JP3694104B2 - Yaw rate sensor fault diagnosis device - Google Patents

Yaw rate sensor fault diagnosis device Download PDF

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JP3694104B2
JP3694104B2 JP13439896A JP13439896A JP3694104B2 JP 3694104 B2 JP3694104 B2 JP 3694104B2 JP 13439896 A JP13439896 A JP 13439896A JP 13439896 A JP13439896 A JP 13439896A JP 3694104 B2 JP3694104 B2 JP 3694104B2
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Prior art keywords
yaw rate
value
rate sensor
road
failure diagnosis
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JPH09297153A (en
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好恭 飽田
清志 若松
学 池谷
幸広 藤原
英士 実方
恭司 浜本
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Honda Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は、車両挙動のフィードバック制御に用いるヨーレイトセンサの故障を診断するためのヨーレイトセンサ故障診断装置に関するものである。
【０００２】
【従来の技術】
運転者の前輪操舵量などから演算したモデルヨーレイト値と、ヨーレイトセンサで検出した実ヨーレイト値とを一致させるように、フィードバック制御（以下、Ｆ／Ｂ制御）で後輪舵角を制御するように構成した４輪操舵システムが公知となっている（特開平７−２３７５５７号公報など参照）。この種のＦ／Ｂ制御によって車両挙動を制御する車両は、実ヨーレイトを検出するセンサが異常を来すと正常なＦ／Ｂ制御が行えなくなる。そこで本出願人は、特願平７−１８０９０９号明細書に於いて、従動輪の左右の回転速度差から求めた推定ヨーレイト値とヨーレイトセンサの出力値とを比較し、その偏差が所定の基準値を超えたか否かでセンサの故障診断を行うようにしたヨーレイトセンサ故障診断装置を提案した。
【０００３】
【発明が解決しようとする課題】
ところが、上記の技術によると、例えば砂利道などの悪路走行時には、従動輪の左右速度差が不規則的に変化するので、これに基づくヨーレイト推定値が疑わしくなり、推定値と実値とを比較する故障診断自体が信頼できなくなることが考えられる。そのため、悪路走行時にヨーレイトセンサが故障していなくても故障と診断される誤診断が発生し、ヨーレイトに基づくＦ／Ｂ制御が行えなくなる可能性がある。
【０００４】
本発明は、このような従来技術の問題点を解消し、悪路走行時にも故障診断を確実に行うことができるヨーレイトセンサ故障診断装置を提供することを目的とするものである。
【０００５】
【課題を解決するための手段】
このような目的を果たすために、本発明は、少なくとも操向車輪の操舵量から演算したモデルヨーレイトに一致させるように車両挙動をフィードバック制御するのに用いる実ヨーレイトを検出するためのヨーレイトセンサの故障を、従動輪の左右の回転速度差から求めた推定ヨーレイト値と当該ヨーレイトセンサの出力値との偏差に基づいて診断するヨーレイトセンサ故障診断装置に於いて、路面の不整状況を判別する悪路判定手段を備え、ヨーレイトセンサの故障診断に用いる基準値として、良路の場合には、前記推定ヨーレイト値に基づいて得られる値を用い、悪路判定が下された際には、前記良路の場合の基準値よりも高く且つ前記推定ヨーレイト値に無関係な一定の値を設定するようにした。
【０００６】
【発明の実施の形態】
以下に添付の図面を参照して本発明の構成を詳細に説明する。
【０００７】
本発明によるヨーレイトセンサの故障診断システムのブロック図を図１に示す。この故障診断システムに於いては、ヨーレイトセンサ１から出力される実ヨーレイト値γSENSと、従動輪の左右速度差から求めた推定ヨーレイト値γKALMとの偏差を演算し、この値に絶対値処理２を加えた値をエラー量γERとして故障診断ブロック３に入力する。故障診断ブロック３では、実ヨーレイト値γSENSと推定ヨーレイト値γKALMとの偏差から求めたエラー量γERが、故障診断の基準値として設定されたしきい値γSHF 以上か否かを判別すると同時に、しきい値以上の状態がある所定時間継続したか否かを判別し、エラー量γERがしきい値γSHF を超えた状態が所定時間継続した場合は、ヨーレイトセンサ１が故障しているものとの診断を下す。またエラー量γERがしきい値γSHF 以下であったり、しきい値以上でも継続時間が短かったりする場合は、ヨーレイトセンサ１は正常なものとの診断を下す。
【０００８】
推定ヨーレイト値γKALMは、先ず、従動輪である左・右後輪にそれぞれ設けた後輪速センサ４Ｌ・４Ｒからの左後輪速信号と右後輪速信号との偏差をヨーレイト変換ゲイン設定器５に入力し、予め実験で求めた係数を乗算して静的推定ヨーレイト信号γVWを得る。次にこの静的推定ヨーレイト信号γVWを、操舵角センサ６からの操舵角信号θSWとリア舵角センサ７からのリア舵角信号θR と共にカルマンフィルタ８に入力し、動的推定ヨーレイト信号γEST に変換する。
【０００９】
その一方で、静的推定ヨーレイト信号γVWと動的推定ヨーレイト信号γEST とを非線形領域補償ブロック９に入力し、線形補償した信号を得て、これを動的推定ヨーレイト信号γEST に加算し、かつ絶対値処理することにより、上記実ヨーレイト値γSENSとの比較に用いる推定ヨーレイト値γKALMを得る。
【００１０】
なお、悪路走行時には両後輪速センサ４Ｌ・４Ｒからの信号精度が劣化するので、後記の悪路判定時にはスイッチ手段１０をオフすることにより、線形補償した信号は推定ヨーレイト値γKALMから除外される。
【００１１】
他方、線形補償された信号は、車体振動などに起因するヨーレイトセンサの中立点付近で発生する有害なノイズを除去するために不感帯処理１１及び絶対値処理１２を加えられ、故障診断用しきい値のベース値とされる。なお、このしきい値のベース値も、悪路判定が下された時にはしきい値から除外される。
【００１２】
本システムには、路面の不整状況を判断するための悪路判定ブロック１４が設けられている。この悪路判定に関しては、特開平６４−２９６３６号公報に開示された手法を適用し得るので、ここでは詳しい説明は割愛するが、大略説明すると、悪路走行時には、従動輪の左右輪速差が良路走行時とは比較にならないほどノイジーになることから、左・右両後輪速センサ４Ｌ・４Ｒの出力の偏差から求めた静的推定ヨーレイト信号γVWからバンドパスフィルタを介してある特定の周波数成分を抽出し、その信号の絶対値を、悪路判定を行うための所定のしきい値と比較し、しきい値より大なら悪路と判断するようにしている。なお、判定しきい値は、悪路走行時の車両の走行状態によっても車輪速が変化するので、車速や横加速度に応じて変更することが望ましい。
【００１３】
そしてこの悪路判定ブロック１４での判定結果に従い、現状が悪路走行中であると判定された場合は、故障診断しきい値の加算値を選択するスイッチ手段１５が切り替わり、通常は３ｄｅｇ／ｓを加算値として出力していたのが、３０ｄｅｇ／ｓを出力するようになる。つまり、通常の良路ではベースしきい値に３ｄｅｇ／ｓを加算していた故障診断基準値が、悪路判定されると、基準値が一律に３０ｄｅｇ／ｓに置き換わる。これにより、ヨーレイトセンサ１の故障診断に用いる基準値が、悪路走行時には通常時よりも大きく設定され、誤診断が下されることが防止される。
【００１４】
【発明の効果】
このように本発明によれば、悪路走行時にはヨーレイトセンサの故障診断のしきい値を通常時よりも高めることにより、故障診断の確実性を高め、悪路走行中に誤診断に起因してヨーレイトに基づくＦ／Ｂ制御が行われなくなることが防止される。従って、制御の安定性を確保する上に大きな効果を得ることができる。
【図面の簡単な説明】
【図１】本発明によるヨーレイトセンサ故障診断装置の制御ブロック図
【符号の説明】
１ ヨーレイトセンサ
２ 絶対値処理
３ 故障診断ブロック
４ 車輪速センサ
５ ヨーレイト変換ゲイン設定機
６ 操舵角センサ
７ リア舵角センサ
８ カルマンフィルタ
９ 非線形領域補償ブロック
１０ スイッチ手段
１１ 不感帯処理
１２ 絶対値処理
１４ 悪路判定ブロック
１５ スイッチ手段[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a yaw rate sensor failure diagnosis apparatus for diagnosing a failure of a yaw rate sensor used for feedback control of vehicle behavior.
[0002]
[Prior art]
