JP3352789B2 - Vehicle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yaw rate detecting means for detecting a yaw rate generated when a vehicle turns, and a behavior changing means for changing the behavior of the vehicle based on a detection signal output from the yaw rate detecting means. And a control device for a vehicle comprising:

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. 4-254259, for example, an actual yaw rate detected by a yaw rate sensor is compared with an estimated yaw rate calculated from a speed difference between right and left wheels, and the estimated yaw rate is calculated. When the difference between the yaw rate sensor and the actual yaw rate is larger than a preset reference value, it is determined that a failure has occurred in the yaw rate sensor.

[0003]

The estimated yaw rate obtained by the yaw rate estimating means from the speed difference between the left and right wheels and the actual yaw rate detected by the yaw rate detecting means change according to the running state of the vehicle, for example, the turning state. However, since there is a difference in the time at which this change occurs, by comparing the difference between the actual yaw rate and the estimated yaw rate with a single reference value set in advance, the yaw rate detecting means including the yaw rate sensor fails. If it is configured to determine whether or not the failure has occurred, there is a problem that it is difficult to accurately determine this failure.

[0004] That is, when the steering wheel is steered sharply at a high speed, as shown in FIG. 5, the estimated yaw rate obtained by the yaw rate estimating means changes and the actual yaw rate detected by the yaw rate detecting means changes. There is a problem that a large time lag occurs between the two values, so that an erroneous determination is likely to occur when the reference value is set to a small value.

Conversely, as shown in FIG. 6, there is a time lag between the time when the estimated yaw rate Yp obtained by the yaw rate estimating means changes and the time when the actual yaw rate Yn detected by the yaw rate detecting means changes. When the reference value is set to a large value during a small gentle turn,
When the detection error caused by the failure of the yaw rate sensor is small, there is a problem that a quick failure determination cannot be performed.

[0006] The present invention has been made to solve the above problems, an erroneous determination without causing, intended to allow determination accurately and quickly that the failure of the yaw rate detection means has occurred And

[0007]

The invention according to claim 1 is
A yaw rate estimating means for estimating a yaw rate in a vehicle control device including a yaw rate detecting means for detecting a yaw rate of the vehicle, and a behavior changing means for changing a behavior of the vehicle based on a detected value of the yaw rate detecting means; Failure determination means for determining that a failure has occurred in the yaw rate detection means when the difference between the estimated value of the yaw rate estimated by the yaw rate estimation means and the detected value of the yaw rate detected by the yaw rate detection means is equal to or greater than a reference value. And the vehicle speed detecting means for detecting the vehicle speed and the steering speed.
A traveling comprising at least one of steering speed detecting means for detecting
The running state detecting means and the traveling state detecting means.
The above failure judgment is performed according to the detected value of the detected vehicle speed or steering speed.
And a reference value setting means for setting a reference value for use .

[0008] The invention according to claim 2 is the above-described claim 1.
In the vehicle control device according to
The higher the issued steering speed, the larger the reference value for failure determination.
It is set to a suitable value .

[0009] The invention according to claim 3 is the above-mentioned claim 1.
In the vehicle control device according to
The higher the issued vehicle speed, the larger the reference value for failure determination
It is set to a value .

According to a fourth aspect of the present invention, there is provided a vehicle yaw rate.
Detecting means for detecting the yaw rate, and detecting the yaw rate
Behavior change that changes the behavior of the vehicle based on the detection value of the means
Means for controlling the yaw rate of the vehicle.
Means for estimating the yaw rate, and the yaw rate estimating means
Of the yaw rate estimated by the step and the yaw rate
The detected value of the yaw rate detected by the
The yaw rate detection method when the difference
Failure determination means for determining that a failure has occurred in the stage;
The larger the estimated value of the rate estimating means is,
Reference value setting means for setting the reference value to a large value .

