JP2021165108A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device configured to, upon detection of an abnormality in control, switch from normal control to fallback control to continue control, in which whether fallback control can be performed normally can be diagnosed during the normal control while preventing a passenger from feeling uncomfortable.SOLUTION: A control device 1 includes: a normal control unit 10 that controls a control target 2 to have a predetermined target state; a fallback control unit 22 that when an abnormality occurs in control exerted by the normal control unit 10, controls the control target under fallback control with control functions restricted as compared to normal control; a fallback diagnosis unit 30 that switches control to the fallback control during execution of the normal control, and diagnoses whether the fallback control can be performed normally; and a diagnosis monitoring unit 32 that when the fallback diagnosis unit 30 switches control to the fallback control, monitors the state of the control target, and when the control target deviates from the target state by a permissible value or more, returns control to the normal control.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a control device that controls a controlled object used to drive a vehicle.

In Patent Document 1, in a device that controls an engine that is a power source of a vehicle, when the energization of a motor that opens and closes the throttle valve is cut off, the throttle valve is configured to have a predetermined opening degree, and an abnormality is found in the control. It is described that when it occurs, the power supply to the motor is cut off.

That is, in this control device, when the throttle valve is opened and closed when an abnormality occurs in the control, the torque of the engine increases and the vehicle may accelerate suddenly. Therefore, the throttle valve is held at a constant opening. This prevents the vehicle from accelerating suddenly.

Japanese Unexamined Patent Publication No. 2011-017275

In the above control device, when an abnormality in control is detected, the energization of the motor is cut off and the control of the throttle opening is stopped. Therefore, for example, when applied to an autonomous driving vehicle, when an abnormality occurs, the driver is notified. , The engine, and thus the vehicle, cannot be driven manually.

Therefore, in an autonomous vehicle, when an abnormality occurs in the control device, the driver controls by switching the control from the normal control to the degenerate control instead of stopping the control of the control target such as the throttle valve. It is being considered to enable the subject to be safely manually driven.

By the way, since it is necessary to ensure that the degeneracy control can be carried out when an abnormality occurs, it is necessary to diagnose that the degeneracy control can be carried out normally when an abnormality does not occur. This diagnosis is generally performed before the vehicle is parked and the control of the controlled object is finished so as not to affect the vehicle running, but the degeneracy control is performed during the actual running of the vehicle. Since it is necessary to be able to do so, it is advisable to carry out the diagnosis when the vehicle is actually running.

However, as a result of detailed examination by the inventor, the control function of the degenerate control is limited as compared with the normal control. Was found to be a problem.

It should be noted that this problem is not limited to the control device that controls the control target that constitutes the drive system of the vehicle such as the engine, but is used to drive the control target that constitutes the braking system and the steering system of the vehicle, that is, the vehicle. It also occurs in the control device that controls the control target.

One aspect of the present disclosure is that in a vehicle control device that switches from normal control to degenerate control when a control abnormality is detected while the vehicle is running, the degenerate control is normally performed during normal control without giving a sense of discomfort to the occupant. It is desirable to be able to diagnose whether or not it can be carried out.

The vehicle control device according to one aspect of the present disclosure is a device that controls a control target (2) used to drive the vehicle, and includes a normal control unit (10), a degeneracy control unit (22), and the like. It includes a degeneracy diagnosis unit (30) and a diagnosis monitoring unit (32).

The normal control unit controls the control target so that the control target reaches a predetermined target state, and the degenerate control unit normally controls the control target by the normal control unit when a control abnormality of the control target by the normal control unit occurs. It is controlled by degenerate control, which has a limited control function compared to.

Further, if a predetermined diagnostic condition is satisfied during the execution of the normal control by the normal control unit, the degeneracy diagnosis unit switches the control of the controlled object to the degeneracy control by the degeneracy control unit, and whether or not the degeneracy control can be normally executed. Diagnose. Then, when the degeneracy diagnosis unit completes the diagnosis of the degeneracy control, the degeneracy diagnosis unit returns to the normal control by the normal control unit.

On the other hand, the diagnostic monitoring unit monitors the state of the controlled object when the degenerate diagnosis unit switches the control of the controlled object to the degenerate control, and when the controlled object deviates from the target state by more than the allowable value, the degenerate diagnosis unit diagnoses the degenerate control. Is stopped, and the control of the controlled object is returned to the normal control by the normal control unit.

Therefore, according to the vehicle control device of the present disclosure, when the normal control unit normally controls the control target, the control is switched to the degenerate control to diagnose whether or not the degenerate control can be normally performed. Will be able to.

Therefore, the degeneracy control diagnosis can be performed not only when the vehicle is parked and stopped, but also when the vehicle is running, and the degeneracy control diagnosis can be performed more accurately.
Further, by carrying out the diagnosis of the degeneracy control in this way, when an abnormality occurs in the normal control while the vehicle is running, the degeneracy control can be safely carried out, and the reliability of the control device can be improved. Can be done.

Further, if the degeneracy control is performed for diagnosis while the vehicle is running, for example, the vehicle may be decelerated against the intention of the occupant, which may give the occupant a sense of discomfort.
However, in the control device of the present disclosure, when the degeneracy control diagnosis is performed, if the controlled object deviates from the target state of the normal control by an allowable value or more, the control is returned to the normal control. Can be carried out without giving a sense of discomfort to the occupants.

Next, the vehicle control device according to the other aspect of the present disclosure includes a normal control unit (10), a degeneracy control unit (22), a degeneracy diagnosis unit (30), and a diagnosis monitoring unit (30), similarly to the above control device. 32) and. The difference from the above control device is that if the controlled object deviates from the target state of the normal control by an allowable value or more during the diagnosis of the degenerate control, the diagnosis monitoring unit is configured to notify that the degenerate control is being diagnosed. That is the point.

