JP4193733B2 - Control system, program, recording medium - Google Patents

Description

  The present invention relates to a control system, a program, and a recording medium. More specifically, the present invention relates to an electronic control system for a vehicle that performs integrated control of various automobiles, and a computer system for realizing the electronic control system for a vehicle. The present invention relates to a program and a computer-readable recording medium on which the program is recorded.

Conventionally, it relates to an electronic control system for a vehicle that performs various control of an automobile in an integrated manner. Each of the elements is arranged in a hierarchical structure, and when converting the driver's intention into the corresponding driving characteristic, at least one of the hierarchical levels is arranged. A technique is proposed in which two coordinating elements act on the elements of the next hierarchy level, and thus on the given subsystems of the driver and vehicle system, respectively supplying the characteristics required for this subsystem from the higher hierarchy levels. (See Patent Document 1).
Japanese Patent Laid-Open No. 5-85228 (pages 2 to 9 and FIGS. 1 to 4)

In the technique of Patent Document 1, the intention of the driver is adjusted by coordinating the cooperation between an element that executes a control task (hereinafter referred to as a “lower element”) with respect to engine output, drive output, and braking process, and an element that executes the control task. The elements for controlling the driving characteristics of the vehicle (hereinafter referred to as “higher elements”) are set.
A hierarchical structure in which the lower element is positioned below the upper element is set, and a command for executing the driver's intention is transmitted only in one direction from the upper element to the lower element.

Therefore, in the technique of Patent Document 1, it takes time for the process executed by the upper element (the process of adjusting the cooperation of each element and controlling the driving characteristics of the vehicle according to the driver's intention). Is delayed, it takes time from the intention of the driver to the execution of the intention in the lower elements, and there is a problem that the responsiveness of the control deteriorates.
The upper element and the lower element are connected using a bus system (bus line), and the instruction of the upper element is transmitted to the lower element through the bus system. For this reason, even when the communication load of the bus system is high, the transmission of the command from the upper element to the lower element is delayed.

For example, when the driver depresses the accelerator pedal with the intention of accelerating the vehicle, the upper element generates a command for increasing the output torque to the powertrain according to the driver's intention (acceleration of the vehicle). Is transmitted to the subordinate powertrain.
At this time, if the command generation process in the upper element takes time or the communication load of the bus system is high, and the transmission of the command from the upper element to the power train is delayed, the driver It takes time until the vehicle is actually accelerated after the power train is operated after the pedal is depressed, and the responsiveness of the acceleration control deteriorates.

  In particular, when the driver depresses the accelerator pedal suddenly and strongly, the technique of Patent Document 1 has a rapid response due to the poor responsiveness of the acceleration control even though the driver intends to accelerate rapidly. There is a possibility that it cannot be accelerated.

The present invention has been made to solve the above-described problems, and has the following objects.
(1) Provided is a control system capable of enhancing control responsiveness with respect to a control system that performs various types of control in an integrated manner.
(2) Provided is a program for causing a computer system to function so as to realize the control system of (1).
(3) Provided is a computer-readable recording medium in which a program for causing a computer system to function so as to realize the control system of (1) is recorded.

(Claim 1; corresponding to the processing of S205 to S208)
The invention described in claim 1
Detecting means for detecting an instruction command from a user related to control of the controlled device;
An instruction command detected by the detection means is input, and on the basis of the input instruction command , upper control means for generating a control command for controlling the controlled device;
A control system comprising: an instruction command detected by the detection means; and a lower control means for controlling the controlled device based on the input instruction command or the control command generated by the higher control means. ,
The lower control means includes
Based on the instruction command, determine the degree of responsiveness required for the operation of the controlled device for the instruction command;
When it is determined that a high responsiveness is required for the operation of the controlled device with respect to the instruction command, the controlled device is not based on the control command generated by the host control unit but based on the instruction command detected by the detection unit. Control your own
When it is determined that high responsiveness is not required for the operation of the controlled device with respect to the instruction command, the technical feature is to control the controlled device based on the control command generated by the host control means.

(Claim 2; corresponding to the processing of S205)
The invention according to claim 2 is the control system according to claim 1,
The lower control means includes
Detecting the time change amount of the instruction command detected by the detecting means;
When the amount of time change is equal to or greater than a predetermined value, it is determined that a high responsiveness is required for the operation of the controlled device for the instruction command,
When the amount of time change is less than a predetermined value, it is a technical feature that it is determined that high responsiveness is not required for the operation of the controlled device with respect to the instruction command.

(Claim 3; corresponding to the processing of S208 to S212)
According to a third aspect of the present invention, in the control system according to the first or second aspect, the low-order control means includes a first control amount of the controlled device based on a control command generated by the high-order control means, When the absolute value of the difference from the second controlled variable of the controlled device that is controlled independently by the lower control means is calculated based on the instruction command detected by the detecting means, and the absolute value of the difference is equal to or greater than a predetermined value The process of resetting the second controlled variable to a value close to the first controlled variable after maintaining the state where the controlled variable of the controlled device is set to the second controlled variable for a predetermined time is performed as the absolute difference It is a technical feature that the second control amount is brought close to the first control amount by repeating until the value becomes less than a predetermined value.

(Claim 4; corresponds to the processing of S202: Yes, S204: Yes)
According to a fourth aspect of the present invention, in the control system according to any one of the first to third aspects, the lower-level control means has a normal instruction command received from the detection means, and the higher-level control means. It is a technical feature that the control is executed only when the control command received from is normal.

(Claim 5; S202: No, S213: Yes)
According to a fifth aspect of the present invention, in the control system according to any one of the first to fourth aspects, the lower-level control means has an abnormal instruction command received from the detection means, and the higher-level control means When the control command received from the control unit is normal, the controlled device is controlled based on the control command generated by the host control means instead of the control.

(Claim 6; corresponds to the process of S202: No, S213: No)
According to a sixth aspect of the present invention, in the control system according to any one of the first to fifth aspects, the lower order control means has an abnormal instruction command received from the detection means, and the higher order control means. When the control command received from the controller is abnormal, it is a technical feature that the controlled device is controlled based on a preset control command instead of the control.

