JP2784121B2 - Vehicle control device - Google Patents

Abstract

PURPOSE:To obtain a controller for a vehicle which can eliminate the that one device is rendered inoperative when the other device fails, by the integration of a power steering controller and an ABS device. CONSTITUTION:A controller for a vehicle is equipped with a microcomputer 4A which confirms the operation of a power steering controller and outputs an energizing signal for energizing a fail-safe relay 6A which is commonly used for the power steering controller and an ABS device and a microcomputer 24A which confirms the operation of the ABS device and outputs an energizing signal for energizing the fail-safe relay 6A. Further, the controller for a vehicle is equipped with a power source supply control circuit 41 which controls the operation of the fail-safe relay 6A according to the energizing signals supplied from the microcomputers 4A and 24A, and controls the supply of electric power to each circuit of the power steering controller and the ABS device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a vehicle, and more particularly to a so-called anti-skid brake system (hereinafter referred to as ABS) device for controlling braking force based on wheel speed information, steering force information and vehicle speed information. The present invention relates to a control device for a vehicle including a so-called power steering (PS) control device for assisting (assisting) the rotational force of a steering wheel.

[0002]

2. Description of the Related Art Generally, a vehicle control device is constructed by the above-described A
The BS device and the power steering control device are individually mounted on the vehicle. FIG. 3 is a configuration diagram showing a power steering control device used in a conventional vehicle control device. In the figure, 1 is a torque sensor for detecting a steering torque (steering angle) of a steering wheel (not shown), 2a and 2b are vehicle speed sensors for detecting the ground speed of the vehicle, 3 is a torque sensor 1, vehicle speed sensors 2a and 2b. A main microcomputer 4 for calculating a steering assist force or the like according to a steering direction and a vehicle speed based on steering torque information and ground speed information of the vehicle input via the interface 3; Reference numeral 5 denotes a sub-microcomputer which performs the same operation based on the same input information as the main microcomputer 4.

A fail safe relay 6 is connected to the main microcomputer 4 and the sub microcomputer 5 and is energized by these outputs to supply power from a battery 7 to a motor drive circuit and a clutch drive circuit, which will be described later. Is connected to the main microcomputer 4 and the sub-microcomputer 5, and outputs a drive signal to the DC motor 9 for the steering assist force actuator based on these outputs. This is a clutch drive circuit that outputs a drive signal to the clutch 11 based on the output.

Thus, the power steering control device shown in FIG. 3 has two microcomputers, and outputs a control signal when the conditions for driving the DC motors for the steering assist force actuators of both outputs match. In other words, a so-called fail-safe configuration is provided in which the microcomputer outputs a control signal only when the microcomputer shows the same calculation result, thereby ensuring the safety of the vehicle.

FIG. 4 is a block diagram showing an ABS device used in a conventional vehicle control device. In the figure,
21a, 21b, 21c and 21d are wheel speed sensors for detecting wheel speeds, 22 is a brake switch that operates in connection with a braking operation, and 23 is a wheel speed sensor 21a-2.
1d and an interface to which outputs of the brake switch 22 and the like are supplied. 24 is a control for increasing / decreasing a brake actuation signal of a wheel, that is, a braking pressure, based on wheel speed information and braking force information inputted via the interface 23. A master microcomputer 25 for calculating the amount and the like is a slave microcomputer 25 for performing the same calculation based on the same input information as the master microcomputer 24.

Reference numeral 26 denotes a watchdog circuit for monitoring the operation of the microcomputers 24 and 25. Reference numeral 27 denotes a drive for generating a drive signal by, for example, taking a logical product based on the outputs of the microcomputers 24 and 25 and the watchdog circuit 26. A circuit 28 is a fail-safe main relay which is energized by a drive signal from a drive circuit 27 and supplies power from a battery 29 to a valve drive circuit and a hydraulic unit, which will be described later. Reference numeral 30 denotes a valve drive circuit which is connected to the master microcomputer 24 and supplies a drive signal to the hydraulic unit 31 based on the output. The hydraulic unit 31 activates a built-in electromagnetic valve according to a drive signal (not shown) input thereto, adjusts the master cylinder pressure to a required pressure, and supplies the master cylinder pressure to the wheel cylinder.

As described above, the ABS device shown in FIG. 4 has two microcomputers, monitors the operation of both microcomputers by the watchdog circuit, and outputs a normal or abnormal signal. As long as the computer is not normal, the fail-safe function works to ensure the safety of the vehicle. Thus, in recent years, it has become mainstream to increase the redundancy of an ABS device that handles a brake system with two microcomputers.

