt, it is determined Yes in step S203, and without performing the processing of steps S205 and S207, in order to improve responsiveness, The process after step S209 is performed.

  As described above, in the electronic device 10 according to the present embodiment, when the change amount ΔS does not exceed the change amount threshold value ΔSt, that is, the depression amount of the accelerator pedal 2 does not change abruptly, the first signal is abnormal. If it is not assumed (Yes in S207), the first signal immediately after controlling the driving motor 1 is compared with the second signal, and therefore, according to the depression amount of the accelerator pedal 2, as in the first embodiment. In addition, the response of the driving motor 1 can be improved.

  On the other hand, when the change amount ΔS exceeds the change amount threshold value ΔSt, that is, when the first signal abnormality is assumed because the depression amount of the accelerator pedal 2 changes abruptly (No in S207), the drive motor Since the first signal before controlling 1 is compared with the second signal, the control based on the first signal that may be abnormal is surely suppressed, so that safety can be further improved.

  Further, when the vehicle speed V is equal to or lower than the predetermined speed threshold value Vt, that is, when the vehicle is traveling at a low speed (Yes in S203), the first time immediately after the drive motor 1 is controlled regardless of the change amount ΔS. One signal is compared with the second signal.

  As a result, even if the amount of depression of the accelerator pedal 2 changes drastically, such as during low-speed driving, if the driving situation has little influence on safety, before the comparison with the second signal without waiting for the abnormality determination result Since the drive motor 1 is controlled according to the first signal immediately after the input, the response of the control target according to the depression amount of the accelerator pedal 2 can be improved without reducing the safety.

[Third Embodiment]
Next, an electronic device according to a third embodiment of the present invention will be described with reference to FIGS. FIG. 5 is a flowchart showing the flow of abnormality determination processing in the third embodiment. 6 is an explanatory diagram for explaining a case where the first signal and the second signal are normal, FIG. 6A is a waveform diagram of the first signal, and FIG. 6B is a diagram illustrating the second signal. FIG. 6C is a diagram showing a count state by a counter. FIG. 7 is an explanatory diagram for explaining a case where the second signal is abnormal, FIG. 7A is a waveform diagram of the first signal, and FIG. 7B is a waveform diagram of the second signal. Yes, FIG. 7C is a diagram showing a count state by the counter. FIG. 8 is an explanatory diagram for explaining a case where the first signal is abnormal, FIG. 8A is a waveform diagram of the first signal, and FIG. 8B is a waveform diagram of the second signal. Yes, FIG. 8C is a diagram showing a count state by the counter.

  The electronic apparatus 10 according to the third embodiment performs the abnormality determination process shown in FIG. 5 instead of the comparison process (S107) during the drive control process and the abnormality determination process (S109) using the comparison result. However, this is mainly different from the electronic device according to the first embodiment. Therefore, substantially the same components as those of the electronic device of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The abnormality determination process performed in the present embodiment is the timing at which the value of the first signal exceeds any threshold with respect to a threshold value set to 1 or 2 and the value of the second signal exceeds this threshold value. Or the difference between the timing at which the value of the first signal falls below any threshold and the timing at which the value of the second signal falls below this threshold (hereinafter referred to as the first timing difference ΔT1). 2), it is detected that either one of the first signal and the second signal is abnormal. The abnormality determination process is a process in which a part related to abnormality determination is extracted from the drive control process described above, and the abnormality detection result can be configured as a process used in the drive control process.

  Specifically, for example, as illustrated in FIG. 6, in this embodiment, the threshold values to be compared with the value Sa of the first signal and the value Sb of the second signal are the first threshold value S1t, the second threshold value S2t, Three threshold values S3t are set. If both signals are normal, the second signal changes in the same way with a slight delay from the first signal, so that the first timing difference ΔT1 and the second timing difference ΔT2 are as shown in FIG. Within a predetermined period ΔTt.

  That is, the region divided by the thresholds S1t to S3t, specifically, as illustrated in FIG. 6, the region below the first threshold S1t is defined as the first region E1, the first threshold S1t or more and the second threshold S2t. If the region below the second region E2, the region above the second threshold S2t and below the third threshold S3t is the third region E3, and the region above the third threshold S3t is the fourth region E4, When the value Sa changes in the region, the value Sb of the second signal also changes into the same region within the predetermined period ΔTt.