(Claim 7; corresponds to the processing of S202: Yes, S204: No)
A seventh aspect of the present invention is the control system according to any one of the first to sixth aspects, wherein the lower order control means has a normal instruction command received from the detection means, and the higher order control means. When the control command received from is abnormal, it is a technical feature that the controlled device is uniquely controlled based on the instruction command detected by the detecting means instead of the control.

(Claim 8)
According to an eighth aspect of the present invention, in the control system according to any one of the fourth to seventh aspects, the lower-level control unit includes an instruction command received from the detection unit within a range of possible values. If it is not fixed together, it is determined as normal, and if it does not fall within the range of possible values or is fixed, it is determined as abnormal.

(Claim 9)
According to a ninth aspect of the present invention, in the control system according to any one of the fourth to seventh aspects, the lower-level control means has a control command received from the higher-level control means within a range of possible values. It is a technical feature that it is determined to be normal when it is within the range and not fixed, and is determined to be abnormal when it is not within the range of possible values or is fixed.

(Claim 10)
A tenth aspect of the present invention is the control system according to any one of the first to ninth aspects, wherein the controlled device is an engine and transmission of an automobile, and the detection means is a driver who is a user. The accelerator opening corresponding to the amount of depression of the accelerator pedal operated by is detected as an instruction command, and the upper control means generates a control signal for generating a desired output torque from the engine and transmission as a control command, The lower control means controls the engine and the transmission based on the control signal generated by the upper control means or the accelerator opening detected by the detection means. Electronic control system is a technical feature.

(Claim 11)
The invention described in claim 11 provides a program for causing a computer system to function as each of the means in the control system according to any one of claims 1-10.

(Claim 12)
According to a twelfth aspect of the present invention, there is provided a computer-readable recording medium in which a program for causing a computer system to function as the respective means in the electronic control system according to any one of the first to tenth aspects is recorded. It is to provide.

(Claim 1)
In the first aspect of the present invention, the lower-level control means determines the degree of responsiveness required for the operation of the controlled device with respect to the instruction command.
When the lower control means determines that high response is required for the operation of the controlled device with respect to the instruction command , the lower control means is not based on the control command generated by the higher control means but based on the instruction command. Control your own. Further, when it is determined that the operation of the controlled device with respect to the instruction command does not require high responsiveness, the lower control means controls the controlled device based on the control command generated by the higher control means.

By the way, it takes time for the upper control means to generate the control command, or the communication load of the communication line to which the control instruction is transmitted is high, and the control instruction generated by the upper control means is transmitted to the lower control means. May be delayed.
However, according to the first aspect of the present invention, when high responsiveness is required for the operation of the controlled device with respect to the instruction command, the lower control means is not based on the control instruction generated by the upper control means but based on the instruction instruction. Controls the controlled device independently.

Therefore, according to the first aspect of the present invention, it does not take time until the controlled device operates after the user issues an instruction command, and the control responsiveness can be improved.
In other words, in the invention described in claim 1, when high responsiveness is required for the control, the lower control means itself does not wait for the control command to be transmitted from the upper control means to the lower control means. Since the control device is controlled, the response of the control does not deteriorate even if the transmission of the control command from the upper control means to the lower control means is delayed.

(Claim 2)
In the invention according to claim 2, the lower control unit, when the time change amount of the instruction command detected by the detecting means is a predetermined value or more is required to have high responsiveness to the operation of the controlled device for the instruction command Is determined. In addition, when the time change amount of the instruction command detected by the detection unit is less than a predetermined value, the lower-level control unit determines that high responsiveness is not required for the operation of the controlled device with respect to the instruction command.
Therefore, according to the second aspect of the present invention, the degree of responsiveness required for control can be accurately determined.
The predetermined value of the time change amount of the instruction command may be set by experimentally finding the optimum value by cut-and-try.

(Claim 3)
In the third aspect of the invention, the lower control means is configured such that the lower control means is based on the first control amount of the controlled device based on the control command generated by the higher control means and the instruction command detected by the detection means. The absolute value of the difference from the second controlled variable of the controlled device to be controlled is calculated. When the absolute value of the difference is greater than or equal to a predetermined value, the lower control means maintains the state where the controlled variable of the controlled device is set to the second controlled variable for a predetermined time, and then sets the second controlled variable to the first controlled variable. The process of resetting the value close to the control amount is repeated until the absolute value of the difference becomes less than a predetermined value, thereby bringing the second control amount closer to the first control amount.

Therefore, according to the invention described in claim 3, it is possible to smoothly shift from the control by the second control amount independently performed by the lower control means to the control by the first control amount based on the control command generated by the upper control means. Therefore, the change in the behavior of the controlled device accompanying the change in control can be mitigated.
That is, when the invention according to claim 3 is not executed, when the difference between the second control amount and the first control amount is very large, when the control from the second control amount is shifted to the control by the first control amount. A large change occurs in the behavior of the controlled device.
The predetermined absolute value of the difference and the predetermined time may be set by experimentally finding the optimum value by cut-and-try.

(Claim 4)
According to the invention described in claim 4, in the invention described in claim 1 or claim 3, the operation and effect of the control executed by the lower-level control means can be obtained with certainty.

(Claim 5)
In the invention according to claim 5, when the instruction command received from the detection means by the lower control means is abnormal, the lower control means cannot control the controlled device based on the instruction instruction. In the invention according to item 3, in place of the control executed by the lower control means, the controlled device is controlled based on a control command generated by the higher control means.

(Claim 6)
According to the sixth aspect of the present invention, when the instruction command received from the detection means by the lower control means and the instruction instruction received from the higher control means are both abnormal, an accurate instruction command and control instruction cannot be obtained. In the invention according to claim 1 or claim 3, instead of the control executed by the lower control means, the controlled device is controlled based on a preset control command.
The control command set in advance may be set by experimentally finding the optimum value by cut-and-try.

(Claim 7)
In the invention described in claim 7, when the instruction command received by the lower control means from the upper control means is abnormal, the lower control means cannot control the controlled device based on the control instruction. In the third aspect of the invention, instead of the control executed by the lower control means, the lower control means uniquely controls the controlled device based on the instruction command detected by the detection means.