According to a fifth aspect of the present invention, there is provided a vehicle yaw rate.
Detecting means for detecting the yaw rate, and detecting the yaw rate
Behavior change that changes the behavior of the vehicle based on the detection value of the means
Means for controlling the yaw rate of the vehicle.
Means for estimating the yaw rate, and the yaw rate estimating means
Of the yaw rate estimated by the step and the yaw rate
The detected value of the yaw rate detected by the
The yaw rate detection method when the difference
Failure determination means for determining that a failure has occurred in a stage;
For the above failure judgment according to the rate of change of the target control value of the changing means
And a reference value setting means for setting the reference value .

The invention according to claim 6 is the above-described claim 5.
The target control value of the behavior changing means
The larger the rate of change of the value, the larger the reference value for failure determination
To set.

According to a seventh aspect of the present invention, there is provided a vehicle yaw rate.
Detecting means for detecting the yaw rate, and detecting the yaw rate
Behavior change that changes the behavior of the vehicle based on the detection value of the means
Means for controlling the yaw rate of the vehicle.
Means for estimating the yaw rate, and the yaw rate estimating means
Of the yaw rate estimated by the step and the yaw rate
The detected value of the yaw rate detected by the
The yaw rate detection method when the difference
Failure determination means for determining that a failure has occurred in the stage;
Of the estimated value of the yaw rate estimated by the rate estimating means.
A change rate detecting means for detecting a change rate; and a change rate detecting means.
The rate of change of the yaw rate estimate detected by the step is large.
The basis for setting the reference value for failure determination to a larger value
Quasi-value setting means.

[0014]

SUMMARY OF] According to the invention of the first aspect, since the reference value serving as a criterion for determining whether a failure has occurred on the yaw rate detection means is set to a value corresponding to the running state of the vehicle, erroneous
Without making a determination, a failure determination of the yaw rate detecting means adapted to the running state of the vehicle is performed based on the reference value.

According to the second aspect of the present invention, the traveling state
Detected by the steering speed detecting means constituting the state detecting means.
If the steering speed is high, the detected steering speed
Is larger than the case where
By setting the value to a value, a failure determination suitable for the steering speed is performed.

According to the third aspect of the invention, the traveling state
Detected by the vehicle speed detecting means constituting the state detecting means.
When the vehicle speed is high, the detected value of this vehicle speed is low
The reference value for failure determination is set to a larger value than
As a result, a failure judgment suitable for the vehicle speed is performed.
Will be.

According to the invention described in claim 4, wherein, the reference value for the failure determination according to the magnitude of the yaw rate estimated value estimated by the yaw rate estimating means is increased or decreased, the yo
-If the rate estimate is large,
The reference value for failure determination is set to a larger value than
As a result, a failure determination suitable for the turning state of the vehicle is made.

According to the fifth aspect of the present invention, the reference value for failure determination is increased or decreased according to the rate of change of the target control value set by the vehicle behavior changing means. Will be determined.

According to the sixth aspect of the present invention, the vehicle
The rate of change of the target control value set by the behavior changing means is
If the change rate is large,
By setting the reference value for failure determination to a large value
Failure judgment that is appropriate for changes in vehicle behavior
become.

According to the seventh aspect of the present invention, the rate of change
Changes in the estimated value of the yaw rate detected by the detecting means
The reference value for failure determination is increased or decreased according to the
-If the rate of change is large, the rate of change is small.
The reference value for failure determination is set to a larger value than
Is determined by the
Failure determination will be performed.

[0021]

FIG. 1 shows an example in which a vehicle control device according to the present invention is applied to a four-wheel steering device of a vehicle. The four-wheel steering system includes a front wheel steering mechanism 3 for steering left and right front wheels 1 and 2.
And a rear wheel turning mechanism 6 for turning the left and right rear wheels 4 and 5 in accordance with the turning of the front wheels 1 and 2.

