JP2019207142A - Abnormality diagnostic method of sensor system, abnormality diagnosis device of sensor system, and sensor system and vehicle including the same - Google Patents

Abstract

To provide an abnormality diagnostic method of a sensor system capable of specifying an abnormal sensor.SOLUTION: In an abnormality diagnostic method of the sensor system, the sensor system includes three or more sensors 11, 12, and 21 including a velocity sensor 21 and a vibration sensor 11. This system monitors the operational states of the sensors 11, 12, and 21, and estimates which sensor has an abnormality, of the plurality of sensors 11, 12, and 21, using the majority vote of the relative operational states (status) between the plurality of sensors.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for diagnosing abnormality of a sensor system in a sensor system including three or more sensors including different sensors such as a vibration sensor and a speed sensor.

For example, as a device for diagnosing abnormalities in a sensor system installed in a vehicle, Patent Document 1 discloses whether a sensor system having a speed sensor and a vibration sensor has an abnormality in the entire system from the relationship between travel speed and vibration. Techniques for detection are disclosed.
In the technique described in this document, signals from one speed sensor and one vibration sensor are compared, and based on the relationship, it is determined whether the operation of the entire installed sensor system is normal or abnormal.
According to this document, by distinguishing between normal and abnormal by the combination of travel speed and vibration, even if the travel speed signal and vibration signal are each within the normal range, If it is recognized that there is an abnormality in the relationship, it can be determined that the entire system is abnormal, and the abnormality detection accuracy can be improved.

JP 2013-127403 A

However, when an abnormality is detected using the abnormality determination technology described in the same document, the abnormality of the operation of the entire system can be diagnosed, but it is diagnosed by identifying which of the speed sensor and vibration sensor is abnormal. Difficult to do.
Therefore, the present invention has been made paying attention to such a problem, and is capable of specifying a sensor having an abnormality, an abnormality diagnosis method for a sensor system, an abnormality diagnosis device for a sensor system, a sensor system, and It is an object of the present invention to provide a vehicle equipped with the vehicle.

Here, in a sensor system having three or more sensors including a vibration sensor and a speed sensor, it is extremely rare that two or more of the plurality of sensors fail at the same time as the entire sensor system.
A sensor in which a failure has occurred can be obtained by dividing the operation status (status) of multiple sensors into a majority and a minority, and comparing each other. It can be estimated that the sensor certified as being normal is abnormal, and that the sensor certified as being a minority is abnormal.
Note that the operation state (status) of the plurality of sensors can be set in advance based on the operation logical expression of the entire sensor system. For example, if the sensor system according to one aspect of the present invention is a vehicle, the operation state of the vehicle is set at a high speed, a low speed, a stop, or the like, and each sensor corresponding to each operation state is in a normal state. The operation states (for example, setting the magnitude of the output based on a threshold as a reference) can be compared as the majority vote.

  That is, in order to solve the above-described problem, the abnormality diagnosis method for a sensor system according to an aspect of the present invention is a method for diagnosing abnormality in a sensor system having three or more sensors including a vibration sensor and a speed sensor. Monitoring the operating states of three or more sensors, and estimating which one of the plurality of sensors is abnormal based on the majority of the operating states of the plurality of sensors. And

  In order to solve the above problem, an abnormality diagnosis device for a sensor system according to an aspect of the present invention is a device for diagnosing an abnormality in a sensor system having three or more sensors including a vibration sensor and a speed sensor. An abnormality diagnosing unit for diagnosing whether any of the plurality of sensors has an abnormality, and the abnormality diagnosing unit outputs information corresponding to operating states of the three or more sensors. The output information acquisition unit for acquiring the output information, the output information comparison unit for comparing the output information of the plurality of sensors acquired by the output information acquisition unit, and an abnormality from the result of comparison by the output information comparison unit And an abnormal sensor estimator that estimates the sensor by majority vote.

In order to solve the above problems, a sensor system according to one aspect of the present invention includes a plurality of three or more sensors including a speed sensor and a vibration sensor, and an abnormality diagnosis device for the sensor system according to one aspect of the present invention. It is characterized by providing. In order to solve the above problem, a vehicle according to one embodiment of the present invention includes the sensor system according to one embodiment of the present invention.
According to any one aspect of the present invention, a sensor in which a failure has occurred can be estimated by estimating which one of the plurality of sensors has an abnormality based on the majority of the operation states (status) of the plurality of sensors. Can be identified with high probability.

  As described above, according to the present invention, a sensor having an abnormality can be specified.

