JP5854224B2 - Abnormal state detection method and detection apparatus for vehicle driving apparatus - Google Patents

Abnormal state detection method and detection apparatus for vehicle driving apparatus Download PDF

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JP5854224B2
JP5854224B2 JP2012097545A JP2012097545A JP5854224B2 JP 5854224 B2 JP5854224 B2 JP 5854224B2 JP 2012097545 A JP2012097545 A JP 2012097545A JP 2012097545 A JP2012097545 A JP 2012097545A JP 5854224 B2 JP5854224 B2 JP 5854224B2
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JP2013224629A (en
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智昭 関田
智昭 関田
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Mahle Electric Drive Systems Co Ltd
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Kokusan Denki Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
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Description

本発明は、自動車や自動二輪車等の車両に設けられる車両運転装置の異常状態を検出する車両運転装置の異常状態検出方法及び該検出方法を実施する異常状態検出装置に関するものである。   The present invention relates to an abnormal state detection method for a vehicle driving device that detects an abnormal state of a vehicle driving device provided in a vehicle such as an automobile or a motorcycle, and an abnormal state detection device that implements the detection method.

エンジン（内燃機関）及び（又は）モータ（電動機）からなる駆動源により駆動される車両の運転装置は、車両を運転する際に車速を調節するための運転操作に応じて変位させられる被操作部を備えていて、車速を調節する運転操作に応じて該被操作部を変位させることにより、駆動源の回転速度を調節して車速を調節するようになっている。   A driving device for a vehicle driven by a driving source including an engine (internal combustion engine) and / or a motor (electric motor) is displaced according to a driving operation for adjusting the vehicle speed when driving the vehicle. And the vehicle speed is adjusted by adjusting the rotational speed of the drive source by displacing the operated portion in accordance with a driving operation for adjusting the vehicle speed.

エンジン及び（又は）モータを駆動源とした車両において、車両運転装置の被操作部がロックする異常状態が生じたときには、直ちにその異常状態を検出して、駆動源を停止又は減速したり、運転モードを、修理工場などの近くの退避場までの運転（退避走行）を可能にする退避運転モードとしたりする等の保安措置を講じる必要がある。エンジンとモータとの双方を駆動源として備えたハイブリッド車においては、特許文献１に示されているように、エンジンの回転速度を調節するために操作される操作軸（被操作部）のロックが検出された時に、エンジンを停止させて、運転モードを電動機のみで車両を駆動する退避運転モードに切り換えることにより、車両の退避走行を可能にする提案がされている。   In a vehicle using an engine and / or motor as a drive source, when an abnormal state occurs in which the operated part of the vehicle driving device is locked, the abnormal state is immediately detected to stop or slow down the drive source, It is necessary to take safety measures such as setting the mode to a evacuation operation mode that enables operation (evacuation traveling) to a evacuation site near a repair shop or the like. In a hybrid vehicle equipped with both an engine and a motor as drive sources, as shown in Patent Document 1, the operation shaft (operated part) that is operated to adjust the rotational speed of the engine is locked. It has been proposed that when detected, the engine is stopped and the operation mode is switched to a retreat operation mode in which the vehicle is driven only by an electric motor to enable retreat travel of the vehicle.

なお車両運転装置の被操作部とは、例えばスロットルバルブの操作軸であり、被操作部がロックする異常状態は、運転者がアクセルグリップやアクセルペダル等のアクセル操作部材を変位させる運転操作を行っても被操作部が変位することができない状態である。   The operated part of the vehicle driving device is, for example, an operating shaft of a throttle valve. In an abnormal state where the operated part is locked, the driver performs a driving operation to displace an accelerator operating member such as an accelerator grip or an accelerator pedal. However, the operated part cannot be displaced.

特許文献１には、スロットルバルブがロック状態になったことを検出する方法が開示されている。特許文献１に開示された検出方法では、スロットル開度センサにより検出されるスロットルバルブの実際の開度と、スロットルバルブの目標開度との差を開度差として演算する処理を所定の期間の間繰り返し行って開度差の積分値を演算し、演算された開度差の積分値と予め設定された判定値とを比較して、積分値が判定値よりも大きいときにスロットルバルブの操作軸がロックしたと判定する。   Patent Document 1 discloses a method for detecting that the throttle valve is locked. In the detection method disclosed in Patent Document 1, a process of calculating a difference between the actual opening of the throttle valve detected by the throttle opening sensor and the target opening of the throttle valve as an opening difference is performed for a predetermined period. Repeatedly to calculate the integral value of the opening difference, compare the calculated integral value of the opening difference with the preset judgment value, and operate the throttle valve when the integral value is larger than the judgment value It is determined that the axis is locked.

特開２０１０−１０５６００号公報JP 2010-105600 A

特許文献１に示された検出方法のように、スロットルバルブの開度差の積分値を演算して、演算された開度差の積分値を予め設定された判定値と比較することにより、スロットルバルブの操作軸がロックしたか否かを判定するようにした場合には、ロック状態の検出に時間がかかるのを避けられない。   As in the detection method disclosed in Patent Document 1, the integrated value of the opening difference of the throttle valve is calculated, and the calculated integrated value of the opening difference is compared with a predetermined determination value. When it is determined whether or not the valve operating shaft is locked, it is inevitable that it takes time to detect the locked state.

特に車両が不整地を走行する際などのように、危険な状態で車両が運転される場合には、車両運転装置の被操作部がロックしたときにそのロック状態を素早く検出して、駆動源を停止又は減速したり、運転モードを退避運転モードに切り換える等の保安措置を速やかに講じることが望ましいが、従来の検出方法によった場合には、ロック状態の検出に時間がかかるため、保安措置を適確かつ速やかに講じることが困難であった。   In particular, when the vehicle is driven in a dangerous state, such as when the vehicle is traveling on rough terrain, the locked state is quickly detected when the operated part of the vehicle driving device is locked, and the drive source It is desirable to immediately take safety measures such as stopping or slowing down or switching the operation mode to the evacuation operation mode.However, in the case of using the conventional detection method, it takes time to detect the lock state. It was difficult to take measures accurately and promptly.

本発明の目的は、車両運転装置の被操作部がロック状態になったときにそのロック状態を素早く検出して、車両が如何なる走行状態にあるときでも保安措置を適確かつ迅速に講じることを可能にする異常状態検出方法及びこの検出方法を実施する異常状態検出装置を提供することにある。   The object of the present invention is to quickly detect the locked state when the operated part of the vehicle driving device is locked, and to take security measures accurately and promptly regardless of the traveling state of the vehicle. An object of the present invention is to provide an abnormal state detection method that enables the detection and an abnormal state detection device that implements the detection method.

本発明は、車速を調節するための運転操作が行われるときにその運転操作に応じて変位させられる部分である車両運転装置の被操作部がロックする異常状態が生じたときにその異常状態を検出する車両運転装置の異常状態検出方法を対象とする。 The present invention relates to an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device, which is a part that is displaced according to the driving operation when a driving operation for adjusting the vehicle speed is performed, occurs. The object is an abnormal state detection method for a vehicle driving device to be detected.