Therefore, according to this control device, when the control target deviates from the target state of the normal control by an allowable value or more during the diagnosis of the degeneracy control, the occupant feels uncomfortable by notifying the occupant that the degeneration control is being diagnosed. Can be suppressed.

It is a block diagram which shows the structure of the whole control device of 1st Embodiment. It is explanatory drawing which shows the transition of the control state after the abnormality detection of normal control. It is a flowchart which shows the degeneracy diagnosis process executed by the monitoring microcomputer. It is explanatory drawing which shows the switching operation to the normal control performed during the diagnosis of the degeneracy control. It is a flowchart which shows the 1st modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 2nd modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 3rd modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 4th modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 5th modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 6th modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 7th modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 8th modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the 9th modification of the degeneracy diagnosis process shown in FIG. It is a flowchart which shows the degeneracy diagnosis process of 2nd Embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, the control device 1 of the present embodiment is a so-called engine ECU that controls fuel injection from injectors 4 provided in each of a plurality of cylinders of the engine 2 constituting the drive system of the vehicle. be. The ECU represents an electronic control device.
(composition)
The control device 1 is composed of various electronic circuits including a microcomputer, and as shown in FIG. 1, includes a normal control unit 10, a torque output request unit 12, and an injector drive unit 14.

Here, the torque output requesting unit 12 requests the torque output of the engine 2 from the normal control unit 10 as a control target, and when the vehicle is manually operated, the torque output requesting unit 12 of the engine 2 responds to the accelerator operation amount by the driver. The target torque is calculated, and this target torque is output as the required torque. Further, the torque output requesting unit 12 calculates a target torque according to the traveling conditions of the vehicle during automatic driving of the vehicle, and outputs the target torque as the required torque.

Next, the normal control unit 10 obtains the torque of the output shaft of the engine 2 from the torque output request unit 12 based on the current operating state of the engine 2 to be controlled, for example, the rotation speed, the intake pressure, the water temperature, and the like. Calculate the fuel injection amount required to control the output required torque. The fuel injection amount represents the amount of fuel to be injected from each injector 4 provided in each cylinder of the engine 2.

The injector drive unit 14 sets the injection timing for sequentially injecting fuel into each cylinder in synchronization with the rotation of the engine 2 based on the fuel injection amount calculated by the normal control unit 10 or the degeneracy control unit 22 described later. The injector 4 of each cylinder is driven at the injection timing.

As a result, fuel is injected and supplied to each cylinder of the engine 2 in the intake stroke and mixed with the intake air, and the air-fuel mixture is compressed in the compression stroke and ignited.
The normal control unit 10 is composed of a control microcomputer that performs various arithmetic processes for engine control, and the control microcomputer executes a predetermined program to realize the function as the normal control unit 10. Further, the torque output requesting unit 12 and the injector driving unit 14 are composed of electronic circuits having these functions.

Next, the control device 1 is provided with a monitoring microcomputer 20 for monitoring the state of the engine 2.
The monitoring microcomputer 20 has functions as a degeneracy control unit 22, a degeneration request unit 24, a torque monitor unit 26, a degeneracy diagnosis unit 30, and a diagnosis monitoring unit 32. These functions are realized by the CPU constituting the monitoring microcomputer 20 executing a program stored in a computer-readable non-transitional tangible recording medium such as a ROM.

Here, when an abnormality occurs in the engine control by the normal control unit 10, the degenerate control unit 22 limits the torque output of the engine 2 as compared with the normal control by the normal control unit 10 to operate the engine 2. It is for implementing degeneracy control to be continued.

That is, the degeneracy control unit 22 limits the required torque output from the torque output requesting unit 12 to or less than a predetermined upper limit value, so that the fuel injection amount from the injector 4 and the number of injectors 4 used for fuel injection can be reduced. The calculation is performed, and the calculation result is output to the injector drive unit 14.

As a result, when the degeneracy control unit 22 executes the degeneration control, the fuel injection amount and the number of injectors 4 used for the fuel injection are reduced as compared with the normal control, and the torque of the engine 2 is suppressed.

As shown in FIG. 2, when the engine 2 is normally operated under the normal control (P1) and an abnormality occurs in the control, the control is switched to the degenerate control (P2) so that the engine 2 can be operated. This is to suppress the increase in torque of the vehicle so that the vehicle can continue to operate.

Therefore, when an abnormality occurs in the normal control by the normal control unit 10, the occupant is notified to that effect so that the driver can manually drive the vehicle even when the vehicle is automatically driven. , The vehicle can be evacuated to a safe parking place.

Further, the degeneracy control (P2) by the degeneracy control unit 22 is continued until a predetermined fixed time elapses as a time required for the driver to evacuate the vehicle, and when the degenerate time elapses, the control device 1 Stops engine control (P3).

Next, the degeneracy requesting unit 24 controls from the normal control by the normal control unit 10 to the degeneration control by the degeneracy control unit 22 or vice versa in accordance with the switching request from the torque monitor unit 26 or the degeneration diagnosis unit 30. Outputs a switching command for switching.

That is, for the input path of the control amount to the injector drive unit 14, either the calculation result of the fuel injection amount by the normal control unit 10 or the calculation result of the fuel injection amount by the degeneracy control unit 22 is selected. , A control switching unit 16 for inputting to the injector drive unit 14 is provided.