It is a mimetic diagram explaining a first embodiment of a vehicle provided with a sensor system concerning one mode of the present invention. It is a flowchart explaining the program of the abnormality diagnosis process performed with the sensor system of FIG. In the vehicle shown in FIG. 1, it is a figure ((a) at the time of normal, (b) at the time of abnormality) explaining the operation state of the some sensor in a certain operation state (vehicle status: high-speed driving). In the vehicle shown in FIG. 1, it is a figure explaining the operation state of the several sensor in a certain operation state (vehicle status: low-speed driving or stop) ((a) at normal time, (b) at abnormal time). It is a schematic diagram explaining 2nd embodiment of a vehicle provided with the sensor system which concerns on 1 aspect of this invention. It is a mimetic diagram explaining a third embodiment of a vehicle provided with a sensor system concerning one mode of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate. The drawings are schematic. For this reason, it should be noted that the relationship between the thickness and the planar dimension, the ratio, and the like are different from the actual ones, and the dimensional relationship and the ratio are different between the drawings. Further, the following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are not specified in the following embodiments.

[First embodiment]
First, a first embodiment of a vehicle including a sensor system according to one aspect of the present invention will be described. As shown in FIG. 1, the first embodiment is a configuration example in which a single vehicle 1 includes an abnormality diagnosis device 10, a single speed sensor 21, and a plurality of vibration sensors 11 and 12. This embodiment is a minimum configuration example of three or more sensors constituting the present invention.
Specifically, as shown in the figure, the vehicle 1 is equipped with an abnormality diagnosis device 10 at an appropriate position of the carriage 2, and the vibration sensor 11 is located at a position corresponding to two axles separated from the front and rear of the carriage 2. , 12 are mounted, and a speed sensor 21 is mounted at a position corresponding to one axle.

In the present embodiment, output information corresponding to the operation state at any time is collected from these three sensors 11, 12, 21 through the signal line to the abnormality diagnosis device 10, and the abnormality diagnosis device 10 includes the sensors 11, 12. , 21 is configured to perform abnormality determination.
The abnormality diagnosis apparatus 10 includes an abnormality diagnosis unit that diagnoses whether any of the plurality of sensors 11, 12, and 21 has an abnormality. The abnormality diagnosis unit is configured as an information processing apparatus including a known microcomputer.

  Specifically, the abnormality diagnosis device 10 includes a CPU (not shown) that controls the calculation and the entire system, a storage device and a ROM that store data such as a control program including abnormality diagnosis processing in a predetermined area, Input / output of data to / from external devices including the display device, input device, database, etc. and the entire sensor system, RAM for storing data read from the device and ROM, and calculation results required in the CPU calculation process And an intermediary interface. These are connected to each other via a bus, which is a signal line for transferring data, so that data can be exchanged. The abnormality diagnosis device 10 executes abnormality diagnosis processing in response to a control command from a host computer that manages the entire vehicle.

  When the abnormality diagnosis process is executed in the abnormality diagnosis apparatus 10, as shown in FIG. 2, first, the process proceeds to step S10 to determine whether or not the failure diagnosis is the primary diagnosis, and if it is the primary diagnosis (Yes) process The process proceeds to step S11, and if not (No), the process is returned. The determination as to whether or not the diagnosis is the primary diagnosis can be made with reference to the status flags set for each of the plurality of diagnosis stages. In the present embodiment, the primary diagnosis is described among a plurality of failure diagnosis processes, and the description of the other diagnosis processes is omitted.

  When the primary diagnosis is continued, the process proceeds to step S11, the output information from the plurality of sensors 11, 12, and 21 is acquired, and the process proceeds to step S12. In step S12, an output status corresponding to the output information from the plurality of sensors 11, 12, 21 is given, and the process proceeds to step S13. Here, the output status is set as shown in Table 1 by dividing the output status based on, for example, a predetermined threshold based on a preset operation logical expression of the entire sensor system. Table 1 is a table showing an operation logical expression (status of operation states of a plurality of sensors) of the entire sensor system in the first embodiment.

  Next, when the process proceeds to step S13, the separation is performed by comparing the assigned output statuses with each other and dividing the majority into minorities. After this sorting process, the process proceeds to step S14, where it is determined whether or not the sorting result is only the majority. If the classification result is only the majority (Yes), it is estimated that the sensor system is normal, the process returns to step S11, and the primary diagnosis is continued. On the other hand, if the classification result is not only the majority (No), the process proceeds to step S15 to check whether there is a minority. If it is confirmed that there is a minority (Yes), the process proceeds to step S16. If not (No), the process is returned. In step S16, the sensor that is confirmed to be a minority and that has a corresponding output status is estimated as a sensor having an abnormality, and the process returns.

