JP2013224629A - Abnormal condition detection method and detection device for vehicle driving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an abnormal condition detection method allowing the rapid detection of its locked state when an operated part of a vehicle driving device is brought into a locked state.SOLUTION: There are performed: an operated part position change deciding process for detecting a vibration degree of a vehicle while traveling and a position of an operated part of a vehicle driving device every set time and deciding whether the position of the operated part is changed or not every time the vibration degree and the position of the operated part are detected; and a vibration degree integration process for performing an integrating operation in which, when it is decided that the position of the operated part is not changed in the operated part position change deciding process, a currently detected vibration degree of the vehicle is integrated to the previously integrated vibration degree of the vehicle, and when it is decided that the position of the operated part is changed, an integrated value of the vibration degree of the vehicle is reset to an initial value. When the integrated value of the vehicle vibration degree obtained in the vibration degree integration process exceeds a set decided value, it is decided that an abnormal condition has occurred in which the operated part of the vehicle driving device is locked.

Description

  The present invention relates to an abnormal state detection method for a vehicle driving device that detects an abnormal state of a vehicle driving device provided in a vehicle such as an automobile or a motorcycle, and an abnormal state detection device that implements the detection method.

  A driving device for a vehicle driven by a driving source including an engine (internal combustion engine) and / or a motor (electric motor) is displaced according to a driving operation for adjusting the vehicle speed when driving the vehicle. And the vehicle speed is adjusted by adjusting the rotational speed of the drive source by displacing the operated portion in accordance with a driving operation for adjusting the vehicle speed.

  In a vehicle using an engine and / or motor as a drive source, when an abnormal state occurs in which the operated part of the vehicle driving device is locked, the abnormal state is immediately detected to stop or slow down the drive source, It is necessary to take safety measures such as setting the mode to a evacuation operation mode that enables operation (evacuation traveling) to a evacuation site near a repair shop or the like. In a hybrid vehicle equipped with both an engine and a motor as drive sources, as shown in Patent Document 1, the operation shaft (operated part) that is operated to adjust the rotational speed of the engine is locked. It has been proposed that when detected, the engine is stopped and the operation mode is switched to a retreat operation mode in which the vehicle is driven only by an electric motor to enable retreat travel of the vehicle.

  The operated part of the vehicle driving device is, for example, an operating shaft of a throttle valve. In an abnormal state where the operated part is locked, the driver performs a driving operation to displace an accelerator operating member such as an accelerator grip or an accelerator pedal. However, the operated part cannot be displaced.

  Patent Document 1 discloses a method for detecting that the throttle valve is locked. In the detection method disclosed in Patent Document 1, a process of calculating a difference between the actual opening of the throttle valve detected by the throttle opening sensor and the target opening of the throttle valve as an opening difference is performed for a predetermined period. Repeatedly to calculate the integral value of the opening difference, compare the calculated integral value of the opening difference with the preset judgment value, and operate the throttle valve when the integral value is larger than the judgment value It is determined that the axis is locked.

JP 2010-105600 A

  As in the detection method disclosed in Patent Document 1, the integrated value of the opening difference of the throttle valve is calculated, and the calculated integrated value of the opening difference is compared with a predetermined determination value. When it is determined whether or not the valve operating shaft is locked, it is inevitable that it takes time to detect the locked state.

  In particular, when the vehicle is driven in a dangerous state, such as when the vehicle is traveling on rough terrain, the locked state is quickly detected when the operated part of the vehicle driving device is locked, and the drive source It is desirable to immediately take safety measures such as stopping or slowing down or switching the operation mode to the evacuation operation mode.However, in the case of using the conventional detection method, it takes time to detect the lock state. It was difficult to take measures accurately and promptly.

  The object of the present invention is to quickly detect the locked state when the operated part of the vehicle driving device is locked, and to take security measures accurately and promptly regardless of the traveling state of the vehicle. An object of the present invention is to provide an abnormal state detection method that enables the detection and an abnormal state detection device that implements the detection method.

  The present invention provides an abnormal state detection method for a vehicle driving device that detects an abnormal state when an abnormal state occurs in which an operated part of the vehicle driving device that is displaced in accordance with a driving operation for adjusting the vehicle speed occurs. set to target.