[0008]

As described above, the conventional vehicle control device has a power steering control device including two microcomputers and an ABS device separately mounted on the vehicle because of safety concerns. The power steering control device includes steering torque information and vehicle speed information, ABS
Since the device needs the wheel speed information, the control circuit such as the CPU constituting the microcomputer occupies a large area and is expensive, and the wiring of the vehicle harness (signal line) becomes complicated. Simply integrating the power steering control device and the ABS device has a problem in that if one device fails, the other device does not operate immediately, which also impairs the fail-safe function.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and it is intended to simplify the structure and reduce the cost, and to integrate one of the power steering control device and the ABS device to cause a failure. An object of the present invention is to provide a control device for a vehicle that can solve the problem that the other device does not operate immediately in such a case.

[0010]

A control device for a vehicle according to the present invention determines a driving direction and a driving torque of a steering assist motor in accordance with steering of a steering wheel, and determines the driving direction and the driving torque based on the driving direction and the driving torque. Outputting a direction signal and a torque signal to the steering assist motor, outputting an energizing signal for energizing the fail-safe relay shared by the power steering control device and the ABS device by confirming the operation of the power steering control device; 1) outputting a brake actuation signal of the wheel in accordance with a speed signal of the wheel and a brake detection signal, determining at least a driving direction of the steering assist motor in accordance with the steering of the steering wheel, and to co to output a direction signal to the motor for the steering assist based on the direction, the fail-check the operation of the ABS device A second control means for outputting an energizing signal for energizing the self-relay, controlling an operation of the fail-safe relay according to energizing signals from the first control means and the second control means, Power supply control means for controlling the supply of power to each circuit of the power steering control device and the ABS device; and when one of the power steering control device or the ABS device fails, the power supply to the respective circuits is reduced. Suspension of supply is temporarily suspended.

[0011]

In the present invention, the first control means functioning for the power steering control device and mainly the AB
The power supply control means controls the supply of power to each circuit of the power steering control device and the ABS device according to the activation signal of the fail-safe relay output from the second control means functioning for the S device. If one of the power steering control device and the ABS device breaks down, the interruption of the power supply to each of the above circuits is temporarily suspended. This eliminates the inconvenience that if one device fails due to the integration of the power steering control device and the ABS device, the other device will not operate immediately. Even if any device fails, the original fail-safe function Can be held.

[0012]

【Example】

Embodiment 1 FIG. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing one embodiment of the present invention.
3 and 4 are denoted by the same reference numerals, and detailed description thereof will be omitted. In the figure, reference numerals 1a and 1b denote torque sensors for detecting a steering torque (steering angle) of a steering wheel (not shown), and 4A denotes a first power steering control.
The microcomputer 4A is composed of a torque sensor 1a, 1b input through the interface 3 and a wheel speed sensor 21a input through the interface 23.
21d, the driving direction and the driving torque of the DC motor 9 are determined.
And generates and outputs a direction signal and a torque signal.

Reference numeral 6A denotes a power steering control device which is energized by a fail-safe relay energizing signal from a microcomputer 4A and a microcomputer 24A as a second control means for anti-skid brake control, which will be described later, and a fail common to the ABS device. The fail-safe relay 6A is activated only when the fail-safe relay activation signals from the microcomputers 4A and 24A are both present, and the power from the battery 7 is supplied to the motor drive circuit 8, It is simultaneously supplied to the clutch drive circuit 10, the valve drive circuit 30, the hydraulic unit 31, and the like.

The microcomputer 24A includes wheel speed sensors 21a-2a input through the interface 23.
A wheel brake operation signal is generated based on the output of the brake switch 22 and the output of the brake switch 22, and at least the driving direction of the DC motor 9 is determined based on the outputs of the torque sensors 1a and 1b input via the interface 3. A direction signal for the DC motor 9 is generated and output based on this information. Therefore, in the present embodiment, the microcomputer 24A not only functions as the original anti-skid brake control, but also functions partially as a power steering control (for power steering control monitoring). The microcomputer 24
A is also interconnected with the microcomputer 4A.

The microcomputers 4A and 24A
When the mismatch of the output direction signals continues for a predetermined time, the fail-safe relay 6A may be deactivated to shut off the power supplied from the battery 7 to each circuit.

Reference numeral 41 denotes the microcomputers 4A and 24
A, a fail-safe relay activation signal for operating the power steering control device output from the microcomputer 4A and connected to the microcomputer 2A.
This is a power supply control circuit that controls the supply of power to each circuit of the fail-safe relay 6A in response to a fail-safe relay activation signal for operating the ABS device output from the 4A.