The front wheel steering mechanism 3 includes a pair of knuckle arms 7, 8 and tie rods 9, 10, a relay rod 11 connecting the tie rods 9, 10 to each other, and a rack (not shown) formed on the relay rod 11. (Not shown) and a steering mechanism 14 having a steering shaft 13 provided with a pinion 12 meshing with a lower end thereof. The front wheel steering mechanism 3 steers the left and right front wheels 1 and 2 by sliding the relay rod 11 in the vehicle width direction in accordance with the operation displacement amount of the steering handle, that is, the steering angle. It is configured.

The rear wheel steering mechanism 6 includes a pair of knuckle arms 15, 16 and tie rods 17, 18, and a relay rod 19 for connecting the tie rods 17, 18 to each other.
And a servomotor 20 serving as a drive source for steering the left and right rear wheels 4 and 5, and a reduction gear mechanism 21 for transmitting the driving force of the servomotor 20 to the relay rod 19. The rear wheel steering mechanism 6 includes the servo motor 2
The left and right rear wheels 4, 5 are steered by slidingly displacing the relay rod 19 in the vehicle width direction according to the zero driving force.

The rear wheel steering mechanism 6 includes a clutch 22 provided on the reduction gear mechanism 21 and a neutral position urging means including a spring 23 for urging the relay rod 19 to a neutral position. A fail-safe mechanism 24 is provided. The fail-safe mechanism 24 disconnects the clutch 22 and disconnects the transmission of the driving force from the servo motor 20 to the relay rod 19 at the time of a failure such as when the servo motor 20 fails. The relay rod 19 is held at the neutral position by the urging force of the above, and a fail-safe state in which the turning of the rear wheels 4 and 5 is prohibited is configured.

The vehicle includes a steering angle sensor 25 for detecting a steering angle of the steering wheel, a steering ratio sensor 26 for detecting a steering ratio of the rear wheels 4 and 5 to the front wheels 1 and 2, and left and right front wheels 1 and 2. And a wheel speed sensor 27 for detecting wheel speeds of the rear wheels 4 and 5
A yaw rate sensor 28 for detecting a yaw rate generated when the vehicle turns, and a controller 29 for controlling the rotation of the servomotor 20 according to the detected signals.
And a steering speed detecting means 40 for differentiating the detection value of the steering angle sensor 25 to detect the operation speed of the steering link handle. The wheel speed sensor 27 also has a function of vehicle speed detecting means for detecting the vehicle speed from the average value of the wheel speeds of the driven wheels, for example, the left and right rear wheels 4 and 5.

The controller 29 includes a yaw rate storage means 30 for storing the detected value of the yaw rate detected by the yaw rate sensor 28, and a yaw rate estimating means 31 for estimating the yaw rate of the vehicle according to the detected value of the wheel speed sensor 27. A failure determining means 32 for comparing the estimated value of the yaw rate with a detected value of the yaw rate detected by the yaw rate sensor 28 to determine whether or not a failure has occurred in the yaw rate sensor 28; A timer 33 for counting a predetermined time in accordance with the output signal; and an update controller 3 for permitting or inhibiting updating of data stored in the yaw rate storage 30.
4, the wheel speed sensor 26 and the steering speed detecting means 4
Reference value setting means 35 for setting a reference value for failure determination in the failure determination means 32 based on the detected value of 0 .

The controller 29 includes a control mode selecting means 36 for selecting a control mode for rear wheel steering in accordance with the result of the determination by the failure determining means 32, a result of the selection, the detected value of the steering angle and the yaw rate. Turning ratio setting means 37 for setting the target turning ratio of the rear wheels 4 and 5 based on the detected value of the vehicle speed and the detected value of the vehicle speed, and a control signal corresponding to the set value of the target turning ratio. A rear wheel steering control means 39 for controlling the operating state of the servo motor 20 by outputting the output to the control signal 38 is provided.

The yaw rate storage means 30 receives the output signals of the yaw rate sensor 28 and the update control means 34, updates and stores the previous stored value of the yaw rate based on the update permission signal from the update control means 34, Further, it is configured to hold the previous stored data based on the update prohibition signal and output the stored values of these yaw rates to the turning ratio setting means 37.