  In the present invention, there is provided a means for detecting a driving operation and a means for detecting the degree of shaking of the vehicle, detecting the driving operation and the degree of shaking of the vehicle for each set time, and there is no change in the driving operation. The degree of vehicle shake detected during the subsequent period is integrated, and when the integrated value exceeds the determination value, it is determined that an abnormal state occurs in which the operated portion is locked.

  In a preferred aspect of the present invention, the degree of shaking during travel of the vehicle and the position of the operated part of the vehicle driving device are detected every set time, and each time the degree of shaking and the position of the operated part are detected. The operated part position change determination process for determining whether or not the position of the operated part has changed, and until the previous time when it is determined in this operated part position change determination process that the position of the operated part has not changed Integration of the vehicle's shaking degree detected this time to the integrated value of the vehicle's shaking degree, and resetting the integrated value of the shaking degree of the vehicle to the initial value when it is determined that the position of the operated part has changed There is an abnormal state in which the operated part of the vehicle driving device locks when the integrated value of the vehicle shake obtained in the process of integrating the shake is greater than or equal to the set judgment value. Determine that it has occurred.

  According to the above detection method, in a state where the operated part of the vehicle driving device is not locked, it is detected that the position of the operated part has changed every time a driving operation for adjusting the vehicle speed is performed. Since the integrated value of the shaking degree is reset, the integrated value of the shaking degree does not reach the determination value, and an erroneous determination that the operated part is locked is not made.

  On the other hand, in the state where the operated portion of the vehicle driving device is locked, the position of the operated portion does not change even if a driving operation for adjusting the vehicle speed is performed. Will not be reset. Therefore, when the operated part is locked, it is detected that the integrated value of the shaking degree surely reaches the judgment value and the operated part is locked regardless of whether the degree of shaking of the vehicle is large or small. Is done.

  When the degree of shaking of the vehicle is large, the time required for the integrated value of the degree of shaking to exceed the judgment value is shortened. When the degree of shaking of the vehicle is small, the time required for the integrated value of the degree of shaking to exceed the judgment value is long. Become. If the operated part is locked while traveling on rough terrain, etc., the degree of shaking of the vehicle is large, so if the operated part is locked, the integrated value of the shaking degree reaches the judgment value in a short time. . Therefore, when the degree of shaking of the vehicle is large, the locked state can be detected in a short time after the operated portion is locked, and a measure for security can be taken quickly. Even if the operated part is not locked, if the position of the operated part does not change when the degree of shaking of the vehicle is large, the integrated value of the shaking degree will exceed the judgment value, When the degree of shaking of the vehicle is large, the driver cannot hold the accelerator operating member at a fixed position, so the integrated value of the degree of shaking is frequently reset. Therefore, there is no possibility of erroneous determination that the operated portion is locked although the operated portion is not locked.

  A detection device that implements the above detection method outputs a vehicle shake degree detection unit that detects a degree of shake during traveling of the vehicle and a signal reflecting the position of the operated portion of the vehicle driving device as a driving operation detection signal. Driving operation detection means, and a driving operation / shake degree monitoring for detecting a driving operation detection signal obtained from the driving operation detection means and a vehicle shake degree detected by the vehicle shake degree detection means for each set time. And the driving operation / sway degree monitoring means detect the magnitude of the driving operation detection signal detected this time and the magnitude of the driving operation detection signal detected last time to determine whether the position of the operated part has changed. When the position of the operated part is determined to have not changed by the operated part position change determining means and the operated part position change determining means, this time is read into the integrated value of the degree of vehicle shake until the previous time. Vehicle shake degree integrating means for integrating the vehicle shake degree and performing an integration operation for resetting the integrated value of the vehicle shake degree to an initial value when it is determined that the position of the operated part has changed; And a determination unit that determines that an abnormal state occurs in which the operated portion of the vehicle driving device is locked when the integrated value of the degree of shaking exceeds a set determination value.

  When the driving source of the vehicle is an engine, the vehicle driving device includes an accelerator operating member that is operated by the driver, a throttle valve that is operated by the accelerator operating member and adjusts the amount of air-fuel mixture supplied to the engine, A throttle position sensor that detects the position of the throttle valve is often provided. In this case, the operated part of the vehicle driving device is an operating shaft of the throttle valve, and the driving operation detecting means can be constituted by a throttle position sensor.