[0017] The power supply control circuit 4 1, when both the failsafe actuating signal with the relay from the fail safe relay energizing signal and the microcomputer 24A from the microcomputer 4A is supplied, that is, the power steering control device When the operation of the ABS device is normal, the fail-safe relay 6A is immediately activated to supply power from the battery 7 to each circuit, and the fail-safe relay activation signal from the microcomputer 4A and the microcomputer 24A When both of the fail safe relay energizing signals from the power steering control device and the ABS device are abnormal, the fail safe relay 6A is immediately deactivated and the battery 7 is disconnected from the battery 7. Shut off power to the circuit.

[0018] Also, the power supply control circuit 4 1, when any of the fail safe relay energizing signal from the fail safe relay energizing signal and the microcomputer 24A of the microcomputer 4A is not supplied, i.e. the power steering control device If any one of the operations of the ABS and the ABS device is abnormal (failure), the deactivation of the fail-safe relay 6A is temporarily suspended, and the interruption of the power supply from the battery 7 to each circuit is temporarily suspended. The function of the power supply control circuit 4 1, microcomputer 4A or,
The microcomputer 24A may be provided.

Next, the operation of the embodiment of the present invention shown in FIG. 1 will be described. First, the microcomputer 4
A confirms the operation of the power steering control device based on the output of each sensor at the start of the operation of the vehicle, and if normal, outputs a fail-safe relay energizing signal for operating the power steering control device. Similarly, the microcomputer 24A confirms the operation of the ABS device based on the output of each sensor at the time of starting the operation of the vehicle, and if normal, outputs a fail-safe relay energizing signal for operating the ABS device.

The fail-safe relay energizing signals from the microcomputers 4A and 24A are supplied to the power supply control circuit 4
1 is supplied. In this case, the power supply control circuit 4 1,
Since the operation of the power steering control device and the operation of the ABS device are both normal, a control signal is supplied to the fail-safe relay 6A to energize the same in response thereto, whereby the power from the battery 7 is reduced by the power steering control device. Side motor drive circuit 8 and clutch drive circuit 10,
It is simultaneously supplied to the valve drive circuit 30 and the hydraulic unit 31 on the BS device side.

On the other hand, the microcomputer 4A confirms the operation of the power steering control device based on the output of each sensor at the start of the operation of the vehicle, and, if abnormal, has a fail-safe relay for operating the power steering control device. No power signal is output. Similarly, the microcomputer 24A checks the operation of the ABS device based on the output of each sensor at the start of driving of the vehicle.
Does not output the fail-safe relay activation signal for operating the BS device. .

[0022] Therefore, in this case, the fail-safe actuating signal with the relay from the microcomputer 4A and 24A is not supplied to the <br/> anything Re also the power supply control circuit 4 1, the power supply control circuit 4 1, power Steering control device and AB
Since the operation of each of the S devices is abnormal, a control signal is supplied to the fail-safe relay 6A to deactivate the same in response to the abnormality, whereby the motor drive circuit 8 and the clutch are provided from the battery 7 to the power steering control device. Drive circuit 1
0, the power supplied to the valve drive circuit 30 and the hydraulic unit 31 on the ABS device side is shut off.

If any one of the operations of the power steering control device and the ABS device is abnormal, the power supply control circuit 41 supplies a control signal to the fail-safe relay 6A to deactivate the control signal. Is temporarily suspended, so that the battery 7 drives the motor driving circuit 8 and the clutch driving circuit 10 on the power steering control device side.
Then, the shutoff of the power supplied to the valve drive circuit 30 and the hydraulic unit 31 on the ABS device side is temporarily suspended and then shut off.

Thus, the microcomputer 4A is
During normal operation of the power steering control device and the ABS device, when power is supplied to each circuit, a clutch current command signal is supplied to the clutch drive circuit 10, and the clutch drive circuit 10 outputs, for example, a PWM-modulated drive signal. It is supplied to the clutch 11 to operate it. Further, the clutch current is supplied from the clutch 11 to the clutch drive circuit 1 for detecting an abnormality.
Returned to 0.

Next, the microcomputer 4A fetches steering torque information at the time of steering wheel steering from the torque sensors 1a and 1b via the interface 3 and the wheel speed sensors 21a to 21d via the interface 23.
The driving direction of the DC motor 9 is determined based on the steering torque information, the driving direction of the DC motor 9 is determined based on the steering torque information and the wheel speed information, and the driving direction and the driving torque are determined. , A direction signal and a torque signal for the DC motor 9 are generated and output.

