JP6522489B2 - Electronic control unit for vehicle - Google Patents

Description

  The present invention relates to an electronic control unit for a vehicle.

  When the vehicle travels on a wavy road where irregularities appear repeatedly on the road surface, the vehicle takes a steering wheel due to the irregularities of the road surface, and there is a problem that the driver is constantly strained by steering correction and fatigue accumulates. With respect to this problem, for example, if it is known that the vehicle electronic control device is traveling on the wavy path, it is conceivable to reduce the burden on the driver by performing processing according to that.

  For example, Japanese Patent Application Laid-Open No. 2008-072868 discloses a countermeasure in the case where a vehicle body vibrates and resonance occurs as when traveling on a wavy road in a vehicle having a motor as a drive source, and the rotation angle of the traveling motor Is detected based on the motor rotation angle, and the presence or absence of vehicle body resonance is determined based on the rotation speed change amount, and it is determined that the vehicle body resonance is occurring. The torque command value is reduced.

JP, 2008-072868, A

  However, in the invention described in Japanese Patent Application Laid-Open No. 2008-072868, the wavy path is determined based on the resonance of the transaxle mainly caused by the unevenness of the road surface in the direction perpendicular to the traveling direction of the vehicle. Therefore, the transaxle resonates like a wavy road (in this case, the traveling direction of the vehicle and the extending direction of the unevenness become substantially parallel) in which the concave and the convex extend mainly along the traveling direction of the vehicle as in the rutting road. There is a problem that it is difficult to determine that the road surface on which the road surface is hard to be generated is a wavy road.

  As another method, a system using, for example, a radar can be considered to detect a wave path parallel to the traveling direction of the vehicle, but in this case, the problem that the radar is newly installed becomes expensive. was there.

  An object of the present invention is to provide a vehicle electronic control device capable of determining a road surface on which a recess and a protrusion extend along a traveling direction of a vehicle as a wavy path with a simple configuration.

The present invention, in order to achieve the above object, the electronic control device for a vehicle, the steering information acquiring apparatus the traveling direction of the vehicle from the changeable steering apparatus obtains steering information, acquired by the steering information acquisition device wherein And a wave path determination device that determines whether or not a wave path is traveling based on steering information, the steering information acquisition device includes an electric power steering control device, and the steering information includes the electric power steering. It is information including a pinion shaft torque of a steering rack acquired by a control device and a motor drive current flowing to an assist motor, and the wave path determination device includes the motor drive current and the pinion shaft torque. When both increase and then decrease again, the recess and the protrusion extend along the traveling direction of the vehicle. It determines that the vehicle is running, characterized in that.

  According to the present invention, it is possible to provide an electronic control device for a vehicle that can be determined with a simple configuration even in a wave path parallel to the traveling direction of the vehicle.

  Problems, configurations, and effects other than those described above will be apparent from the description of the embodiments below.

FIG. 1 is a block diagram of a vehicle electronic control device according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS The schematic block diagram which shows the structure of the electronic control unit for vehicles which concerns on Example 1 of this invention. The schematic timing chart explaining the wave course judging processing in microcomputer 11. FIG. 5 is a flowchart showing an example of a wavy path determination process in the microcomputer 11; 5 is a flowchart showing an example of a wavy path determination process in the microcomputer 11; 5 is a flowchart showing an example of a wavy path determination process in the microcomputer 11; 5 is a flowchart showing an example of a wavy path determination process in the microcomputer 11; 5 is a flowchart showing an example of a wavy path determination process in the microcomputer 11;

  Hereinafter, a vehicle electronic control device according to an embodiment of the present invention will be described in detail using the drawings.

  FIG. 1 is a block diagram of a vehicle electronic control device according to an embodiment of the present invention.

  The electronic control unit 100 for a vehicle according to this embodiment acquires a steering information acquisition apparatus 200 that acquires steering information from a steering apparatus 500 that can change the traveling direction of the vehicle, and a wave based on the steering information acquired by the steering information acquisition apparatus 200. The wave-like road determination apparatus 300 which determines whether it is driving | running | working road is provided.

  When traveling on the wavy road, the road surface reaction force causes the road surface reaction force to change the direction of the tire, and the driver operates the steering wheel (steering wheel) to correct this. That is, while traveling on a wavy road, information related to steering such as road surface reaction force and steering wheel operation is different from that during traveling on a road other than the wavy road. Therefore, in the present embodiment, it is determined based on the steering information whether or not traveling on the wavy road.