(Claim 8)
According to the eighth aspect of the present invention, it is possible to accurately determine whether the instruction command received from the detection unit by the lower-level control unit is normal or abnormal.
The cause of the abnormality in the instruction command received by the lower control means from the detection means is, for example, failure or malfunction of the detection means, poor connection or disconnection of wiring for sending the instruction instruction of the detection means to the lower control means. ,and so on.
By the way, the range of values that the instruction command can take may be found and set experimentally by cut-and-try.

(Claim 9)
According to the ninth aspect of the present invention, it is possible to accurately determine whether the control instruction received from the upper control means by the lower control means is normal or abnormal.
Note that the cause of the abnormality in the control command received by the lower control means from the upper control means is, for example, a failure or malfunction of the upper control means, an abnormal communication between the upper control means and the lower control means, or the like.
By the way, the range of values that the control command can take may be found and set experimentally by cut-and-try.

(Claim 10)
The invention according to claim 10 is applied to an electronic control system for a vehicle that controls an engine and a transmission of an automobile in accordance with a depression amount of an accelerator pedal operated by a driver. And according to the invention of Claim 10, the responsiveness of acceleration / deceleration control can be improved.

For example, if the driver depresses the accelerator pedal suddenly and strongly for the purpose of sudden acceleration of the car, the lower control means controls the engine and transmission independently, so the vehicle is actually driven after the driver depresses the accelerator pedal. It takes less time to accelerate and acceleration response can be improved.
In other words, when high responsiveness of acceleration control is required, the lower control means itself controls the engine and transmission without waiting for the control command to be transmitted from the higher control means to the lower control means. Even if the transmission of the control command from the control means to the lower control means is delayed, the responsiveness of the acceleration control does not deteriorate.

(Claims 11 and 12)
According to invention of Claim 11, the program for functioning a computer system can be provided so that the control system of any one of Claims 1-10 may be implement | achieved.
According to the twelfth aspect of the present invention, it is possible to provide a computer-readable recording medium in which the program of the eleventh aspect is recorded.

For example, the program can be recorded by using a ROM or backup RAM as a computer-readable recording medium, and the ROM or backup RAM can be incorporated into a computer system.
In addition, the program is recorded (stored) in an external recording device (external storage device) having a computer-readable recording medium, and the program is loaded from the external recording device to the computer system as necessary. May be used.

(Explanation of terms)
The correspondence between the constituent elements described in [Means for Solving the Problems] described above and the constituent members described in [Best Mode for Carrying Out the Invention] described below is as follows. .

The “controlled device” corresponds to the engine 12 and the transmission 14.
“User” corresponds to the driver.
The “instruction command” corresponds to a detection signal indicating the accelerator opening generated by the accelerator opening sensor 22 .
The “detecting means” corresponds to the accelerator opening sensor 22.
The “control command” corresponds to a control signal representing the upper calculated torque Ta.
The “upper control means” corresponds to the manager control device 30.
The “lower control means” corresponds to the powertrain control device 40.

The “predetermined value of the time change amount” described in claim 2 corresponds to the threshold value α.
The “first control amount” according to claim 3 corresponds to the upper calculated torque Ta.
The “second control amount” described in claim 3 corresponds to the lower calculation torque Tb.
The “predetermined value of the absolute value of the difference” according to claim 3 corresponds to the threshold value β.
The “predetermined time” according to claim 3 corresponds to a time until the number of repetitions n reaches the set number of times N.
The “processing for resetting the second control amount to a value close to the first control amount” according to claim 3 corresponds to the processing of S212 executed by the powertrain control device 40.

The “control command set in advance” described in claim 6 corresponds to the fixed torque Td.
The “program” corresponds to the processing of S101 to S105 executed by the manager control device 30 and the processing of S201 to S217 executed by the powertrain control device 40.
The “recording medium” corresponds to the ROMs 34 and 44.

  Hereinafter, an embodiment embodying the present invention will be described with reference to the drawings.

[Main configuration of the embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a vehicle electronic control system (vehicle electronic control device) 10 of the present embodiment.
The vehicle electronic control system 10 includes an engine (internal combustion engine) 12, a transmission 14, various sensors 20, an accelerator opening sensor 22, wires (signal lines) 24 and 26, a manager control device 30, a powertrain control device 40, a chassis. The system control device 50, the multimedia control device 60, the bus line BL, and the like are installed in an automobile.

The engine 12 explodes a fuel / air mixture in a cylinder (not shown) to generate an engine torque, and outputs the engine torque to a crankshaft (not shown).
The transmission 14 connects the crankshaft of the engine 12 and the drive shaft 18, changes the engine torque output to the crankshaft at an appropriate gear ratio, transmits the torque to the drive shaft 18, and drives the drive wheels via the drive shaft 18. 16 is driven.

  Detection signals from the various sensors 20 are output to the manager control device 30. The various sensors 20 include, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the automobile, a throttle opening sensor that detects the throttle opening of the engine 12, a brake sensor that detects the operating state of the brake, and an operation of the on-vehicle air conditioner. There are air conditioner sensors that detect the condition.

  The accelerator opening sensor 22 detects the accelerator opening corresponding to the depression amount of the accelerator pedal operated by the driver of the automobile, and generates a detection signal representing the accelerator opening. The detection signal of the accelerator opening sensor 22 is output to the manager control device 30 through the wiring 24 and is output to the powertrain control device 40 through the wiring 26.

Each control device 30-60 is connected via the bus line BL. Each of the control devices 30 to 60 is configured by an electronic control unit (ECU), and the ECU is configured by incorporating a microcomputer.
Each of the control devices 30 to 60 includes a central processing unit (CPU) 32, 42, 52, 62, a read-only storage device (ROM) 34, 44, 54, 64, and a readable / writable storage device (RAM) 36. , 46, 56, 66, input / output devices (I / O) 38, 48, 58, 68, and the like.