On the other hand, the microcomputer 24A is connected to the wheel speed sensors 21a to 21d through the interface 23.
More wheel speed information and brake switch 2
2, a braking operation signal for the wheel is generated based on the wheel speed information and the braking force information, and a signal for an original ABS control is output. The torque sensor 1 a, 1b, the steering torque information at the time of steering wheel steering is taken in, the driving direction of the DC motor 9 is determined based on the steering torque information, and a direction signal to the DC motor 9 is generated and output based on the driving direction.

If the direction signal from the microcomputer 4A matches the direction signal from the microcomputer 24A, the AND circuit 40 opens the gate and supplies its output to the motor drive circuit 8 as a motor direction command signal. Thus, the motor drive circuit 8 starts operating, and forms a drive signal based on the supplied motor direction command signal and a torque signal as a motor drive command signal always supplied directly from the microcomputer 4A. The drive signal is supplied to the DC motor 9 to drive it.

The wheel brake operation signal output from the microcomputer 24A is supplied to the hydraulic unit 31 via the valve drive circuit 30, and the original ABS control function is executed.

Further, the operation of this embodiment will be described in detail with reference to the flowchart of FIG. First, in step S1, the entire operation of the device is initialized, and in step S2, the microcomputer 4A controls other components of the power steering control device except for the drive systems such as the motor drive circuit 8 and the clutch drive circuit 10 of the power steering control device. Determine whether the circuit is normal, if not,
In step S3, the interrupted state of the fail-safe relay 6A that is always open at the initial stage is checked, and the operation is terminated while maintaining that state.

If normal in step S2, the microcomputer 24A executes A in step S4.
It is determined whether or not other circuits except the drive system such as the bubble drive circuit 30 and the hydraulic unit 31 of the BS device are normal. If not, in step S3 as described above, the fail-safe which is always in the open state in the initial stage as described above. After confirming the interrupted state of the relay 6A, the state is maintained and the operation is terminated.

If it is normal in step S4, that is, if all the circuits except the drive system of the power steering control device and the ABS device are normal, step S4 is executed.
5, the fail-safe relay 6A is energized via the power supply control circuit 41 to supply power from the battery 7 to the motor drive circuit 8 and the clutch drive circuit 10 on the power steering control device side, and the valve drive circuit on the ABS device side. 3
0 and the hydraulic unit 31 are supplied simultaneously.

In step S6, the microcomputer 4A measures the steering torque Ts based on the outputs of the torque sensors 1a and 1b.
, The motor current I _M stored in the memory in advance is read out corresponding to the measured steering torque Ts.

Next, in step S8, the microcomputer 4A determines whether or not the operation of the entire power steering control device is normal, that is, determines whether or not a failure has occurred.
In step S10, the motor current at this time is read from the memory, thereby driving the DC motor 9 via the motor drive circuit 10. In step S10, the electromagnetic clutch 11 is connected via the clutch drive circuit 10, and
In step 11, AB is executed by the microcomputer 24A.
It is determined whether or not the operation of the entire S apparatus is normal, that is, whether or not a failure has occurred. If no failure has occurred, the process returns to step S6 to repeat the above-described operation.

On the other hand, if the operation of the entire power steering control device has failed in step S8, step S12
, The microcomputer 24A determines whether or not the operation of the entire ABS device is normal, that is, determines whether or not the ABS device is out of order.
In 13, the fail-safe relay 6A is cut off via the power supply control circuit 41, and in step S14,
The electromagnetic clutch 11 is disconnected.

If the operation of the entire ABS device is normal in step S12, that is, if the power steering control device has failed but the ABS device has not failed, it is determined in step S15 whether the vehicle is stopped. If it is determined that the vehicle is stopped, the fail-safe relay 6A is cut off via the power supply control circuit 41 in step 13 as in the above, and the electromagnetic clutch 11 is cut off in step S14.

On the other hand, if the vehicle is not stopped in step S15, the process proceeds to step S14, where only the electromagnetic clutch 11 is disconnected, and the deenergization of the fail-safe relay 6A is temporarily suspended. In other words, while the vehicle is running, even if the power steering control device fails, as long as the ABS device is normal, the fail-safe relay 6A does not deactivate and temporarily keeps supplying power. Only when the operation stops, the fail-safe relay 6A is deenergized to cut off the power supply.

If the ABS device has failed in step S11, the operation of the portion related to the ABS device is prohibited in step S16. In step S17, it is determined whether the vehicle is stopped. If not, the process returns to step S6 to repeat the above operation. That is, it is dangerous to operate the ABS device due to a malfunction of the ABS device while the vehicle is running (for example, when the ABS device breaks down and the brake is applied when it is unnecessary). Prohibit the operation of the part that did, and prevent danger.

