JP5618004B2 - Vehicle and vehicle control method - Google Patents

Description

  The present invention relates to a vehicle that switches a shift range by a shift-by-wire method and a method for controlling the vehicle.

  2. Description of the Related Art Conventionally, vehicles that employ a shift-by-wire system that switches a shift range based on a result of electrically detecting the position of a shift lever are known.

  In such a vehicle, for example, in Japanese Patent Application Laid-Open No. 2001-289067 (Patent Document 1), when the neutral range is normal although the parking range is abnormal, the driver is stepping on the brake pedal. As a precondition, a technique for permitting vehicle movement in the neutral range is disclosed.

JP 2001-289067 A JP 2009-133659 A JP 2008-121835 A JP 2003-294134 A

  However, in the technique disclosed in Patent Document 1, when a shift abnormality occurs in which a combination of shift signals output from the shift sensor does not correspond to any of a plurality of predetermined normal patterns, the vehicle is moved only in the neutral range. I can't let you. For this reason, there is a case where the evacuation traveling reflecting the user's intention cannot be realized.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to realize retreat travel that reflects the user's intention when a shift abnormality occurs.

  A vehicle according to the present invention includes a shift sensor that outputs a plurality of shift signals whose combinations change according to a user's shift operation, and a control device that controls a shift range according to the combination of the shift signals. The control device monitors the change of the shift signal, and if a shift abnormality occurs in which the combination after the change of the shift signal does not correspond to any of a plurality of predefined combinations, the shift abnormality is determined according to the change mode of the shift signal. It is determined whether or not to execute the first retreat travel that holds the shift range before the occurrence.

  Preferably, when the shift abnormality occurs, the control device executes the first retreat travel when the shift signal change number is equal to or less than the threshold value, and when the shift signal change number is larger than the threshold value. Execution of the first retreat travel is prohibited.

  Preferably, the combination of shift signals is such that the number of signals different from each other between the signal pattern of the parking position, the signal pattern of the reverse position, the signal pattern of the neutral position, and the signal pattern of the forward position exceeds a predetermined value. It is prescribed in advance. The threshold value is set to a value smaller than a predetermined value.

  Preferably, the control device stores the combination of the shift signals at the time when the shift signal is first changed, and if the combination of the shift signals further changes from the stored combination, the number of changes of the shift signal is the threshold value. Even in the following cases, the execution of the first retreat travel is prohibited.

  Preferably, when a shift abnormality occurs, the control device executes the first retreat travel until a predetermined shift signal is newly input when the shift range before the shift abnormality is a specific shift range. When the predetermined shift signal is newly input, the execution of the first retreat travel is prohibited.

  Preferably, when the shift abnormality occurs and the execution of the first retreat travel is prohibited, the control device executes the second retreat travel that switches the shift range to a predetermined shift range.

Preferably, the predetermined shift range is a neutral range.
A control method according to another aspect of the present invention includes a shift sensor that outputs a plurality of shift signals whose combinations change according to a user's shift operation, and a control device that controls a shift range according to the combination of shift signals. The vehicle control method includes a step of monitoring a change in the shift signal, and a shift signal when a shift abnormality that does not correspond to any of a plurality of combinations defined in advance after the change of the shift signal occurs. Determining whether or not to execute the first retreat travel that maintains the shift range before the occurrence of the shift abnormality according to the change mode.

  According to the present invention, when a shift abnormality occurs, it is possible to realize retreat travel that reflects the user's intention.

1 is an overall block diagram of a vehicle. It is a figure which shows a shift gate. It is a figure which shows an example of the structure of a shift sensor. It is a figure which shows the normal pattern of a shift signal. It is a functional block diagram of ECU. FIG. 6 is a diagram (part 1) illustrating a shift signal pattern when a sensor failure occurs. FIG. 6 is a diagram (part 2) illustrating a shift signal pattern at the time of sensor failure. It is a flowchart (the 1) which shows the process sequence of ECU. It is a flowchart (the 2) which shows the process sequence of ECU.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  FIG. 1 is an overall block diagram of a vehicle 1 according to the present embodiment. The vehicle 1 includes a drive device 100, a transmission 200, wheels 300, and an ECU (Electronic Control Unit) 800. Further, the vehicle 1 includes an IG switch 10 that is operated by a driver, an accelerator pedal 21, a brake pedal 31, a steering 41, and a shift lever 91. The vehicle 1 further includes an accelerator position sensor 20, a brake stroke sensor 30, a steering angle sensor 40, a vehicle speed sensor 50, and a shift sensor 80.

