JP7127574B2 - electronic controller - Google Patents

Description

The present invention relates to electronic control units.

Conventionally, when a failure that leads to the occurrence of a hazard such as unintended acceleration is detected while the vehicle is running, a power supply cutoff function is used to cut the power supply path to the actuator that leads to an increase in the torque of the engine, as shown in Patent Document 1. I am trying to block it. As a result, the torque of the engine is reduced, so the traveling system can be kept in a safe state.

JP 2011-017275 A

Since the power cut function is extremely important for realizing the fail-safe mode, a cut path diagnosis is periodically performed to check whether the power cut function works effectively.

The cut-path diagnosis is to execute the actuator control for diagnosis with the power supply to the actuator cut off by the power cut function while the engine is stopped, such as by turning off the ignition switch (hereafter abbreviated as IG switch). An abnormality is determined when the actuator malfunctions according to the control request.

However, since the actuator is operated while the engine is stopped during the cut path diagnosis of the power supply cut function, there is a possibility that a malfunction may occur when the actuator is operated. For example, if the actuator is an electronic throttle, the electronic throttle operates more rapidly than usual when the engine is stopped, so you may hear the operating noise caused by the sudden operation of the electronic throttle, or experience problems due to the sudden operation of the electronic throttle. may occur.

The present invention has been made in view of the above circumstances, and its object is to suppress the influence of the actuator operating more rapidly than usual when performing a cut-path diagnosis of the power cut function for the actuator that drives the controlled object. An object of the present invention is to provide an electronic control device.

According to the first aspect of the invention, the control output section (7) outputs a drive command for operating the actuator (2) in response to a control request from the control section (5). Then, the drive section (4) drives the actuator (2) according to the drive command, so that the controlled object is operated.

An abnormality determination unit (6) outputs a cut request when it determines that the control by the control unit (5) is abnormal. Then, the cut request section (8) cuts off the power supply path to the actuator (2) in response to the cut request, thereby preventing the occurrence of hazards.

A diagnosis unit (9) executes a cut-path diagnosis while the control output unit (7) is not outputting a control request. In other words, after outputting a cut request to the cut request section (8), a control request indicating the amount of operation for gently operating the actuator (2) is output to the control output section (7).

When the monitor section (14) detects that the actuator (2) has been operated, it is determined that there is an abnormality. As a result, the cut-path diagnosis can be performed in a state in which the actuator (2) operates slowly, so it is possible to suppress the influence of the actuator (2) operating more rapidly than usual.
According to the first aspect of the present invention, the diagnosis unit stores the operation amount of the actuator when the cut-path diagnosis is determined to be abnormal, and when the next cut-path diagnosis is performed, the operation is started from the stored operation amount. Output a control request to
According to the second aspect of the invention, the diagnosis unit stores the operation amount of the actuator when the cut-path diagnosis determines that there is an abnormality, and when the cut-path diagnosis is executed next time, the operation amount is higher than the stored operation amount. A control request is output to start with an operation amount that is smaller by a predetermined amount.

FIG. 2 is a block diagram schematically showing the configuration of an ECU according to the first embodiment; FIG. Flowchart showing ECU cut-path diagnostic processing A diagram showing the relationship between the diagnostic opening request and the actual throttle opening during normal operation. A diagram showing the relationship between the diagnostic opening request and the actual throttle opening when an abnormality occurs. Flowchart showing cut-path diagnosis processing in the second embodiment A diagram showing changes in the actual throttle opening in the third embodiment. The figure which shows the change of the actual throttle-opening in deformation|transformation embodiment.

A plurality of embodiments will be described below with reference to the drawings. In several embodiments, functionally and/or structurally corresponding parts are provided with the same reference numerals.

(First embodiment)
A first embodiment in which the present invention is applied to an ECU (Electronic Control Unit) constituting an electronic throttle control system for a vehicle will be described with reference to FIGS. 1 to 4. FIG.
An ECU 1 (corresponding to an electronic control unit) shown in FIG. 1 is provided so as to be supplied with power from a battery when an IG switch (not shown) is ON, and controls the rotation of a throttle motor 2 (corresponding to an actuator) to control the electronic Adjust throttle opening. The ECU 1 comprises a microcomputer 3 and a drive driver 4 (corresponding to a drive section).

The microcomputer 3 has a CPU, ROM, RAM and I/O. The microcomputer 3 constitutes a predetermined processing unit by executing a computer program stored in a non-transitional substantive recording medium.