本発明においては、設定時間毎に前記車両の走行時の揺れ度合と、前記車両運転装置の被操作部の位置とを検出し、被操作部の位置に変化が無い状態が続いている期間に検出された車両の揺れ度合を積算して、その積算値が設定された判定値を超えたときに被操作部がロックする異常状態が生じていると判定する。 In the present invention, the degree of shaking of the vehicle during traveling and the position of the operated part of the vehicle driving device are detected every set time , and the position of the operated part remains unchanged. The detected degree of vehicle shake is integrated, and when the integrated value exceeds a set determination value, it is determined that an abnormal state occurs in which the operated portion is locked.

本発明の好ましい態様では、設定時間毎に車両の走行時の揺れ度合と、車両運転装置の被操作部の位置とを検出し、揺れ度合と被操作部の位置とを検出する毎に、被操作部の位置が変化しているか否かを判定する被操作部位置変化判定過程と、この被操作部位置変化判定過程で被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回検出した車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに車両の揺れ度合の積算値を初期値にリセットする積算動作を行う揺れ度合積算過程とを行い、揺れ度合積算過程で求められた車両の揺れ度合の積算値が設定された判定値以上であるときに車両運転装置の被操作部がロックする異常状態が生じていると判定する。   In a preferred aspect of the present invention, the degree of shaking during travel of the vehicle and the position of the operated part of the vehicle driving device are detected every set time, and each time the degree of shaking and the position of the operated part are detected. The operated part position change determination process for determining whether or not the position of the operated part has changed, and until the previous time when it is determined in this operated part position change determination process that the position of the operated part has not changed Integration of the vehicle's shaking degree detected this time to the integrated value of the vehicle's shaking degree, and resetting the integrated value of the shaking degree of the vehicle to the initial value when it is determined that the position of the operated part has changed There is an abnormal state in which the operated part of the vehicle driving device locks when the integrated value of the vehicle shake obtained in the process of integrating the shake is greater than or equal to the set judgment value. Determine that it has occurred.

上記の検出方法によった場合、車両運転装置の被操作部がロックしていない状態では、車速を調節する運転操作が行われる毎に被操作部の位置が変化したことが検出されて車両の揺れ度合の積算値がリセットされるため、揺れ度合の積算値が判定値に達することはなく、被操作部がロックしているとの誤判定がされることはない。   According to the above detection method, in a state where the operated part of the vehicle driving device is not locked, it is detected that the position of the operated part has changed every time a driving operation for adjusting the vehicle speed is performed. Since the integrated value of the shaking degree is reset, the integrated value of the shaking degree does not reach the determination value, and an erroneous determination that the operated part is locked is not made.

これに対し、車両運転装置の被操作部がロックしている状態では、車速を調節する運転操作が行われても被操作部の位置が変化することはないため、車両の揺れ度合の積算値がリセットされることがない。そのため、被操作部がロックしている状態では、車両の揺れ度合が大きい場合も、小さい場合も、揺れ度合の積算値が確実に判定値に達し、被操作部がロックしていることが検出される。   On the other hand, in the state where the operated portion of the vehicle driving device is locked, the position of the operated portion does not change even if a driving operation for adjusting the vehicle speed is performed. Will not be reset. Therefore, when the operated part is locked, it is detected that the integrated value of the shaking degree surely reaches the judgment value and the operated part is locked regardless of whether the degree of shaking of the vehicle is large or small. Is done.

車両の揺れ度合が大きいときには、揺れ度合の積算値が判定値を超えるまでに要する時間が短くなり、車両の揺れ度合が小さい時には、揺れ度合の積算値が判定値を超えるまでに要する時間が長くなる。不整地などを走行しているときに被操作部がロックした場合には、車両の揺れ度合が大きいため、被操作部がロックしていると揺れ度合の積算値が短時間で判定値に達する。従って、車両の揺れ度合が大きいときには、被操作部がロックした後短時間でそのロック状態を検出することができ、保安のための措置を迅速に講じることができる。被操作部がロックしていない状態であっても、車両の揺れ度合が大きいときに被操作部の位置が変化しない状態が続くと、揺れ度合の積算値が判定値を超えることになるが、車両の揺れ度合が大きい場合には、運転者がアクセル操作部材を一定の位置に保持することができないため、揺れ度合の積算値が頻繁にリセットされることになる。従って、被操作部がロックしていないにも拘わらず、ロックしているとの誤判定がされるおそれはない。   When the degree of shaking of the vehicle is large, the time required for the integrated value of the degree of shaking to exceed the judgment value is shortened. When the degree of shaking of the vehicle is small, the time required for the integrated value of the degree of shaking to exceed the judgment value is long. Become. If the operated part is locked while traveling on rough terrain, etc., the degree of shaking of the vehicle is large, so if the operated part is locked, the integrated value of the shaking degree reaches the judgment value in a short time. . Therefore, when the degree of shaking of the vehicle is large, the locked state can be detected in a short time after the operated portion is locked, and a measure for security can be taken quickly. Even if the operated part is not locked, if the position of the operated part does not change when the degree of shaking of the vehicle is large, the integrated value of the shaking degree will exceed the judgment value, When the degree of shaking of the vehicle is large, the driver cannot hold the accelerator operating member at a fixed position, so the integrated value of the degree of shaking is frequently reset. Therefore, there is no possibility of erroneous determination that the operated portion is locked although the operated portion is not locked.

上記の検出方法を実施する検出装置は、車両の走行時の揺れ度合を検出する車両揺れ度合検出手段と、車両運転装置の被操作部の位置が反映された信号を運転操作検出信号として出力する運転操作検出手段と、設定された時間毎に、運転操作検出手段から得られる運転操作検出信号と前記車両揺れ度合検出手段により検出されている車両の揺れ度合とを検出する運転操作・揺れ度合監視手段と、運転操作・揺れ度合監視手段が今回検出した運転操作検出信号の大きさと前回検出した運転操作検出信号の大きさとを比較して、被操作部の位置が変化しているか否かを判定する被操作部位置変化判定手段と、被操作部位置変化判定手段により被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回読み込んだ車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに車両の揺れ度合の積算値を初期値にリセットする積算動作を行う車両揺れ度合積算手段と、車両の揺れ度合の積算値が設定された判定値以上になったときに車両運転装置の被操作部がロックする異常状態が生じていると判定する判定手段とを備えることにより構成することができる。   A detection device that implements the above detection method outputs a vehicle shake degree detection unit that detects a degree of shake during traveling of the vehicle and a signal reflecting the position of the operated portion of the vehicle driving device as a driving operation detection signal. Driving operation detection means, and a driving operation / shake degree monitoring for detecting a driving operation detection signal obtained from the driving operation detection means and a vehicle shake degree detected by the vehicle shake degree detection means for each set time. And the driving operation / sway degree monitoring means detect the magnitude of the driving operation detection signal detected this time and the magnitude of the driving operation detection signal detected last time to determine whether the position of the operated part has changed. When the position of the operated part is determined to have not changed by the operated part position change determining means and the operated part position change determining means, this time is read into the integrated value of the degree of vehicle shake until the previous time. Vehicle shake degree integrating means for integrating the vehicle shake degree and performing an integration operation for resetting the integrated value of the vehicle shake degree to an initial value when it is determined that the position of the operated part has changed; And a determination unit that determines that an abnormal state occurs in which the operated portion of the vehicle driving device is locked when the integrated value of the degree of shaking exceeds a set determination value.