The control switching unit 16 is configured to connect the normal control unit 10 to the injector drive unit 14 as an initial state when the control device 1 is started, and when a switching command is input from the degeneracy request unit 24, the control switching unit 16 is configured to be connected to the injector drive unit 14. The degeneracy control unit 22 is connected to the injector drive unit 14.

Therefore, the degeneracy control by the degeneration control unit 22 is executed by outputting a switching command from the degeneration request unit 24, and normally, the normal control by the normal control unit 10 is executed.

The control switching unit 16 connects the normal control unit 10 to the injector drive unit 14 when a switching command is input from the degeneracy request unit 24 while the degeneracy control unit 22 is connected to the injector drive unit 14. Then, the control of the engine 2 is switched to the normal control.

Next, when the engine 2 is normally controlled by the normal control unit 10, the torque monitor unit 26 acquires the actual torque of the engine 2 via a torque sensor or the like provided on the output shaft of the engine 2. Compare with the torque required from the torque output requesting unit 12.

Then, for example, if the state in which the actual torque of the engine 2 cannot be controlled to the required torque continues for a predetermined time or longer, the torque monitor unit 26 determines that an abnormality has occurred in the control system including the normal control unit 10, and requests the degeneracy. The unit 24 is requested to switch to the degeneracy control.

As a result, when an abnormality occurs in the normal control by the normal control unit 10, a switching command is output from the degeneracy request unit 24 to the control switching unit 16, and the control of the engine 2 is switched to the degeneration control by the degeneration control unit 22. Then, the degeneracy control unit 22 executes the degeneracy control for a certain period of time required for the vehicle to evacuate, and then stops the control of the engine 2.

Next, the degeneracy diagnosis unit 30 determines whether or not a predetermined diagnostic condition is satisfied when the engine 2 is normally controlled by the normal control unit 10, and when the predetermined diagnostic condition is satisfied, the degeneracy request unit 30. Request 24 to switch to degenerate control. As a result, a switching command is output from the degenerate request unit 24 to the control switching unit 16, and the control of the engine 2 is switched to the degenerate control by the degenerate control unit 22.

Then, the degeneracy diagnosis unit 30 diagnoses whether or not the degeneracy control by the degeneracy control unit 22 is normally performed, and when the diagnosis is completed, the diagnosis result is stored in a predetermined non-volatile storage medium provided in the control device 1. It stores and requests the degeneracy request unit 24 to switch to the normal control. As a result, a switching command is output from the degeneracy requesting unit 24 to the control switching unit 16, and the control of the engine 2 is returned to the normal control by the normal control unit 10.

Further, when the degeneracy diagnosis unit 30 determines that the degeneracy control is not normally performed as a result of the degeneration control diagnosis, the engine including the control device 1 is notified by lighting a warning lamp or the like to that effect. Encourage inspection and repair of control systems.

The diagnostic condition when the degenerate diagnosis unit 30 switches the control of the engine 2 from the normal control to the degenerate control is that the occupant can change the running state of the vehicle by switching the control of the engine 2 to the degenerate control. Operating conditions are set that make it difficult to notice the fluctuation.

That is, the diagnostic conditions include, for example, when the vehicle is running at a constant speed where the vehicle speed is equal to or higher than a predetermined vehicle speed, or when the vehicle is decelerating, the engine 2 is operated with a low torque, and the engine 2 is switched to the degenerate control. Operating conditions are set so that the torque does not fluctuate significantly.

Further, in the present embodiment, the degeneracy control is performed by reducing the fuel injection amount and the number of injectors 4 used for fuel injection as compared with the normal control. Therefore, the degeneracy diagnosis unit 30 determines whether or not the degeneracy control is normally performed, for example, depending on the time of the drive pulse output from the injector drive unit 14 to each injector 4 or the presence or absence of the drive pulse.

Next, in the diagnosis monitoring unit 32, when the degeneracy diagnosis unit 30 switches the control of the engine 2 to the degeneracy control in order to diagnose the degeneracy control, the state of the engine 2 deviates from the target state of the normal control by an allowable value or more. Monitor whether or not it has been done.

That is, when the control of the engine 2 is switched to the degenerate control by the degenerate diagnosis unit 30, the diagnosis monitoring unit 32 acquires the actual torque of the engine 2 via a torque sensor or the like provided on the output shaft of the engine 2.

Then, the acquired actual torque is compared with the required torque from the torque output requesting unit 12, and when the actual torque deviates from the required torque by an allowable value or more, a diagnosis stop command is output to the degeneracy diagnosis unit 30.

Then, the degeneracy diagnosis unit 30 stops the diagnosis of the degeneracy control and requests the degeneracy request unit 24 to switch to the normal control. As a result, a switching command is output from the degeneracy requesting unit 24 to the control switching unit 16, and the control of the engine 2 is switched to the normal control by the normal control unit 10.
(process)
Next, the degeneracy diagnosis process executed in the monitoring microcomputer 20 in order to realize the functions as the degenerate diagnosis unit 30 and the diagnosis monitoring unit 32 will be described with reference to the flowchart shown in FIG.

This degeneracy diagnosis process is a process executed when the monitoring microcomputer 20 determines that the above-mentioned diagnostic conditions are satisfied while the engine 2 is normally controlled and the vehicle is traveling.

As shown in FIG. 3, when the degeneracy diagnosis process is started, the control of the engine 2 is switched from the normal control to the degeneracy control by first enabling the degeneracy control request in S110.
Next, in S120, the actual torque of the engine 2 detected by using a torque sensor or the like is acquired, and in the subsequent S130, whether or not the actual torque acquired in S120 deviates from the required torque by an allowable value or more is determined. to decide.