Processing units include an engine control unit 5 (corresponding to a control unit), a torque monitor unit 6 (corresponding to an abnormality determination unit), a throttle control output unit 7 (corresponding to a control output unit), a throttle cut request unit 8 (corresponding to a cut request unit ), a cut-path diagnosis unit 9 (corresponding to a diagnosis unit), and an abnormality notification unit 10 are provided.

The engine control unit 5 , the torque monitor unit 6 , the throttle control output unit 7 , and the throttle cut request unit 8 are processing units related to normal control and the torque monitor unit 6 . Normal control refers to control of the throttle motor 2 when an IG switch signal (hereinafter abbreviated as IG signal) is ON, that is, during engine rotation control. The torque monitor unit 6 has a function of detecting an abnormality in normal control during engine rotation control when the IG signal is ON, and a control power source for the throttle motor 2 in order to eliminate the influence of the abnormality when an abnormality is detected. is a control that cuts the

On the other hand, the throttle control output unit 7, the cut-path diagnosis unit 9, the throttle cut request unit 8, and the abnormality notification unit 10 are processing units related to cut-path diagnosis control. The cut-path diagnostic control is control for diagnosing the power cut function for the throttle motor 2 when the IG signal is OFF, that is, when the engine control is stopped.

The throttle control output unit 7 and the throttle cut request unit 8 are involved in both normal control, diagnosis for normal control, and control for cut-path diagnosis, and select normal control for the throttle motor 2, diagnosis for normal control, and control for cut-path diagnosis. switch temporarily.

The drive driver 4 is composed of a drive logic section 11 , a switching element 12 and an output circuit 13 . The switching element 12 and the output circuit 13 are connected in series between the power supply and ground. The drive logic section 11 controls the output circuit 13 according to the drive signal from the throttle control output section 7 . The output circuit 13 is an H-bridge circuit, and controls the power supply to the throttle motor 2 according to the control by the drive logic unit 11, thereby adjusting the opening of the electronic throttle.

The switching element 12 is turned on in the initial state when the IG switch is turned on, and forms a power supply path from the drive driver 4 to the throttle motor 2 . In response to a cut signal from the throttle cut requesting unit 8, the switch is turned off to cut off the power supply path from the drive driver 4 to the throttle motor 2.

A throttle sensor 14 (corresponding to a monitor section) detects the throttle opening of the throttle motor 2 and outputs the actual throttle opening indicating the opening of the electronic throttle to the cut-path diagnosis section 9 .
The cut-path diagnosis unit 9 executes cut-path diagnosis processing as will be described later, and notifies the abnormality notification unit 10 of the abnormality when determining that there is an abnormality.
When an abnormality is input from the cut-path diagnosis unit 9, the abnormality notification unit 10 notifies the user that the power cut function is abnormal.

Hereinafter, normal control, diagnosis for normal control, and control for cut-path diagnosis will be described.
(1) Normal control and diagnosis for normal control The engine control unit 5 issues an opening request (control request) that indicates the target opening (equivalent to the operation amount) of the electronic throttle according to the accelerator opening when the IG switch is ON. ) is output to the throttle control output section 7 .

When the opening request is input, the throttle control output unit 7 outputs a drive signal corresponding to the target opening of the electronic throttle indicated by the opening request to the drive driver 4 . The drive driver 4 controls power supply to the throttle motor 2 via the output circuit 13 according to the drive signal. As a result, the degree of opening of the electronic throttle is increased to increase the amount of fuel supplied to the engine, which in turn increases the rotation speed of the engine and, in turn, the speed of the vehicle.

The torque monitor unit 6 estimates the output torque of the engine from a map, a formula, or the like based on the amount of fluctuation in the rotation speed of the engine, and calculates the required torque requested by the driver from the map, a formula, or the like, based on the degree of opening of the accelerator. do. The estimated torque and the requested torque are compared, and if the estimated torque is greater than the requested torque by a predetermined value or more, it is determined that an unintended increase in torque may occur, and a cut request is output to the throttle cut request section 8 .

The throttle cut request unit 8 outputs to the drive driver 4 a cut signal instructing to stop the power supply to the throttle motor 2 when the cut request is input. If the power cutoff function for the throttle motor 2 is normal, the power supply path from the drive driver 4 to the throttle motor 2 is cut off. As a result, the opening of the electronic throttle is controlled to the "opener position", so the minimum amount of air that does not stop the engine is sent to the engine. This suppresses the rapid increase in the torque of the engine.

(2) Control for cut-path diagnosis Since the power cut function is extremely important for avoiding hazards, cut-path diagnosis is performed periodically.