The I / O 38 of the manager control device 30 is connected to various sensors 20. The detection signals of the various sensors 20 are input to the CPU 32 via the I / O 38 of the manager control device 30.
The I / O 38 and 48 of each control device 30 and 40 are connected to the accelerator opening sensor 22 via wirings 24 and 26, respectively. The detection signal of the accelerator opening sensor 22 is input from the wiring 24 to the CPU 32 via the I / O 38 of the manager control device 30 and from the wiring 26 to the CPU 42 via the I / O 48 of the powertrain control device 40. Entered.

Each I / O 38, 48, 58, 68 is connected via a bus line BL.
The manager control device 30 controls the control devices 40 to 60 based on the detection signals of the various sensors 20 and the accelerator opening sensor 22 and the control states of the control devices 40 to 60 (control commands and control). Data) is generated, and these control signals are transmitted (output) from the I / O 38 to the I / Os 48, 58 and 68 of the respective control devices 40 to 60 via the bus line BL.

  The chassis control device 50 is based on a control signal transmitted from the manager control device 30, for example, ABS (Anti-lock Brake System), VSC (Vehicle Stability Control system), ECB (Electronically Controlled Brake System), TRC. (TRaction Control system), EPS (Electric Power Steering system), control signal for controlling controlled devices (for example, brake devices, power steering devices, airbag devices, etc.) to realize airbag control systems, etc. And transmit these control signals from the I / O 58 to the controlled device.

  Based on the control signal transmitted from the manager control device 30, the multimedia control device 60 realizes, for example, a car navigation system, an automobile information communication service system (Toyota Motor's registered trademark “G-BOOK”, etc.), etc. In order to do so, control signals for controlling the controlled devices (car navigation device, information communication service terminal device) are generated, and these control signals are transmitted from the I / O 58 to the controlled device.

  The power train control device 40 generates control signals for driving and controlling the engine 12 and the transmission 14 based on the control signal transmitted from the manager control device 30 or the detection signal of the accelerator opening sensor 22, respectively. A control signal is transmitted from the I / O 48 to the engine 12 and the transmission 14.

[Operation of Manager Control Device 30]
FIG. 2 is a flowchart showing a flow of operations executed by the manager control device 30 in the present embodiment.
When the manager control device 30 is activated, the CPU 32 loads the computer program stored (recorded) in the ROM 34 and executes various arithmetic processes according to the computer program, thereby executing the following steps.
In the drawings and the following description, a step is described as “S”.

  By the way, the computer program is not the ROM 34 built in the manager control device 30, but a backup RAM (not shown) built in the manager control device 30 or an external recording device (not shown) provided with a computer-readable recording medium (external storage device). The computer program may be loaded into the CPU 32 from a backup RAM or an external recording device and used as necessary.

  Incidentally, computer-readable recording media include semiconductor memory (smart media, memory stick, etc.), hard disk, FD (Floppy Disk), data card (IC card (IC: Integrated Circuit), magnetic card, etc.), optical disk ( CD-ROM, DVD, etc.), magneto-optical disk (MO, etc.), phase change disk, magnetic tape, etc. The names of specific examples of the recording medium include registered trademarks.

  First, the manager control device 30 detects the vehicle speed and the throttle opening based on the detection signals of the various sensors 20, and reads the state (vehicle state) where the automobile is currently located based on the detection results (S101).

  Next, the manager control device 30 detects the operation state of the brake, the in-vehicle air conditioner, etc. based on the detection signals of the various sensors 20, and detects the accelerator opening based on the detection signal of the accelerator opening sensor 22, Based on the detection result, the operation content of the driver is read (S102).

Subsequently, the manager control device 30 reads the control states of the chassis control device 50 and the multimedia control device 60 (S103).
Then, the manager control device 30 calculates the optimum vehicle output torque (hereinafter referred to as “upper calculation torque Ta”) corresponding to the contents read in the processes of S101 to S103, and the higher order A control signal representing the calculated torque Ta is generated (S104).
Next, the manager control device 30 transmits the control signal generated in S104 to the powertrain control device 40 (S105), and then returns to S101.

[Operation of Powertrain Control Device 40]
3-5 is a flowchart which shows the flow of the operation | movement which the powertrain control apparatus 40 performs in this embodiment.
When the power train control device 40 is activated, the CPU 42 loads the computer program stored (recorded) in the ROM 44 and executes various arithmetic processes according to the computer program, thereby executing the following steps.

  By the way, the computer program is recorded not in the ROM 44 built in the powertrain control device 40 but in a backup RAM (not shown) built in the powertrain control device 40 or an external recording device (not shown) provided with a computer-readable recording medium. In addition, the computer program may be loaded from the backup RAM or an external recording device into the CPU 42 as necessary.

First, the powertrain control device 40 inputs a detection signal of the accelerator opening sensor 22 and a control signal representing the upper calculated torque Ta transmitted from the manager control device 30 (S201).
Then, the powertrain control device 40 determines whether or not the input detection signal of the accelerator opening sensor 22 is normal (S202). If the detection signal is normal (S202: Yes), the accelerator opening sensor 22 is determined. The accelerator opening is detected based on the detection signal (S203).

  Next, the powertrain control device 40 determines whether or not the control signal representing the higher-order calculated torque Ta transmitted from the manager control device 30 is normal (S204). If the control signal is normal (S204: Yes), it is determined whether or not the change amount of the accelerator opening per predetermined time t is greater than or equal to the threshold value α (S205).

  Note that the powertrain control device 40 captures the detection signal of the accelerator opening sensor 22 at a certain sampling time (for example, 4 msec) in the process of S201, and thereby opens the accelerator for each sampling time in the process of S203. Since the degree is detected, in the process of S205, the time change amount of the accelerator opening can be calculated with the sampling time as one unit.

  Then, when the change amount of the accelerator opening per predetermined time t is equal to or greater than the threshold value α (S205: Yes), the powertrain control device 40 determines the optimum vehicle based on the accelerator opening and the current output torque. An output torque (hereinafter referred to as “lower calculated torque Tb”) is calculated, and the lower calculated torque Tb is set to a target output torque of the automobile (hereinafter referred to as “target torque Tc”) (S206).