If the vehicle is stopped at step S17, the power supply control circuit 4 is turned on at step S13 as described above.
Then, the fail-safe relay 6A is cut off via the switch 1, and in step S14, the electromagnetic clutch 11 is cut off.

As described above, in the present embodiment, the fail-safe relay is controlled by the power supply control circuit 41 in response to the fail-safe relay energizing signals from the microcomputer 4A for power steering control and the microcomputer 24A for anti-skid brake control. Control the operation of 6A,
When either the power steering control device or the ABS device fails, the deactivation of the fail-safe relay 6A is temporarily suspended, and the interruption of power supply to each circuit is temporarily suspended, that is, the failure occurs. since then they not towards the device so that actuate as long as the vehicle is traveling, the disadvantage that the other device is no longer operated immediately due to a failure of one device by integration of the power steering control unit and the ABS unit Thus, even if one of the devices fails, the original fail-safe function can be maintained, and the structure can be simplified and the cost can be reduced.

[0040]

As described above, according to the present invention, the driving direction and the driving torque of the steering assist motor are determined according to the steering of the steering wheel, and the steering assist motor is determined based on the driving direction and the driving torque. And outputs a direction signal and a torque signal to the power steering control device, confirms the operation of the power steering control device, and checks the power steering control device and ABS.
First control means for outputting an energizing signal for energizing the fail-safe relay shared by the device, and a brake actuation signal for the wheel in response to a wheel speed signal and a brake detection signal; determining at least the driving direction of the motor for the steering assist according to the steering, both the outputs of the direction signal to the motor for the steering assist based on the driving direction, and check the operation of the ABS device the fail safe relay A second output of an energizing signal for energizing
Control means for controlling the operation of the fail-safe relay according to the energizing signals from the first control means and the second control means.
Power supply control means for controlling the supply of power to each circuit of the S device.
If one of the BS devices fails, the interruption of the power supply to each of the above circuits is temporarily suspended, so if one device fails due to the integration of the power steering control device and the ABS device. This eliminates the inconvenience that the other device does not operate immediately, so that even if one of the devices fails, the original fail-safe function can be maintained, thereby improving the reliability of the device and improving the safety of the vehicle. There is an effect that the structure can be simplified and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of a vehicle control device according to the present invention.

FIG. 2 is a flowchart for explaining the operation of one embodiment of the vehicle control device according to the present invention.

FIG. 3 is a configuration diagram showing a power steering control device used in a conventional vehicle control device.

FIG. 4 shows an ABS used in a conventional vehicle control device.
It is a block diagram showing an apparatus.

[Explanation of symbols]

 1a, 1b Torque sensor 4A Microcomputer 6A Fail-safe relay 7 Battery 8 Motor drive circuit 9 DC motor 21a-21d Wheel speed sensor 22 Brake switch 24A Microcomputer 31 Hydraulic unit 40 AND circuit 41 Power supply control circuit

────────────────────────────────────────────────── ─── Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI B62D 105: 00 109: 00 119: 00 (72) Inventor Shinichi Shinoichi 840 Chiyodacho, Himeji-shi Himeji Works, Mitsubishi Electric Corporation ( 56) References JP-A-2-249762 (JP, A) JP-A-1-249560 (JP, A) JP-A-69-1365 (JP, A) JP-A-3-189272 (JP, A) JP JP-A-1-278882 (JP, A) JP-A-5-213208 (JP, A) JP-A-6-122374 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B62D 5 / 04

Claims (1)

(57) [Claims] And determining a driving direction and a driving torque of a steering assist motor in accordance with steering of a steering wheel, and outputting a direction signal and a torque signal to the steering assist motor based on the driving direction and the driving torque. First control means for checking the operation of the power steering control device and outputting an energizing signal for energizing a fail-safe relay shared by the power steering control device and the ABS device; a wheel speed signal and a brake detection signal Outputs a brake actuation signal of the wheel in accordance with the steering wheel, determines at least a drive direction of the steering assist motor in accordance with the steering of the steering wheel, and outputs a direction signal to the steering assist motor based on the drive direction. to co to, to check the operation of the ABS device outputs an energizing signal for energizing the fail safe relay Control means for controlling the operation of the fail-safe relay according to the energizing signals from the first control means and the second control means, and supplying power to the circuits of the power steering control device and the ABS device. Power supply control means for controlling the supply of
A control device for a vehicle, wherein when one of the power steering control device and the ABS device fails, the interruption of power supply to each of the circuits is temporarily suspended.