  On the other hand, as shown in FIG. 7, when an abnormality that does not change the second signal occurs, the abnormality is detected when either the first timing difference ΔT1 or the second timing difference ΔT2 exceeds the predetermined period ΔTt. That is, when the value Sa of the first signal changes in the region and the value Sb of the second signal does not change to the same region within the predetermined period ΔTt, an abnormality is detected.

  Also, as shown in FIG. 8, when an abnormality in which the first signal does not change occurs, only the value Sb of the second signal exceeds or falls below any threshold value, and the first timing difference ΔT1 and the second timing difference are calculated. An abnormality is detected when any of ΔT2 has a negative value. That is, an abnormality is detected when the value Sb of the second signal changes in the region before the value Sa of the first signal changes in the region.

Hereinafter, the abnormality determination process performed by the control circuit 11 in the present embodiment will be described in detail using the flowchart shown in FIG.
When the abnormality determination process is started and the value Sa of the first signal and the value Sb of the second signal do not change in region, the determination of No is repeated in steps S301 and S303. Then, when the value Sa of the first signal changes, for example, from the first area E1 to the second area E2 (Yes in S301), the elapsed time T from the detection of the area change in the timer activation process shown in step S305. The counter for measuring is started.

  Then, in the determination process shown in step S307, whether or not the value Sb of the second signal is the same region as the value Sa of the first signal, at this stage, whether or not the value Sb of the second signal has changed to the second region E2. Is determined. Here, when the value Sb of the second signal has not changed to the same region (No in S307), the elapsed time T measured from the counter in the determination process shown in step S309 is the predetermined period. It is determined whether or not it is less than ΔTt. If the elapsed time T is less than the predetermined period ΔTt, it is determined Yes and the determination processing from step S307 is repeated.

  If the second signal value Sb changes to the same region (the second region E2 at this stage) as the first signal value Sa during this repeated determination (Yes in S307), in step S311, The above-described counter is stopped, and it is determined that both signals are normal.

  On the other hand, as illustrated in FIG. 7, when an abnormality in which the second signal does not change occurs, one of the first timing difference ΔT1 and the second timing difference ΔT2 exceeds a predetermined period ΔTt, and the elapsed time T is equal to the predetermined time. It becomes more than period ΔTt (No in S309). In this case, the abnormality detection process shown in step S313 is performed, and it is detected that the second signal is abnormal. Based on this abnormality detection result, the above-described retreat travel process is performed.

  Further, as illustrated in FIG. 8, when an abnormality in which the first signal does not change occurs, either the first timing difference ΔT1 or the second timing difference ΔT2 becomes a negative value, and the value Sa of the first signal is a region. Before the change, the value Sb of the second signal changes in the region (Yes in S303). In this case, the abnormality detection process shown in step S313 is performed, and it is detected that the first signal is abnormal. Based on this abnormality detection result, the above-described retreat travel process is performed.

  As described above, in the electronic apparatus 10 according to the present embodiment, it is determined that one of the first signal and the second signal is abnormal based on the first timing difference ΔT1 and the second timing difference ΔT2. By detecting this, the abnormality can be easily detected.

In addition, this invention is not limited to said each embodiment, You may actualize as follows.
(1) The control target of the electronic devices 10 and 10a may be fuel injection amount control means for controlling the fuel injection amount to the internal combustion engine in accordance with the depression amount of the accelerator pedal 2 as input means. As a result, even with input means that require control in a safe system with redundancy, such as an accelerator pedal, the fuel injection amount has redundancy without causing a control delay depending on the input state. It can be controlled by a safe system.

(2) Moreover, the control target of the electronic devices 10 and 10a may be a brake device that controls the braking force generated on the wheels in accordance with the depression amount of the brake pedal that is the input means. As a result, even if the input means requires control with a safe system with redundancy, such as a brake pedal, the braking force can be safely applied with redundancy without causing a control delay depending on the input state. Can be controlled by a simple system.