  The current output torque is the target torque Tc set in the previous routine. That is, since the routines shown in FIGS. 3 to 5 are repeatedly performed, the actual output torque (that is, the current output torque) at the time of shifting to the processing from S205 to S206 is S206, S207, S214 in the previous routine. The target torque Tc set in any one of the processes of S216 is obtained.

  Further, when the change amount of the accelerator opening per predetermined time t is less than the threshold value α (S205: No), the powertrain control device 40 sets the upper calculated torque Ta calculated by the manager control device 30 as the target torque Tc. Set (S207).

  Next, the power train control device 40 converts the target torque Tc into an engine torque and a gear ratio so that the target torque Tc set in the process of S206 or S207 is obtained, and generates a control signal corresponding to the engine torque. At the same time, a control signal corresponding to the gear ratio is generated, and the engine 12 and the transmission 14 are controlled by the control signal (S208).

That is, the powertrain control device 40 generates a control signal for controlling the engine torque generated by the engine 12 so as to obtain the target torque Tc, and transmits the control signal to the engine 12.
Then, the engine 12 executes various controls (for example, control of the air supply amount and fuel injection amount for generating the air-fuel mixture, control of the ignition timing, etc.) according to the control signal transmitted from the powertrain control device 40. Then, an appropriate engine torque is generated.

Further, the power train control device 40 generates a control signal for controlling the transmission ratio of the transmission 14 so as to obtain the target torque Tc, and transmits the control signal to the transmission 14.
Then, the transmission 14 appropriately sets a gear ratio according to the control signal transmitted from the powertrain control device 40, changes the engine torque generated by the engine 12 at the set gear ratio, and transmits it to the drive shaft 18.

  Subsequently, the powertrain control device 40 calculates a difference between the upper calculated torque Ta calculated by the manager control device 30 and the target torque Tc used in the processing of S208, and an absolute value (| Tc−Ta |) of the difference. ) Is less than the threshold β (S209). If the difference is less than the threshold β (S209: Yes), the process returns to S201.

  In addition, the powertrain control device 40 determines that the absolute value (| Tc−Ta |) of the difference between the upper calculated torque Ta calculated by the manager control device 30 and the target torque Tc used in the processing of S208 is equal to or larger than the threshold value β. (S209: No), it is determined whether the number of repetitions n stored in the RAM 56 is equal to the set number N (S210). If the number of repetitions n is not equal to the set number N (S210: No), The number of repetitions n is incremented and stored in the RAM 56 (S211), and then the process returns to S208.

  When the number of repetitions n is equal to the set number of times N (S210: Yes), the powertrain control device 40 sets the target torque Tc used in the processing of S208 to the upper calculated torque Ta calculated by the manager control device 30. The set increase / decrease amount Δ is added to or subtracted from the target torque Tc so as to approach the target torque Tc, and the target torque Tc is reset (S212).

  Further, when the detection signal of the accelerator opening sensor 22 is abnormal (S202: No), the powertrain control device 40 determines whether or not the control signal representing the upper calculated torque Ta transmitted from the manager control device 30 is normal. When the control signal is normal (S213: Yes), the upper calculated torque Ta calculated by the manager control device 30 is set as the target torque Tc (S214).

  Further, the powertrain control device 40, when the detection signal of the accelerator opening sensor 22 is abnormal (S202: No), and the control signal representing the upper calculated torque Ta transmitted from the manager control device 30 is also abnormal ( S213: No), the output torque (hereinafter referred to as "fixed torque Td") that has been preset and stored in the ROM 44 is set as the target torque Tc (S215).

  Further, the powertrain control device 40 is normal when the detection signal of the accelerator opening sensor 22 is normal (S202: Yes), and the control signal representing the upper calculated torque Ta transmitted from the manager control device 30 is abnormal ( S204: No), as in the process of S206, the lower calculated torque Tb is calculated based on the current output torque and the accelerator opening detected in the process of S203, and the lower calculated torque Tb is set as the target torque Tc. (S216).

  Then, the power train control device 40 converts the target torque Tc into an engine torque and a gear ratio, similarly to the process of S208, so that the target torque Tc set in any of the processes of S214 to S216 is obtained. A control signal corresponding to the engine torque is generated, a control signal corresponding to the gear ratio is generated, the engine 12 and the transmission 14 are controlled by these control signals (S217), and then the process returns to S201.

[Operations and effects of the embodiment]
According to the embodiment described above in detail, the following actions and effects can be obtained.

  [1] When the driver depresses the accelerator pedal with the intention of accelerating the vehicle, the manager control device 30 generates a control signal for increasing the output torque according to the driver's intention (acceleration of the vehicle). A control signal is transmitted to the powertrain control device 40 via the bus line BL.

  At this time, the processing of S101 to S105 of the manager control device 30 takes time, or the communication load of the bus line BL is high due to the control signal transmitted from the manager control device 30 to each of the control devices 50 and 60. In some cases, the transmission of the control signal representing the upper calculated torque Ta calculated by the manager control device 30 to the power train control device 40 may be delayed.

In particular, when the driver intends to accelerate the vehicle rapidly, the accelerator pedal is suddenly and strongly depressed, so that the amount of time change in the accelerator opening increases.
Therefore, in the present embodiment, the time change amount of the accelerator opening is detected, and when the time change amount is large, it is determined that high responsiveness of acceleration control is necessary, and when the time change amount is small. It is judged that high responsiveness of acceleration control is not so necessary.

  When the time change amount of the accelerator opening is large (when the change amount of the accelerator opening per predetermined time t is greater than or equal to the threshold value α), the acceleration control needs to be highly responsive, so the manager control device 30 The lower calculated torque Tb independently calculated by the powertrain control device 40 is set as the target torque Tc, not the calculated upper calculated torque Ta of the engine 12 and the engine 12 and the target torque Tc (lower calculated torque Tb). The transmission 14 is controlled.

  In addition, when the amount of change in the accelerator opening with time is small (when the amount of change in the accelerator opening per predetermined time t is less than the threshold value α), the high responsiveness of the acceleration control is not necessary so much. Is set as the target torque Tc, and the engine 12 and the transmission 14 are controlled such that the target torque Tc (upper calculated torque Ta) is obtained.