  When it is determined by the wavy road determination device 300 that traveling on the wavy road is being performed, the traveling control device 400 controls the traveling device to change the traveling state. For example, when it is determined that the vehicle is traveling on a wavy road, an automatic transmission (not shown) as the traveling device 600 is controlled to reduce the driving torque. Further, for example, in the configuration using the electric power steering apparatus, the steering assist force may be increased to reduce the burden on the driver.

  The vehicle to which the present invention is applied may be an electrically driven vehicle or an engine driven vehicle.

  Hereinafter, an embodiment of the present invention will be described using the drawings.

  FIG. 2 is a schematic block diagram showing the configuration of the electronic control unit for a vehicle according to the first embodiment of the present invention. In this embodiment, an electric power steering apparatus is provided, and the determination of the wavy road is performed based on the steering information from the electric power steering apparatus.

  Further, in this embodiment, the steering device 500 includes a steering 1 operated by the driver, and a steering rack 6 operated by the rack and pinion mechanism to change the direction of the tire according to the operation direction of the steering 1 and the operation amount. There is a so-called electric power steering device which applies a steering assist force (assist force) by the rotational force of the motor 4 to the operation of the steering rack 6. The electric power steering apparatus transmits the driving force of the motor 4 to the steering shaft 2 having a pinion via the reduction gear 3 to apply a steering assist force to the steering rack 6.

  Further, the electric power steering apparatus has an electric power steering control device (EPS) 7. The EPS 7 is configured to include a microcomputer 8 that executes control processing, and a CAN transceiver 9 that performs CAN (Controller Area Network) communication with another control device (for example, the ATCU 9).

  The microcomputer 8 as the steering information acquisition device 200 has a pinion shaft torque of the steering rack 6 which is an output of the torque sensor 5 for detecting a road surface reaction force, a steering steering angle indicating an operation direction and an operation amount of the steering 1; The steering rack 6 receives a motor driving current obtained by measuring the driving state of the motor 4 and speed information from a vehicle speed sensor (not shown), and based on the steering information, a steering assist force suitable for the situation is applied to the steering rack 6 It outputs a motor drive instruction current for driving the motor 4 to be supplied. For example, the microcomputer 8 performs feedback control of the motor drive current in order to accurately generate the torque of the steering assist force. Since the processing of the electric power steering apparatus by the microcomputer 8 may use known processing, the detailed description will be omitted.

  The microcomputer 8 transmits steering information such as at least a pinion shaft torque, a steering steering angle, and a motor driving current to another control device via the CAN transceiver 9. In the present embodiment, the automatic transmission control unit (ATCU) 10 receives the steering information via the CAN transceiver 12.

  The ATCU 10 is configured to include a microcomputer 11 that executes control processing, and a CAN transceiver 12 that performs CAN communication with another control device (for example, the EPS 7).

  The microcomputer 11 functions as the wavy path determination device 300. For example, when the pinion shaft torque is generated using the steering information such as the pinion shaft torque, the steering steering angle, and the motor driving current received from the EPS 7, the microcomputer 11 does not perform the steering operation, that is, generates the motor driving current. After that, a state where the operation of the steering wheel 1 in the direction opposite to the direction in which the pinion shaft torque is generated is detected by the steering angle and the pinion shaft torque transitions toward the zero point is a predetermined number of times (this Depending on the traveling environment such as a snowy road or mud road, if you want to judge early that you want to judge that it is a wavy road, for example, it may be determined as two times etc.) It is determined that there is a particular condition (in particular, the road is traveling). An example of the details of the wavy path determination process (constituting the wavy path determination apparatus 300) in the microcomputer 11 will be described later with reference to FIGS.

  If it is determined that the microcomputer 11 is traveling on the wavy road, the ATCU 10 as the traveling control device 400 controls an automatic transmission (not shown) as the traveling device 600 to reduce the driving torque. The appropriate torque reduction amount at this time is calculated by the microcomputer 11, for example, in addition to the pinion shaft torque and the steering angle, the engine output torque and the speed information from the vehicle speed sensor (not shown) in addition to the calculation parameters. desirable.

  FIG. 3 is a schematic timing chart for explaining the wavy path determination processing in the microcomputer 11.