The yaw rate estimating means 31 calculates an estimated value of the yaw rate from the difference between the wheel speeds of the left and right rear wheels 4 and 5 based on the detected value of the wheel speed sensor 27, and uses the estimated value of the yaw rate as the failure determining means 32 Is configured to be output. That is, assuming that the wheel speed difference between the left and right rear wheels 4 and 5 is VL and VR, respectively, and the tread width of the vehicle is Tb, the estimated value Yp of the yaw rate is calculated based on the following equation 1.

[0030]

Yp = | K1 × (VR−VL) | / Tb In the above equation 1, K1 is a constant.

The time counting means 33 starts time counting from the time when the first failure determination signal is output from the failure determination means 32, and when a predetermined time elapses,
It is configured to output an elapse signal of a predetermined time to the failure determination means 32.

The failure determining means 32 calculates the yaw rate estimated value Yb calculated by the yaw rate estimating means 31,
The state in which the absolute value | Δ | of the difference between the detected value Yn of the yaw rate detected by the yaw rate sensor 28 and the reference value C for failure determination set by the reference value setting means 35 is the predetermined time period When the operation continues for a long time, it is determined that a failure has occurred in the yaw rate sensor 28 and a failure signal is output to the control mode selection means 36.

Further, the update control means 34 detects the absolute value of the current detected value Yn of the yaw rate detected by the yaw rate sensor 28 within the predetermined time and detects the absolute value of the previous yaw rate stored in the yaw rate storage means 30. Value Yn
If the absolute value is greater than or equal to _1, the yaw rate storage means 3
0 is permitted to be updated, and the absolute value of the detected value Yn of the yaw rate is equal to the previous detected value Yn- ₁ of the yaw rate.
When the absolute value is smaller than the absolute value of the yaw rate, a signal for inhibiting the update of the data stored in the yaw rate storing means 30 is output to the yaw rate storing means 30.

As shown in FIG. 3, the reference value setting means 35 includes a reference value setting map using the vehicle speed V and the steering speed dθh / dt as parameters, a detection value of the wheel speed sensor 27, and a steering speed detection value. Based on the detection value of the means 40 , a reference value C for failure determination corresponding to the running state of the vehicle is read, and this value is output to the failure determination means 32.

The control mode selection means 36 responds to the output signal from the failure determination means 32 by the first control mode A1,
Selects one of the second control mode A2 and the third control mode B, and the control mode signal being configured such that be output to the steering ratio calculating means 37. That is, when an update permission signal is input from the update control means 34 via the yaw rate storage means 30 and the failure detection means 32, the first value based on the current yaw rate detection value Yn detected by the yaw rate sensor 28 is used. The control mode A1 is selected.

The control mode selecting means 36 executes a control based on the previous detected value Yn- ₁ of the yaw rate when the update prohibition signal is output via the failure detecting means 32. Is selected, and when a failure determination signal is output via the failure detection means 32, control based on the detection values of the steering angle sensor 25 and the wheel speed sensor 27 is executed, or rear wheel steering is prohibited. The third control mode B is selected.

The turning ratio setting means 37 responds to output signals from the steering angle sensor 25, the wheel speed sensor 27, the yaw rate sensor 27 and the control mode selecting means 36,
A target steering ratio of the rear wheels 4 and 5 with respect to the front wheels 1 and 2 is calculated and set according to a predetermined steering ratio characteristic set in advance, and a control signal corresponding to the target steering ratio is transmitted to the rear wheel steering ratio. It is configured to output to the control means 39.

When the mode signal of the first control mode A1 is input from the control mode selection means 36, the turning ratio setting means 37 calculates the current yaw rate detection value detected by the yaw rate sensor 27. When a mode signal of the second control mode A2 is output from the control mode selection means 36 to the rear wheel steering control means 39,
It is configured to output the previous detected value of the yaw rate stored in the yaw rate storage means 30 to the rear wheel turning control means 39.