  When the drive source of the vehicle is a motor, the vehicle driving device includes an accelerator operation member operated by the driver and an operation input unit that responds to an operation (driving operation) of the accelerator operation member. It is often configured to include an accelerator position sensor that outputs a detection signal including position information, and to output the output of the accelerator position sensor to the control unit of the motor. In this case, the operated part of the vehicle driving device is an operation input part of the accelerator position sensor, and the driving operation detecting means can be constituted by an accelerator position sensor.

  In the case where the vehicle driving device is provided with a control unit that controls the drive source of the vehicle by using a signal reflecting the position of the operated unit as an input, the position of the operated unit is determined based on the signal input to the control unit. The driving operation detection means can be configured to be used as the reflected driving operation detection signal.

  In the present invention, there is provided a means for detecting a driving operation and a means for detecting the degree of shaking of the vehicle, detecting the driving operation and the degree of shaking of the vehicle for each set time, and there is no change in the driving operation. The degree of vehicle shake detected during the subsequent period is integrated, and when the integrated value exceeds the determination value, it is determined that an abnormal state occurs in which the operated portion is locked. It is possible to reliably detect that the operation unit is locked. In particular, according to the present invention, when the operated part is locked while the vehicle is traveling on rough terrain or the like and is being operated in a dangerous state, the locked state can be detected quickly. , Can enable security measures to be taken quickly.

It is the block diagram which showed roughly the structure of one Embodiment of the abnormal condition detection apparatus which concerns on this invention. It is the block diagram which showed an example of how to provide the driving operation detection means used by one Embodiment of the abnormal condition detection apparatus which concerns on this invention. It is the block diagram which showed the other example of how to provide the driving operation detection means used by one Embodiment of the abnormal condition detection apparatus which concerns on this invention. It is the block diagram which showed the further another example of how to provide the driving operation detection means used by one Embodiment of the abnormal condition detection apparatus which concerns on this invention. It is the block diagram which showed an example of the structure of the lock determination part used with one Embodiment of the abnormal condition detection apparatus which concerns on this invention. It is the flowchart which showed an example of the algorithm of the process performed by the microprocessor of ECU, in order to comprise the lock determination part used with one Embodiment of the abnormal condition detection apparatus which concerns on this invention.

  FIG. 1 shows a configuration of a main part of an embodiment of the present invention. In FIG. 1, 1 is an ECU (electronic control unit) having a microprocessor, and 2 is a vehicle shake for detecting the degree of vehicle shake. Degree detection means 3 is a driving operation detection means. The target vehicle in the present embodiment may be one that uses one of the engine and motor as a drive source, or may be one that uses both the engine and motor as a drive source (hybrid vehicle).

  The ECU 1 is locked with a vehicle drive source control unit 101 that controls the drive source of the vehicle, and an operated portion of the vehicle driving device that is displaced according to the driving operation when a driving operation for adjusting the vehicle speed is performed. And a lock determination unit 102 that determines whether or not the vehicle drive source control unit 101 is informed and determines whether or not the vehicle has been determined.

  The vehicle drive source control unit 101 performs various types of control necessary for operating the drive source, such as control of the ignition timing of the engine and control of the fuel injection amount, etc. When it is determined that the part is locked, the rotational speed of the drive source is reduced to the minimum speed necessary to enable retreat travel, or the drive source is stopped in some cases. Control for security.

  The lock determination unit 102 outputs a signal reflecting the output of the vehicle swing degree detecting means 2 for detecting the swing degree during traveling of the vehicle and the position of the operated part of the vehicle driving device as a driving operation detection signal. The output of the operation detection means 3 is given.

  The operated part of the vehicle driving device that determines whether or not the lock determination unit 102 is locked (targeted for lock determination) differs depending on the configuration of the vehicle driving device. For example, the driving source of the vehicle is an engine, and as shown in FIG. 2, the vehicle driving device is operated by an accelerator operating member 5 such as an accelerator pedal or an accelerator grip operated by the driver, and the accelerator operating member. When the throttle valve 6 for adjusting the amount of the air-fuel mixture supplied to the engine and the throttle position sensor 7 for detecting the position of the throttle valve are provided, there is a problem that the operation shaft of the throttle valve 6 is locked. Since it can occur, the operating shaft of the throttle valve 6 becomes an operated portion that is a target for determining whether or not there is a lock. In this case, the driving operation detection means 3 can be constituted by the throttle position sensor 7.