The cut-path diagnosis unit 9 executes the cut-path diagnosis process shown in FIG. 2 when the IG signal changes from the ON state to the OFF state. That is, a diagnostic cut request is output to the throttle cut request section 8 (S1). When the diagnostic cut request is input, the throttle cut request unit 8 outputs to the drive driver 4 a cut signal instructing to stop the power supply to the drive driver 4 . As a result, diagnosis is started at the timing indicated by t1 in FIG. 3, and a cut signal is output.

Next, the cut-path diagnostic unit 9 outputs a diagnostic opening request to the throttle control output unit 7 (S2). The throttle control output unit 7 outputs an opening request indicating a target opening of the electronic throttle to the drive driver 4 when the diagnostic opening request is input. As a result, power is supplied from the drive driver 4 to the throttle motor 2 at the timing indicated by t2 in FIG.

Here, when outputting a diagnostic cut request, the cut-path diagnostic unit 9 outputs a control request in which the target opening gradually increases over time. As a result, as shown in FIG. 3, the target opening indicated by the drive signal output from the throttle control output section 7 to the drive driver 4 gradually increases over time.

Then, the cut-path diagnostic unit 9 specifies the actual throttle opening by means of the throttle sensor 14 (S3), determines whether the specified actual throttle opening exceeds the reference opening (S4), and determines whether the diagnosis is finished (S5). repeat. The reference opening is an opening that exceeds the above-described "opener position" by a predetermined angle.

(When the power cut function is normal)
When the power supply path to the throttle motor 2 is interrupted in response to the diagnostic cut request, power is not supplied from the drive driver 4 to the throttle motor 2 even if the target opening is requested by the opening request. It does not operate and the actual throttle opening continues at the "opener position".
When the diagnosis ends (S5: YES), the cut-path diagnosis unit 9 determines that the power cut function is normal (S6), and ends the cut-path diagnosis process as indicated at t3 in FIG.

(When the power cut function is abnormal)
Even if a diagnostic cut request is output to the throttle cut request unit 8, the cut signal is not output due to an abnormality in the throttle cut request unit 8, or even if a cut signal is output, the switching element 12 of the drive driver 4 is abnormal. It may not be turned off depending on the situation.

In the case of such an abnormality, since the power supply path to the throttle motor 2 is maintained, when the cut-path diagnosis unit 9 outputs a diagnostic opening request to the throttle control output unit 7, the drive driver 4 sends the throttle motor 2 Powered up and working.
Here, since the actual throttle opening gradually increases as shown in FIG. 4, the throttle sensor 14 detects that the actual throttle opening exceeds the reference opening.

Therefore, if the actual throttle opening exceeds the reference opening before the diagnosis is completed (S4: YES), the cut-path diagnostic unit 9 determines that the power cut function is abnormal (S7). Then, the abnormality notification unit 10 is notified of the abnormality (S8), and the cut-path diagnosis process ends as indicated at t3 in FIG. The anomaly notification unit 10 notifies the user of an anomaly.

According to such an embodiment, the following effects can be obtained.
When the cut-path diagnostic unit 9 performs the cut-path diagnosis of the power cut function for the throttle motor 2 while the engine is stopped, the throttle motor 2 is operated slowly, so that the throttle motor 2 is operated more rapidly than usual. It becomes possible to suppress the influence of the operation.
If the actual throttle opening exceeds the reference opening, it is judged to be abnormal and the cut-path diagnosis is terminated, so that the cut-path diagnosis time can be shortened.

(Second embodiment)
A second embodiment will be described with reference to FIG. The second embodiment is characterized in that re-diagnosis is performed when an abnormality is determined.

As shown in FIG. 5, when the cut-path diagnosis unit 9 executes the cut-path diagnosis process, if the actual throttle opening exceeds the reference opening before the diagnosis is completed (S4: YES), the cut-path diagnosis unit 9 executes re-diagnosis ( S9), as a result of the re-diagnosis, when it is determined again that there is an abnormality (S10: YES), it is finally determined that the power cut function is abnormal (S7), and the abnormality is notified (S8). On the other hand, if the result of the re-diagnosis is normal (S10: NO), no abnormality is notified.

According to such an embodiment, when the power cut function determines that there is an abnormality, re-diagnosis is performed, and if an abnormality is found as a result of the re-diagnosis, the abnormality is finally identified and notified of the abnormality. Therefore, it is possible to improve the reliability of the cut-path diagnosis even when it is affected by electrical noise, for example.

The number of times of re-diagnosing the power cut function is not limited to one, and may be executed a plurality of times, and when all the diagnostic results are determined to be abnormal, the abnormality may finally be identified. That is, re-diagnosis should be performed at least once.