Further, when the mode signal of the third control mode B is input from the control mode selecting means 36, the turning ratio setting means 37 outputs the detection signals of the steering angle sensor 25 and the wheel speed sensor 27 to the rear wheel. Output to the rudder control means 39,
When a mode signal for two-wheel steering control is input, a rear-wheel steering stop signal is output to the rear-wheel steering control means 39.

The rear wheel turning control means 39 determines whether the rear wheels 4, 5 are on the basis of the target turning ratio set by the turning ratio setting means 37 and the steering angle detected by the steering angle sensor 25.
Of the rear wheels 4 and 5 with respect to the front wheels 1 and 2 detected by the steering ratio sensor 26, and the feedback control of the steering angle is performed. The servo motor 20 is operated by outputting a corresponding control signal to the motor drive circuit 38.

Further, when the rear wheel steering stop signal is output from the steering ratio calculating means 37, the rear wheel turning control means 39 releases the clutch 22 to release the spring 23.
The urging force of the neutral urging means consisting of
1 is held in the neutral position.

The control of setting the control mode by the controller 29 will be described with reference to the flowchart shown in FIG. When the control operation starts, first, in step S1
, The steering angle θh and the steering speed dθh
After reading the / dt, the vehicle speed V, the detected value Yn of the yaw rate, and the like, in step S2, an estimated value Yb of the yaw rate of the vehicle is calculated from the wheel speed difference between the left and right rear wheels 1 and 2.

Next, in step S3, a reference value C for failure determination corresponding to the vehicle speed V and the steering speed dθh / dt is set from the map shown in FIG. 3, and in step S4, the estimated value Yb of the yaw rate is set. It is determined whether or not the absolute value | Δ | of the difference between the detected value and the yaw rate detection value Yn is equal to or greater than the reference value C. If the determination result is NO and it is confirmed that the absolute value | Δ | is smaller than the reference value C, it is considered that the yaw rate sensor 28 is operating normally. 33
In step S6, the rear wheel steering control based on the first control mode A1 is executed.

If the determination in step S4 is YES, and it is confirmed that the difference absolute value | Δ | between the yaw rate estimated value Yb and the yaw rate detected value Yn is larger than the reference value C, Is the yaw rate sensor 28
In step S7, it is determined whether or not the count value t of the time counting means 33 counted from the output time of the first failure determination signal is equal to or longer than a predetermined time T set in advance. judge.

If the decision result in the step S7 is NO, the count value t is incremented in a step S8, and in a step S9, the absolute value of the detected value Yn of the present yaw rate is changed to the value of the previous yaw rate. It is determined whether or not the detected value Yn- ₁ is equal to or greater than the absolute value.
If the result of this determination is YES, step S10
, The data in the yaw rate storage means 30 is updated.

If the determination result in step S9 is NO, and it is confirmed that the absolute value of the detected value Yn of the present yaw rate is smaller than the absolute value of the detected value Yn- ₁ of the previous yaw rate, In step S11, updating of the data in the yaw rate storage means 30 is prohibited. Thereafter, in step S12, the previous detected value Yn- ₁ of the previous yaw rate stored in the yaw rate storage means 30.
After executing the rear wheel steering control in the second control mode A2 based on the control, the process returns to step S1.

In step S7, the determination is YES, and the estimated yaw rate Yb and the detected yaw rate Yn
When it is confirmed that the state where the absolute value | Δ | of the difference from the reference value C is larger than the reference value C has continued for a predetermined time T or more, it is determined that the yaw rate sensor 28 has failed, and After clearing the count value t in S13, in step S14, the steering angle sensor 25
Alternatively, the control in the third control mode B based on the detected value of the wheel speed sensor 27 or the like is executed, and the rear wheel steering control based on the detected value of the yaw rate sensor 28 is stopped.

