JPH04315058A - Apparatus for judging detection abnormality of acceleration detector of moving body - Google Patents

Abstract

PURPOSE:To judge whether three acceleration sensors for detecting the accelerations of a moving body in forward, rearward, left and right directions are normally operated. CONSTITUTION:A detection abnormality judging apparatus is adapted to an acceleration detector having acceleration sensors 18, 20, 22 arranged so that two directions are spaced apart at an equal angle alpha from one direction and detecting accelerations G1, G2, G3 in three directions. In first constitution, alphais 120 deg. and, when the absolute value of the sum total Gt of G1-G3 exceeds a threshold value G0, it is judged that any one of the sensors is abnormal. In second constitution, predetermined operation is performed when a moving body is in a straight advance state to judge the abnormal sensor.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an acceleration detection device used to detect the acceleration of a moving object such as a vehicle, a ship, or an aircraft, and more particularly to a detection abnormality determination device for an acceleration detection device.

0002

[Prior Art] As one of the acceleration detecting devices for the body of a typical moving object such as a car, for example,
As described in Japanese Patent No. 3-144306, three acceleration sensors are arranged at predetermined angles with respect to the longitudinal direction, the horizontal direction, and the vertical direction of the vehicle. 2. Description of the Related Art Acceleration detection devices are already known, which include a calculation device that calculates accelerations of a vehicle body in the longitudinal direction, lateral direction, and vertical direction based on the accelerations obtained.

According to this acceleration detection device, as described in the above-mentioned publication, it is possible to accurately detect the acceleration of the vehicle body in the longitudinal direction, the lateral direction, and the vertical direction using a small number of three acceleration sensors. .

0004

[Problems to be Solved by the Invention] However, in order to accurately detect each acceleration using the acceleration detection device as described above, it is necessary to
As a prerequisite for this, it is necessary that the three acceleration sensors are operating normally, so in order to determine whether each acceleration is accurately detected by the acceleration detection device, for example, the three acceleration sensors must be It is necessary to monitor whether each acceleration sensor is operating normally by installing an acceleration sensor for abnormality detection in parallel with the sensor, which avoids complicating the structure and increasing cost of the acceleration detection device. do not have.

In view of the above-mentioned problems in the conventional acceleration detection device described in the above-mentioned publication, the present invention eliminates the need to provide an acceleration sensor or the like for abnormality detection in conjunction with each acceleration sensor that detects acceleration. An object of the present invention is to provide a detection abnormality determination device for an acceleration detection device for a moving object, which is configured to be able to determine whether each acceleration sensor is operating normally.

Another object of the present invention is to determine whether or not each acceleration sensor is operating normally without the need to provide an acceleration sensor for abnormality detection in conjunction with each acceleration sensor that detects acceleration. It is an object of the present invention to provide a detection abnormality determination device for an acceleration detection device for a moving object, which is configured to be able to determine which acceleration sensor is abnormal.

[0007]

[Means for Solving the Problems] According to the present invention, the above-mentioned former purpose is to provide an acceleration detection device for detecting the acceleration of a portion of a moving object whose acceleration is to be detected, which is substantially at the center of gravity of a moving object. first to third directions D1 substantially 120° apart from each other around the center of gravity in a horizontal plane passing through;
A longitudinal acceleration and a lateral acceleration of the portion are calculated based on the first to third acceleration sensors that detect the accelerations of D2 and D3, and the accelerations G1, G2, and G3 detected by the first to third acceleration sensors. A detection abnormality determination device for an acceleration detection device having an output calculation device calculates the sum Gt of the accelerations G1, G2, G3, and when the absolute value of the sum Gt exceeds the threshold G0, the This is achieved by a detection abnormality determination device for an acceleration detection device configured to determine that an abnormality has occurred in at least one of the first to third acceleration sensors.

According to the present invention, the above-mentioned latter object is an acceleration detection device for detecting the acceleration of a portion of a moving object whose acceleration is to be detected, in a horizontal plane substantially passing through the center of gravity. first to third acceleration sensors that detect acceleration in first to third directions D1, D2, and D3 spaced apart from each other around the center of gravity; Acceleration G1, G2
, G3, and a calculation device that calculates and outputs the longitudinal acceleration and lateral acceleration of the part based on G3, the first direction is inclined at an angle ψ with respect to the moving direction of the moving object, and the second and third directions are A detection abnormality determining device for an acceleration detecting device spaced apart from the first direction at an equal angle α, a means for detecting straight movement of the moving object, and the first to third acceleration sensors. Accelerations G1 and G2 detected by
, G3, and the arithmetic and control device performs calculations based on G3, and when the moving object is traveling substantially straight,

[0009]

[Math 1] G11=G2-G3

0010

[Math 2] G22=G1-G3/cosα

0011
]

[Equation 3] Calculate G33=G1 - G2 /cosα,
Detection abnormality determination for an acceleration detection device configured to determine that an abnormality has occurred in each of the first to third acceleration sensors when only one of G11, G22, and G33 is substantially 0. achieved by the device.