  When the vehicle travels from the bottom of the wavy road (where the unevenness of the road surface is low) to the level difference with the upper part of the wavy road (where the unevenness of the road surface is high), A phenomenon occurs in which the vehicle runs up from the bottom to the top. At this time, since an external force (torque) is transmitted to the tire, a pinion shaft torque rises. However, at this time, since the driver does not operate the steering, the motor drive current of the motor 4 which is the assist motor is not generated.

  On the other hand, when the steering operation is performed by the driver in the direction to repel the pinion shaft torque from the above state (when the operation to return to the bottom of the wavy path is performed), the motor drive current of the motor 4 The torque of the pinion shaft also increases momentarily as the pressure rises, but both tend to decrease as it moves from the top to the bottom of the corrugated path.

  In the case of a wavy road such as a rut road where the concave and convex parts extend mainly along the traveling direction of the vehicle, the driver may instinctively repeat the above operation to continue traveling on the bottom (concave part) of the wavy road. Since the microcomputer 11 receives the pinion shaft torque by the torque sensor 5 and the motor drive current of the motor 4 from the EPS 7, it is possible to determine the wavy path. Further, since there is a correlation between the motor drive current of the motor 4 and the steering angle, the microcomputer 11 can also determine the wavy path by receiving the pinion shaft torque and the steering angle by the torque sensor 5 from the EPS 7 Become.

  The microcomputer 11 compares the motor drive current obtained from the EPS 7 at a predetermined timing with the motor drive current obtained from the EPS 7 at another predetermined timing thereafter, and calculates a motor drive current change amount calculating unit Motor drive current change amount calculation processing), and the pinion shaft torque obtained from EPS 7 at a predetermined timing is compared with the pinion shaft torque obtained from EPS 7 at another predetermined timing thereafter, and the change amount Has a pinion shaft torque change amount calculation unit (pinion shaft torque change amount calculation processing) to obtain the change amount of the motor drive current obtained by the motor drive current change amount calculation unit and the pinion obtained by the pinion shaft torque change amount calculation unit Whether or not traveling on the wavy road may be determined based on the amount of change in shaft torque.

  Although the motor drive current obtained from the EPS 7 is a current obtained by the microcomputer 8 from the motor 4 as shown in FIG. 2, instead of this, a motor drive instruction current that the microcomputer 8 outputs to the motor 4 It may be determined whether or not traveling on a wavy road using In this case, the microcomputer 11 compares the motor drive instruction current obtained from the EPS 7 at a predetermined timing with the motor drive instruction current obtained from the EPS 7 at another predetermined timing thereafter to obtain a motor drive instruction for obtaining the amount of change thereof. A current change amount calculation unit (motor drive instruction current change amount calculation processing), and a pinion shaft torque obtained from the EPS 7 at a predetermined timing, and a pinion shaft torque obtained from the EPS 7 at another predetermined timing thereafter And a pinion shaft torque change amount calculation unit (pinion shaft torque change amount calculation processing) for obtaining the change amount, and the change amount of the motor drive instruction current calculated by the motor drive instruction current change amount calculation unit and the pinion shaft Whether or not traveling on the wavy road may be determined based on the amount of change in the pinion shaft torque obtained by the torque change amount calculation unit.

  Further, the microcomputer 11 compares the steering angle obtained from the EPS 7 at a predetermined timing with the steering angle obtained from the EPS 7 at another predetermined timing thereafter, and calculates the amount of change in the steering angle. Section (steering steering angle change amount calculation processing), and the pinion shaft torque obtained from the EPS 7 at a predetermined timing is compared with the pinion shaft torque obtained from the EPS 7 at another predetermined timing thereafter, It has a pinion shaft torque change amount calculation unit (pinion shaft torque change amount calculation process) for obtaining the change amount, and the change amount of the steering angle obtained by the steering angle change amount calculation unit and the pinion obtained by the pinion shaft torque change amount calculation unit Whether or not traveling on the wavy road may be determined based on the amount of change in shaft torque.

  4 to 8 are flowcharts showing an example of the wavy path determination process in the microcomputer 11.

  In FIGS. 4 to 8, while traveling on the wavy path based on the change amount of the motor drive current obtained by the motor drive current change amount calculation unit and the change amount of the pinion shaft torque obtained by the pinion shaft torque change amount calculation unit. In the example shown in the flowchart, the control unit (ATCU 10) of the automatic transmission for a vehicle performs a flowchart from the detection of the wavy road to the execution of the torque reduction control. In this embodiment, the information transmission means between the electric power steering control device (EPS 7) and the control device of the automatic transmission for the vehicle (ATCU 10) uses CAN communication, and transmits and receives information regularly. Do.