  Further, as shown in FIG. 3, a vehicle driving apparatus using an engine as a driving source includes an accelerator operating member 5 operated by a driver, a throttle valve 6, a throttle position sensor 7, and a motor for operating the throttle valve 6. And the like, an accelerator position sensor 9 for detecting the position of the accelerator operating member 5, and the position of the throttle valve detected by the throttle position sensor 7 at the position of the accelerator operating member 5 detected by the accelerator position sensor 9. When the actuator control unit 10 that controls the actuator 8 so as to match the target position determined accordingly is provided, the operated portion to be subjected to the lock determination is the operation input of the throttle valve 6 or the operation input of the accelerator operation member 5. Part. In this case, the driving operation detection means 3 can be constituted by the throttle position sensor 7 or the accelerator position sensor 9.

  As shown in FIG. 4, when the drive source of the vehicle is the motor 11, the vehicle driving device is operated by an accelerator operating member 5 that is operated by the driver, and an operation input unit that responds to the operation of the accelerator operating member 5. And an accelerator position sensor 9 that outputs a detection signal including position information of the accelerator operating member 5, and is configured to give the output of the accelerator position sensor 9 to a motor control unit 12 that controls the motor 11. In this case, the operation input unit of the accelerator operation member 5 is set as an operated unit to be subjected to lock determination. In this case, the driving operation detection means 3 can be constituted by the accelerator position sensor 9.

  The vehicle shake degree detection means 2 is a sensor that detects the degree of vehicle shake. The degree of vehicle sway is a parameter that represents the degree of vehicle sway, and can be expressed, for example, by the amplitude or average value of the vibration of the vehicle body. The vehicle shake degree detection means 2 can be constituted by, for example, a sensor that outputs an electrical signal having a correlation with the magnitude (amplitude or average value) of the vibration of the vehicle body of the vehicle. The sensor constituting the vehicle shake degree detecting means can be constituted by, for example, an acceleration sensor attached to the vehicle body of the vehicle or a stroke sensor that detects a stroke (displacement) of a shock absorber that absorbs an impact applied to the vehicle body. Further, the vehicle shake degree detecting means 2 can be configured by a pressure sensor (strain sensor) such as a piezoelectric element that is attached to a frame of the vehicle body and detects distortion generated in the vehicle body when vibration is generated in the vehicle body.

  In the present embodiment, when an abnormal state occurs in which the operated part of the vehicle driving device that is displaced according to the driving operation for adjusting the vehicle speed is locked, the abnormal operation is detected. And a means for detecting the degree of shaking of the vehicle, the driving operation and the degree of shaking of the vehicle are detected at each set time, and the vehicle is detected during a period in which there is no change in the driving operation. When the integrated value exceeds the determination value, it is determined that an abnormal state occurs in which the operated portion is locked.

  In this embodiment, when detecting that an abnormal state occurs in which the operated part of the vehicle driving device is locked, the degree of shaking during the traveling of the vehicle and the position of the operated part of the vehicle driving device are set for each set time. A detected position change determination process for determining whether or not the position of the operated part changes each time the degree of shaking and the position of the operated part are detected, and an operated part position change determination process When it is determined that the position of the operated portion has not changed, the vehicle swing degree detected this time is added to the integrated value of the vehicle swing degree until the previous time, and the position of the operated portion is changed. When the determination is made, an integrated operation of resetting the integrated value of the vehicle swing degree to an initial value is performed, and an integrated value of the vehicle swing degree obtained in the process of integrating the swing degree is set. When the vehicle driving device is operated when the judgment value is exceeded There is determined that an abnormal condition has occurred to lock.