The rear wheel steering angle is controlled by feedback control (hereinafter referred to as F / B control) so that the model yaw rate value calculated from the front wheel steering amount of the driver and the actual yaw rate value detected by the yaw rate sensor are matched. A configured four-wheel steering system is known (refer to Japanese Patent Laid-Open No. 7-237557). A vehicle that controls the vehicle behavior by this type of F / B control cannot perform normal F / B control if the sensor that detects the actual yaw rate becomes abnormal. Therefore, in the specification of Japanese Patent Application No. 7-180909, the present applicant compares the estimated yaw rate value obtained from the difference between the left and right rotational speeds of the driven wheel with the output value of the yaw rate sensor, and the deviation is a predetermined reference. We proposed a yaw rate sensor fault diagnosis device that diagnoses the sensor depending on whether the value was exceeded.
[0003]
[Problems to be solved by the invention]
However, according to the above technique, for example, when driving on a rough road such as a gravel road, the left-right speed difference of the driven wheel changes irregularly, so the yaw rate estimated value based on this becomes suspicious, and the estimated value and the actual value are The failure diagnosis itself to be compared may be unreliable. Therefore, even when the yaw rate sensor does not break down when traveling on a rough road, there is a possibility that a misdiagnosis that is diagnosed as a failure occurs and the F / B control based on the yaw rate cannot be performed.
[0004]
An object of the present invention is to provide a yaw rate sensor failure diagnosis device that can solve such problems of the prior art and reliably perform failure diagnosis even when traveling on a rough road.
[0005]
[Means for Solving the Problems]
In order to achieve such an object, the present invention provides a failure of a yaw rate sensor for detecting an actual yaw rate used for feedback control of vehicle behavior so as to match at least a model yaw rate calculated from a steering amount of a steered wheel. In a yaw rate sensor failure diagnosis device that diagnoses the road surface based on the deviation between the estimated yaw rate value obtained from the difference between the left and right rotational speeds of the driven wheel and the output value of the yaw rate sensor, a rough road determination that discriminates the road surface irregularities comprising means, as the reference value used for fault diagnosis of the yaw rate sensor, in the case of good road uses a value obtained based on the estimated yaw rate value, when the rough road judgment has been made is the good road In this case , a constant value that is higher than the reference value and is irrelevant to the estimated yaw rate value is set.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the configuration of the present invention will be described in detail with reference to the accompanying drawings.
[0007]
A block diagram of a fault diagnosis system for a yaw rate sensor according to the present invention is shown in FIG. In this fault diagnosis system, the deviation between the actual yaw rate value γ SENS output from the yaw rate sensor 1 and the estimated yaw rate value γ KALM obtained from the left-right speed difference of the driven wheel is calculated, and the absolute value processing is performed on this value. A value obtained by adding 2 is input to the failure diagnosis block 3 as an error amount γ ER . In the failure diagnosis block 3, it is determined whether or not the error amount γ ER obtained from the deviation between the actual yaw rate value γ SENS and the estimated yaw rate value γ KALM is greater than or equal to a threshold value γ SHF set as a reference value for failure diagnosis. At the same time, it is determined whether or not the state above the threshold has continued for a predetermined time. If the error amount γ ER exceeds the threshold γ SHF for a predetermined time, the yaw rate sensor 1 has failed. Make a diagnosis of what you have. If the error amount γ ER is less than or equal to the threshold value γ SHF or if the duration is shorter than the threshold value γ SHF , the yaw rate sensor 1 makes a diagnosis that it is normal.
[0008]
The estimated yaw rate value γ KALM first sets the yaw rate conversion gain by setting the deviation between the left rear wheel speed signal and the right rear wheel speed signal from the rear wheel speed sensors 4L and 4R provided to the left and right rear wheels as the driven wheels, respectively. The static estimated yaw rate signal γ VW is obtained by multiplying it by a coefficient obtained in advance by experiment. Next, the static estimated yaw rate signal γ VW is input to the Kalman filter 8 together with the steering angle signal θ SW from the steering angle sensor 6 and the rear steering angle signal θ R from the rear steering angle sensor 7, and the dynamic estimated yaw rate signal γ Convert to EST .