When it is determined in S130 that the actual torque does not deviate from the required torque by more than the permissible value, the process shifts to S140, the time required for the diagnosis and the degeneracy control are performed, and whether or not the degeneracy diagnosis is completed is determined. to decide. Then, if it is determined in S140 that the degeneracy diagnosis has not been completed, the process proceeds to S120, and the processes after S120 are executed again.

On the other hand, when it is determined in S140 that the degeneracy diagnosis has been completed, the process proceeds to S150, a degeneracy diagnosis determination process for diagnosing whether or not the degeneracy control has been normally performed is executed, and the diagnosis result is determined. Store in a non-volatile storage medium.

In the degeneracy diagnosis determination process of S150, whether or not the degeneracy control could be normally performed based on the change of the drive pulse of each injector 4 during the degeneracy control diagnosis, for example, the presence or absence of the drive pulse accompanying the degeneracy operation. To judge.

Next, when the degeneracy diagnosis determination process of S150 is completed, the process proceeds to S160. Further, even if it is determined in S130 that the actual torque deviates from the required torque by an allowable value or more, the torque shifts to S160. Then, in S160, by disabling the degeneracy control request, the control of the engine 2 is returned to the normal control, and the control process is terminated.

In the degeneracy diagnosis process shown in FIG. 3, the processes of S110 and S140 to 160 function as the degeneracy diagnosis unit 30, and the processes of S120 and S130 function as the diagnosis monitoring unit 32.
(effect)
As described above, in the control device 1 of the present embodiment, when the diagnostic condition of the degenerate control is satisfied while the vehicle is running, the control of the engine 2 is switched from the normal control to the degenerate control, and the degenerate control is normally performed. A diagnosis is made as to whether or not it can be carried out.

During the diagnosis of this degeneracy control, the torque of the engine 2 decreases due to a decrease in the fuel injection amount, a decrease in the fuel injection cylinder, etc. Therefore, as shown in FIG. 4, the actual torque of the engine 2 is larger than the required torque. It will be low.

However, when the difference DT between the actual torque and the required torque becomes equal to or greater than the permissible value at the time point t1 shown in FIG. 4 due to the decrease in the actual torque of the engine 2, the control of the engine 2 is switched from the degenerate control to the normal control.

As a result, it is possible to prevent the actual torque of the engine 2 from dropping beyond the permissible value with respect to the required torque. Further, the torque of the engine 2 is controlled to the required torque by switching the control of the engine 2 to the normal control.

Therefore, according to the control device 1 of the present embodiment, not only the degeneracy control diagnosis can be performed while the vehicle is running, but also the actual torque of the engine 2 is significantly reduced compared to the required torque at the time of the diagnosis, so that the vehicle can run. It is possible to prevent the inability to continue.

Further, at the time of diagnosing the degeneracy control, if the actual torque of the engine 2 does not decrease more than the allowable value from the required torque, the degeneracy control diagnosis can be completed, so that the degeneracy control is diagnosed without giving a sense of discomfort to the occupant. be able to.

Next, a modified example of this embodiment will be described.
[First modification]
In the above embodiment, when the diagnosis monitoring unit 32 determines that the actual torque of the engine 2 deviates from the required torque by an allowable value or more, the diagnosis monitoring unit 32 immediately outputs a diagnosis stop command to the degeneracy diagnosis unit 30 to generate the engine 2. It has been described as returning control to normal control.

However, as shown in FIG. 5, when the diagnostic monitoring unit 32 determines in S130 that the actual torque of the engine 2 deviates from the required torque by an allowable value or more, the state is determined in S170. It may be determined whether or not it has continued for more than an hour.

Then, in S170, when it is determined that the state in which the actual torque deviates from the required torque by an allowable value or more continues for a predetermined time or more, the process shifts to S160 to invalidate the degeneracy control request and perform the degeneracy diagnosis process. To finish.

If it is determined in S170 that the state in which the actual torque deviates from the required torque by an allowable value or more does not continue for a predetermined time or more, the process shifts to S140 and the diagnosis of degeneracy control is continued.

As a result, in this modified example, the diagnosis of the degeneracy control can be stopped and the normal control can be returned only when the state in which the actual torque of the engine 2 deviates from the required torque by an allowable value or more continues for a predetermined time or more.

Therefore, according to the present modification, for example, when the actual torque temporarily decreases immediately after switching the control to the degenerate control, or when the actual torque is erroneously detected due to noise or the like, as compared with the above embodiment. In addition, it is possible to prevent the diagnosis of degeneracy control from being stopped.

That is, according to the present modification, not only the same effect as that of the above-described embodiment can be obtained, but also the frequency of performing the diagnosis of degeneracy control can be increased as compared with the above-described embodiment.
[Second modification]
Next, in the above embodiment, the degeneracy diagnosis unit 30 has been described as starting the diagnosis of degeneracy control as soon as a predetermined diagnostic condition is satisfied.

On the other hand, in this modified example, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32 during the diagnosis of the degeneracy control, the degeneracy diagnosis unit 30 stores the operating state of the engine 2 as a non-diagnosable state. After that, the degeneracy control diagnosis is not performed in the undiagnosable state.

That is, as shown in FIG. 6, in the present modification, when it is determined in S130 that the actual torque of the engine 2 deviates from the required torque by an allowable value or more in the degeneracy diagnosis process, the process shifts to S180. Then, in S180, the current operating state of the engine 2 is stored in the non-volatile storage medium as a non-diagnosable state, and the process shifts to S160.

