JP6492810B2 - vehicle - Google Patents

Description

  The present invention relates to a vehicle that controls an abnormality in characteristics of an accelerator position sensor.

  In the vehicle, two accelerator position sensors that detect the accelerator opening when the user depresses the accelerator are provided, and when the difference in the opening output from each accelerator position sensor is equal to or greater than a predetermined value, Some sensors detect abnormalities in the characteristics of the accelerator position sensor.

  When an abnormality in the characteristics of the accelerator position sensor is detected, the vehicle control device calculates the average value of the opening obtained from the two accelerator position sensors, applies a large output suppression to this average value, and determines the accelerator opening. To decide. The drive of the motor is controlled based on the accelerator opening thus determined.

  A fail-safe control device for an electrically controlled throttle type internal combustion engine is also known. This fail-safe control device performs an open / short diagnosis or inconsistency diagnosis on the accelerator opening sensor, and when one of the two accelerator opening sensors is diagnosed as a failure, it is diagnosed as a failure. Accelerator opening detected by a non-accelerator opening sensor, upper limit value at the time of failure (upper limit value smaller than normal), and increase rate of change with respect to the detected accelerator opening, upper limit change rate at the time of failure The smallest value is used from among the accelerator opening degree that has been subjected to the process of limiting to a value equal to or less than the upper limit change rate smaller than normal (see Patent Document 1 below).

Japanese Patent No. 4118403

  If the method of determining the accelerator opening by applying significant output suppression to the above-mentioned average value, there is a problem depending on how the characteristic abnormality of the accelerator position sensor occurs. For example, when the output value of the accelerator position sensor in which a failure has occurred is large, the average accelerator opening is also large, so that the traveling vehicle is greatly accelerated. Since the user does not expect such acceleration, there is a large difference between the depression of the accelerator pedal and the acceleration of the vehicle, and the user feels uncomfortable with the acceleration feeling.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle that prevents a user from feeling uncomfortable when the accelerator position sensor characteristic abnormality is detected. .

The vehicle of the present invention includes a drive source, an accelerator pedal, a first accelerator position sensor that detects an opening degree of the accelerator pedal, a second accelerator position sensor that detects an opening degree of the accelerator pedal, A controller that drives the drive source based on a first voltage value corresponding to the output of the first accelerator position sensor and a second voltage value corresponding to the output of the second accelerator position sensor; Obtaining means for obtaining a speed. Further, the control unit detects an abnormality of the first or second accelerator position sensor based on the first voltage value and the second voltage value when the accelerator pedal is depressed. And when the abnormality is detected by the detection means, a third voltage value corresponding to a predetermined acceleration is obtained from the traveling speed acquired by the acquisition means, and corresponds to the third voltage value. Acceleration control means for controlling the drive source so that acceleration does not exceed acceleration, and calculation for calculating a fourth voltage value corresponding to an average voltage value of the first voltage value and the second voltage value Voltage value determination means for determining which is a voltage value obtained by multiplying the fourth voltage value by a gain set to be smaller as the traveling speed is larger, and which is the lower voltage value of the third voltage value; The acceleration control means comprises The so as not to accelerate more than the acceleration corresponding to the lower and the determined voltage value by serial voltage value determining section for controlling the drive source.

  According to this vehicle, it is possible to prevent the user from feeling uncomfortable when the acceleration position sensor characteristic abnormality is detected.

Furthermore, the vehicle can generate a drive source in accordance with a lower voltage value obtained by multiplying the fourth voltage value by a gain that is set to be smaller as the traveling speed is higher or the third voltage value. Thereby, it becomes possible to further prevent the user from feeling uncomfortable with the acceleration feeling.

  According to the vehicle of the present invention, it is possible to prevent the user from feeling uncomfortable when the acceleration position sensor characteristic abnormality is detected.

The figure which shows an example of schematic structure of the vehicle which concerns on embodiment of this invention. The figure which shows an example of the functional block of engine ECU which concerns on the embodiment. The flowchart which shows an example of the fail safe control of engine ECU which concerns on the embodiment. The figure for demonstrating an example of the effect of the fail safe control which concerns on the same embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle according to an embodiment of the present invention.

  As shown in FIG. 1, a motor unit (drive source) 2 is mounted on the rear portion of the vehicle 1. The driving torque of the motor unit 2 is transmitted to the rear wheel shaft 3. Further, rear wheels 3 a and 3 b are attached to both ends of the rear wheel shaft 3. Front wheels 4 a and 4 b are attached to both ends of the front wheel shaft 4.