When abnormality is detected in any one of the plurality of sensors 11, 12, 21 by the abnormality determination in step S <b> 16, the abnormality diagnosis device 10 is configured as described above, such as a host computer that manages the entire vehicle. Notify other devices or users of the sensor that is estimated to be abnormal and its part.
Here, in the abnormality diagnosis process, the program according to step S11 and the hardware that executes the program are provided in an output information acquisition unit that acquires output information according to the operating states of the three or more sensors 11, 12, and 21. Correspond. In addition, the program related to the series of processes from step S12 to step S15 and the hardware that executes the program can obtain the output information of the plurality of sensors acquired by the output information acquisition unit based on the operation logical expression of the entire sensor system. This corresponds to the output information comparison unit to be compared. Further, the program according to step S16 and the hardware that executes the program correspond to an abnormality sensor estimation unit that estimates a sensor in which an abnormality has occurred by majority vote based on the result of comparison by the output information comparison unit. The abnormality determination process in the abnormality sensor estimation unit is performed with reference to Table 1 above.

More specifically, in FIG. 3, for example, as shown in FIG. 3A, when the vehicle status is “running at high speed”, the three sensors 11, 12, 21 to be monitored are Both the sensor and the vibration sensor have a status of “large” during normal operation.
On the other hand, when an abnormal operation sensor is included, the original status “large” may not be output and a different status “small” may be output from the sensor in which this abnormality has occurred. At this time, in the abnormality diagnosis device 10 of the present embodiment, as described above, the statuses “Large” and “Small” corresponding to the sensor output are divided into the majority and the minority, and the minority less than half is abnormal. It can be estimated that there is a certain sensor.

That is, in this example, as shown in FIG. 4B, among the three sensors 11, 12, and 21, the two sensors 21 and 12 output the status “Large”, while the other sensors Since only one outputs the status “small”, the sensor 11 outputting the status “small” is estimated to be an abnormal sensor by the majority decision.
Similarly, in FIG. 4, for example, as shown in FIG. 4A, when the vehicle status is “during low speed or when stopped”, the three sensors 11, 12, 21 to be monitored are Both the speed sensor 21 and the vibration sensors 11 and 12 have a status of “small” during normal operation.

On the other hand, when an abnormal operation sensor is included, the sensor with an abnormality may not output the original status “small” but may output a different status “large”. At this time, in the abnormality diagnosis device 10 of the present embodiment, as described above, the statuses “large” and “small” corresponding to the sensor output are divided into a majority and a minority, and a minority less than half is determined by majority decision. The group can be estimated as an abnormal sensor.
In other words, in this example, as shown in FIG. 5B, two sensors 21, 12 out of the three sensors 11, 12, 21 output the status “small”, while other 1 Since only one outputs the status “Large”, the sensor 11 outputting the status “Large” is estimated to be an abnormal sensor.

  As described above, according to the abnormality diagnosis device 10 of the present embodiment, the presence or absence of abnormality of the sensor system can be detected by using the status of each sensor set corresponding to the operation state such as traveling of the vehicle 1. . Furthermore, according to the abnormality diagnosis apparatus 10 of the present embodiment, a sensor having an abnormality can be specified (estimated) by majority decision based on status comparison. In other words, among the plurality of sensors 11, 12, and 21, the status “Large” and “Small” corresponding to the sensor output corresponding to the operation state such as traveling of the vehicle 1 is divided into majority and minority, and the majority decision is made. The abnormality of the sensor itself can be specified by estimating that the minority of less than half is an abnormal sensor.

[Second Embodiment]
Next, a second embodiment of a vehicle including the sensor system according to one aspect of the present invention will be described. As shown in FIG. 4, the second embodiment is a configuration example in which one vehicle 1 includes an abnormality diagnosis device 10, one vibration sensor 11, and a plurality of speed sensors 21 and 22. This embodiment is another minimum configuration example of a plurality of three or more sensors constituting the present invention.
As shown in the figure, even if there is only one vibration sensor 11, the present invention can be applied as long as a plurality of speed sensors 21 and 22 are mounted. In the case of the configuration of the second embodiment, information from the three sensors 11, 21, and 22 is collected in the abnormality diagnosis device 10 via the signal line, and the abnormality diagnosis device 10 determines abnormality of the sensor itself. The abnormality determination process in the abnormality sensor estimation unit is performed with reference to Table 2. Table 2 is a table showing an operation logical expression (status of operation states of a plurality of sensors) of the entire sensor system in the second embodiment.

  The operation at the time of abnormality diagnosis is the same as that in the first embodiment. That is, when an abnormality is detected in any of the sensors by the abnormality determination process, the abnormality diagnosis apparatus 10 determines a sensor that is estimated to have an abnormality with respect to another apparatus or the user and its part. Notice.

[Third embodiment]
Next, a third embodiment of a vehicle including the sensor system according to one aspect of the present invention will be described. As shown in FIG. 5, the third embodiment is a vehicle sensor system having a knitting in which a plurality of vehicles 1A, 1B are connected to each other by a connector 4, and the vehicle 2 has a carriage 2 in each vehicle 1A, 1B. Is provided with one vibration sensor 11, 12, and further has one abnormality diagnosis device 10 and one speed sensor 21 as the entire knitting. In this example, the abnormality diagnosis device 10 and the speed sensor 21 are mounted on the carriage 2 of the vehicle 1B.