車両の駆動源がエンジンである場合、車両運転装置は、運転者により操作されるアクセル操作部材と、該アクセル操作部材により操作されてエンジンに供給される混合気の量を調節するスロットルバルブと、スロットルバルブの位置を検出するスロットル位置センサとを備えていることが多い。この場合、車両運転装置の被操作部は、スロットルバルブの操作軸であり、運転操作検出手段はスロットル位置センサにより構成することができる。   When the driving source of the vehicle is an engine, the vehicle driving device includes an accelerator operating member that is operated by the driver, a throttle valve that is operated by the accelerator operating member and adjusts the amount of air-fuel mixture supplied to the engine, A throttle position sensor that detects the position of the throttle valve is often provided. In this case, the operated part of the vehicle driving device is an operating shaft of the throttle valve, and the driving operation detecting means can be constituted by a throttle position sensor.

車両の駆動源がモータである場合、車両運転装置は、運転者により操作されるアクセル操作部材と、アクセル操作部材の操作（運転操作）に応動する操作入力部を有して、アクセル操作部材の位置情報を含む検出信号を出力するアクセル位置センサとを備えて、アクセル位置センサの出力をモータの制御部に与えるように構成されることが多い。この場合、車両運転装置の被操作部はアクセル位置センサの操作入力部であり、運転操作検出手段は、アクセル位置センサにより構成することができる。   When the drive source of the vehicle is a motor, the vehicle driving device includes an accelerator operation member operated by the driver and an operation input unit that responds to an operation (driving operation) of the accelerator operation member. It is often configured to include an accelerator position sensor that outputs a detection signal including position information, and to output the output of the accelerator position sensor to the control unit of the motor. In this case, the operated part of the vehicle driving device is an operation input part of the accelerator position sensor, and the driving operation detecting means can be constituted by an accelerator position sensor.

上記車両運転装置に、被操作部の位置が反映された信号を入力として車両の駆動源を制御する制御部が設けられる場合には、該制御部に入力された信号を被操作部の位置が反映された運転操作検出信号として用いるように運転操作検出手段を構成することができる。   In the case where the vehicle driving device is provided with a control unit that controls the drive source of the vehicle by using a signal reflecting the position of the operated unit as an input, the position of the operated unit is determined based on the signal input to the control unit. The driving operation detection means can be configured to be used as the reflected driving operation detection signal.

本発明においては、運転操作を検出する手段と、車両の揺れ度合を検出する手段とを設けて、設定時間毎に運転操作と車両の揺れ度合とを検出し、運転操作に変化が無い状態が続いている期間に検出された車両の揺れ度合を積算して、その積算値が判定値を超えたときに被操作部がロックする異常状態が生じていると判定するので、車両運転装置の被操作部がロック状態になったことを確実に検出することができる。特に本発明によれば、車両が不整地などを走行していて、危険な状態で運転が行われている状態で被操作部がロックしたときに、そのロック状態を素早く検出することができるため、保安のための措置を迅速に講じることを可能にすることができる。   In the present invention, there is provided a means for detecting a driving operation and a means for detecting the degree of shaking of the vehicle, detecting the driving operation and the degree of shaking of the vehicle for each set time, and there is no change in the driving operation. The degree of vehicle shake detected during the subsequent period is integrated, and when the integrated value exceeds the determination value, it is determined that an abnormal state occurs in which the operated portion is locked. It is possible to reliably detect that the operation unit is locked. In particular, according to the present invention, when the operated part is locked while the vehicle is traveling on rough terrain or the like and is being operated in a dangerous state, the locked state can be detected quickly. , Can enable security measures to be taken quickly.

本発明に係る異常状態検出装置の一実施形態の構成を概略的に示したブロッ ク図である。1 is a block diagram schematically showing a configuration of an embodiment of an abnormal state detection device according to the present invention. FIG. 本発明に係る異常状態検出装置の一実施形態で用いる運転操作検出手段の設 け方の一例を示したブロック図である。FIG. 5 is a block diagram showing an example of how to provide driving operation detection means used in one embodiment of the abnormal state detection device according to the present invention. 本発明に係る異常状態検出装置の一実施形態で用いる運転操作検出手段の設 け方の他の例を示したブロック図である。FIG. 6 is a block diagram showing another example of how to provide driving operation detection means used in one embodiment of the abnormal state detection device according to the present invention. 本発明に係る異常状態検出装置の一実施形態で用いる運転操作検出手段の設 け方の更に他の例を示したブロック図である。FIG. 6 is a block diagram showing still another example of how to provide driving operation detection means used in an embodiment of the abnormal state detection device according to the present invention. 本発明に係る異常状態検出装置の一実施形態で用いるロック判定部の構成の 一例を示したブロック図である。It is the block diagram which showed an example of the structure of the lock determination part used by one Embodiment of the abnormal condition detection apparatus which concerns on this invention. 本発明に係る異常状態検出装置の一実施形態で用いるロック判定部を構成す るためにＥＣＵのマイクロプロセッサに実行させる処理のアルゴリズムの一例を示し たフローチャートである。3 is a flowchart showing an example of an algorithm of processing executed by a microprocessor of an ECU in order to constitute a lock determination unit used in an embodiment of the abnormal state detection device according to the present invention.

図１は本発明の一実施形態の要部の構成を示したもので、同図において、１はマイクロプロセッサを備えたＥＣＵ（電子式制御ユニット）、２は車両の揺れ度合を検出する車両揺れ度合検出手段、３は運転操作検出手段である。本実施形態で対象とする車両は、エンジン及びモータの内の一方を駆動源とするものでもよく、エンジン及びモータの双方を駆動源とするもの（ハイブリッド車）でもよい。   FIG. 1 shows a configuration of a main part of an embodiment of the present invention. In FIG. 1, 1 is an ECU (electronic control unit) having a microprocessor, and 2 is a vehicle shake for detecting the degree of vehicle shake. Degree detection means 3 is a driving operation detection means. The target vehicle in the present embodiment may be one that uses one of the engine and motor as a drive source, or may be one that uses both the engine and motor as a drive source (hybrid vehicle).

ＥＣＵ１には、車両の駆動源を制御する車両駆動源制御部１０１と、車速を調節するための運転操作が行われた時にその運転操作に応じて変位させられる車両運転装置の被操作部がロックしているか否かを判定して、その判定結果の情報を車両駆動源制御部１０１に与えるロック判定部１０２とが設けられている。   The ECU 1 is locked with a vehicle drive source control unit 101 that controls the drive source of the vehicle, and an operated portion of the vehicle driving device that is displaced according to the driving operation when a driving operation for adjusting the vehicle speed is performed. And a lock determination unit 102 that determines whether or not the vehicle drive source control unit 101 is informed and determines whether or not the vehicle has been determined.