  That is, in this embodiment, when the driver depresses the accelerator pedal strongly and suddenly with the intention of sudden acceleration of the vehicle, the powertrain control device 40 controls the engine 12 and the transmission 14 independently. It takes no time from when the accelerator pedal is depressed until the vehicle is actually accelerated, and the response of acceleration control can be improved.

In other words, in the present embodiment, when high acceleration control response is required, the powertrain control device 40 itself does not wait for the control signal to be transmitted from the manager control device 30 to the powertrain control device 40. Since the engine 12 and the transmission 14 are controlled, the responsiveness of the acceleration control does not deteriorate even if the transmission of the control signal from the manager control device 30 to the powertrain control device 40 is delayed.
Similar to the acceleration control described above, the responsiveness of the deceleration control can be enhanced.

[2] In the present embodiment, the time change amount of the accelerator opening is detected, and when the time change amount is large (when the change amount of the accelerator opening per predetermined time t is greater than or equal to the threshold value α), the acceleration / deceleration control is performed. When the amount of time change is small (when the amount of change in the accelerator opening per predetermined time t is less than the threshold value α), the acceleration / deceleration control needs to be highly responsive. Judged not.
Therefore, according to this embodiment, the degree of responsiveness required for acceleration / deceleration control can be accurately determined.

By the way, the predetermined time t may be set by experimentally obtaining an optimum value by cut-and-try, and the set predetermined time t is stored in the ROM 44 in advance, and is read from the ROM 44 in the process of S205. Just put it out.
Also, the threshold value α may be determined by experimentally obtaining and setting an optimum value by cut-and-try. The set threshold value α is stored in the ROM 44 in advance, and can be read from the ROM 44 in the process of S205. That's fine.

  [3] When the process of S207 (the upper calculation torque Ta calculated by the manager control device 30 is set as the target torque Tc) is shifted to the process of S209 through the process of S208, the upper calculation torque Ta and the target torque Tc Are the same (Ta = Tc), and the difference between the torques Ta and Tc is zero. Therefore, the absolute value (| Tc−Ta |) of the difference is less than the threshold value β (S209: Yes), and from S209 The process returns to S201.

On the other hand, when the process of S206 (setting the lower calculation torque Tb uniquely calculated by the powertrain control device 40 as the target torque Tc) is shifted to the process of S209 through the process of S208, the lower calculation torque Tb And the target torque Tc are the same (Tb = Tc), and the absolute value of the difference between the torques Ta and Tc (| Tc−Ta |) is the absolute value of the difference between the torques Ta and Tb (| Tb−Ta | = | Tc−Ta |).
Therefore, the absolute value (| Tb−Ta |) of the differences between the torques Ta and Tb becomes equal to or greater than the threshold value β (S209: No), and the process proceeds from S209 to S210.

In that case, the loop process of S208 → S209 → S210 → S211 → S208 is repeated until the number of repetitions n reaches the set number N by the processes of S210 and S211, until the number of repetitions n reaches the set number N. The state where the lower calculated torque Tb calculated in the process of S206 is set to the target torque Tc for the time is maintained.
As a result, the engine 12 and the transmission 14 are controlled using the lower calculated torque Tb as the target torque Tc for the time until the number of repetitions n reaches the set number N.

Thereafter, the process proceeds from S210 to S212, and the set increase / decrease Δ is added to or subtracted from the lower calculation torque Tb so that the lower calculation torque Tb (the target torque Tc used in the processing of S208) approaches the upper calculation torque Ta. Thus, the target torque Tc is reset (reset).
For example, when the lower calculated torque Tb is larger than the upper calculated torque Ta, a value (Tb−Δ) obtained by subtracting the set increase / decrease Δ from the lower calculated torque Tb is reset to the target torque Tc.
When the lower calculation torque Tb is smaller than the upper calculation torque Ta, a value (Tb + Δ) obtained by adding the set increase / decrease Δ to the lower calculation torque Tb is reset to the target torque Tc.

  Then, by repeating the loop processing of S208 to S212 until the absolute value (| Tc−Ta |) of the difference between the torques Ta and Tc becomes less than the threshold value β (S209: Yes), the current target torque Tc (low order) The calculated torque Tb) is brought close to the upper calculated torque Ta.

  That is, in the present embodiment, the lower calculated torque Tb calculated by the powertrain control device 40 is set as the target torque Tc, and the target torque Tc (lower calculated torque Tb) and the upper calculated torque Ta calculated by the manager control device 30 are When the difference between the torques Ta and Tc is very large (when the absolute value of the differences between the torques Ta and Tc is greater than or equal to the threshold value β), the lower calculation is performed only for an appropriate time (the time until the number of repetitions n reaches the set number N) After maintaining the state where the torque Tb is set to the target torque Tc, the current target torque Tc is processed (the process of resetting the target torque Tc by adding or subtracting the set increase / decrease Δ to the lower calculation torque Tb) Is repeated until the absolute value of the difference between the torques Ta and Tc is less than the threshold value β, whereby the current target torque Tc (lower calculated torque Tb) is Close to Ta.

  Therefore, according to the present embodiment, it is possible to smoothly shift from the control by the lower calculation torque Tb calculated independently by the powertrain control device 40 to the control by the upper calculation torque Ta calculated by the manager control device 30. Shocks that occur in the vehicle during deceleration can be reduced.

  That is, when the processes of S209 to S212 are omitted, when the difference between the target torque Tc (lower calculated torque Tb) and the upper calculated torque Ta is very large, the process proceeds from S206 to S208 in the previous routine. When the process shifts from S207 to S208 in the next routine, the target torque Tc changes significantly, and a large shock occurs in the vehicle body during acceleration / deceleration.

Incidentally, the threshold value β may be set by experimentally obtaining an optimum value by cut-and-try, and the set threshold value β may be stored in the ROM 44 in advance and read from the ROM 44 in the process of S209. Good.
Further, the set number N may be determined by experimentally obtaining an optimum value by cut-and-try, and the set number N may be stored in the ROM 44 in advance and read from the ROM 44 in the process of S210. That's fine.