  The vehicle 1 is provided with an accelerator pedal 5 for a user to instruct acceleration of the vehicle 1. In the vicinity of the accelerator pedal 5, an accelerator position sensor S1 (first accelerator position sensor) for detecting the opening degree of the accelerator pedal 5 and an accelerator position sensor S2 (second accelerator position) for detecting the opening degree of the accelerator pedal 5 are provided. Sensor). The maximum output voltage value of the accelerator position sensor S1 is larger than the maximum output voltage value of the accelerator position sensor S2. In this embodiment, the maximum output voltage value of the accelerator position sensor S2 is the output voltage of the accelerator position sensor S2. The value is set to be a value obtained by multiplying the value obtained by dividing the maximum output voltage value of the accelerator position sensor S1 by the maximum output voltage value of the accelerator position sensor S2. For example, the maximum output voltage value of the accelerator position sensor S1 is 5V, and the maximum output voltage value of the accelerator position sensor S2 is 2.5V.

  The vehicle 1 is provided with a vehicle speed sensor S3 that detects the traveling speed of the vehicle 1. In the present embodiment, the vehicle speed sensor S3 detects the rotational speed of the rear wheel shaft 3, and the vehicle speed calculation unit 23 described later calculates the traveling speed based on the rotational speed. However, the sensor including the vehicle speed sensor S3 is described. A sensor unit may be provided so that the sensor unit calculates the vehicle speed based on the rotational speed of the rear wheel shaft 3 detected by the vehicle speed sensor S3 and outputs the vehicle speed to an engine ECU 11 described later.

  The vehicle 1 is provided with a vehicle control device 10. The vehicle control device 10 includes an engine ECU (Electric-Control-Unit) and a motor drive unit 12.

  The engine ECU 11 is connected to a motor drive unit 12, accelerator position sensors S1, S2, and a vehicle speed sensor S3.

  The engine ECU 11 executes control including drive control using the motor drive unit 12. For example, the engine ECU 11 is based on the voltage value V1 (first voltage value) corresponding to the output of the accelerator position sensor S1 and the voltage value V2 (second voltage value) corresponding to the output of the accelerator position sensor S2. The motor unit 2 is controlled by transmitting a command (voltage value or the like) for controlling the rotational speed of the motor to the motor driving unit 12. Details of the process for controlling the driving of the motor unit 2 based on the voltage values V1 and V2 input from the accelerator position sensors S1 and S2 will be described later.

  Based on a command received from the engine ECU 11, the motor drive unit 12 converts power supplied to the motor unit 2 from a battery power source (labor saving) and operates the motor unit 2 to activate the rear wheel shaft 3 and the rear wheels 3 a and 3 b. Is rotated to drive the vehicle 1.

  FIG. 2 shows functional blocks for the engine ECU 11 to execute fail-safe control.

  As shown in FIG. 2, the engine ECU 11 includes an average value calculation unit 21, a vehicle speed calculation unit 22, an output limit calculation unit 23, an acceleration limit calculation unit 24, and an output voltage determination unit 25.

  The average value calculator 21 calculates the average voltage value V3 from the voltage value V1 (first voltage value) input from the accelerator position sensor S1 and the voltage value V2 (second voltage value) input from the accelerator position sensor S2. Calculate.

  The vehicle speed calculation unit 22 calculates the traveling speed of the vehicle 1.

  The output restriction calculation unit 23 suppresses the output of the voltage value corresponding to the vehicle speed calculated by the vehicle speed calculation unit 22 with respect to the average voltage value V3 calculated by the average value calculation unit 21. As a result, a voltage value V4 whose output is suppressed is obtained. More specifically, the average voltage value V4 is a value obtained by multiplying the average voltage value V3 of the voltage value V1 and the voltage value V2 by a gain set according to the traveling speed of the vehicle 1, and the gain is The average voltage value V4 is set to be equal to or lower than the average voltage value V3 before the gain is multiplied. Further, it is desirable that the gain is set to be smaller as the traveling speed of the vehicle 1 is higher.

  The acceleration restriction calculation unit 24 obtains a voltage value V5 (third voltage value) corresponding to a predetermined acceleration from the traveling speed of the vehicle 1 based on the traveling speed calculated by the vehicle speed calculating unit 22.