Furthermore, when the moving object to which the acceleration detection device related to the detection abnormality determination device of the present invention is applied is a vehicle, the part whose acceleration is to be detected may be the vehicle body,
If the moving object is a ship or an aircraft, the part whose acceleration is to be detected may be the entirety of the object.

[0013]

[Operation] As shown in FIG. 8, in the first configuration described above, the first direction D1 is inclined at an angle ψ with respect to the moving direction D0 of the moving object, and the second direction D2 and the third direction Direction D3
are spaced apart from the first direction at an equal angle α, and the direction of the acceleration G at the center of gravity O of the moving object is inclined at an angle θ with respect to the moving direction of the moving object, and θ−ψ= Letting δ, the accelerations G1, G2, and G3 detected by the first to third acceleration sensors are respectively expressed as follows.

[0014]

[Formula 4] G1 = Gcos (θ−ψ) = G cos δ

[0015]

[Equation 5] G2 = Gcos (α-θ+ψ) = Gcos (
α−δ) = G {cos α・cos δ+sin α・sin δ}

0
016]

[Equation 6] G3 = Gcos (α + θ - ψ) = Gcos (
α+δ)=G{cos α・cos δ−sin α・sin δ}Furthermore, the longitudinal acceleration Gx and the lateral acceleration Gy are respectively expressed as follows.

[0017]

[Formula 7] Gx = Gcos (θ−ψ)・cosψ=Gc
osδ・cosψ

[0018]

[Formula 8] Gy = Gsin (θ−ψ)・sinψ=Gs
inδ・sinψ Also from numbers 4 to 6

[0019]

[Formula 9] G2 - G3 = 2Gsinα・sinδ

0
020]

[Formula 10] G1 − G3 /cosα=Gcosδ−G{co
sδ−tanα・sinδ}
=Gtanα・sinδ

002
1]

[Formula 11] G1 − G2 /cosα=Gcosδ−G{co
sδ+tanα・sinδ}
=-Gtanα·sinδ holds true.

[0022] Therefore, from equations 4 and 7, the longitudinal acceleration Gx is

[0023]

[Equation 12] Gx = G1 ・cosψ is obtained, and the lateral acceleration Gy is obtained from Equation 8 and Equation 9, Equation 8 and Equation 10, Equation 8 and Equation 11, respectively.

0024
]

[Formula 13] Gy = (G2 - G3) sinψ/2s
inα

[0025]

[Formula 14] Gy = (G1 cos α-G3)/(
sinα・sinψ)

[0026]

[Formula 15] Gy =-(G1 cos α-G2)/
(sin α・sin ψ).

In the first configuration described above, the first to third directions D1, D2, and D3 are substantially equal to each other around the center of gravity within a horizontal plane that substantially passes through the center of gravity of the moving object. Since it forms an angle, the magnitude of the acceleration of the moving object,
Regardless of the inclination angle ψ of the first direction D1 with respect to the moving direction of the moving object and the inclination angle of the acceleration with respect to the first to third directions, the accelerations G1, G2, G3 detected by the first to third acceleration sensors The sum of Gt is always essentially 0
become. Therefore, it is possible to determine whether the acceleration sensor is normal or not depending on whether the total Gt is substantially 0, and when the total Gt is substantially 0, the first to third acceleration sensors The detected accelerations G1, G2, and G3 can be certified as accurate values.

According to the first configuration, the accelerations G1, G2, G3 detected by the first to third acceleration sensors
When the absolute value of the total Gt exceeds the threshold value G0, it is determined that an abnormality has occurred in at least one of the first to third acceleration sensors. It is reliably detected that an abnormality has occurred.

In the first configuration, α is 120°, so the lateral acceleration Gy can be calculated as follows in accordance with Equations 13 to 15, respectively.

[0030]

[Math. 16]

[0031]

[Math. 17]

[0032]

[Formula 18] Furthermore, in the second configuration described above, if θ is 0, that is, if the moving object is moving straight and the direction of acceleration is the moving direction of the moving object, sin δ is also 0. . Therefore, by determining whether the left side of Equations 9 to 11 is 0, it is possible to identify which of the accelerations G1, G2, and G3 is an abnormal value, that is, which acceleration sensor is abnormal. be able to.

According to the second configuration described above, when the moving object is traveling substantially straight,

[0034]

[Math 1] G11=G2-G3

[0035]

[Math 2] G22=G1-G3/cosα

0036
]

[Equation 3] When only one of G11, G22, and G33 calculated according to G1-G2/cosα is substantially 0, it is determined that an abnormality has occurred in each of the first to third acceleration sensors. It will be done.