[4] In the control operation (S205 to S208) of [1] and the control operation (S208 to S212) of [3], the detection signal of the accelerator opening sensor 22 input in the process of S201 is normal (S202: Yes) and is executed only when the control signal representing the upper calculation torque Ta transmitted from the manager control device 30 is normal (S204: Yes).
Therefore, according to the present embodiment, the operations and effects described in [1] and [3] can be obtained with certainty.

[5] The detection signal of the accelerator opening sensor 22 input in the process of S201 is abnormal (S202: No), and the control signal indicating the upper calculation torque Ta transmitted from the manager control device 30 is normal ( S213 : If yes, the upper calculated torque Ta calculated by the manager control device 30 is set as the target torque Tc (S214).

  That is, when the detection signal of the accelerator opening sensor 22 is abnormal, the power train control device 40 cannot calculate the accurate lower calculation torque Tb based on the detection signal, so the manager control device 30 calculates it. The upper calculated torque Ta is set to the target torque Tc.

[6] The detection signal of the accelerator opening sensor 22 input in the process of S201 is abnormal (S202: No), and the control signal indicating the upper calculation torque Ta transmitted from the manager control device 30 is also abnormal ( S213 : In the case of No), the fixed torque Td is set to the target torque Tc (S215).

That is, when both the detection signal of the accelerator opening sensor 22 and the control signal of the manager control device 30 are abnormal, accurate upper calculation torque Ta and lower calculation torque Tb cannot be obtained. It is set to Tc.
The fixed torque Td may be set by experimentally obtaining an optimum value by cut-and-try. The set fixed torque Td is stored in the ROM 44 in advance, and is read from the ROM 44 in the process of S215. Just put it out.

  [7] The detection signal of the accelerator opening sensor 22 input in the process of S201 is normal (S202: Yes), and the control signal indicating the upper calculation torque Ta transmitted from the manager control device 30 is abnormal (S204: In the case of No), the lower calculation torque Tb calculated by the powertrain control device 40 is set as the target torque Tc (S216).

  That is, when the control signal of the manager control device 30 is abnormal, the target torque Tc cannot be set based on the control signal. Therefore, the lower calculated torque Tb calculated uniquely by the powertrain control device 40 is used as the target torque. It is set to Tc.

[8] In order to determine whether or not the detection signal of the accelerator opening sensor 22 input in the process of S201 is normal in the process of S202, the powertrain control device 40 first has a range of values that the detection signal can take. It is determined whether it falls within the upper limit (within the upper and lower limit values), and then it is determined whether or not the detection signal does not change with a constant value (that is, is not fixed).
The power train control device 40 determines that the detection signal is within the upper and lower limit values and is not fixed, and determines that the detection signal is normal, and the detection signal does not fall within the upper and lower limit values or is fixed. Is determined to be abnormal.

If it does in this way, it can be judged correctly whether the detection signal of accelerator opening sensor 22 inputted by processing of S201 is normal.
Note that the cause of the abnormality in the detection signal of the accelerator opening sensor 22 input in the process of S201 includes, for example, a failure or malfunction of the accelerator opening sensor 22, a connection failure or disconnection of the wiring 26, and the like.

  By the way, the upper and lower limit values of the detection signal may be set experimentally by cut-and-try, and the set upper and lower limit values are stored in the ROM 44 in advance, and can be read from the ROM 44 in the process of S202. That's fine.

  In addition, since the powertrain control device 40 captures the detection signal of the accelerator opening sensor 22 at a constant sampling time (for example, 4 msec) in the process of S201, the powertrain control device 40 is fixed due to a change in the detection signal after the sampling time. The presence or absence of can be determined.

[9] In the process of S204 or S213, the powertrain control apparatus 40 determines whether or not the control signal (control signal representing the higher-order calculated torque Ta transmitted from the manager control apparatus 30) input in the process of S201 is normal. First, it is determined whether or not the control signal falls within the upper and lower limit values, and then it is determined whether or not the control signal is stuck.
Then, the powertrain control device 40 determines that the control signal is within the upper and lower limit values and is not fixed, and determines that the control signal is normal, and the control signal does not fit within the upper and lower limit values or is fixed. Is determined to be abnormal.

In this way, it is possible to accurately determine whether the control signal of the manager control device 30 input in the process of S201 is normal or abnormal.
Note that the cause of the abnormality in the control signal of the manager control device 30 input in the process of S201 is, for example, each caused by malfunction of the manager control device 30 or malfunction of the bus line BL (connection failure, disconnection, etc.). There is a communication abnormality between the control devices 30 and 40.

  By the way, the upper and lower limit values of the control signal may be set experimentally by cut-and-try, and the set upper and lower limit values are stored in the ROM 44 in advance, and from the ROM 44 in the process of S204 or S213. Read it out.

  In addition, since the powertrain control device 40 takes in a control signal representing the higher-order calculated torque Ta transmitted from the manager control device 30 at a certain sampling time (for example, 4 msec) in the process of S201, the detection is performed. The presence or absence of sticking can be determined by the change of the signal every sampling time.

[Another embodiment]
By the way, the present invention is not limited to the above-described embodiment, and may be embodied as follows, and even in that case, operations and effects equivalent to or higher than those of the above-described embodiment can be obtained.

(1) In the above embodiment, the detection signal of the accelerator opening sensor 22 is output to the control devices 30 and 40 through the wires 24 and 26.
However, the wirings 24 and 26 may be omitted, and the detection signal of the accelerator opening sensor 22 may be transmitted to the control devices 30 and 40 through the bus line BL. Also, the detection signals of the various sensors 20 may be transmitted to the manager control device 30 through the bus line BL.

(2) In the above embodiment, the target torque Tc set in the previous routine is used as the current output torque used when calculating the lower calculation torque T in the process of S206 or S216.
However, a torque sensor may be provided on the drive shaft 18 and the torque of the drive shaft 18 measured by the torque sensor may be set as the “current output torque”.