  According to the detection method of the present embodiment, in a state where the operated part of the vehicle driving device is not locked, it is detected that the position of the operated part has changed every time a driving operation for adjusting the vehicle speed is performed. Since the integrated value of the degree of swaying of the vehicle is reset, the integrated value of the degree of swaying does not reach the determination value, and no erroneous determination is made that the operated part is locked. On the other hand, in the state where the operated portion of the vehicle driving device is locked, the position of the operated portion does not change even if a driving operation for adjusting the vehicle speed is performed. Will not be reset. Therefore, when the operated part is locked, it is detected that the integrated value of the shaking degree surely reaches the judgment value and the operated part is locked regardless of whether the degree of shaking of the vehicle is large or small. Is done.

  Even if the operated part is not locked, if the position of the operated part does not change when the degree of shaking of the vehicle is large, the integrated value of the shaking degree will exceed the judgment value, When the degree of shaking of the vehicle is large, the driver cannot hold the accelerator operating member at a fixed position, so the integrated value of the degree of shaking is frequently reset. Therefore, there is no possibility of erroneous determination that the operated portion is locked although the operated portion is not locked.

  When the operated part of the vehicle driving device is locked while the vehicle is traveling on rough terrain or the like, the degree of shaking of the vehicle is large, so the integrated value of the degree of shaking reaches the determination value in a short time. Therefore, the locked state can be detected in a short time after the operated portion is locked, and a measure for security can be taken quickly.

  When the degree of shaking of the vehicle is small, it takes time for the integrated value of the degree of shaking to reach the judgment value, so it takes some time to detect the lock of the operated part of the vehicle driving device. The degree of swaying is small when the vehicle is traveling stably on a flat road surface, and since there is no urgency, even if it takes a certain amount of time to detect the locked state of the operated part, it will not cause any trouble. .

  When the degree of vehicle swing is small, it is easy for the driver to keep the position of the accelerator operating member constant, so that the position of the accelerator operating member is kept constant over a long period of time, Even in the unlocked state, the state where the integrated value of the shaking degree is not reset may continue for a long time. The determination value to be compared with the integrated value of the degree of shaking is preferably set to a value having a margin so that the erroneous determination of the locked state is not made even in such a case.

  Even when the vehicle is stopped, if the ECU is turned on, the integrated value of the degree of shaking reaches the judgment value and the operated part is locked when the vehicle body shakes due to loading / unloading of luggage, etc. In order to prevent such a misjudgment, for example, in order to prevent such a misjudgment, only when the vehicle traveling speed is equal to or higher than the set speed (only when the vehicle is traveling) What is necessary is just to make it detect.

  As shown in FIG. 5, the abnormal state detection device that implements the above detection method reflects vehicle shake degree detection means 2 that detects the degree of shake during travel of the vehicle and the position of the operated part of the vehicle driving device. Driving operation detection means 3 that outputs the detected signal as a driving operation detection signal, and the driving operation detection signal obtained from the driving operation detection means and the vehicle swing degree detection means for each set time. The driving operation / shake degree monitoring means 102A for detecting the degree of shaking is compared with the magnitude of the driving operation detection signal detected this time by the driving operation / shake degree monitoring means and the magnitude of the driving operation detection signal detected last time, The operated portion position change determining means 102B for determining whether or not the position of the operated portion has changed, and the operated portion position change determining means 102B determine that the position of the operated portion has not changed. Is added to the integrated value of the vehicle shake until the previous time, and when it is determined that the position of the operated part has changed, the integrated value of the vehicle shake is calculated. An abnormal state occurs in which the vehicle shake degree integrating means 102C that performs the integration operation to be reset to the initial value and the operated part of the vehicle driving device locks when the integrated value of the vehicle shake degree is equal to or greater than the set determination value. It can be configured by including a determination unit 102D that determines that the In this example, the lock determination unit 102 is configured by the driving operation / swing degree monitoring unit 102A, the operated portion position change determination unit 102B, the vehicle swing degree integration unit 102C, and the determination unit 102D.

  FIG. 6 shows a flowchart showing an example of an algorithm of processing to be executed by the microprocessor of the ECU 1 in order to configure the lock determination unit 102 shown in FIG. In FIG. 6, α is an output value of the throttle position sensor 7 and includes the position information of the throttle valve. G is the degree of shaking of the vehicle (the magnitude of shaking), and G_amount is the integrated value of the degree of shaking G. G_fix_judge is a determination value to be compared with the integrated value of the shaking degree G in order to determine whether or not the lock state is set, and F_Th_fix is set when it is determined that the lock state is set (to 1). Is a lock determination flag.