Therefore, with this configuration, not only is it possible to reliably detect an abnormality in any one of the acceleration sensors, but also it is possible to specify which of the first to third acceleration sensors is abnormal.

The invention will now be described in detail by way of example with reference to the accompanying drawings.

[0039]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic configuration diagram showing a first embodiment of the device of the present invention, which is configured as an acceleration detection and abnormality determination device for detecting acceleration of an automobile body and determining detection abnormality. FIG. 1 is a block diagram showing the arithmetic and control device of the embodiment, and FIG. 3 is a flowchart showing the control flow achieved by the arithmetic and control device shown in FIG.

In FIG. 1, reference numeral 10 indicates an acceleration detection and abnormality determination device according to the first embodiment, reference numeral 12 indicates the body of an automobile 14, and reference numeral 16 indicates the center of gravity of the vehicle body. The device 10 has three acceleration sensors 18, 20, 22, first to third, located substantially at the center of gravity 16 of the vehicle body. These acceleration sensors 18, 20, 22 are arranged at 120° to each other around the center of gravity in a horizontal plane passing through the center of gravity 16.
Spaced apart first to third directions D1, D2, D3
The first direction is inclined at an angle ψ with respect to the longitudinal direction D0 of the vehicle.

As shown in FIG. 1, signals indicating accelerations G1, G2, and G3 detected by the first to third acceleration sensors 18, 20, and 22 are sent to the arithmetic and control unit 24.
It is designed to be input to . The arithmetic and control device 24 calculates the longitudinal acceleration Gx and lateral acceleration Gy of the vehicle body as described later based on the signals indicating the accelerations G1, G2, and G3 input thereto, and also calculates the longitudinal acceleration Gx and the lateral acceleration Gy of the vehicle body as described later.
2 is operating normally. In the illustrated embodiment, the longitudinal acceleration Gx and lateral acceleration Gy of the vehicle body calculated by the arithmetic and control device 24 are
The signal indicating the active suspension control device 26
The vehicle's longitudinal acceleration Gx and lateral acceleration G
A signal indicating y may be supplied to any other device, such as an anti-lock brake system.

The arithmetic and control unit 24 includes a microcomputer 28 as shown in FIG. The microcomputer 28 may have a general configuration as shown in FIG. 2, and includes a central processing unit (CPU) 30.
, a read-only memory (ROM) 32 , a random access memory (RAM) 34 , an input port device 36 , and an output port device 38 , which are connected to each other by a bidirectional common bus 40 .

In the illustrated embodiment, the input port device 3
6 receives signals indicating accelerations G1, G2, and G3 from the first to third acceleration sensors 18, 20, and 22. The input port device 36 appropriately processes the signals input thereto, and outputs the processed signals to the CPU and RAM 34 according to instructions from the CPU 30 based on a program stored in the ROM 32. The ROM 32 stores the control program shown in FIG. The CPU 30 is designed to perform various calculations and signal processing as described later based on the control program shown in FIG. The output port device 38 outputs signals indicating the longitudinal acceleration Gx and lateral acceleration Gy of the vehicle body to the active suspension control device 26 according to instructions from the CPU 30, and also outputs control signals to the display device 44 via the drive circuit 42. It has become.

The operation of the illustrated embodiment will now be described with reference to the flowchart shown in FIG.

The control by the arithmetic and control unit 24 is started when an ignition switch (not shown) is closed, and is ended when the ignition switch is opened.

First, in the first step 10, signals indicating the accelerations G1, G2, and G3 detected by the acceleration sensors 18, 20, and 22 are read, and then the process proceeds to step 20.

In step 20, three accelerations G1
, G2, and G3 is calculated, and it is determined whether the absolute value of Gt is less than or equal to a threshold value G0 (a small positive constant that is substantially 0). ｜Gt ｜is G
When it is determined that |Gt | is not less than G0, the process proceeds to step 40, and when it is determined that |Gt| is less than or equal to G0, the process proceeds to step 30.

In step 30, the accelerations G1, G
2, G3, the above-mentioned number 12 and number 16 to number 18
The longitudinal acceleration Gx and the lateral acceleration Gy of the vehicle body are calculated according to one of the above, and a signal indicating the calculation results is output to the active suspension control device 26, and then the process returns to step 10.

In step 40, a control signal is output to the display device 44 through the drive circuit 42, so that an alarm indicating that at least one of the acceleration sensors 18, 20, and 22 is abnormal is displayed on the display device. is displayed, and then the control based on the flowchart of FIG. 3 ends.

Thus, according to this embodiment, the accelerations G1 and G2, which are the detected values of the acceleration sensors 18, 20, and 22,
, G3, it is determined in step 20 whether the acceleration sensors are normal or not, and if all the acceleration sensors are normal, the accelerations G1, G2 are determined in step 30.
, G3 are calculated, and if at least one of the acceleration sensors 18, 20, 22 is abnormal, an alarm indicating this is issued in step 40 to prevent vehicle operation. issued to the person.