車両駆動源制御部１０１は、エンジンの点火時期の制御や、燃料噴射量の制御等、駆動源を動作させるために必要な種々の制御を行う他、ロック判定部１０２により車両運転装置の被操作部がロックしているとの判定がなされた時に、駆動源の回転速度を退避走行を可能にするために必要最低限の速度まで低下させたり、場合によっては駆動源を停止させたりする等の保安のための制御を行う。   The vehicle drive source control unit 101 performs various types of control necessary for operating the drive source, such as control of the ignition timing of the engine and control of the fuel injection amount, etc. When it is determined that the part is locked, the rotational speed of the drive source is reduced to the minimum speed necessary to enable retreat travel, or the drive source is stopped in some cases. Control for security.

ロック判定部１０２には、車両の走行時の揺れ度合を検出する車両揺れ度合検出手段２の出力と、車両運転装置の被操作部の位置が反映された信号を運転操作検出信号として出力する運転操作検出手段３の出力とが与えられている。   The lock determination unit 102 outputs a signal reflecting the output of the vehicle swing degree detecting means 2 for detecting the swing degree during traveling of the vehicle and the position of the operated part of the vehicle driving device as a driving operation detection signal. The output of the operation detection means 3 is given.

ロック判定部１０２がロックしているか否かの判定を行う（ロック判定の対象とする）車両運転装置の被操作部は、車両運転装置の構成により相違する。例えば、車両の駆動源がエンジンであって、図２に示したように、車両運転装置が、運転者により操作されるアクセルペダルやアクセルグリップ等のアクセル操作部材５と、該アクセル操作部材により操作されてエンジンに供給される混合気の量を調節するスロットルバルブ６と、スロットルバルブの位置を検出するスロットル位置センサ７とを備えている場合には、スロットルバルブ６の操作軸がロックする故障が起り得るので、スロットルバルブ６の操作軸が、ロックの有無の判定の対象とする被操作部となる。この場合、運転操作検出手段３は、スロットル位置センサ７により構成することができる。   The operated part of the vehicle driving device that determines whether or not the lock determination unit 102 is locked (targeted for lock determination) differs depending on the configuration of the vehicle driving device. For example, the driving source of the vehicle is an engine, and as shown in FIG. 2, the vehicle driving device is operated by an accelerator operating member 5 such as an accelerator pedal or an accelerator grip operated by the driver, and the accelerator operating member. When the throttle valve 6 for adjusting the amount of the air-fuel mixture supplied to the engine and the throttle position sensor 7 for detecting the position of the throttle valve are provided, there is a problem that the operation shaft of the throttle valve 6 is locked. Since it can occur, the operating shaft of the throttle valve 6 becomes an operated portion that is a target for determining whether or not there is a lock. In this case, the driving operation detection means 3 can be constituted by the throttle position sensor 7.

またエンジンを駆動源とした車両の運転装置が、図３に示すように、運転者により操作されるアクセル操作部材５と、スロットルバルブ６と、スロットル位置センサ７と、スロットルバルブ６を操作するモータなどからなるアクチュエータ８と、アクセル操作部材５の位置を検出するアクセル位置センサ９と、スロットル位置センサ７により検出されるスロットルバルブの位置をアクセル位置センサ９により検出されたアクセル操作部材５の位置に応じて決まる目標位置に一致させるようにアクチュエータ８を制御するアクチュエータ制御部１０とを備えている場合、ロック判定の対象とする被操作部はスロットルバルブ６の操作軸若しくはアクセル操作部材５の操作入力部である。この場合、運転操作検出手段３は、スロットル位置センサ７若しくはアクセル位置センサ９により構成することができる。   Further, as shown in FIG. 3, a vehicle driving apparatus using an engine as a driving source includes an accelerator operating member 5 operated by a driver, a throttle valve 6, a throttle position sensor 7, and a motor for operating the throttle valve 6. And the like, an accelerator position sensor 9 for detecting the position of the accelerator operating member 5, and the position of the throttle valve detected by the throttle position sensor 7 at the position of the accelerator operating member 5 detected by the accelerator position sensor 9. When the actuator control unit 10 that controls the actuator 8 so as to match the target position determined accordingly is provided, the operated portion to be subjected to the lock determination is the operation input of the throttle valve 6 or the operation input of the accelerator operation member 5. Part. In this case, the driving operation detection means 3 can be constituted by the throttle position sensor 7 or the accelerator position sensor 9.

また図４に示したように、車両の駆動源がモータ１１である場合に、車両運転装置が、運転者により操作されるアクセル操作部材５と、アクセル操作部材５の操作に応動する操作入力部を有してアクセル操作部材５の位置情報を含む検出信号を出力するアクセル位置センサ９とを備えていて、モータ１１を制御するモータ制御部１２にアクセル位置センサ９の出力を与えるように構成される場合には、アクセル操作部材５の操作入力部をロック判定の対象とする被操作部とする。この場合は、運転操作検出手段３をアクセル位置センサ９により構成することができる。   As shown in FIG. 4, when the drive source of the vehicle is the motor 11, the vehicle driving device is operated by an accelerator operating member 5 that is operated by the driver, and an operation input unit that responds to the operation of the accelerator operating member 5. And an accelerator position sensor 9 that outputs a detection signal including position information of the accelerator operating member 5, and is configured to give the output of the accelerator position sensor 9 to a motor control unit 12 that controls the motor 11. In this case, the operation input unit of the accelerator operation member 5 is set as an operated unit to be subjected to lock determination. In this case, the driving operation detection means 3 can be constituted by the accelerator position sensor 9.

車両揺れ度合検出手段２は、車両の揺れ度合を検出するセンサである。車両の揺れ度合は、車両の揺れの程度を表わすパラメータで、例えば、車体の振動の振幅や平均値で表わすことができる。車両揺れ度合検出手段２は、例えば、車両の車体の振動の大きさ（振幅又は平均値等）と相関関係を有する電気信号を出力するセンサにより構成することができる。車両揺れ度合検出手段を構成するセンサとしては、例えば、車両の車体に取り付けた加速度センサや、車体にかかる衝撃を吸収するショックアブソーバのストローク（変位）を検出するストロークセンサにより構成することができる。また車体のフレーム等に取り付けられて、車体に振動が生じたときに車体に生じる歪みを検出する圧電素子などの圧力センサ（歪みセンサ）により、車両揺れ度合検出手段２を構成することもできる。   The vehicle shake degree detection means 2 is a sensor that detects the degree of vehicle shake. The degree of vehicle sway is a parameter that represents the degree of vehicle sway, and can be expressed, for example, by the amplitude or average value of the vibration of the vehicle body. The vehicle shake degree detection means 2 can be constituted by, for example, a sensor that outputs an electrical signal having a correlation with the magnitude (amplitude or average value) of the vibration of the vehicle body of the vehicle. The sensor constituting the vehicle shake degree detecting means can be constituted by, for example, an acceleration sensor attached to the vehicle body of the vehicle or a stroke sensor that detects a stroke (displacement) of a shock absorber that absorbs an impact applied to the vehicle body. Further, the vehicle shake degree detecting means 2 can be configured by a pressure sensor (strain sensor) such as a piezoelectric element that is attached to a frame of the vehicle body and detects distortion generated in the vehicle body when vibration is generated in the vehicle body.