As described above, based on the reference value setting map shown in FIG. 3 and the vehicle speed V and the steering speed dθh / dt, the failure determination reference value C corresponding to the running state is set. By comparing the reference value C with the absolute value | Δ | of the difference between the estimated value Yb of the yaw rate and the detected value Yn of the yaw rate, it is determined whether or not the yaw rate detecting means including the yaw rate sensor 28 has failed. Since the determination is made, the failure of the yaw rate sensor 28 can be accurately detected without causing an erroneous determination.

For example, as shown in FIG. 5, at the time of a sharp turn in which a large time lag occurs between the time when the estimated value Yp of the yaw rate changes and the time when the detected value Yn of the yaw rate changes, the reference value C is used as the reference value C. Since a large value is set, it is possible to effectively prevent the occurrence of an erroneous determination due to the deviation. In addition, as shown in FIG. 6, when the vehicle is slowly turning with a small time lag between the time when the estimated value of the yaw rate changes and the time when the detected value of the yaw rate changes, a small value is set as the reference value C. Therefore, the occurrence of the failure can be determined quickly and accurately.

Further, when the vehicle speed is high, a large value is set as the reference value C, and when the vehicle speed is low, a small value is set as the reference value. Therefore, the estimation of the yaw rate that changes according to the running speed of the vehicle is performed. It is possible to prevent erroneous determination due to a time lag between the time when the value changes and the time when the detected value of the yaw rate changes, and accurately detect whether or not a failure has occurred in the yaw rate sensor 28.

In the above embodiment, the set value of the reference value C is changed in accordance with both the vehicle speed V and the steering speed dθh / dt. The reference value C may be set based on either one.

Further, as shown in FIG. 7, a structure may be provided in which a reference value setting means 35 for setting a reference value C for failure determination according to the estimated value of the yaw rate estimating means 31 is provided. Then, as shown in FIG. 8, the estimated value of the yaw rate Y
The reference value C corresponding to the estimated value Yp of the yaw rate calculated by the yaw rate estimating means 31 may be read and set from a reference value setting map having p as a parameter. According to this configuration, it is possible to perform an appropriate failure determination corresponding to a change state of the yaw rate of the vehicle that changes according to a turning state of the vehicle.

As shown in FIG. 9, the target control value of the vehicle behavior changing means comprising the rear wheel turning mechanism 6 set by the turning ratio setting means 37, that is, the rear wheels 4 with respect to the front wheels 1 and 2, The reference value setting means 35 for setting the reference value C for failure determination based on the change rate of the target turning ratio of No. 5 may be provided. Then, as shown in FIG.
From the reference value setting map using the change rate dθr / dt of the target turning ratio as a parameter, the turning ratio setting means 37 is used.
Change rate d of the target turning ratio calculated according to the set value of
The reference value C corresponding to θr / dt may be read and set. According to this configuration, it is possible to execute the failure determination control adapted to the change in the behavior of the vehicle caused by the operation of the behavior changing means.

As shown in FIG. 11, the estimated value Yp of the yaw rate estimated by the yaw rate
Rate change means 41 for detecting the rate of change of the estimated yaw rate by differentiating
And a reference value setting means 35 for setting the reference value C for failure determination in accordance with the detected value of. Then, as shown in FIG.
The reference value C corresponding to the detected value of the change rate detecting means 41 may be read from the reference value setting map using the rate dYp / dt as a parameter and set. According to this configuration, it is possible to perform a failure determination that matches the rate of change of the turning state of the vehicle.

Further, in the above embodiment, the absolute value | Δ | of the difference between the estimated value Yb of the yaw rate and the detected value Yn of the yaw rate.
However, since it is determined that a failure has occurred in the yaw rate sensor 28 when it is confirmed that the state greater than the reference value C has continued for a predetermined time T or more, this failure has not occurred. Nevertheless, when the absolute value | Δ | temporarily increases in response to detection noise or the like, it is possible to prevent the yaw rate sensor 28 from being erroneously determined to have failed.