  Drive device 100 and transmission device 200 are controlled by a control signal from ECU 800.

  The driving device 100 is a device that generates a driving force of the vehicle 1. The drive device 100 is typically composed of an engine, a motor, and the like.

  The transmission 200 is provided between the driving device 100 and the wheel 300, and changes the rotational speed of the driving device 100 and transmits it to the wheel 300. Transmission 200 includes a plurality of friction engagement elements (clutch and brake) for switching the power transmission direction and the gear ratio, and a parking gear for fixing output shaft 210 of transmission 200. The control state of transmission 200 (hereinafter also referred to as “shift range”) is determined by a control signal from ECU 800 in accordance with a P (parking) range, an R (reverse) range, an N (neutral) range, a D (drive) range, and B ( Switch to one of the brake) ranges. Such a method of switching the shift range by electrical control is also called a shift-by-wire method. In the D range, the B range, and the R range, the driving force of the driving device 100 is transmitted to the wheels 300, and the vehicle 1 travels. In the D range and the B range, the vehicle 1 travels in the forward direction. The B range is a shift range in which the engine brake is more effective than the D range. In the R range, the vehicle 1 travels in the reverse direction. Hereinafter, the D range, the B range, and the R range are collectively referred to as a “drive range”. On the other hand, in the N range, the driving force of the driving device 100 is not transmitted to the wheels 300. In the P range, the parking gear in the transmission 200 is operated, the output shaft 210 is fixed, and the rotation of the wheels 300 is suppressed. Hereinafter, the N range and the P range are collectively referred to as “non-driving range”.

  The IG switch 10 is a switch for a driver to input a start request and a stop request of a drive system of the vehicle 1 (electric equipment necessary for travel control of the vehicle 1). At the position where the IG switch 10 is operated, an IG off position for bringing the drive system to a stopped state (Ready-OFF state), an IG on position for energizing the drive system, and a drive system being activated (Ready-ON) The starting position for making the state) etc. included.

  The accelerator position sensor 20 detects the position (accelerator position) AP of the accelerator pedal 21. The brake stroke sensor 30 detects an operation amount (brake stroke) BS of the brake pedal 31. The steering angle sensor 40 detects the steering angle of the steering 41. The vehicle speed sensor 50 detects the vehicle speed V from the rotational speed of the output shaft 210 of the transmission 200.

  The shift sensor 80 is mechanically connected via a shift lever 91 and a push-pull cable 92 operated by the user along the shift gate 93. Shift sensor 80 outputs to ECU 800 a shift signal corresponding to the position of shift lever 91 (hereinafter also referred to as “shift position”). The shift signal is used by ECU 800 to determine (recognize) a shift range required by the driver (hereinafter also referred to as “request range”). The shift signal includes a plurality of types of signals (seven types as will be described later in this embodiment).

  ECU 800 incorporates a CPU (Central Processing Unit) and a memory (not shown), and executes predetermined arithmetic processing based on information stored in the memory and information from each sensor. ECU 800 controls each device mounted on vehicle 1 based on the result of the arithmetic processing.

  The ECU 800 recognizes the required range based on a combination of a plurality of types of shift signals received from the shift sensor 80, and controls the transmission 200 to realize the recognized required range.

  FIG. 2 is a diagram showing the shift gate 93. As shown in FIG. 2, the shift gate 93 is provided with a groove 93 </ b> A for restricting the movement path of the shift lever 91. The shift lever 91 is moved along the groove 93A in the order of the P, R, N, D, and B positions from the P position side.

  FIG. 3 is a diagram illustrating an example of the structure of the shift sensor 80. The shift sensor 80 includes a movable member 90, four movable contacts M (M1 to M4), seven fixed contacts T1 to T7, two power terminals B (B1, B2), and a shift connector C. Shift connector C is connected to ECU 800 by shift wire W.

  The movable member 90 has one end connected to the shift lever 91 via a push-pull cable 92 and the other end connected to the rotation shaft A so as to be rotatable. The movable member 90 is rotated about the rotation axis A to a position corresponding to the shift position by pushing or pulling the push-pull cable 92 according to the shift operation of the driver.

  The movable contacts M1 to M4 are fixed to the movable member 90. Therefore, when the movable member 90 is rotated to a position corresponding to the shift position, the four movable contacts M1 to M4 are also rotated to positions corresponding to the shift position.