(3) In addition, the controlled object of the electronic devices 10 and 10a is controlled by using respective signals from two sensors that detect the input state of the predetermined input means, and is mounted on the vehicle so that the multiplex communication bus can be used. One of a plurality of in-vehicle devices to be shared may be used. As a result, the number of harnesses can be reduced, and the in-vehicle device to be controlled can be controlled by a safe system with redundancy without causing a control delay.

(4) Moreover, the controlled object of the electronic devices 10 and 10a is controlled using the respective signals from the two sensors that detect the input state of the predetermined input means, and the electronic device is combined with other electronic devices. It may be one of a plurality of devices sharing a multiplex communication bus provided in a device to be incorporated. As a result, the number of harnesses can be reduced and the controlled object can be controlled by a safe system with redundancy without causing a control delay.

(5) The abnormality detection of the first signal and the second signal is performed based on the difference between the value of the first signal and the value of the second signal, the first timing difference ΔT1 and the second timing difference ΔT2. However, the present invention is not limited to this, and may be performed based on a comparison result obtained by comparing the first signal and the second signal.

DESCRIPTION OF SYMBOLS 1 ... Drive motor (control object) 2 ... Accelerator pedal (input means)
3 ... 1st accelerator sensor (1st sensor) 4 ... 2nd accelerator sensor (2nd sensor)
5a to 5c ... dedicated line 8b to 8d ... multiplex communication bus 10, 10a ... electronic device 11 ... control circuit (control means, abnormal signal detection means, change amount detection means) 12 ... drive circuit 20 ... vehicle speed sensor (vehicle speed detection means)
S1t to S3t ... threshold value Sa ... value of first signal Sb ... value of second signal V ... vehicle speed Vt ... speed threshold value ΔS ... change amount (detection change amount) ΔSt ... change amount threshold value ΔT1 ... first timing difference ΔT2 ... second Timing difference ΔTt ... predetermined period

Claims (8)

Control means (1) for controlling the control object (1) according to the input state using the respective signals from the first sensor (3) and the second sensor (4) for detecting the input state of the input means (2). 11) an electronic device (10, 10a) having
The first signal from the first sensor is input to the control means via a dedicated line (5c),
The second signal from the second sensor is input to the control means via a multiplex communication bus (8d),
The control means controls the control object according to the first signal,
An abnormal signal detecting means (11) for detecting that either one of the first signal and the second signal is abnormal based on a comparison result between the first signal and the second signal. Electronic device characterized. The control object is one of a plurality of in-vehicle devices mounted on a vehicle,
The electronic device according to claim 1, wherein the multiplex communication bus is shared by the plurality of in-vehicle devices.   The electronic apparatus according to claim 1, wherein the abnormal signal detection unit compares the first signal immediately after the control unit is controlled by the control unit with the second signal.   The abnormal signal detection means includes a timing at which a value of the first signal exceeds any threshold with respect to a threshold value set to 1 or 2 and a timing at which the value of the second signal exceeds the threshold. Based on the difference (ΔT1) or the difference (ΔT2) between the timing at which the value of the first signal falls below any threshold and the timing at which the value of the second signal falls below this threshold, the first signal and the The electronic apparatus according to claim 1, wherein one of the second signals is detected to be abnormal. A change amount detecting means (11) for detecting a change amount of the first signal;
When the detected change amount (ΔS) detected by the change amount detecting unit does not exceed the change amount threshold value (ΔSt) that is regarded as an abnormality of the first signal, the abnormal signal detecting unit performs the control by the control unit. The first signal immediately after controlling the object is compared with the second signal, and when the detected change amount exceeds the change amount threshold, the first signal before the control object is controlled by the control means The electronic device according to claim 4, wherein the electronic device is compared with the second signal. Vehicle speed detecting means (20) for detecting the vehicle speed (V) of the vehicle;
When the detected vehicle speed detected by the vehicle speed detection means is equal to or lower than a predetermined speed threshold (Vt), the abnormal signal detection means controls the control object by the control means regardless of the detected change amount. The electronic device according to claim 5, wherein the first signal immediately after is compared with the second signal. The input means is an accelerator pedal,
The electronic device according to claim 1, wherein the control target is a motor that transmits a driving force to a wheel according to a depression amount of the accelerator pedal. The input means is a brake pedal,
The electronic device according to claim 1, wherein the control target is a brake device that controls a braking force generated on a wheel according to a depression amount of the brake pedal.

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