As shown in FIG. 13, when it is confirmed in step S4 that the absolute value | Δ | of the difference between the estimated value Yb of the yaw rate and the detected value Yn of the yaw rate is equal to or larger than the reference value C. In step S15, it is determined whether or not the differential value d | Δ | / dt of the absolute value is greater than a predetermined value D, thereby increasing the absolute value | Δ | To determine whether or not
When the result of this determination is YES, a configuration may be adopted in which it is determined that the failure has occurred and the process proceeds to step S13.

According to the above configuration, it is possible to promptly detect that a failure has occurred in the yaw rate sensor 28 while preventing erroneous determination due to the noise or the like. In addition,
The set value D may be set to 0, and it may be determined in step S4 whether or not the sign of the differential value d | Δ | / dt of the absolute value is positive.

Further, in the above-described embodiment, an example has been described in which the present invention is applied to a vehicle having a vehicle behavior changing means including the rear wheel steering mechanism 6, but the front wheels 1, 2 are replaced with the rear wheel steering mechanism 6. The present invention may be applied to a vehicle having a power steering mechanism for assisting the steering force. Further, the present invention can be applied to a vehicle in which one of the front wheels 1 and 2 or the rear wheels 4 and 5 is driven by an engine and the other is driven by an actuator such as a hydraulic motor.

[0059]

As described above, the present invention sets a reference value for failure determination corresponding to the running state of a vehicle based on the detected value of the running state detecting means, and sets the yaw rate estimated by the yaw rate estimating means. And comparing the difference between the detected value of the yaw rate detected by the yaw rate detecting means and the reference value to determine whether or not the yaw rate detecting means has failed. Can quickly and accurately detect a failure in the yaw rate detecting means without causing an erroneous determination caused by a change in the yaw rate.

Therefore, when the yaw rate detecting means is operating properly, the control for changing the behavior of the vehicle in accordance with the detected value can be properly executed, and when the yaw rate detecting means fails. In addition, it is possible to reliably prevent a situation in which the vehicle behavior change control is executed based on an erroneous detection value.

If the reference value is changed in accordance with the detected value of at least one of the vehicle speed detecting means and the steering speed detecting means, a failure judgment suitable for the change of the vehicle speed or the steering speed is executed. Erroneous determination may occur due to the above reference value being too small,
There is an advantage that the failure of the yaw rate detecting means can be detected quickly and accurately without the accuracy of the failure determination being reduced due to the excessively large reference value.

In the case where the reference value corresponding to the estimated value of the yaw rate calculated by the yaw rate estimating means is set, it corresponds to the changing state of the yaw rate of the vehicle which changes according to the turning state of the vehicle. There is an advantage that a failure of the yaw rate detecting means can be quickly and accurately detected based on the reference value set in advance.

Further, according to the configuration in which the set value of the reference value is changed in accordance with the change rate of the target control value set by the vehicle behavior changing means, the vehicle generated when the behavior changing means operates. This makes it possible to quickly detect that a failure has occurred in the yaw rate detecting means without causing an erroneous determination.

If a reference value for failure determination corresponding to the rate of change of the yaw rate estimated value is set, a failure determination adapted to the rate of change of the turning state of the vehicle is executed and an erroneous determination is made. Therefore, there is an advantage that the occurrence of a failure in the yaw rate detecting means can be quickly detected without causing the above.

[Brief description of the drawings]

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

FIG. 2 is a block diagram showing a main part of the control device.

FIG. 3 is a graph showing a map for setting a reference value.

FIG. 4 is a flowchart showing a control operation of the control device.

FIG. 5 is a graph showing a change state of a yaw rate during a sharp turn.

FIG. 6 is a graph showing a change state of a yaw rate during gentle turning.

FIG. 7 is a block diagram showing another embodiment of the control device.

FIG. 8 is a graph showing another example of a reference value setting map.

FIG. 9 is a block diagram showing still another embodiment of the control device.

FIG. 10 is a graph showing still another example of a reference value setting map.

FIG. 11 is a block diagram showing still another embodiment of the control device.

FIG. 12 is a graph showing still another example of a reference value setting map.