Examples of the operating state of the engine 2 stored in the storage medium as the undiagnosable state include the rotation speed of the engine 2, the intake pressure, the water temperature, and the like. Further, the undiagnosable state stored in the storage medium may include the operating state of the vehicle such as the gear ratio of the transmission of the vehicle drive system driven by the engine 2, the vehicle speed, and the steering angle. ..

Next, immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, S210 determines whether or not the current operating state of the engine 2 or the vehicle is in a non-diagnosable state.
Then, if it is determined in S210 that the diagnosis is currently impossible, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis in the processes after S110. Further, if it is determined in S210 that the diagnosis is not impossible at present, the process proceeds to S110 and the degeneracy control diagnosis is performed.

As a result, according to the present modification, when the engine 2 or the vehicle is in a non-diagnosable state, the control of the engine 2 is switched to the degenerate control and the degenerate control diagnosis is performed according to the above embodiment. It can be suppressed in comparison.

Therefore, according to this modification, not only the same effect as that of the above embodiment can be obtained, but also the diagnosis of degeneracy control can be performed under more successful conditions.
[Third variant]
Next, in the second modification, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32, the operating state of the engine 2 or the vehicle at that time is stored as a non-diagnosable state, and then the stored diagnosis is performed. The diagnosis of degeneracy control was not performed in the impossible state.

On the other hand, in the present modification, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32 and the control of the engine 2 is returned to the normal control, the degeneracy diagnosis unit 30 continues until a predetermined time elapses. It is configured so that the diagnosis of degeneracy control is not performed.

That is, as shown in FIG. 7, in this modified example, when it is determined in S130 that the actual torque of the engine 2 deviates from the required torque by an allowable value or more in the degeneracy diagnosis process, the diagnosis is stopped in S190. Set the flag and move to S160.

The diagnosis stop flag is a flag that is reset by a so-called initialization process when the power is turned on to the control device 1 and the monitoring microcomputer 20 is started.
On the other hand, immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, S310 determines whether or not the diagnosis stop flag is set. Then, when it is determined in S310 that the diagnosis stop flag is not set, the process proceeds to S110 and the degeneracy control diagnosis is performed.

If it is determined in S310 that the diagnosis discontinuation flag is set, the process proceeds to S320 to determine whether or not a predetermined time has elapsed since the diagnosis discontinuation flag was set.

Then, when it is determined in S320 that a predetermined time has elapsed since the diagnosis discontinuation flag was set, in S330, after resetting the diagnosis discontinuation flag, the process shifts to S110 to perform the diagnosis of degeneracy control. implement.

If it is determined in S320 that the predetermined time has not elapsed since the diagnosis discontinuation flag was set, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis.
This is because if the diagnosis stop flag is set and the predetermined time has not elapsed, the degeneracy control diagnosis is stopped, and then the state of the engine 2 or the vehicle has not changed, and the degeneracy control diagnosis is repeated. This is because it is highly likely that the diagnosis will be stopped even if it is performed.

Therefore, the predetermined time used for the determination in S320 is set to the time when the operating state of the engine 2 or the vehicle is expected to change after the diagnosis stop flag is set.
As a result, according to the present modification, as in the second modification, when the engine 2 or the vehicle is in a non-diagnosable state, the control of the engine 2 is switched to the degeneracy control, and the degeneracy control diagnosis is performed. Can be suppressed. Therefore, even in this modified example, the diagnosis of degeneracy control can be performed under conditions that are more successful.
[Fourth variant]
Next, in the second and third modifications, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32, the engine 2 or the vehicle is in the same operating state as that time, or the diagnosis is stopped. After that, the diagnosis of degeneracy control was not performed until a predetermined time had passed.

On the other hand, in this modified example, in the degenerate diagnosis unit 30, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32 and the control is returned to the normal control, the operation of the control device 1 is subsequently performed by shutting off the power or the like. It is configured so that the diagnosis of degeneracy control is not performed until it is stopped and restarted.

That is, as shown in FIG. 8, in this modified example, it is determined in S130 that the actual torque of the engine 2 deviates from the required torque by an allowable value or more in the degeneracy diagnosis process, as in the third modified example. Then, the diagnosis stop flag is set in S190, and the process proceeds to S160.

On the other hand, immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, S310 determines whether or not the diagnosis stop flag is set.
Then, if it is determined in S310 that the diagnosis discontinuation flag is not set, the process proceeds to S110 to perform the degeneracy control diagnosis, and it is determined in S310 that the diagnosis discontinuation flag is set. Then, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis.

Since the diagnosis stop flag is reset when the power is turned on to the control device 1 and the monitoring microcomputer 20 is started, when it is set in S190, the monitoring microcomputer 20 is restarted thereafter. Until then, the diagnosis of degeneracy control is not performed.

Therefore, according to this modification, when the diagnosis of the degenerate control is stopped by the diagnosis monitoring unit 32, the diagnosis of the degenerate control is performed within the same power cycle in which the power supply to the control device 1 is continued. It can be suppressed.

Therefore, according to this modification, not only the same effect as that of the above embodiment can be obtained, but also when the engine 2 or the vehicle is in a non-diagnosable state as compared with the above embodiment or the first and second modifications. It is possible to more reliably suppress the diagnosis of degeneracy control.
[Fifth variant]
Next, in the fourth modification, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32, the diagnosis is not performed within the same power supply cycle thereafter. On the other hand, in this modified example, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32, the degeneracy diagnosis unit 30 is configured to change the diagnosis conditions and perform the diagnosis of the degeneracy control thereafter. Will be done.