  Although not shown in the figure, in the main routine, a process of reading the output value α of the throttle position sensor and the vehicle swing degree G is performed at predetermined time intervals (at minute time intervals), for example, every 1 msec. The process shown in FIG. 6 is executed each time a new output α of the throttle position sensor and a vehicle swing degree G are read.

  When the processing of FIG. 6 is started, first, at step 101, it is determined whether or not the output value α of the throttle position sensor read this time is equal to the output value α1 of the throttle position sensor read last time. As a result, when it is determined that the output value α of the throttle position sensor read this time is equal to the output value α1 of the throttle position sensor read last time (the throttle position has not changed), the process proceeds to step 102A. A calculation is performed to add the shaking degree G read this time to the shaking degree integrated value G_amount1 calculated up to the previous time and stored in the memory, and the calculation result is stored in the memory as a new integrated value G_amount. If it is determined in step 101 that the output value α of the throttle position sensor read this time is not equal to the output value α1 of the throttle position sensor read last time (the throttle position has changed), the process proceeds to step 102B. The contents of the memory storing the accumulated value G_amount1 up to the previous time and the contents of the memory storing the accumulated value G_amount calculated this time are cleared.

  After performing Step 102A or Step 102B, the routine proceeds to Step 103, where it is determined whether or not the integrated value G_amount calculated this time is larger than the determination value G_fix_judge. As a result, when it is determined that the integrated value G_amount calculated this time is larger than the determination value G_fix_judge, the process proceeds to step 104, and when it is determined that it is not larger, the process proceeds to step 105. In step 104, a lock determination flag F_Th_fix indicating that the throttle valve is locked is set. In step 105, the integrated value G_amount of the shaking degree calculated this time is stored as the integrated value G_amount1 integrated up to the previous time, and the output value α of the throttle position sensor read this time is the output value of the throttle position sensor read last time. Save as α1.

  In the present embodiment, a driving operation detection signal obtained from the driving operation detection means 3 at every set time by reading the output value α of the throttle position sensor and the swing degree G every 1 msec in a main routine (not shown). A driving operation / shake degree monitoring means 102A for detecting the vehicle shake degree detected by the vehicle shake degree detecting means 2 is configured. Further, in step 101 of the process of FIG. 6, the magnitude of the driving operation detection signal detected this time by the driving operation / swing degree monitoring means is compared with the magnitude of the driving operation detection signal detected last time, so that the position of the operated portion is determined. An operated portion position change determination unit 102B that determines whether or not the position has changed is configured. Furthermore, when it is determined in step 102A and step 102B in FIG. 6 that the position of the operated portion has not changed by the operated portion position change determining means, this time is read as the integrated value of the degree of shaking of the vehicle up to the previous time. The vehicle shake degree integrating means 102C for performing an integration operation for integrating the vehicle shake degree and resetting the integrated value of the vehicle shake degree to the initial value when it is determined that the position of the operated portion has changed. In step 103 and 104, determination means 102D determines that an abnormal state in which the operated portion of the vehicle driving device is locked occurs when the integrated value of the degree of shaking of the vehicle is equal to or greater than the set determination value. Is configured.

  In the above embodiment, a sensor that outputs a signal including position information of the operated part, such as a throttle position sensor, is used as the driving operation detection means. However, the vehicle driving device is a signal that reflects the position of the operated part. Is provided as a driving operation detection means so that the signal input to the control unit is used as a driving operation detection signal reflecting the position of the operated portion. Can also be configured. For example, when the drive source for driving the vehicle is an engine, the vehicle drive control unit 101 configured by a microprocessor of the ECU 1 often controls the engine using throttle position information acquired from a throttle position sensor. In this case, a signal read by the microprocessor to obtain the throttle position information can be used as a driving operation detection signal.