  In step S110 in FIG. 4, information on the pinion shaft torque and the drive current of the motor 4 serving as the assist motor is received from the electric power steering control device (EPS 7), and the amount of change is calculated. Here, it is desirable to calculate the difference from the information received in the previous task and calculate it by integration over a certain period, but from the viewpoint of the processing load of the microcomputer and the safety requirements required of the vehicle, It is not the above method.

  Steps S111 to S120 in FIG. 4 are the wavy path detection logic. First, in step S111, it is determined whether the pinion shaft torque is reversed (whether or not the direction of generation of the torque is reversed). This is for detecting a change in vehicle behavior from the bottom to the top or from the top to the bottom in the rut road in the direction of generation of the pinion shaft torque.

  If the direction of generation of the pinion shaft torque has not changed (in the case of no reversal), the process proceeds to step S112. In step S112, the wavy path detection counter is cleared. The wavy path detection counter is a counter indicating how much the wavy path detection logic being executed for each direction of generation of the pinion shaft torque (here, referred to as forward direction or reverse direction) is executed, and this is the pinion shaft torque Is cleared each time the direction of occurrence of Here, the forward direction is expressed as counter A, and the reverse direction is expressed as counter B.

  Next, in step S113, it is determined whether the amount of change in pinion shaft torque is equal to or greater than a certain threshold value. Since the change in pinion shaft torque on the rutted road is so steep that the driver performs a steering operation on the heel, false detection is prevented by using a certain amount of change or more as the judgment material for detecting the wavy path. be able to.

  If it is determined in step S113 that the amount of change in the pinion shaft torque is equal to or greater than the threshold value, the process proceeds to step S114 in FIG. 7 to determine whether it is generated by the driver's steering operation or by the inertial force of the vehicle. From the bottom to the top determine if it is running up. Here, if no instruction is given from the electric power steering control device (EPS 7) to drive the motor 4 as an assist motor, it is a dead zone where the driver can not react when running up from the bottom on the rut road. The determination is made, and the wavy path detection counter A is added (step S115).

  The electric power steering controller (EPS 7) instructs the motor 4 as the assist motor to drive (step S114), and the drive instruction to the motor 4 is in the opposite direction to the direction of generation of the pinion shaft torque, that is, the driver When the steering operation is performed to return the vehicle to the original position (step S116), it is determined that the driver performs the feedback operation on the wavy road, and the wavy road detection counter A is added (step S117). .

  On the other hand, when the drive instruction is issued from the electric power steering control device (EPS 7) to the motor 4 as the assist motor (step S114), and the drive instruction is the same as the direction of pinion shaft torque generation (step S116) For example, it is determined that the driver intends to change direction so as to get out of the rut road, and the wavy road detection counter A is cleared (step S118).

  Subsequently, the process proceeds to step S119 in FIG. 8, and the value of the wavy path detection counter A is referred to, and it is equal to or more than a certain threshold, that is, the pinion shaft torque is generated in one direction for a long time only In the case of (1), since it is in a state of obliquely crossing a slope such as, for example, a mountain instead of a ruth road, the process proceeds to step S120 and the wavy path detection counter A is cleared.

  As mentioned above, although the part which becomes a nucleus of a wavy path detection logic by step S111 to step S120 was explained, when the pinion shaft torque of a reverse direction is generated by the reversal judgment of pinion shaft torque of step S111 (in the case with reversal). In steps S121 to S129 shown in FIGS. 5 and 6, processing similar to that of steps S112 to S120 described above is performed to perform addition and clearing processing of the wavy path detection counter.

  As described above, the wavy road detection counter is added by the wavy road detection by the wavy road detection logic, and when it reaches or exceeds a certain threshold (step S130), it is determined that the wavy road is traveling and torque reduction control is executed (step S131). On the other hand, when the wavy path detection counter is below a certain threshold (step S130), normal control is executed (step S132).

<Supplementary Note>
In the present invention described above,
1.
A steering information acquisition device for acquiring steering information from a steering device capable of changing the traveling direction of the vehicle;
A wave-like road determination device that determines whether or not traveling on a wavy road based on steering information acquired by the steering information acquisition device;
An electronic control unit for a vehicle, comprising:
Because it was a rotating electrical machine, characterized by
It is possible to provide an electronic control unit for a vehicle that can be determined with a simple configuration even in the case of a wave path parallel to the traveling direction of the vehicle.