FIG. 13 is a flowchart showing another example of the control operation of the control device.

[Explanation of symbols]

Reference Signs List 6 rear wheel steering mechanism (behavior changing means) 25 steering angle sensor (steering speed detecting means) 27 wheel speed sensor (vehicle speed detecting means) 28 yaw rate sensor (yaw rate detecting means) 31 yaw rate estimating means 32 failure detecting means 35 reference value setting means 40 steering speed detecting means 41 change rate detecting means

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ identification code FI B62D 137: 00 B62D 137: 00 (58) Investigated field (Int.Cl. ⁷ , DB name) B62D 6/00-6/06

Claims (7)

(57) [Claims] 1. A yaw rate estimating a yaw rate in a vehicle control device including a yaw rate detecting means for detecting a yaw rate of the vehicle and a behavior changing means for changing a behavior of the vehicle based on a detected value of the yaw rate detecting means. A failure in the yaw rate detecting means when a difference between the estimated value of the yaw rate estimated by the yaw rate estimating means and the detected value of the yaw rate detected by the yaw rate detecting means is equal to or more than a reference value; Failure determination means for determining, vehicle speed detection means for detecting vehicle speed, and
And at least steering speed detecting means for detecting the steering speed.
A traveling state detecting means comprising one of the traveling state detecting means;
According to the detected vehicle speed or steering speed detected by the gear
And a reference value setting means for setting the reference value for failure determination . 2. The steering detected by a traveling state detecting means.
The higher the speed, the larger the reference value for failure judgment is set.
Control apparatus for a vehicle according to claim 1, characterized in that the. 3. The vehicle speed detected by the traveling state detecting means.
The control device for a vehicle according to claim 1 , wherein the larger the value is, the larger the reference value for failure determination is set . 4. A yaw rate for detecting a yaw rate of a vehicle.
Detecting means and a detection value of the yaw rate detecting means.
And a behavior changing means for changing the behavior of the vehicle by
In the control device, the yaw rate estimation for estimating the yaw rate is performed.
Setting means and the yaw rate estimating means
By the estimated value of the yaw rate and the above yaw rate detecting means
If the difference between the detected yaw rate and the detected value is
The yaw rate detection means has failed.
Failure determination means for determining the yaw rate estimation means
The larger the value, the larger the reference value for failure determination
A control device for a vehicle, comprising: a reference value setting means for setting a reference value . 5. A yaw rate for detecting a yaw rate of a vehicle.
Detecting means and a detection value of the yaw rate detecting means.
Te of the vehicle For example Bei and behavior change means for changing the behavior of the vehicle
In the control device, the yaw rate estimation for estimating the yaw rate is performed.
Setting means and the yaw rate estimating means
By the estimated value of the yaw rate and the above yaw rate detecting means
If the difference between the detected yaw rate and the detected value is
The yaw rate detection means has failed.
Failure determination means to be determined, and a target control value of the behavior changing means.
For setting the reference value for failure determination according to the rate of change of
A control device for a vehicle, comprising a quasi-value setting means . 6. The change rate of a target control value of a behavior changing means is large.
Set the reference value for failure judgment to a larger value
The vehicle control device according to claim 5, wherein: 7. A yaw rate for detecting a yaw rate of a vehicle.
Detecting means and a detection value of the yaw rate detecting means.
And a behavior changing means for changing the behavior of the vehicle by
In the control device, the yaw rate estimation for estimating the yaw rate is performed.
Setting means and the yaw rate estimating means
By the estimated value of the yaw rate and the above yaw rate detecting means
If the difference between the detected yaw rate and the detected value is
The yaw rate detection means has failed.
Failure determination means to determine the yaw rate estimation means
Changes to detect the rate of change of the estimated yaw rate
Rate detecting means, and the yaw rate detected by the change rate detecting means.
-The higher the rate of change of the estimated value of the rate,
Reference value setting means for setting the reference value of
A control device for a vehicle.