That is, as shown in FIG. 9, in the present modification, as in the third and fourth modifications, in the degeneracy diagnosis process, the actual torque of the engine 2 deviates from the required torque by an allowable value or more in S130. If it is determined, the diagnosis stop flag is set in S190, and the process proceeds to S160.

On the other hand, immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, S310 determines whether or not the diagnosis discontinuation flag is set, and when the diagnosis discontinuation flag is not set. Moves to S110 and diagnoses degeneracy control.

Further, when it is determined in S310 that the diagnosis discontinuation flag is set, the process shifts to S350, and the probability of success in the diagnosis of degeneracy control is set to be higher than that in the normal diagnosis conditions. Determine whether the re-diagnosis implementation conditions are met.

The re-diagnosis execution conditions include the operating conditions for re-diagnosis so that the torque fluctuation caused by switching the control of the engine 2 from the normal control to the degenerate control becomes smaller than the above-mentioned diagnostic conditions. Is set. That is, the re-diagnosis execution conditions are more limited to the operating conditions of the engine 2 or the vehicle than the diagnostic conditions.

Then, if it is determined in S350 that the re-diagnosis execution condition is not satisfied, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis, and the re-diagnosis execution condition is satisfied in S350. If it is determined that the degeneracy control is determined, the process proceeds to S110 to perform a diagnosis of degeneracy control.

As a result, according to this modified example, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit 32, it is more difficult to establish the diagnosis than the normal diagnosis conditions, and the rediagnosis that the degeneracy control diagnosis can be performed more reliably. Under the implementation conditions, the diagnosis of degeneracy control can be performed.
[6th variant]
Next, in the above embodiment, even if the degeneracy diagnosis unit 30 can perform the degeneracy control diagnosis by the processing of S110 to S150, when the next diagnostic condition is satisfied, the degeneracy control diagnosis is performed again. do.

On the other hand, in the present modification, when the degeneracy diagnosis unit 30 completes the degeneration control diagnosis by the processing of S110 to S150, the operation of the control device 1 is temporarily stopped and restarted by power shutoff or the like. Until, it is configured not to carry out the diagnosis of degeneracy control.

That is, as shown in FIG. 10, in the present modification, when the degeneracy diagnosis determination process of S150 is performed in the degeneracy diagnosis process, the diagnosed flag is set in S420 and then the process proceeds to S160.

The diagnosed flag is a flag that is reset by a so-called initialization process when the power is turned on to the control device 1 and the monitoring microcomputer 20 is started, similar to the above-mentioned diagnosis stop flag.

On the other hand, immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, S410 determines whether or not the diagnosed flag is set. Then, if the diagnosed flag is not set, the process proceeds to S110 to perform the diagnosis of degeneracy control.

If it is determined in S410 that the diagnosed flag is set, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis.
As a result, in this modification, after the power is turned on to the control device 1 and the monitoring microcomputer 20 is started, the degeneracy control diagnosis is normally performed in S110 to S150 of the degeneracy diagnosis process. After that, the diagnosis of degeneracy control is prohibited until the monitoring microcomputer 20 is restarted.

Therefore, according to the present modification, the frequency of the diagnosis of the degeneracy control is reduced as compared with the above-described embodiment and the first to fifth modifications, and the degeneracy control is performed for the diagnosis. It is possible to suppress a decrease in the torque of the engine 2.
[7th variant]
Next, in the sixth modification, when the degeneracy diagnosis unit 30 completes the degeneration control diagnosis, the degeneracy control diagnosis is not performed within the same power supply cycle thereafter.

On the other hand, in this modified example, as shown in FIG. 11, when the degeneracy diagnosis determination process of S150 is performed in the degeneracy diagnosis process, the degeneracy diagnosis unit 30 of the current engine 2 or the vehicle in S440. The operating state is stored in a non-volatile storage medium as a diagnosed state.

As the diagnosed state, the rotational speed of the engine 2, the intake pressure, the water temperature, the gear ratio of the transmission, the vehicle speed, the steering angle, and the like can be mentioned as in the case of the above-mentioned non-diagnosable state.
Immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, the S430 determines whether the operating state of the engine 2 or the vehicle is the diagnosed state stored in the S440. do.

Then, if the operating state of the engine 2 or the vehicle is not in the diagnosed state, the process proceeds to S110 and the degeneracy control diagnosis is performed. If the operating state of the engine 2 or the vehicle is in the diagnosed state, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis.

That is, in this modification, when the degeneracy diagnosis unit 30 completes the diagnosis of the degeneracy control, the current operating state of the engine 2 or the vehicle to be controlled is stored as a diagnosed state, and then the engine 2 or the vehicle Degenerate control diagnosis is performed when the diagnosis is not completed.

Therefore, according to this modification, the degeneracy control diagnosis can be performed under a plurality of operating conditions in which the operating state of the engine 2 or the vehicle is different.
[8th modification]
Next, in the present modification, the degeneracy diagnosis unit 30 may perform the diagnosis of the degeneracy control when the engine 2 or the vehicle is in an operating state different from the diagnosed state, as in the seventh modification. It is configured to be performed when the engine 2 or the vehicle is in a diagnosed state.

That is, in this modified example, as shown in FIG. 12, when the degeneracy diagnosis determination process of S150 is performed in the degeneracy diagnosis process, the diagnosed flag is set in S420, and the engine 2 or the vehicle is set in S440. The operating state is stored in the non-volatile storage medium as a diagnosed state.

Immediately after the above-mentioned diagnostic conditions are satisfied and the degeneracy diagnosis process is started, S410 determines whether or not the diagnosed flag is set, and if the diagnosed flag is not set, Moving to S110, the diagnosis of degeneracy control is performed.