  The fixed contacts T1 to T7 are arranged on one of the four concentric tracks R1 to R4 with the rotation axis A as the center so as not to cross each other. Thereby, the fixed contacts T1 to T7 are arranged substantially in parallel with the turning locus of the movable member 90 (the turning locus of the movable contacts M1 to M4).

  A predetermined voltage (for example, a voltage of about 12 volts) is supplied to the power supply terminals B1 and B2 from one terminal (not shown) through the shift wire W.

  The power supply terminal B1 extends on the track RB1 between the track R1 and the track R2 substantially in parallel with the tracks R1, R2, and is configured to always contact the movable contacts M1, M2. The power supply terminal B2 extends on the track RB2 between the tracks R3 and R4 substantially in parallel with the tracks R3 and R4, and is configured to always contact the movable contacts M3 and M4.

  The fixed contacts T1 to T7 are electrically connected to the power supply terminals B1 and B2 by contacting the movable contacts M1 to M4 according to the positions of the movable contacts M1 to M4. Accordingly, a predetermined voltage is supplied from the power supply terminals B1 and B2 to the fixed contacts T1 to T7. A voltage supplied from the power terminals B1 and B2 to the fixed contacts T1 to T7 via the movable contacts M1 to M4 is output to the ECU 800 via the shift wire W as a shift signal.

  FIG. 4 is a diagram illustrating a normal pattern of the shift signal. In FIG. 4, the horizontal axis indicates the type of shift signal (the distinction between the fixed contacts T1 to T7), the vertical axis indicates the shift position, and “1” indicates that each shift signal is “ON” (the power supply terminal B and each fixed contact T1). The blank indicates that each shift signal is “off (non-conductive state between the power supply terminal B and each of the fixed contacts T1 to T7)”. Hereinafter, the shift signal output from the fixed contact Tn (n = 1 to 7) is also referred to as “shift signal Tn” or simply “Tn”.

  When the shift sensor 80 is normal, a combination of shift signals (hereinafter also referred to as “shift signal pattern”) corresponds to one of a plurality of predetermined normal patterns shown in FIG. As can be seen from FIG. 4, in this embodiment, the number of shift signals that differ between the P, R, N, D, and B shift patterns is three or more, except between the D and B patterns. It is prescribed to be. In particular, the number of shift signals different between the D pattern and any of the P, R, and N patterns is set to be four or more.

  In the vehicle 1 having the above structure, when an abnormality that does not correspond to any of the normal patterns shown in FIG. 4 (hereinafter referred to as “shift abnormality”) occurs, the ECU 800 causes the shift sensor 80 to fail. The vehicle 1 is retreated.

  Conventionally, if a shift abnormality occurs, there is a possibility that the required range may be misjudged, so it is set as “required range indefinite”, and whether the shift abnormality has occurred as a trigger of the shift operation (hereinafter simply referred to as “sensor The shift range was forcibly switched to the N range and the vehicle was retracted by inertia or towing without distinguishing whether the failure occurred as a trigger. However, in this conventional evacuation traveling, for example, when a shift abnormality occurs during traveling in the D range, the shift abnormality is triggered by a sensor failure (that is, the user is not performing a shift operation). In other words, the shift range is forcibly switched to the N range, and there is a problem that the evacuation traveling reflecting the user's intention cannot be performed. Therefore, it is necessary to further improve the evacuation traveling performance.

  Accordingly, when a shift abnormality occurs, the ECU 800 according to the present embodiment performs a retreat travel (hereinafter also referred to as “first retreat travel”) that maintains the shift range before the occurrence of the shift abnormality in accordance with the change mode of the shift signal pattern. Decide whether to execute. More specifically, ECU 800 monitors the change of the shift signal pattern, and a pattern in which the changed shift signal pattern can be generated by the shift operation based on the change mode of the shift signal pattern (the number and type of the changed shift signals). The first retreat travel is allowed only when the pattern cannot be generated by the shift operation, and the first retreat travel is prohibited when the pattern can be generated by the shift operation. Then, when the shift abnormality actually occurs, ECU 800 executes the first retreat travel if the execution of the first retreat travel is permitted (holds the shift range before the occurrence of the shift abnormality), and performs the first retreat. When execution of travel is prohibited, retreat travel (hereinafter also referred to as “second retreat travel”) that switches the shift range to the N range is performed.

  FIG. 5 is a functional block diagram of the ECU 800 relating to the control of the retreat travel. Each functional block shown in FIG. 5 may be realized by hardware or software.