本実施形態では、車速を調節するための運転操作に応じて変位させられる車両運転装置の被操作部がロックする異常状態が生じたときにその異常状態を検出するに当たり、運転操作を検出する手段と、車両の揺れ度合を検出する手段とを設けておいて、設定時間毎に運転操作と車両の揺れ度合とを検出し、運転操作に変化が無い状態が続いている期間に検出された車両の揺れ度合を積算して、その積算値が判定値を超えたときに被操作部がロックする異常状態が生じていると判定する。   In the present embodiment, when an abnormal state occurs in which the operated part of the vehicle driving device that is displaced according to the driving operation for adjusting the vehicle speed is locked, the abnormal operation is detected. And a means for detecting the degree of shaking of the vehicle, the driving operation and the degree of shaking of the vehicle are detected at each set time, and the vehicle is detected during a period in which there is no change in the driving operation. When the integrated value exceeds the determination value, it is determined that an abnormal state occurs in which the operated portion is locked.

本実施形態では、車両運転装置の被操作部がロックする異常状態が生じたことを検出するに当たり、設定時間毎に車両の走行時の揺れ度合と、車両運転装置の被操作部の位置とを検出して、揺れ度合と被操作部の位置とを検出する毎に、被操作部の位置が変化しているか否かを判定する被操作部位置変化判定過程と、被操作部位置変化判定過程で被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回検出した車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに前記車両の揺れ度合の積算値を初期値にリセットする積算動作を行う揺れ度合積算過程とを行い、揺れ度合積算過程で求められた車両の揺れ度合の積算値が設定された判定値以上であるときに車両運転装置の被操作部がロックする異常状態が生じていると判定する。   In this embodiment, when detecting that an abnormal state occurs in which the operated part of the vehicle driving device is locked, the degree of shaking during the traveling of the vehicle and the position of the operated part of the vehicle driving device are set for each set time. A detected position change determination process for determining whether or not the position of the operated part changes each time the degree of shaking and the position of the operated part are detected, and an operated part position change determination process When it is determined that the position of the operated portion has not changed, the vehicle swing degree detected this time is added to the integrated value of the vehicle swing degree until the previous time, and the position of the operated portion is changed. When the determination is made, an integrated operation of resetting the integrated value of the vehicle swing degree to an initial value is performed, and an integrated value of the vehicle swing degree obtained in the process of integrating the swing degree is set. When the vehicle driving device is operated when the judgment value is exceeded There is determined that an abnormal condition has occurred to lock.

本実施形態の検出方法によった場合、車両運転装置の被操作部がロックしていない状態では、車速を調節する運転操作が行われる毎に被操作部の位置が変化したことが検出されて車両の揺れ度合の積算値がリセットされるため、揺れ度合の積算値が判定値に達することはなく、被操作部がロックしているとの誤判定がされることはない。これに対し、車両運転装置の被操作部がロックしている状態では、車速を調節する運転操作が行われても被操作部の位置が変化することはないため、車両の揺れ度合の積算値がリセットされることがなくなる。そのため、被操作部がロックしている状態では、車両の揺れ度合が大きい場合も、小さい場合も、揺れ度合の積算値が確実に判定値に達し、被操作部がロックしていることが検出される。   According to the detection method of the present embodiment, in a state where the operated part of the vehicle driving device is not locked, it is detected that the position of the operated part has changed every time a driving operation for adjusting the vehicle speed is performed. Since the integrated value of the degree of swaying of the vehicle is reset, the integrated value of the degree of swaying does not reach the determination value, and no erroneous determination is made that the operated part is locked. On the other hand, in the state where the operated portion of the vehicle driving device is locked, the position of the operated portion does not change even if a driving operation for adjusting the vehicle speed is performed. Will not be reset. Therefore, when the operated part is locked, it is detected that the integrated value of the shaking degree surely reaches the judgment value and the operated part is locked regardless of whether the degree of shaking of the vehicle is large or small. Is done.

被操作部がロックしていない状態であっても、車両の揺れ度合が大きいときに被操作部の位置が変化しない状態が続くと、揺れ度合の積算値が判定値を超えることになるが、車両の揺れ度合が大きい場合には、運転者がアクセル操作部材を一定の位置に保持することができないため、揺れ度合の積算値が頻繁にリセットされることになる。従って、被操作部がロックしていないにも拘わらず、ロックしているとの誤判定がされるおそれはない。   Even if the operated part is not locked, if the position of the operated part does not change when the degree of shaking of the vehicle is large, the integrated value of the shaking degree will exceed the judgment value, When the degree of shaking of the vehicle is large, the driver cannot hold the accelerator operating member at a fixed position, so the integrated value of the degree of shaking is frequently reset. Therefore, there is no possibility of erroneous determination that the operated portion is locked although the operated portion is not locked.

車両が不整地などを走行しているときに車両運転装置の被操作部がロックした場合には、車両の揺れ度合が大きいため、揺れ度合の積算値が短時間で判定値に達する。従って、被操作部がロックした後短時間でそのロック状態を検出することができ、保安のための措置を迅速に講じることができる。   When the operated part of the vehicle driving device is locked while the vehicle is traveling on rough terrain or the like, the degree of shaking of the vehicle is large, so the integrated value of the degree of shaking reaches the determination value in a short time. Therefore, the locked state can be detected in a short time after the operated portion is locked, and a measure for security can be taken quickly.

車両の揺れ度合が小さい場合には、揺れ度合の積算値が判定値に達するまでに時間がかかるため、車両運転装置の被操作部のロックを検出するまでにある程度の時間を要するが、車両の揺れ度合が小さくなるのは、平坦な路面を安定に走行している場合であって、緊急性はないため、被操作部のロック状態の検出にある程度の時間がかかっても支障を来さない。   When the degree of shaking of the vehicle is small, it takes time for the integrated value of the degree of shaking to reach the judgment value, so it takes some time to detect the lock of the operated part of the vehicle driving device. The degree of swaying is small when the vehicle is traveling stably on a flat road surface, and since there is no urgency, even if it takes a certain amount of time to detect the locked state of the operated part, it will not cause any trouble. .

なお車両の揺れ度合が小さい状態では、運転者がアクセル操作部材の位置を一定に保つことが容易であるので、長い時間に亘ってアクセル操作部材の位置が一定に保たれて、被操作部がロックしていない状態でも、揺れ度合の積算値がリセットされない状態が長い時間継続することがあり得る。揺れ度合の積算値と比較する判定値は、このような場合でもロック状態の誤判定がされることがないように、余裕を持たせた値に設定しておくのが好ましい。   When the degree of vehicle swing is small, it is easy for the driver to keep the position of the accelerator operating member constant, so that the position of the accelerator operating member is kept constant over a long period of time, Even in the unlocked state, the state where the integrated value of the shaking degree is not reset may continue for a long time. The determination value to be compared with the integrated value of the degree of shaking is preferably set to a value having a margin so that the erroneous determination of the locked state is not made even in such a case.