The present invention
2.
1. In the vehicle electronic control device described in
The steering information acquisition device includes an electric power steering control device.
The steering information is information including a pinion shaft torque of a steering rack acquired by the electric power steering control device and a motor driving current flowing to an assist motor,
The wavy road determination device
A pinion shaft torque change amount calculation unit for obtaining a change amount of the pinion shaft torque;
A motor drive current change amount calculation unit for obtaining a change amount of the motor drive current;
Based on the amount of change in the pinion shaft torque calculated by the pinion shaft torque change calculation unit and the amount of change in the motor drive current calculated by the motor drive current change calculation unit, judge,
As a vehicle electronic control device characterized by
· In the configuration provided with the electric power steering control device, it is determined whether or not traveling on the wavy path based on the pinion shaft torque of the steering rack conventionally obtained by the electric power steering control device and the motor drive current. The wave path can be determined with a simple configuration.

The present invention
3.
1. In the vehicle electronic control device described in
The steering information acquisition device includes an electric power steering control device.
The steering information is information including a pinion shaft torque of a steering rack acquired by the electric power steering control device and a steering angle.
The wavy road determination device
A pinion shaft torque change amount calculation unit for obtaining a change amount of the pinion shaft torque;
A steering angle change amount calculation unit for obtaining the change amount of the steering angle;
Based on the amount of change in the pinion shaft torque calculated by the pinion shaft torque change calculation unit and the amount of change in the steering angle calculated by the steering angle change calculation unit, it is determined whether or not traveling on the wavy road ,
As a vehicle electronic control device characterized by
· In the configuration provided with the electric power steering control device, it is determined whether or not traveling on the wavy road based on the pinion shaft torque of the steering rack conventionally obtained by the electric power steering control device and the steering angle. The wave path can be determined with a simple configuration.

The present invention
4.
1. In the vehicle electronic control device described in
And a travel control device for reducing the driving force for driving the drive wheels of the traveling device when the wavy road determination device determines that the wavy road is traveling.
As a vehicle electronic control device characterized by
-It is possible to enhance the safety when it is determined that the vehicle is traveling on a wavy road and reduce the burden on the driver.

  The present invention is not limited to the embodiments described above, but includes various modifications. For example, the embodiments described above are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. In addition, with respect to a part of the configuration of each embodiment, it is possible to add, delete, and replace other configurations.

  100: Electronic control device for vehicle, 200: Steering information acquisition device, 300: Corrugated road determination device, 400: Traveling control device, 500: Steering device, 600: Traveling device.

Claims (3)

A steering information acquisition device for acquiring steering information from a steering device capable of changing the traveling direction of the vehicle;
A wavy road determination unit determines whether being corrugated road on the basis of the steering information acquired by the steering information acquisition device,
Equipped with
The steering information acquisition device includes an electric power steering control device.
The steering information is information including a pinion shaft torque of a steering rack acquired by the electric power steering control device and a motor driving current flowing to an assist motor,
In the wavy road determination device, when the motor drive current and the pinion shaft torque both increase and then decrease after that, the recess and the protrusion are formed along the traveling direction of the vehicle. Determine that you are traveling on a rut road that extends
Electronic control unit for vehicles characterized by the above-mentioned. A steering information acquisition device for acquiring steering information from a steering device capable of changing the traveling direction of the vehicle;
A wave-like road determination device that determines whether or not traveling on a wave-like road based on the steering information acquired by the steering information acquisition device;
Equipped with
The steering information acquisition device includes an electric power steering control device.
The steering information is information including a pinion shaft torque of a steering rack acquired by the electric power steering control device and a steering angle .
In the wavy road determination device, when it is repeated that the steering angle and the pinion shaft torque both increase and then decrease, both the recess and the protrusion are formed along the traveling direction of the vehicle. Determine that you are traveling on a rut road that extends
Electronic control unit for vehicles characterized by the above-mentioned. In the vehicle electronic control device according to claim 1 or 2,
And a travel control device for reducing the driving force for driving the drive wheels of the traveling device when the wavy road determination device determines that the road is traveling on the rut road.
Electronic control unit for vehicles characterized by the above-mentioned.

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