In the case of the configuration of the third embodiment, as shown in the figure, information is collected in the abnormality diagnosis device 10 through the in-vehicle network, and the abnormality diagnosis device 10 performs abnormality determination. The determination conditions (Table 1) and the operation when an abnormality is detected are the same as in the first embodiment. Thus, even if the vehicle 1A, 1B is a vehicle having a knitting that is connected to each other by the coupler 4, and only one vibration sensor 11 is mounted on one vehicle 1A, The present invention is applicable if a plurality of sensors including a vibration sensor and a speed sensor are mounted on another connected vehicle 1B.
As described above, according to the sensor system abnormality diagnosis method, the sensor system abnormality diagnosis device and the sensor system, and the vehicle including the sensor system according to the above-described embodiment, Since it is estimated which of the plurality of sensors has an abnormality, a sensor in which a failure has occurred can be identified with a high probability.

The abnormality diagnosis method of the sensor system, the abnormality diagnosis device of the sensor system, the sensor system, and the vehicle including the sensor system according to the present invention are not limited to the above-described embodiments, and may be various without departing from the spirit of the present invention. Of course, it is possible to modify this.
For example, in the above-described embodiment, the diagnosis process of the abnormality diagnosis apparatus 10 has been described as estimating which sensor of a plurality of sensors has an abnormality based on the majority of the operation states (status) of the plurality of sensors. However, the present invention is not limited to this, and in addition to the majority of the operation state (status), other processes can be added or processed in parallel.

  Further, for example, even after the failure diagnosis in the primary diagnosis shown in FIG. 2, if an abnormality is determined based on the operation logical expression of the entire sensor system, among the plurality of sensors, the remaining two or more sensors Abnormalities can be determined by comparing operating states. Therefore, the soundness of each sensor can be continuously confirmed even after the failure diagnosis in the primary diagnosis.

DESCRIPTION OF SYMBOLS 1, 1A, 1B Vehicle 2 Bogie 3 Wheel 4 Coupler 10 Abnormality diagnosis device 11 First vibration sensor, vibration sensor 12 Second vibration sensor 21 First speed sensor, Speed sensor 22 Second speed sensor

Claims (10)

A method for diagnosing an abnormality in a sensor system having three or more sensors including a vibration sensor and a speed sensor,
The operational states of three or more sensors are monitored, and the majority of the operational states of the plurality of sensors is estimated to estimate which one of the plurality of sensors is abnormal. Abnormality diagnosis method for sensor system. Dividing the plurality of sensors into a majority and a minority by the majority,
The sensor system abnormality diagnosis method according to claim 1, wherein if all of the plurality of sensors are majority, the sensor system is estimated to be normal. Dividing the plurality of sensors into a majority and a minority by the majority,
3. The sensor according to claim 1, wherein a sensor certified as a majority of the plurality of sensors is estimated to be normal, and an abnormality is detected in a sensor certified as a minority. System abnormality diagnosis method.   The abnormality diagnosis is continued by comparing the operation states of two or more remaining sensors among the plurality of sensors based on an operation logical expression of the entire sensor system after the primary failure. An abnormality diagnosis method for a sensor system according to one item. An apparatus for diagnosing abnormality of a sensor system having a plurality of sensors of three or more including a vibration sensor and a speed sensor,
An abnormality diagnosis unit that diagnoses whether any of the plurality of sensors has an abnormality,
The abnormality diagnosis unit compares the output information of the plurality of sensors acquired by the output information acquisition unit with the output information acquisition unit that acquires output information according to the operation state of the three or more sensors. An abnormality diagnosis apparatus for a sensor system, comprising: an output information comparison unit; and an abnormality sensor estimation unit that estimates a sensor in which an abnormality has occurred from a result of comparison by the output information comparison unit by majority vote.   A sensor system comprising: a plurality of three or more sensors including a speed sensor and a vibration sensor; and the abnormality diagnosis device for a sensor system according to claim 5. A sensor system for a vehicle,
The sensor system according to claim 6, further comprising: an abnormality diagnosis device for the sensor system, a speed sensor, and a plurality of vibration sensors in one vehicle. A sensor system for a vehicle,
The sensor system according to claim 6, further comprising: an abnormality diagnosis device for the sensor system, a vibration sensor, and a plurality of speed sensors in one vehicle. A sensor system for a vehicle having a formation in which a plurality of vehicles are connected,
Each vehicle has one vibration sensor,
Furthermore, the sensor system of Claim 6 which has one each of the abnormality diagnosis apparatus and speed sensor of the said sensor as the whole organization.   A vehicle comprising the sensor system according to any one of claims 6 to 9.

Images