Further, when it is determined in S410 that the diagnosed flag is set, the process proceeds to S430, and it is determined whether or not the operating state of the engine 2 or the vehicle is the diagnosed state stored in S440. ..

Then, if the engine 2 or the vehicle is in the diagnosed state, the process proceeds to S110 to perform the degeneracy control diagnosis, and if the engine 2 or the vehicle is not in the diagnosed state, the degeneracy control diagnosis is not performed. The degeneracy diagnosis process is terminated.

As a result, according to this modification, if the diagnosis of the degeneracy control is successful, then the diagnosis of the degeneracy control is performed when the engine 2 or the vehicle is in the operating state when the diagnosis of the degeneracy control is successful. Will be.

Therefore, according to this modification, the diagnosis of the degeneracy control can be performed under the condition that the diagnosis is easy to succeed, and it is possible to suppress the deviation of the actual torque of the engine 2 from the required torque at the time of the diagnosis of the degeneracy control.
[9th variant]
Next, in the above embodiment, the degeneracy diagnosis unit 30 executes the degeneracy diagnosis process by the monitoring microcomputer 20 when a predetermined diagnosis condition is satisfied such as when the vehicle is traveling at a constant speed or when the vehicle is decelerating. , It was explained as a diagnosis of degeneracy control.

By the way, the range of torque fluctuation of the engine 2 caused by switching the control from the normal control to the degenerate control also changes depending on the road environment in which the vehicle is traveling.
For example, when the vehicle is traveling in a mountainous area, the road on which the vehicle is traveling is congested, or the vehicle is traveling on a speed-controlled road at a low speed, the degeneracy control is applied. It is conceivable that the torque fluctuation of the engine 2 caused by the switching becomes large.

Therefore, in this modified example, the degeneracy diagnosis unit 30 adds such a road environment to the diagnostic conditions of the degeneracy control, and sets the vehicle's running state such as when the vehicle is running at a constant speed or decelerating and the road environment around the vehicle. Based on this, it is configured to determine whether or not to carry out a diagnosis of degeneracy control.

That is, in this modified example, when the same diagnostic conditions as in the above embodiment based on the running state of the vehicle are satisfied and the degeneracy diagnosis process is started, the vehicle is mounted on the vehicle in S510 as shown in FIG. The road environment around the vehicle is acquired by using the navigation device and GPS receiver.

Then, in the following S520, it is determined whether or not the road environment acquired in S510 is a road environment suitable for the diagnosis of degeneracy control, and the road environment around the vehicle is a road environment suitable for the diagnosis of degeneracy control. For example, the process proceeds to S110 to perform a diagnosis of degeneracy control.

On the other hand, when it is determined in S520 that the road environment acquired in S510 is not suitable for the diagnosis of degeneracy control, for example, when the vehicle is traveling in a mountainous area or the road on which the vehicle is traveling is congested. If so, the degeneracy diagnosis process is terminated without performing the degeneracy control diagnosis.

Therefore, according to the present modification, the diagnosis of degeneracy control can be performed under more successful diagnostic conditions as compared with the above embodiment.
[Second Embodiment]
Next, a second embodiment of the present disclosure will be described.

The control device 1 of the engine 2 of the present embodiment has the same configuration as that of the first embodiment, and the difference from the first embodiment is the operation of the diagnosis monitoring unit 32.
That is, in the present embodiment, as shown in FIG. 14, in the degeneracy diagnosis process, when it is determined in S130 that the actual torque of the engine 2 deviates from the required torque by an allowable value or more, in S610, the present , Notifies that the system check is in progress, and shifts to S140.

That is, in S610, the vehicle occupant is notified that the degeneracy control is currently being diagnosed by lighting the indicator lamp, displaying a message on the display screen, outputting a voice message or an alarm sound, and the like. , The diagnosis of degeneracy control is continued by shifting to S140.

Therefore, according to the present embodiment, when the actual torque of the engine 2 deviates from the required torque by an allowable value or more at the time of diagnosing the degeneracy control, the cause can be notified to the occupant, and the degeneracy control can be diagnosed. It is possible to prevent the occupant from feeling uncomfortable due to the accompanying change in driving condition.

The process of S610 in the degeneracy diagnosis process may be performed in the degeneracy diagnosis process of the first embodiment or a modification thereof described above.
[Other Embodiments]
Although the embodiments and modifications of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and modifications, and can be implemented in various modifications.

For example, in the above embodiment, the case where the technique of the present disclosure is applied to the control device for controlling the fuel injection from the injector 4 provided in the engine 2 which is the power source of the vehicle has been described.
However, even if the technique of the present disclosure is applied to a control device that controls a portion different from the injector 4 of the engine 2, such as a control device that controls the opening degree of the throttle valve provided in the intake system of the engine 2, the above description is applied. A similar effect can be obtained.

Further, the technique of the present disclosure is not limited to the engine 2 which is the power source of the vehicle, and constitutes a vehicle drive system around the engine, a braking system such as a vehicle braking device, and a steering system such as a vehicle steering device. The same can be applied to a control device that controls a controlled object in the same manner as described above.

Further, each part of the control device 1 shown in FIG. 1 may be realized by a dedicated computer or a hardware logic circuit, or by a combination of a computer and a logic circuit.

Further, a plurality of functions possessed by one component in the control device 1 may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, the functions realized in the first and second embodiments described above and the first modification to the ninth modification may be realized by appropriately combining them.