ECU 800 includes a determination unit 810 and a switching unit 820.
The determination unit 810 determines whether or not to permit the execution of the first retreat travel described above based on the change mode of the shift signal pattern. Specifically, the determination unit 810 performs “prohibition determination based on the difference check result” and “prohibition determination based on the shift position”.

First, “prohibition determination based on the difference check result” will be described.
The determination unit 810 determines whether a shift abnormality has occurred using a shift operation as a trigger or a sensor failure as a trigger, and the normal pattern corresponding to the current shift range (hereinafter also referred to as “current range”) and the current pattern. The shift signal patterns are compared, and the number of types of shift signals different between the two is calculated as “difference”. This process is “difference check”. For example, when a fixed contact T1 on failure (failure that is always on) occurs during traveling in the D range, the normal pattern corresponding to the current D range is [T4, T5], whereas Since the shift signal pattern is [T1, T4, T5], there is only one type of shift signal “T1” different between the two, and the difference is “1”. In addition, when a stationary contact T1 off failure (a failure that is always off) and a stationary contact T4 on failure occur during a stop in the P range, the normal pattern corresponding to the current P range is [T1, T6, T7] whereas the current shift signal pattern is [T4, T6, T7], so there are two types of shift signals, “T1” and “T4”, which are different from each other. Becomes “2”.

  When the difference obtained by the difference check is 2 or more, the determining unit 810 has a relatively high possibility that a shift abnormality has occurred using a shift operation as a trigger (the possibility that the requested range has been changed from the current range is relatively high). Therefore, execution of the first evacuation travel (maintenance of the current range) is prohibited.

  On the other hand, when the difference is equal to or smaller than 1, the determination unit 810 has a relatively low possibility that a shift abnormality is triggered by a shift operation (the possibility that the requested range is changed from the current range is relatively low). The execution of the first retreat travel is permitted. When the difference is 1, the determination unit 810 stores the shift signal pattern at the time of the first change (when the shift signal is changed for the first time) in the memory, and the shift signal pattern further changes from the stored pattern. In this case, since there is a high possibility that the shift operation has been performed, even if the difference is 1, the execution of the first retreat travel (holding the current range) is prohibited. The series of processes described above is “prohibition determination based on the difference check result”.

  In order to allow execution of the first retreat travel when the difference is “1” or less, the shift sensor may be designed so that other ranges are not erroneously determined when the difference is “1” or less. It is a prerequisite. In the shift sensor 80 according to the present embodiment, the number of shift signals different between the shift patterns of P, R, N, and D is all “3” or more, and the threshold value “1” of the difference is the shift pattern. This precondition is satisfied because it is smaller than the minimum number of shift signals “3” that differ between the two. As long as this precondition is satisfied, the difference threshold value may be changed to a value larger than “1” (for example, “2”).

  Next, “prohibition determination by shift position” will be described. Only the difference obtained by the above-described “difference check” may not be able to appropriately determine whether the shift abnormality has occurred using a shift operation as a trigger or a sensor failure as a trigger. First, this point will be described with reference to FIGS.

  6 and 7 are diagrams showing shift signal patterns when a sensor failure occurs. 6 and 7, the horizontal axis indicates the type of shift signal, the vertical axis indicates the shift position, “1” indicates “on”, the blank indicates “off”, and “●” indicates “on failure”. "X" indicates "off failure".

  FIG. 6 shows a shift signal pattern at the time of a triple failure of an on failure at T4, an on failure at T5, and an off failure at T6. Even in such a triple failure, if the shift position is the D position, the shift signal pattern matches the D pattern [T4, T5], so that no shift abnormality occurs and the required range is recognized as the D range. Is done. After that, when the shift position is moved to the R position, T2 is turned on at the end while T4 and T5 are not turned off and T6 is not turned on, so the shift signal pattern is [T2, T4, T5], A shift abnormality that does not correspond to any of the normal patterns shown in FIG. 4 occurs. In this case, the type of the changed shift signal is only “T2”, and the difference check result is “1”. Therefore, according to only the “determination process based on the difference check result”, the current D range is retained even though the original required range is the R range (hereinafter, such erroneous determination is referred to as “reverse travel”). Also called “range misjudgment”).