[0009]
On the other hand, the static estimated yaw rate signal γ VW and the dynamic estimated yaw rate signal γ EST are input to the nonlinear region compensation block 9 to obtain a linearly compensated signal, which is added to the dynamic estimated yaw rate signal γ EST. In addition, by performing absolute value processing, an estimated yaw rate value γ KALM used for comparison with the actual yaw rate value γ SENS is obtained.
[0010]
Since the signal accuracy from the rear wheel speed sensors 4L and 4R deteriorates during rough road driving, the linearly compensated signal is excluded from the estimated yaw rate value γ KALM by turning off the switch means 10 during bad road determination described later. Is done.
[0011]
On the other hand, the linearly compensated signal is subjected to dead band processing 11 and absolute value processing 12 in order to remove harmful noise generated near the neutral point of the yaw rate sensor due to vehicle vibration etc. The base value of The base value of this threshold value is also excluded from the threshold value when a rough road determination is made.
[0012]
The present system is provided with a rough road determination block 14 for determining an irregular road surface condition. Regarding this rough road determination, since the method disclosed in Japanese Patent Laid-Open No. 64-29636 can be applied, detailed description is omitted here, but roughly speaking, when traveling on a rough road, the difference between the left and right wheel speeds of the driven wheels Is noisy compared to when driving on a good road, and is obtained from the static estimated yaw rate signal γ VW obtained from the deviation of the outputs of the left and right rear wheel speed sensors 4L and 4R via a bandpass filter. A specific frequency component is extracted, and the absolute value of the signal is compared with a predetermined threshold value for determining a rough road. If it is larger than the threshold value, it is determined that the road is a bad road. Note that the determination threshold value is preferably changed according to the vehicle speed and the lateral acceleration because the wheel speed also changes depending on the traveling state of the vehicle when traveling on a rough road.
[0013]
When it is determined that the current state is traveling on a rough road according to the determination result in the rough road determination block 14, the switch means 15 for selecting the added value of the failure diagnosis threshold value is switched, and normally 3 deg / s. Is output as an added value, but 30 deg / s is output. In other words, when a failure diagnosis reference value obtained by adding 3 deg / s to the base threshold value on a normal good road is determined as a bad road, the reference value is uniformly replaced with 30 deg / s. As a result, the reference value used for the failure diagnosis of the yaw rate sensor 1 is set to be larger than the normal value when traveling on a rough road, thereby preventing erroneous diagnosis.
[0014]
【The invention's effect】
As described above, according to the present invention, when driving on a rough road, the failure diagnosis threshold value of the yaw rate sensor is increased from that in the normal state, thereby improving the certainty of the failure diagnosis and resulting from a misdiagnosis during the rough road driving. It is prevented that the F / B control based on the yaw rate is not performed. Therefore, a great effect can be obtained in ensuring the stability of the control.
[Brief description of the drawings]
FIG. 1 is a control block diagram of a yaw rate sensor failure diagnosis apparatus according to the present invention.
DESCRIPTION OF SYMBOLS 1 Yaw rate sensor 2 Absolute value process 3 Fault diagnosis block 4 Wheel speed sensor 5 Yaw rate conversion gain setting machine 6 Steering angle sensor 7 Rear rudder angle sensor 8 Kalman filter 9 Non-linear area compensation block 10 Switch means 11 Dead zone process 12 Absolute value process 14 Bad road Determination block 15 switch means