Further, the techniques of the present disclosure include a system having a control device as a component, a program for operating a computer as a control device, a non-transitional actual recording medium such as a semiconductor memory in which this program is recorded, a control method, and the like. It can also be realized in the form of.

1 ... control device, 2 ... engine, 10 ... normal control unit, 22 ... degeneracy control unit, 30 ... degeneracy diagnosis unit, 32 ... diagnosis monitoring unit.

Claims (12)

A normal control unit (10) configured to control the control target (2) used to drive the vehicle so that the control target (2) is in a predetermined target state.
When an abnormality occurs in the control of the control target by the normal control unit, the control target is controlled by a degenerate control in which the control function is limited as compared with the normal control by the normal control unit. Control unit (22) and
If a predetermined diagnostic condition is satisfied during the execution of the normal control by the normal control unit, whether or not the control of the control target can be switched to the degeneracy control by the degeneracy control unit and the degeneracy control can be normally executed. When the diagnosis is completed, the degenerate diagnosis unit (30) configured to return to the normal control by the normal control unit, and
When the degeneracy diagnosis unit switches the control of the control target to the degeneracy control, the state of the control target is monitored, and when the control target deviates from the target state by an allowable value or more, the degeneracy diagnosis unit controls the degeneracy. A diagnostic monitoring unit (32) configured to stop the diagnosis and return the control of the controlled object to the normal control by the normal control unit.
A vehicle control device equipped with. The vehicle control device according to claim 1.
When the state in which the control target deviates from the target state by an allowable value or more continues for a predetermined time or more, the diagnosis monitoring unit stops the diagnosis of the degeneracy control by the degeneracy diagnosis unit and controls the control target. A vehicle control device configured to return to the normal control. The vehicle control device according to claim 1 or 2.
When the control target deviates from the target state by an allowable value or more and the diagnosis of the degeneration control by the degeneracy diagnosis unit is stopped, the diagnosis monitoring unit determines the current operating state of the control target in a non-diagnosable state. Configured to remember as
In the degeneracy diagnosis unit, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit and the control of the control target is returned to the normal control, then when the control target is in the undiagnosable state, the degeneracy diagnosis unit is described. A vehicle control device that is configured not to perform degeneracy control diagnostics. The vehicle control device according to any one of claims 1 to 3.
When the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit and the control of the controlled object is returned to the normal control, the degeneracy diagnosis unit makes the diagnosis of the degeneracy control until a predetermined time elapses. A vehicle control device that is configured not to be implemented. The vehicle control device according to any one of claims 1 to 3.
When the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit and the control of the controlled object is returned to the normal control, the operation of the control device is stopped and restarted. A vehicle control device configured not to carry out the diagnosis of the degeneracy control up to. The vehicle control device according to any one of claims 1 to 3.
In the degenerate diagnosis unit, when the diagnosis of the degeneracy control is stopped by the diagnosis monitoring unit and the control of the controlled object is returned to the normal control, the success probability of the diagnosis becomes higher than that of the diagnostic conditions thereafter. A vehicle control device configured to switch the control of the controlled object to the degenerate control and perform the diagnosis of the degenerate control when the re-diagnosis execution condition is satisfied. The vehicle control device according to any one of claims 1 to 6.
The degeneracy diagnosis unit is configured not to perform the degeneracy control diagnosis until the operation of the control device is stopped and restarted after the degeneracy control diagnosis is completed. Control device. The vehicle control device according to any one of claims 1 to 6.
When the degeneracy diagnosis unit completes the diagnosis of the degeneracy control, it stores the current operating state of the controlled object as a diagnosed state, and thereafter, when the controlled object is in an operating state different from the diagnosed state. A vehicle control device configured to perform the diagnosis of the degeneracy control. The vehicle control device according to any one of claims 1 to 6.
When the degeneracy diagnosis unit completes the diagnosis of the degeneracy control, the current operating state of the controlled object is stored as a diagnosed state, and thereafter, when the operating state of the controlled object is the diagnosed state, A vehicle control device configured to perform the diagnosis of degeneracy control. The vehicle control device according to any one of claims 1 to 9.
In the diagnostic conditions, a predetermined running state of the vehicle is set so that the running fluctuation of the vehicle caused by switching the control of the controlled object from the normal control to the degenerate control is reduced.
The degeneracy diagnosis unit is a vehicle control device configured to enable diagnosis of the degeneracy control when the degeneracy diagnosis unit is a degenerate state set as the diagnosis condition. The vehicle control device according to claim 10.
The diagnostic conditions include the road environment around the vehicle in addition to the running state of the vehicle.
The degeneracy diagnosis unit is configured to acquire the road environment while the vehicle is traveling and determine whether or not the diagnostic conditions are satisfied based on the road environment and the traveling state. Control device. A normal control unit (10) configured to control the control target (2) used to drive the vehicle so that the control target (2) is in a predetermined target state.
When an abnormality occurs in the control of the control target by the normal control unit, the control target is controlled by a degenerate control in which the control function is limited as compared with the normal control by the normal control unit. Control unit (22) and
During execution of the normal control by the normal control unit, whether or not the control of the control target can be switched to the degeneracy control by the degeneracy control unit under predetermined diagnostic conditions and the degeneracy control can be normally executed. A degenerate diagnosis unit (30) configured to make a diagnosis and return to the normal control after the diagnosis is completed,
When the degeneracy diagnosis unit switches the control of the control target to the degeneracy control, the state of the control target is monitored, and when the control target deviates from the target state by an allowable value or more, the degeneracy control is being diagnosed. Diagnostic monitoring unit (32) configured to notify
A vehicle control device equipped with.

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