  FIG. 7 shows a shift signal pattern at the time of a double failure of an on failure at T4 and an on failure at T5. Even in such a double failure, if the shift position is the B position, the shift signal pattern matches the B pattern [T4, T5, T7], so that no shift abnormality occurs, and the required range is the B range. It is recognized. After that, when the shift position is moved to the N position, T3 is finally turned on, but T4 and T5 are not turned off, so that the shift signal pattern is [T3, T4, T5, T7] and a shift abnormality occurs. . Also in this case, the difference check result is “1”. Therefore, according to only the “determination process based on the difference check result”, the execution of the first retreat travel is permitted and the B range (drive range) even though the original required range is the N range (non-drive range). (Hereinafter, such erroneous determination is also referred to as “OR (overrun) range erroneous determination”).

  In order to prevent the above-described reverse range misjudgment (see FIG. 6) and OR range misjudgment (see FIG. 7), the determination unit 810 receives the shift signal T3 when the current range is the D range or the B range. Whether or not there is a possibility that the shift position has moved from the D position or B position to the S33 position (N position side) and when the shift signal T3 is input, the first retraction is performed. Execution of travel (holding of D range or B range) is prohibited. A series of these processes is “prohibition determination by shift position”.

  Returning to FIG. 5, the switching unit 820 will be described. The switching unit 820 determines whether or not there is a shift abnormality (whether the shift signal pattern corresponds to any of a plurality of predefined normal patterns shown in FIG. 4), and switches the shift range according to the determination result. .

  Switching unit 820 performs normal traveling when there is no shift abnormality. In normal travel, the switching unit 820 sets the shift range to the range corresponding to the shift signal pattern when the shift signal pattern matches any of the normal patterns P, R, N, D, and B (see FIG. 4). Switch to.

  Switching unit 820 performs retreat travel when a shift abnormality occurs. In the retreat travel, the switching unit 820 selects a shift range during retreat travel according to the determination result by the determination unit 810.

  When execution of the first retreat travel is permitted, the switching unit 820 performs the first retreat travel, holds the current range (the shift range before the occurrence of the shift abnormality), and holds the vehicle 1 in the current range. Evacuate.

  When the execution of the first retreat travel is prohibited, the switching unit 820 executes the second retreat travel, switches the shift range from the current range to the N range, and retreats the vehicle 1 in the N range.

  FIG. 8 is a flowchart showing a processing procedure of ECU 800 for realizing the function of determination unit 810 described above. The flowchart shown in FIG. 8 is repeatedly executed at a predetermined cycle.

  In step (hereinafter, step is abbreviated as “S”) 10, ECU 800 performs the “difference check” described above.

  In S11, ECU 800 performs the above-described “prohibition determination by shift position”.

In S12, ECU 800 determines whether there is a difference.
If there is no difference (NO in S12), ECU 800 performs an initialization process in S13, and thereafter ends the process. The initialization process is a process of canceling the prohibition when the execution of the first retreat travel is prohibited, and clearing (erasing) the pattern when the shift signal pattern at the first change is stored. Processing.

  On the other hand, if there is a difference (YES in S12), ECU 800 determines in S15 whether execution of the first retreat travel is currently prohibited. If execution of the first retreat travel is currently prohibited (YES in S15), the process proceeds to S22. If not (NO in S15), the process proceeds to S16.

  In S16, ECU 800 determines whether or not the first retreat travel is prohibited by the “prohibition determination by shift position” performed in S11. If the first retreat travel is prohibited by “prohibition determination by shift position” (YES in S16), the process proceeds to S22. If not (NO in S16), the process proceeds to S17.

  In S17, ECU 800 determines whether or not the difference is 1. If the difference is 1 (YES in S17), the process proceeds to S18. If not (NO in S17), the process proceeds to S22.

  In S18, ECU 800 determines whether or not the current shift signal pattern change is the first change. This determination is made based on whether or not the shift signal pattern at the time of the first change is already stored in the memory. If the current shift signal pattern change is the first change (YES in S18), the process proceeds to S19. If not (NO in S18), the process proceeds to S20.

  In S19, ECU 800 stores the current shift signal pattern in the memory as the shift signal pattern at the time of the first change, and then moves the process to S21.

  In S20, ECU 800 determines whether or not the current shift signal pattern has further changed from the shift signal pattern at the first change stored in the memory. If the current shift signal pattern is further changed from the shift signal pattern at the time of the first change (YES in S20), the process proceeds to S22. If not (NO in S20), the process proceeds to S21.

  In S21, ECU 800 determines to allow execution of the first retreat travel. In S22, ECU 800 determines to prohibit execution of the first retreat travel. The determination result of S21 or S22 is stored in the memory.