車両が停止している状態でも、ＥＣＵの電源が投入されていると、荷物の積み下ろし等により車体が揺れた際に、揺れ度合の積算値が判定値に達して被操作部がロックされているとの誤判定がされるおそれがあるが、このような誤判定がされるのを防ぐためには、例えば、車両の走行速度が設定速度以上である時にのみ（車両の走行時にのみ）ロック状態の検出を行うようにしておけばよい。   Even when the vehicle is stopped, if the ECU is turned on, the integrated value of the degree of shaking reaches the judgment value and the operated part is locked when the vehicle body shakes due to loading / unloading of luggage, etc. In order to prevent such a misjudgment, for example, in order to prevent such a misjudgment, only when the vehicle traveling speed is equal to or higher than the set speed (only when the vehicle is traveling) What is necessary is just to make it detect.

上記の検出方法を実施する異常状態検出装置は、図５に示したように、車両の走行時の揺れ度合を検出する車両揺れ度合検出手段２と、車両運転装置の被操作部の位置が反映された信号を運転操作検出信号として出力する運転操作検出手段３と、設定された時間毎に、運転操作検出手段から得られる運転操作検出信号と前記車両揺れ度合検出手段により検出されている車両の揺れ度合とを検出する運転操作・揺れ度合監視手段１０２Ａと、運転操作・揺れ度合監視手段が今回検出した運転操作検出信号の大きさと前回検出した運転操作検出信号の大きさとを比較して、前記被操作部の位置が変化しているか否かを判定する被操作部位置変化判定手段１０２Ｂと、被操作部位置変化判定手段１０２Ｂにより被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回読み込んだ車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに車両の揺れ度合の積算値を初期値にリセットする積算動作を行う車両揺れ度合積算手段１０２Ｃと、車両の揺れ度合の積算値が設定された判定値以上になったときに車両運転装置の被操作部がロックする異常状態が生じていると判定する判定手段１０２Ｄとを備えることにより構成することができる。この例では、運転操作・揺れ度合監視手段１０２Ａと、被操作部位置変化判定手段１０２Ｂと、車両揺れ度合積算手段１０２Ｃと、判定手段１０２Ｄとによりロック判定部１０２が構成されている。   As shown in FIG. 5, the abnormal state detection device that implements the above detection method reflects vehicle shake degree detection means 2 that detects the degree of shake during travel of the vehicle and the position of the operated part of the vehicle driving device. Driving operation detection means 3 that outputs the detected signal as a driving operation detection signal, and the driving operation detection signal obtained from the driving operation detection means and the vehicle swing degree detection means for each set time. The driving operation / shake degree monitoring means 102A for detecting the degree of shaking is compared with the magnitude of the driving operation detection signal detected this time by the driving operation / shake degree monitoring means and the magnitude of the driving operation detection signal detected last time, The operated portion position change determining means 102B for determining whether or not the position of the operated portion has changed, and the operated portion position change determining means 102B determine that the position of the operated portion has not changed. Is added to the integrated value of the vehicle shake until the previous time, and when it is determined that the position of the operated part has changed, the integrated value of the vehicle shake is calculated. An abnormal state occurs in which the vehicle shake degree integrating means 102C that performs the integration operation to be reset to the initial value and the operated part of the vehicle driving device locks when the integrated value of the vehicle shake degree is equal to or greater than the set determination value. It can be configured by including a determination unit 102D that determines that the In this example, the lock determination unit 102 is configured by the driving operation / swing degree monitoring unit 102A, the operated portion position change determination unit 102B, the vehicle swing degree integration unit 102C, and the determination unit 102D.

図５に示されたロック判定部１０２を構成するために、ＥＣＵ１のマイクロプロセッサに実行させる処理のアルゴリズムの一例を示すフローチャートを図６に示した。図６において、αはスロットル位置センサ７の出力値であり、スロットルバルブの位置情報を含んでいる。Ｇは車両の揺れ度合（揺れの大きさ）であり、Ｇ_amountは揺れ度合Ｇの積算値である。またＧ_fix_judgeは、ロック状態であるか否かの判定を行うために揺れ度合Ｇの積算値と比較する判定値であり、Ｆ_Ｔh_fixはロック状態にあるとの判定がされたときに立てられる（１にされる）ロック判定フラグである。   FIG. 6 shows a flowchart showing an example of an algorithm of processing to be executed by the microprocessor of the ECU 1 in order to configure the lock determination unit 102 shown in FIG. In FIG. 6, α is an output value of the throttle position sensor 7 and includes the position information of the throttle valve. G is the degree of shaking of the vehicle (the magnitude of shaking), and G_amount is the integrated value of the degree of shaking G. G_fix_judge is a determination value to be compared with the integrated value of the shaking degree G in order to determine whether or not the lock state is set, and F_Th_fix is set when it is determined that the lock state is set (to 1). Is a lock determination flag.

図示しないが、メインルーチンにおいて、所定の時間毎に（微小な時間間隔で）、例えば１msec毎にスロットル位置センサの出力値αと、車両の揺れ度合Ｇとを読み込む処理が行われる。図６に示された処理は、新たなスロットル位置センサの出力αと、車両の揺れ度合Ｇとが読み込まれる毎に実行される。   Although not shown in the figure, in the main routine, a process of reading the output value α of the throttle position sensor and the vehicle swing degree G is performed at predetermined time intervals (at minute time intervals), for example, every 1 msec. The process shown in FIG. 6 is executed each time a new output α of the throttle position sensor and a vehicle swing degree G are read.

図６の処理が開始されると、先ずステップ１０１で今回読み込んだスロットル位置センサの出力値αが、前回読み込まれたスロットル位置センサの出力値α1に等しいか否かを判定する。その結果、今回読み込んだスロットル位置センサの出力値αが、前回読み込まれたスロットル位置センサの出力値α1に等しい（スロットル位置に変化がない）と判定された場合には、ステップ１０２Ａに進んで、前回までに演算されてメモリに記憶されている揺れ度合の積算値Ｇ_amount１に今回読み込まれた揺れ度合Ｇを積算する演算を行って、その演算結果を新たな積算値Ｇ_amountとしてメモリに記憶する。ステップ１０１で今回読み込んだスロットル位置センサの出力値αが、前回読み込まれたスロットル位置センサの出力値α1に等しくない（スロットル位置が変化している）と判定された場合には、ステップ１０２Ｂに進んで、前回までの積算値Ｇ_amount１を記憶しているメモリの内容及び今回演算された積算値Ｇ_amountを記憶させるメモリの内容をクリアする。   When the processing of FIG. 6 is started, first, at step 101, it is determined whether or not the output value α of the throttle position sensor read this time is equal to the output value α1 of the throttle position sensor read last time. As a result, when it is determined that the output value α of the throttle position sensor read this time is equal to the output value α1 of the throttle position sensor read last time (the throttle position has not changed), the process proceeds to step 102A. A calculation is performed to add the shaking degree G read this time to the shaking degree integrated value G_amount1 calculated up to the previous time and stored in the memory, and the calculation result is stored in the memory as a new integrated value G_amount. If it is determined in step 101 that the output value α of the throttle position sensor read this time is not equal to the output value α1 of the throttle position sensor read last time (the throttle position has changed), the process proceeds to step 102B. The contents of the memory storing the accumulated value G_amount1 up to the previous time and the contents of the memory storing the accumulated value G_amount calculated this time are cleared.