(3) In the above embodiment, the control devices 30 to 60 are connected by the bus line BL.
However, each of the control devices 30 to 60 may be connected by a dedicated communication line. For example, a dedicated communication line for transmitting a control signal from the manager control device 30 to the powertrain control device 40 may be provided. .

(4) The said embodiment is applied to the control operation of the engine 12 and transmission which the manager control apparatus 30 and the powertrain control apparatus 40 perform based on an accelerator opening.
However, the present invention is not limited to the above embodiment, and may be applied to other control operations executed by the control devices 30 to 60. For example, the present invention may be applied to control operations for realizing the various systems (ABS, VSC, ECB, TRC, EPS, airbag control system) executed by the manager control device 30 and the chassis control device 50.

  For example, when applied to a control operation for realizing an ECB (Electronically Controlled Brake System) executed by the manager control device 30 and the chassis system control device 50, the accelerator opening sensor 22 in the above embodiment is replaced with a brake sensor. Replacing the powertrain control device 40 with the chassis system control device 50 and replacing the engine 12 and the transmission 14 with brake devices can enhance the responsiveness of sudden braking.

(5) The said embodiment is applied to the vehicle electronic control system 10 mounted in the motor vehicle.
However, the present invention is not limited to a vehicle electronic control system, and may be applied to a control system for controlling any controlled device (for example, an industrial robot).

1 is a block diagram showing a schematic configuration of a vehicle electronic control system 10 according to an embodiment of the present invention. The flowchart which shows the flow of the operation | movement which the manager control apparatus 30 performs in one Embodiment. The flowchart which shows the flow of the operation | movement which the powertrain control apparatus 40 performs in one Embodiment. The flowchart which shows the flow of the operation | movement which the powertrain control apparatus 40 performs in one Embodiment. The flowchart which shows the flow of the operation | movement which the powertrain control apparatus 40 performs in one Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Electronic control system for vehicles 12 ... Engine 14 ... Transmission 22 ... Accelerator opening sensor 24, 26 ... Wiring 30 ... Manager control device 40 ... Powertrain control device 50 ... Chassis system control device 60 ... Multimedia control device BL ... Bus Line 32, 42, 52, 62 ... CPU
34, 44, 54, 64 ... ROM
36, 46, 56, 66 ... RAM
38, 48, 58, 68 ... I / O

Claims (12)

Detecting means for detecting an instruction command from a user related to control of the controlled device;
An instruction command detected by the detection means is input, and on the basis of the input instruction command , upper control means for generating a control command for controlling the controlled device;
A control system comprising: an instruction command detected by the detection means; and a lower control means for controlling the controlled device based on the input instruction command or the control command generated by the higher control means. ,
The lower control means includes
Based on the instruction command, determine the degree of responsiveness required for the operation of the controlled device for the instruction command;
When it is determined that a high responsiveness is required for the operation of the controlled device with respect to the instruction command, the controlled device is not based on the control command generated by the host control unit but based on the instruction command detected by the detection unit. Control your own
A control system that controls a controlled device based on a control command generated by the host control means when it is determined that high responsiveness is not required for the operation of the controlled device with respect to the instruction command. The control system according to claim 1,
The lower control means includes
Detecting the time change amount of the instruction command detected by the detecting means;
When the amount of time change is equal to or greater than a predetermined value, it is determined that a high responsiveness is required for the operation of the controlled device for the instruction command,
A control system, wherein when the amount of time change is less than a predetermined value, it is determined that high responsiveness is not required for the operation of the controlled device with respect to the instruction command. The control system according to claim 1 or 2,
The lower control means includes
A first control amount of the controlled device based on the control command generated by the higher-order control means, and a second control amount of the controlled device independently controlled by the lower-order control means based on the instruction command detected by the detection means; The absolute value of the difference between
If the absolute value of the difference is greater than or equal to a predetermined value, the second controlled variable is close to the first controlled variable after maintaining the state where the controlled variable of the controlled device is set to the second controlled variable for a predetermined time. A control system characterized in that the second control amount is made closer to the first control amount by repeating the process of resetting the value until the absolute value of the difference becomes less than a predetermined value. The control system according to any one of claims 1 to 3,
The lower control means includes
The control system is characterized in that the control is executed only when the instruction command received from the detection unit is normal and the control command received from the host control unit is normal. In the control system according to any one of claims 1 to 4,
The lower control means includes
If the instruction command received from the detection unit is abnormal and the control command received from the host control unit is normal, the controlled command is controlled based on the control command generated by the host control unit instead of the control. A control system for controlling an apparatus. The control system according to any one of claims 1 to 5,
The lower control means includes
When the instruction command received from the detection unit is abnormal and the control command received from the host control unit is abnormal, the controlled device is replaced with the control based on a preset control command. A control system characterized by controlling. In the control system according to any one of claims 1 to 6,
The lower control means includes
When the instruction command received from the detection unit is normal and the control command received from the host control unit is abnormal, the controlled device is replaced with the control based on the instruction command detected by the detection unit. Control system characterized by independent control. The control system according to any one of claims 4 to 7,
The lower control means includes
If the instruction command received from the detection means falls within the range of possible values and does not stick, it is determined to be normal, and if it does not fall within the range of possible values or is stuck, it is abnormal. The control system characterized by determining. The control system according to any one of claims 4 to 7,
The lower control means includes
When the control command received from the higher-level control means is within the range of possible values and is not fixed, it is determined to be normal, and when it is not within the range of possible values or is fixed A control system characterized by determining an abnormality. The control system according to any one of claims 1 to 9,
The controlled devices are automobile engines and transmissions,
The detection means detects an accelerator opening corresponding to an accelerator pedal depression amount operated by a driver as a user as an instruction command,
The upper control means generates a control signal for generating a desired output torque from the engine and transmission as a control command,
The lower control means controls the engine and the transmission based on the control signal generated by the upper control means or the accelerator opening detected by the detection means. Electronic control system.   The program for functioning a computer system as said each means in the control system of any one of Claims 1-10.   The computer-readable recording medium with which the program for functioning a computer system as each said means in the control system of any one of Claims 1-10 was recorded.

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