(Third embodiment)
A third embodiment will be described with reference to FIG. This third embodiment is characterized by having a learning function.

When the cut-path diagnosis is performed as shown in FIG. 6, the cut-path diagnosis unit 9 stores the actual throttle opening of the throttle motor 2 when the cut-path diagnosis determines that there is an abnormality. When the next cut-path diagnosis is to be executed, it is started from the stored actual throttle opening. As a result, since the cut-path diagnosis is performed from the actual throttle opening determined to be abnormal in the cut-path diagnosis, it is possible to immediately determine the abnormality by the learning function in the subsequent cut-path diagnosis.

According to this embodiment, the cut-path diagnosis of the power supply cut function is started from the actual throttle opening determined to be abnormal in the cut-path diagnosis, so the cut-path diagnosis process can be completed in a short time. , the current consumption of the microcomputer 3 can be reduced. In particular, the cut-path diagnosis is performed with the IG switch turned off, that is, when power generation is stopped, so reducing current consumption is effective in reducing the amount of load on the battery.

(Modified embodiment)
When the cut-path diagnosis process is executed as shown in FIG. 7, it may be started from an opening smaller by a predetermined opening than the actual throttle opening determined to be abnormal by the cut-path diagnosis. In this case, the learning function can effectively function when the actual throttle opening determined to be abnormal fluctuates up and down.

(Other embodiments)
The cut-path diagnosis process is not limited to when the IG switch is turned off, and may be performed at any timing during a period in which normal control is not performed.
Control may be performed so that the amount of operation of the throttle motor 2 increases stepwise.
Although the configuration applied to throttle control in an electronic throttle control system has been exemplified, it may be applied to other control systems having actuators that operate immediately upon power supply.

Although the present disclosure has been described with reference to embodiments, it is understood that the present disclosure is not limited to such embodiments or structures. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and configurations, as well as other combinations and configurations, including single elements, more, or less, are within the scope and spirit of this disclosure.

In the drawing, 1 is an ECU (electronic control unit), 2 is a throttle motor (actuator), 4 is a drive driver (drive unit), 5 is an engine control unit (control unit), 6 is a torque monitor unit (abnormality determination unit), 7 is a throttle control output section (control output section), 8 is a throttle cut request section (cut request section), 9 is a cut path diagnosis section (diagnosis section), and 14 is a throttle sensor (monitor section).

Claims (4)

a control unit (5) that outputs a control request that is a request for controlling the amount of movement of an actuator (2) that drives a controlled object;
a control output unit (7) for outputting a drive command for operating the actuator in response to the control request;
a drive unit (4) for driving the actuator according to the drive command;
an abnormality determination unit (6) that outputs a cut request when it is determined that the control by the control unit is abnormal;
a cut request unit (8) for cutting off a power supply path to the actuator in response to the cut request;
After outputting the cut request to the cut request unit in a state in which the control output unit is not outputting the control request, the control indicates an operation amount by which the actuator gently operates with respect to the control output unit. a diagnostic unit (9) that outputs a request and executes a cut-path diagnosis that determines an abnormality when a monitor unit (14) that monitors the operation of the actuator detects that the actuator has operated ,
The diagnosis unit stores the operation amount of the actuator when the cut-path diagnosis is determined to be abnormal, and issues the control request to start from the stored operation amount when the cut-path diagnosis is performed next time. Electronic control unit for output . a control unit (5) that outputs a control request that is a request for controlling the amount of movement of an actuator (2) that drives a controlled object;
a control output unit (7) for outputting a drive command for operating the actuator in response to the control request;
a drive unit (4) for driving the actuator according to the drive command;
an abnormality determination unit (6) that outputs a cut request when it is determined that the control by the control unit is abnormal;
a cut request unit (8) for cutting off a power supply path to the actuator in response to the cut request;
After outputting the cut request to the cut request unit in a state in which the control output unit is not outputting the control request, the control indicates an operation amount by which the actuator gently operates with respect to the control output unit. a diagnostic unit (9) that outputs a request and executes a cut-path diagnosis that determines an abnormality when a monitor unit (14) that monitors the operation of the actuator detects that the actuator has operated ,
The diagnosing unit stores the operation amount of the actuator when the cut-path diagnosis determines that there is an abnormality. An electronic controller that outputs said control request to start . 3. The electronic control device according to claim 1 , wherein the diagnostic unit outputs a control request that gradually increases the amount of movement in a region in which the actuator operates. 3. The electronic control device according to claim 1, wherein, when the cut-path diagnosis determines that there is an abnormality, the diagnosis unit re-executes the cut-path diagnosis and determines the abnormality based on a plurality of diagnosis results .

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