ステップ１０２Ａまたはステップ１０２Ｂを行った後、ステップ１０３に進んで今回演算された積算値Ｇ_amountが判定値Ｇ_fix_judgeよりも大きいか否かを判定する。その結果、今回演算された積算値Ｇ_amountが判定値Ｇ_fix_judgeよりも大きいと判定された場合には、ステップ１０４に進み、大きくないと判定された場合にはステップ１０５に進む。ステップ１０４では、スロットルバルブがロック状態にあることを示すロック判定フラグＦ_Ｔh_fixを立てる。ステップ１０５では、今回演算された揺れ度合の積算値Ｇ_amountを前回までに積算された積算値Ｇ_amount１として保存し、今回読み込まれたスロットル位置センサの出力値αを前回読み込まれたスロットル位置センサの出力値α１として保存する。   After performing Step 102A or Step 102B, the routine proceeds to Step 103, where it is determined whether or not the integrated value G_amount calculated this time is larger than the determination value G_fix_judge. As a result, when it is determined that the integrated value G_amount calculated this time is larger than the determination value G_fix_judge, the process proceeds to step 104, and when it is determined that it is not larger, the process proceeds to step 105. In step 104, a lock determination flag F_Th_fix indicating that the throttle valve is locked is set. In step 105, the integrated value G_amount of the shaking degree calculated this time is stored as the integrated value G_amount1 integrated up to the previous time, and the output value α of the throttle position sensor read this time is the output value of the throttle position sensor read last time. Save as α1.

本実施形態では、図示しないメインルーチンで１msec毎にスロットル位置センサの出力値αと揺れ度合Ｇとを読み込む過程により、設定された時間毎に、運転操作検出手段３から得られる運転操作検出信号と車両揺れ度合検出手段２により検出されている車両の揺れ度合とを検出する運転操作・揺れ度合監視手段１０２Ａが構成される。また、図６の処理のステップ１０１により、運転操作・揺れ度合監視手段が今回検出した運転操作検出信号の大きさと前回検出した運転操作検出信号の大きさとを比較して、被操作部の位置が変化しているか否かを判定する被操作部位置変化判定手段１０２Ｂが構成される。更に、図６のステップ１０２Ａとステップ１０２Ｂとにより、被操作部位置変化判定手段により被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回読み込んだ車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに車両の揺れ度合の積算値を初期値にリセットする積算動作を行う車両揺れ度合積算手段１０２Ｃが構成され、ステップ１０３と１０４とにより、車両の揺れ度合の積算値が設定された判定値以上になったときに車両運転装置の被操作部がロックする異常状態が生じていると判定する判定手段１０２Ｄが構成されている。   In the present embodiment, a driving operation detection signal obtained from the driving operation detection means 3 at every set time by reading the output value α of the throttle position sensor and the swing degree G every 1 msec in a main routine (not shown). A driving operation / shake degree monitoring means 102A for detecting the vehicle shake degree detected by the vehicle shake degree detecting means 2 is configured. Further, in step 101 of the process of FIG. 6, the magnitude of the driving operation detection signal detected this time by the driving operation / swing degree monitoring means is compared with the magnitude of the driving operation detection signal detected last time, so that the position of the operated portion is determined. An operated portion position change determination unit 102B that determines whether or not the position has changed is configured. Furthermore, when it is determined in step 102A and step 102B in FIG. 6 that the position of the operated portion has not changed by the operated portion position change determining means, this time is read as the integrated value of the degree of shaking of the vehicle up to the previous time. The vehicle shake degree integrating means 102C for performing an integration operation for integrating the vehicle shake degree and resetting the integrated value of the vehicle shake degree to the initial value when it is determined that the position of the operated portion has changed. In step 103 and 104, determination means 102D determines that an abnormal state in which the operated portion of the vehicle driving device is locked occurs when the integrated value of the degree of shaking of the vehicle is equal to or greater than the set determination value. Is configured.

上記の実施形態では、スロットル位置センサ等の、被操作部の位置情報を含む信号を出力するセンサを運転操作検出手段として用いたが、車両運転装置が、被操作部の位置が反映された信号を入力として車両の駆動源を制御する制御部を備えている場合には、該制御部に入力された信号を被操作部の位置が反映された運転操作検出信号として用いるように運転操作検出手段を構成することもできる。例えば、車両を駆動する駆動源がエンジンである場合、ＥＣＵ１のマイクロプロセッサにより構成される車両駆動制御部１０１は、スロットル位置センサから取得したスロットル位置情報を用いてエンジンを制御することが多い。この場合、マイクロプロセッサがスロットル位置情報を得るために読み込んだ信号を運転操作検出信号として用いることができる。   In the above embodiment, a sensor that outputs a signal including position information of the operated part, such as a throttle position sensor, is used as the driving operation detection means. However, the vehicle driving device is a signal that reflects the position of the operated part. Is provided as a driving operation detection means so that the signal input to the control unit is used as a driving operation detection signal reflecting the position of the operated portion. Can also be configured. For example, when the drive source for driving the vehicle is an engine, the vehicle drive control unit 101 configured by a microprocessor of the ECU 1 often controls the engine using throttle position information acquired from a throttle position sensor. In this case, a signal read by the microprocessor to obtain the throttle position information can be used as a driving operation detection signal.

１ ＥＣＵ
１０１ 車両駆動源制御部
１０２ ロック判定部
１０２Ａ 運転操作・揺れ度合監視手段
１０２Ｂ 被操作部位置変化判定手段
１０２Ｃ 車両揺れ度合積算手段
１０２Ｄ 判定手段
２ 車両揺れ度合検出手段
３ 運転操作検出手段
４ エンジン
５ アクセル操作部材
６ スロットルバルブ
７ スロットル位置センサ 1 ECU
DESCRIPTION OF SYMBOLS 101 Vehicle drive source control part 102 Lock determination part 102A Driving operation / sway degree monitoring means 102B Operated part position change judgment means 102C Vehicle shake degree integration means 102D Determination means 2 Vehicle shake degree detection means 3 Driving operation detection means 4 Engine 5 Accelerator Operating member 6 Throttle valve 7 Throttle position sensor

Claims (6)