1 ECU
DESCRIPTION OF SYMBOLS 101 Vehicle drive source control part 102 Lock determination part 102A Driving operation / sway degree monitoring means 102B Operated part position change judgment means 102C Vehicle shake degree integration means 102D Determination means 2 Vehicle shake degree detection means 3 Driving operation detection means 4 Engine 5 Accelerator Operating member 6 Throttle valve 7 Throttle position sensor

Claims (6)

An abnormal state detection method for a vehicle driving device that detects an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device that is displaced according to a driving operation for adjusting a vehicle speed is locked,
Providing a means for detecting the driving operation and a means for detecting the degree of shaking of the vehicle, and detecting the driving operation and the degree of shaking of the vehicle for each set time;
Accumulating the degree of shaking of the vehicle detected during a period in which there is no change in the driving operation, and an abnormal state occurs in which the operated part is locked when the integrated value exceeds a determination value An abnormal state detection method for a vehicle driving apparatus that determines that the vehicle is present. An abnormal state detection method for a vehicle driving device that detects an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device that is displaced according to a driving operation for adjusting a vehicle speed is locked,
Detecting the degree of shaking of the vehicle during the set time and the position of the operated portion of the vehicle driving device;
Every time the degree of shaking and the position of the operated part are detected, the operated part position change determining process for determining whether or not the operated part position has changed, and the operated part position change determining process When it is determined that the position of the operated part has not changed, the vehicle swing degree detected this time is added to the integrated value of the vehicle swing degree until the previous time, and it is determined that the position of the operated part has changed. And a shaking degree integrating process for performing an integrating operation for resetting the integrated value of the shaking degree of the vehicle to an initial value when
A vehicle driving apparatus that determines that an abnormal state in which an operated portion of the vehicle driving apparatus is locked occurs when an integrated value of the vehicle swing degree obtained in the process of integrating the swing degree is equal to or greater than a set determination value. Abnormal state detection method. An abnormal state detection device for a vehicle driving device that detects an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device that is displaced according to a driving operation for adjusting a vehicle speed is locked,
Vehicle swing degree detecting means for detecting the swing degree during travel of the vehicle;
Driving operation detection means for outputting a signal reflecting the position of the operated portion of the vehicle driving device as a driving operation detection signal;
Driving operation / shake degree monitoring means for detecting a driving operation detection signal obtained from the driving operation detecting means and a vehicle shake degree detected by the vehicle shake degree detecting means for each set time;
The driving operation / swing degree monitoring means compares the magnitude of the driving operation detection signal detected this time with the magnitude of the driving operation detection signal detected last time to determine whether or not the position of the operated part has changed. Operated portion position change determining means;
When it is determined by the operated portion position change determining means that the position of the operated portion has not changed, the vehicle swing degree read this time is added to the integrated value of the vehicle swing degree until the previous time, and the operated portion Vehicle shake degree integration means for performing an integration operation for resetting the integrated value of the degree of shake of the vehicle to an initial value when it is determined that the position of the vehicle has changed,
Determination means for determining that an abnormal state occurs in which the operated portion of the vehicle driving device is locked when an integrated value of the degree of shaking of the vehicle is equal to or greater than a set determination value;
An abnormal state detection device comprising: The driving source of the vehicle is an engine, and the vehicle driving device includes an accelerator operating member operated by a driver, and a throttle that adjusts the amount of air-fuel mixture that is operated by the accelerator operating member and is supplied to the engine. A valve, and a throttle position sensor for detecting the position of the throttle valve,
The abnormal state detecting device according to claim 3, wherein the operated portion of the vehicle driving device is an operating shaft of the throttle valve, and the driving operation detecting means is constituted by the throttle position sensor. The drive source of the vehicle is a motor, and the vehicle driving device includes an accelerator operation member operated by a driver and an operation input unit that responds to displacement of the accelerator operation member, and the position of the accelerator operation member An accelerator position sensor that outputs a detection signal including information, and configured to provide an output of the accelerator position sensor to the control unit of the motor,
The abnormal state detection device according to claim 3, wherein the operated portion of the vehicle driving device is an operation input portion of the accelerator position sensor, and the driving operation detection means is configured by the accelerator position sensor. The vehicle driving device includes a control unit that controls a driving source of the vehicle by using a signal reflecting the position of the operated portion as an input,
The abnormal state detection device according to claim 3, wherein the driving operation detection unit is configured to use a signal input to the control unit as a driving operation detection signal in which a position of the operated unit is reflected.

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