Claims (1)

少なくとも操向車輪の操舵量から演算したモデルヨーレイトに一致させるように車両挙動をフィードバック制御するのに用いる実ヨーレイトを検出するためのヨーレイトセンサの故障を、従動輪の左右の回転速度差から求めた推定ヨーレイト値と当該ヨーレイトセンサの出力値との偏差に基づいて診断するためのヨーレイトセンサ故障診断装置であって、
路面の不整状況を判別する悪路判定手段を備え、良路の場合には、当該ヨーレイトセンサの故障診断に用いる基準値を、前記推定ヨーレイト値に基づいて得られる値を用い、
悪路判定が下された際には、前記良路の場合の基準値よりも高く且つ前記推定ヨーレイト値に無関係な一定の値を設定することを特徴とするヨーレイトセンサ故障診断装置。The failure of the yaw rate sensor for detecting the actual yaw rate used for feedback control of the vehicle behavior so as to match at least the model yaw rate calculated from the steering amount of the steered wheel was obtained from the difference in rotational speed between the left and right of the driven wheel. A yaw rate sensor failure diagnosis device for diagnosing based on a deviation between an estimated yaw rate value and an output value of the yaw rate sensor,
Provided with rough road determination means for determining road surface irregularity conditions, in the case of a good road, a reference value used for failure diagnosis of the yaw rate sensor , using a value obtained based on the estimated yaw rate value,
Rough road when the determination has been made, the good road yaw rate sensor failure diagnosis apparatus characterized by setting the independent constant value high and the estimated yaw rate values than the reference value in the case of.
JP13439896A 1996-05-01 1996-05-01 Yaw rate sensor fault diagnosis device Expired - Lifetime JP3694104B2 (en)

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JP13439896A JP3694104B2 (en) 1996-05-01 1996-05-01 Yaw rate sensor fault diagnosis device
DE19716391A DE19716391C2 (en) 1996-05-01 1997-04-18 Fault diagnosis system for a yaw rate sensor

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JP13439896A JP3694104B2 (en) 1996-05-01 1996-05-01 Yaw rate sensor fault diagnosis device

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JP3694104B2 true JP3694104B2 (en) 2005-09-14

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