  FIG. 9 is a flowchart showing a processing procedure of ECU 800 for realizing the function of switching section 820 described above. The flowchart shown in FIG. 9 is repeatedly executed at a predetermined cycle.

  In S30, ECU 800 determines whether there is a shift abnormality. If there is no shift abnormality (NO in S30), ECU 800 moves the process to S31 and performs normal running.

  If there is a shift abnormality (YES in S32), ECU 800 moves the process to S32 and determines whether or not execution of the first retreat travel is permitted.

  If the process of S21 in FIG. 8 is performed and execution of the first retreat travel is permitted (YES in S32), ECU 800 moves the process to S33 and performs the first retreat travel. That is, ECU 800 maintains the shift range (current range) before the occurrence of a shift abnormality and causes vehicle 1 to retreat.

  On the other hand, when the process of S22 in FIG. 8 is performed and execution of the first retreat travel is prohibited (NO in S32), ECU 800 moves the process to S34 and performs the second retreat travel. That is, ECU 800 switches the shift range to the N range and causes vehicle 1 to retreat.

  As described above, in the vehicle 1 according to the present embodiment, when a shift abnormality occurs, whether the shift abnormality has occurred as a trigger according to the shift signal change mode (number or type of changed signals). Appropriately determining whether a sensor failure has occurred as a trigger, and in accordance with the result, it is determined whether or not to execute the first retreat travel that maintains the shift range before the occurrence of a shift abnormality. Therefore, compared with the conventional case where the shift range is forcibly switched to the N range when a shift abnormality occurs, it is possible to realize retreat travel that reflects the user's intention.

  It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  1 vehicle, 10 IG switch, 20 accelerator position sensor, 21 accelerator pedal, 30 brake stroke sensor, 31 brake pedal, 40 steering angle sensor, 41 steering, 50 vehicle speed sensor, 80 shift sensor, 90 movable member, 91 shift lever, 92 Push-pull cable, 93 shift gate, 93A groove, 100 drive unit, 200 transmission, 210 output shaft, 300 wheels, 800 ECU, 810 determining unit, 820 switching unit, A rotating shaft, B1, B2 power supply terminal, C shift Connector, M1-M4 movable contact, R1-R4 track, T1-T7 fixed contact (shift signal), W shift wire.

Claims (7)

And Shifutosen Sa to output a plurality of shift signals combination is changed according to the user of the shift operation,
And a control equipment for controlling the shift range according to a combination of the shift signal,
The control device monitors the change of the shift signal, and when a shift abnormality that does not correspond to any of a plurality of predefined combinations occurs after the change of the shift signal, the number of changes of the shift signal is When the value is equal to or less than the threshold value, the first evacuation travel is performed to hold the shift range before the occurrence of the shift abnormality. Prohibit the vehicle. The combination of the shift signals is such that the number of signals different from each other among the signal patterns of the parking position signal pattern, the reverse position signal pattern, the neutral position signal pattern, and the forward position signal pattern is equal to or greater than a predetermined value. Pre-defined in
The vehicle according to claim 1, wherein the threshold value is set to a value smaller than the predetermined value.   The control device stores the combination of the shift signals at the time when the shift signal is first changed, and when the combination of the shift signals further changes from the stored combination, the number of changes of the shift signal is The vehicle according to claim 1, wherein execution of the first evacuation traveling is prohibited even if the value is equal to or less than a threshold value.   When the shift abnormality occurs, the control device determines whether or not the number of changes in the shift signal is equal to or less than the threshold when the shift range before the shift abnormality is a specific shift range. The first retreat travel is executed until a predetermined shift signal is newly input, and execution of the first retreat travel is prohibited when the predetermined shift signal is newly input. Vehicle described in.   The said control apparatus performs the 2nd retreat travel which switches a shift range to a predetermined shift range, when execution of the said 1st retreat travel is prohibited when the said shift abnormality generate | occur | produces. The vehicle according to 1. The vehicle according to claim 5 , wherein the predetermined shift range is a neutral range. And Shifutosen Sa to output a plurality of shift signals combination is changed according to the user of the shift operation, a vehicle control method and a control equipment for controlling the shift range according to a combination of the shift signal,
Monitoring changes in the shift signal;
When a shift abnormality occurs in which the combination after the change of the shift signal does not correspond to any of a plurality of predefined combinations, when the number of changes of the shift signal is equal to or less than a threshold value, Performing a first evacuation travel that maintains a shift range, and prohibiting the execution of the first evacuation travel when the number of changes in the shift signal is greater than the threshold value.

Images