  The output voltage determination unit 25 determines whether to output a voltage value V4 or a voltage value V5 so as not to exceed the voltage value V5.

  FIG. 3 is a flowchart showing an example of fail-safe control executed by the engine ECU 11.

  As shown in FIG. 3, the engine ECU 11 constantly monitors the outputs of the accelerator position sensors S1 and S2, and the voltage value V1-2 output from the accelerator position sensor S1 × the voltage value V2 output from the accelerator position sensor S2. It is determined whether or not the absolute value is greater than or equal to a predetermined value (ST101: detection means). Thereby, when the accelerator pedal 5 is depressed, it is possible to detect a characteristic abnormality of the accelerator position sensor S1 or S2 based on the voltage value V1 and 2 × voltage value V2.

  When engine ECU 11 determines that the value is not equal to or greater than the predetermined value (ST101: NO), engine ECU 11 drives motor unit 2 based on voltage values V1 and V2 of accelerator position sensors S1 and S2 (ST107).

  On the other hand, when engine ECU 11 determines that the value is equal to or greater than a predetermined value (ST101: YES), engine ECU 11 receives voltage value V1 (first voltage value) input from accelerator position sensor S1 and input from accelerator position sensor S2. The average voltage value V3 is calculated from the voltage value V2 (second voltage value).

  Next, the engine ECU 11 calculates the traveling speed of the vehicle 1 based on the rotational speed information input from the vehicle speed sensor S3 (ST103: acquisition unit).

  Next, the engine ECU 11 suppresses the output of the voltage value corresponding to the vehicle speed calculated in ST104 with respect to the average voltage value V3 calculated in step ST102, and calculates a voltage value V4 (fourth voltage value) ( ST104: Calculation means). As a result, even if one of the accelerator position sensors S1, S2 detects an abnormal value, the output of the voltage value is suppressed to some extent.

  Next, based on the travel speed calculated in step ST104, engine ECU 11 calculates voltage value V5 corresponding to a predetermined acceleration from the travel speed (ST105). Here, the predetermined acceleration amount is an acceleration at which the user does not feel the acceleration of 0.1 G from the running state, for example, but can be arbitrarily set.

  Next, the engine ECU 11 determines which voltage value V4 or voltage value V5 is to be output so that the acceleration does not exceed the acceleration corresponding to the voltage value V5 (ST106: voltage value determination means).

  Next, engine ECU 11 outputs a voltage value to motor drive unit 12 based on the determination result of step ST107, and motor drive unit 12 drives motor unit 12 according to the received voltage value (ST107: acceleration). Control means).

FIG. 4 is a diagram for explaining an example of the effect of fail-safe control.
In FIG. 4, the vertical axis represents the output voltage value, and the horizontal axis represents time T. Moreover, the graphs g1-g5 are shown by FIG. The graph g1 shows the output voltage value V1 of the accelerator position sensor S1. The graph g2 shows the output voltage value V2 of the accelerator position sensor S2. A graph g3 shows a voltage value V4 that is an average voltage value after output suppression. A graph g4 indicates a voltage value V6 corresponding to a predetermined acceleration from the traveling speed. A graph g5 (present invention) shows an output voltage value employed for controlling the motor unit 2.

  More specifically, in the graph g5 (present invention), the graph g3 (voltage value V4) is adopted at the time T11 because the graph g3 (voltage value V4) is smaller than the graph g4 (voltage value V5). At time T12, the graph g4 (voltage value V5) is adopted because the graph g4 (voltage value V5) is smaller than the graph g3 (voltage value V4). That is, when the driver depresses the accelerator pedal 5, even if an abnormality occurs in the accelerator position sensor S1 and the output voltage value V increases as at time T12, the engine ECU 11 outputs to the motor drive unit 12. The voltage value is controlled so as not to exceed the voltage value shown in the graph g4 (voltage value V4).

  According to the vehicle 1 described above, the output voltage value V shown in the graph g5 becomes the output voltage value for driving the motor unit 2 when the characteristic abnormality of the accelerator position sensors S1 and S2 is detected. For this reason, the vehicle 1 does not become an acceleration exceeding a predetermined acceleration (for example, 0.1 G) from the current traveling speed, and it is possible to prevent the user from feeling uncomfortable in the acceleration feeling.