車速を調節するための運転操作が行われるときにその運転操作に応じて変位させられる部分である車両運転装置の被操作部がロックする異常状態が生じたときにその異常状態を検出する車両運転装置の異常状態検出方法であって、
設定時間毎に前記車両の走行時の揺れ度合と、前記車両運転装置の被操作部の位置とを検出し、
前記被操作部の位置に変化が無い状態が続いている期間に検出された前記車両の揺れ度合を積算して、その積算値が設定された判定値を超えたときに前記被操作部がロックする異常状態が生じていると判定する車両運転装置の異常状態検出方法。 Vehicle operation for detecting an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device that is displaced according to the driving operation when a driving operation for adjusting the vehicle speed occurs An apparatus abnormal state detection method,
Detecting the degree of shaking of the vehicle during the set time and the position of the operated portion of the vehicle driving device;
The degree of shaking of the vehicle detected during a period in which there is no change in the position of the operated part is integrated, and the operated part is locked when the integrated value exceeds a set determination value. An abnormal state detection method for a vehicle driving device that determines that an abnormal state occurs. 車速を調節するための運転操作が行われるときにその運転操作に応じて変位させられる部分である車両運転装置の被操作部がロックする異常状態が生じたときにその異常状態を検出する車両運転装置の異常状態検出方法であって、
設定時間毎に前記車両の走行時の揺れ度合と、前記車両運転装置の被操作部の位置とを検出し、
前記揺れ度合と被操作部の位置とを検出する毎に、前記被操作部の位置が変化しているか否かを判定する被操作部位置変化判定過程と、前記被操作部位置変化判定過程で被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回検出した車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに前記車両の揺れ度合の積算値を初期値にリセットする積算動作を行う揺れ度合積算過程とを行い、
前記揺れ度合積算過程で求められた車両の揺れ度合の積算値が設定された判定値以上であるときに前記車両運転装置の被操作部がロックする異常状態が生じていると判定する車両運転装置の異常状態検出方法。 Vehicle operation for detecting an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device that is displaced according to the driving operation when a driving operation for adjusting the vehicle speed occurs An apparatus abnormal state detection method,
Detecting the degree of shaking of the vehicle during the set time and the position of the operated portion of the vehicle driving device;
Every time the degree of shaking and the position of the operated part are detected, the operated part position change determining process for determining whether or not the operated part position has changed, and the operated part position change determining process When it is determined that the position of the operated part has not changed, the vehicle swing degree detected this time is added to the integrated value of the vehicle swing degree until the previous time, and it is determined that the position of the operated part has changed. And a shaking degree integrating process for performing an integrating operation for resetting the integrated value of the shaking degree of the vehicle to an initial value when
A vehicle driving apparatus that determines that an abnormal state in which an operated portion of the vehicle driving apparatus is locked occurs when an integrated value of the vehicle swing degree obtained in the process of integrating the swing degree is equal to or greater than a set determination value. Abnormal state detection method. 車速を調節するための運転操作が行われるときにその運転操作に応じて変位させられる部分である車両運転装置の被操作部がロックする異常状態が生じたときにその異常状態を検出する車両運転装置の異常状態検出装置であって、
前記車両の走行時の揺れ度合を検出する車両揺れ度合検出手段と、
前記車両運転装置の被操作部の位置が反映された信号を運転操作検出信号として出力する運転操作検出手段と、
設定された時間毎に、前記運転操作検出手段から得られる運転操作検出信号と前記車両揺れ度合検出手段により検出されている車両の揺れ度合とを検出する運転操作・揺れ度合監視手段と、
前記運転操作・揺れ度合監視手段が今回検出した運転操作検出信号の大きさと前回検出した運転操作検出信号の大きさとを比較して、前記被操作部の位置が変化しているか否かを判定する被操作部位置変化判定手段と、
前記被操作部位置変化判定手段により被操作部の位置が変化していないと判定されたときに前回までの車両の揺れ度合の積算値に今回読み込んだ車両の揺れ度合を積算し、被操作部の位置が変化していると判定されたときに前記車両の揺れ度合の積算値を初期値にリセットする積算動作を行う車両揺れ度合積算手段と、
前記車両の揺れ度合の積算値が設定された判定値以上になったときに前記車両運転装置の被操作部がロックする異常状態が生じていると判定する判定手段と、
を備えている異常状態検出装置。 Vehicle operation for detecting an abnormal state when an abnormal state occurs in which an operated part of a vehicle driving device that is displaced according to the driving operation when a driving operation for adjusting the vehicle speed occurs An apparatus for detecting an abnormal state of a device,
Vehicle swing degree detecting means for detecting the swing degree during travel of the vehicle;
Driving operation detection means for outputting a signal reflecting the position of the operated portion of the vehicle driving device as a driving operation detection signal;
Driving operation / shake degree monitoring means for detecting a driving operation detection signal obtained from the driving operation detecting means and a vehicle shake degree detected by the vehicle shake degree detecting means for each set time;
The driving operation / swing degree monitoring means compares the magnitude of the driving operation detection signal detected this time with the magnitude of the driving operation detection signal detected last time to determine whether or not the position of the operated part has changed. Operated portion position change determining means;
When it is determined by the operated portion position change determining means that the position of the operated portion has not changed, the vehicle swing degree read this time is added to the integrated value of the vehicle swing degree until the previous time, and the operated portion Vehicle shake degree integration means for performing an integration operation for resetting the integrated value of the degree of shake of the vehicle to an initial value when it is determined that the position of the vehicle has changed,
Determination means for determining that an abnormal state occurs in which the operated portion of the vehicle driving device is locked when an integrated value of the degree of shaking of the vehicle is equal to or greater than a set determination value;
An abnormal state detection device comprising: 前記車両の駆動源はエンジンであって、前記車両運転装置は、運転者により操作されるアクセル操作部材と、該アクセル操作部材により操作されて前記エンジンに供給される混合気の量を調節するスロットルバルブと、前記スロットルバルブの位置を検出するスロットル位置センサとを備え、
前記車両運転装置の被操作部は前記スロットルバルブの操作軸であって、前記スロットル位置センサにより前記運転操作検出手段が構成されている請求項３に記載の異常状態検出装置。 The driving source of the vehicle is an engine, and the vehicle driving device includes an accelerator operating member operated by a driver, and a throttle that adjusts the amount of air-fuel mixture that is operated by the accelerator operating member and is supplied to the engine. A valve, and a throttle position sensor for detecting the position of the throttle valve,
The abnormal state detecting device according to claim 3, wherein the operated portion of the vehicle driving device is an operating shaft of the throttle valve, and the driving operation detecting means is constituted by the throttle position sensor. 前記車両の駆動源はモータであって、前記車両運転装置は、運転者により操作されるアクセル操作部材と、前記アクセル操作部材の変位に応動する操作入力部を有して前記アクセル操作部材の位置情報を含む検出信号を出力するアクセル位置センサとを備えて前記アクセル位置センサの出力を前記モータの制御部に与えるように構成され、
前記車両運転装置の被操作部は前記アクセル位置センサの操作入力部であって、前記アクセル位置センサにより前記運転操作検出手段が構成されている請求項３に記載の異常状態検出装置。 The drive source of the vehicle is a motor, and the vehicle driving device includes an accelerator operation member operated by a driver and an operation input unit that responds to displacement of the accelerator operation member, and the position of the accelerator operation member An accelerator position sensor that outputs a detection signal including information, and configured to provide an output of the accelerator position sensor to the control unit of the motor,
The abnormal state detection device according to claim 3, wherein the operated portion of the vehicle driving device is an operation input portion of the accelerator position sensor, and the driving operation detection means is configured by the accelerator position sensor. 前記車両運転装置は、前記被操作部の位置が反映された信号を入力として前記車両の駆動源を制御する制御部を備え、
前記運転操作検出手段は、前記制御部に入力された信号を前記被操作部の位置が反映された運転操作検出信号として用いるように構成されている請求項３に記載の異常状態検出装置。 The vehicle driving device includes a control unit that controls a driving source of the vehicle by using a signal reflecting the position of the operated portion as an input,
The abnormal state detection device according to claim 3, wherein the driving operation detection unit is configured to use a signal input to the control unit as a driving operation detection signal in which a position of the operated unit is reflected.
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