  Further, for example, the output torque is determined by the vehicle speed (traveling speed) and the voltage value. If the voltage is the same, the output torque decreases as the vehicle speed increases, and acceleration is limited by a constant voltage value. In the case of the configured control, when the vehicle speed increases, acceleration cannot be performed unless the driver further depresses the accelerator pedal 5. For this reason, when the vehicle speed increases, even if the driver depresses the accelerator pedal 5 at any vehicle speed, a state where the vehicle does not accelerate occurs. On the other hand, according to the vehicle 1 of the above embodiment, the vehicle 1 is configured to accelerate from the traveling speed (vehicle speed) to a predetermined acceleration. This makes it possible to ensure the driver's acceleration feeling even during fail-safe control.

  Further, since the output voltage ranges of the action position sensors S1 and S2 are different, appropriate fail-safe control can be performed even when the accelerator position sensor S2 is abnormal and the abnormal output value is amplified. . That is, more favorable control can be realized when the maximum output voltage values of the accelerator position sensors S1, S2 are different.

The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above-described embodiments. For example, you may delete some components from all the components shown by embodiment mentioned above. Furthermore, you may combine the structure of different embodiment.
Hereinafter, the invention described in the scope of claims of the present application will be appended.
(1) A drive source, an accelerator pedal, a first accelerator position sensor that detects an opening degree of the accelerator pedal, a second accelerator position sensor that detects an opening degree of the accelerator pedal, and the first accelerator Based on a first voltage value corresponding to the output of the position sensor and a second voltage value corresponding to the output of the second accelerator position sensor, a control unit for driving the drive source and a traveling speed are obtained. The control unit is configured to obtain the first or the second voltage value based on the first voltage value and the second voltage value when the accelerator pedal is depressed. Detecting means for detecting an abnormality of the second accelerator position sensor; and when the abnormality is detected by the detecting means, a predetermined acceleration is determined from the traveling speed acquired by the acquiring means. A third determined voltage value, the third acceleration control means for controlling said drive source so that the acceleration does not exceed the acceleration corresponding to a voltage value equivalent to,
A vehicle comprising:
(2) calculating means for calculating a fourth voltage value corresponding to an average voltage value of the first voltage value and the second voltage value; and the fourth voltage value and the third voltage value Voltage value determination means for determining which is a low voltage value, and the acceleration control means prevents acceleration exceeding acceleration corresponding to the voltage value determined to be low by the voltage value determination means. The vehicle according to (1), wherein the drive source is controlled.

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Motor part, 3 ... Rear wheel shaft, 3a, 3b ... Rear wheel, 4 ... Front wheel shaft, 4a, 4b ... Front wheel, 5 ... Accelerator pedal, 10 ... Vehicle control apparatus, 11 ... Engine ECU, 12 ... Motor drive unit, 21 ... average value calculation unit, 22 ... vehicle speed calculation unit, 23 ... output limit calculation unit, 24 ... acceleration limit calculation unit, 25 ... output voltage determination unit, S1, S2 ... accelerator position sensor, S3 ... vehicle speed sensor , G1 to g5 ... graph

Claims (1)

A driving source;
An accelerator pedal,
A first accelerator position sensor for detecting an opening of the accelerator pedal;
A second accelerator position sensor for detecting the opening of the accelerator pedal;
A controller that drives the drive source based on a first voltage value corresponding to the output of the first accelerator position sensor and a second voltage value corresponding to the output of the second accelerator position sensor; ,
An acquisition means for acquiring a traveling speed;
A vehicle comprising:
The controller is
Detecting means for detecting an abnormality of the first or second accelerator position sensor based on the first voltage value and the second voltage value when the accelerator pedal is depressed;
When the abnormality is detected by the detection means, a third voltage value corresponding to a predetermined acceleration is obtained from the traveling speed acquired by the acquisition means, and acceleration that does not exceed the acceleration corresponding to the third voltage value Acceleration control means for controlling the drive source so that
Calculating means for calculating a fourth voltage value corresponding to an average voltage value of the first voltage value and the second voltage value;
A value obtained by multiplying the fourth voltage value by a gain that is set to be smaller as the traveling speed is larger, and a voltage value determination unit that determines which one of the third voltage values is a lower voltage value;
With
The acceleration control unit controls the drive source so as not to exceed an acceleration corresponding to a voltage value determined to be low by the voltage value determination unit;
A vehicle characterized by that.

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