FIG. 4 schematically shows a second embodiment of the device according to the present invention, which is configured as an acceleration detection and abnormality discriminating device for detecting the acceleration of the vehicle body and determining detected abnormalities, similar to the first embodiment. 5 is a block diagram showing the arithmetic and control device of the embodiment shown in FIG. 4, and FIGS. 6 and 7 are flowcharts showing the control flow achieved by the arithmetic and control device shown in FIG. 5. .

In FIGS. 4 and 5, members that are substantially the same as those shown in FIGS. 1 and 2, respectively, are designated by the same reference numerals as in these figures. Further, steps in FIG. 6 that are substantially the same as steps shown in FIG. 3 are given the same step numbers as in FIG. 3.

In this embodiment, the second and third directions D2 and D3 are spaced apart by an equal angle α from the first direction D3, and substantially the center of gravity 16 of the vehicle body is located in the first to third directions. In addition to the three acceleration sensors 18, 20, and 22, a yaw rate sensor 46 is arranged. The yaw rate sensor 46 is adapted to detect the yaw rate ω of the vehicle body 14 around a vertical axis passing through the center of gravity 16 and not shown in the figure. The signal indicating the yaw rate ω detected by the yaw rate sensor 46 is inputted to the arithmetic and control unit 24 together with the signals indicating the accelerations G1, G2, G3 detected by the first to third acceleration sensors 18, 20, 22. It has become. In the illustrated embodiment, α is 120°.

The arithmetic control device 24 calculates the longitudinal acceleration Gx and the lateral acceleration Gy of the vehicle body as described later based on the signals indicating the accelerations G1, G23, and G3 input thereto, and also calculates the longitudinal acceleration Gx and the lateral acceleration Gy of the vehicle body as described later. It is determined whether the acceleration sensor 18, 20, or 22 is operating normally and which of the acceleration sensors 18, 20, and 22 is abnormal. In this embodiment as well, signals indicating the longitudinal acceleration Gx and lateral acceleration Gy of the vehicle body calculated by the arithmetic control device 24 are input to the active suspension control device 26.
This allows the attitude of the vehicle to be controlled.

In this embodiment, the input port device 36 also includes the first to third acceleration sensors 18, 20, 22.
In addition to the signals indicating the accelerations G1, G2, and G3, a signal indicating the yaw rate ω of the vehicle body is inputted from the yaw rate sensor 46. The input port device 36 appropriately processes the signal input thereto and transfers the signal to the ROM 3.
Processed signals are output to the CPU and RAM 34 according to instructions from the CPU 30 based on a program stored in the CPU 2. The ROM 32 stores the control programs shown in FIGS. 6 and 7. The CPU 30 is designed to perform various calculations and signal processing as described later based on the control programs shown in FIGS. 6 and 7.

The operation of the illustrated embodiment will now be described with reference to the flowcharts shown in FIGS. 6 and 7. Note that steps 10 to 40 shown in FIG. 6 are the same as steps 10 to 40 in the first embodiment, so a description of these steps will be omitted.

In step 50, a signal indicating the yaw rate ω of the vehicle body detected by the yaw rate sensor 46 is read, and then the process proceeds to step 60.

In step 60, the absolute value of the yaw rate ω is a threshold value ω0 (a small positive constant of substantially 0).
It is determined whether or not |ω| is less than or equal to ω0, and when it is determined that |ω| is not less than or equal to ω0, the process returns to step 50, and when it is determined that |ω| is less than or equal to ω0, step Proceed to 70.

In step 70, the acceleration sensor 18
, 20, 22 respectively detected acceleration G1,
The signals indicating G2 and G3 are read, and the flags F1 to F3 are reset to 0 in step 80, and then the process proceeds to step 90.

In step 90, G11 is calculated according to G11=G2-G3, and it is determined whether the absolute value of G11 is less than or equal to a threshold value G10 (a small positive constant that is substantially 0). will be held. If it is determined that |G11| is not less than G10, the process advances to step 110, and |
When it is determined that G11| is less than or equal to G10, the flag F1 is set to 1 in step 100, and then the process proceeds to step 110.

In step 110, G22=G1
G22 is calculated according to -G3/cosα, and it is determined whether the absolute value of G22 is less than or equal to a threshold value G20 (a small positive constant that is substantially 0). If it is determined that |G22| is not less than G20, the process proceeds to step 130, and |
When it is determined that G22| is less than or equal to G20, the flag F2 is set to 1 in step 120, and then the process proceeds to step 130.

At step 130, G33=G1
G33 is calculated according to -G2/cosα, and it is determined whether the absolute value of G33 is less than or equal to a threshold value G30 (a small positive constant that is substantially 0). When it is determined that |G33| is not less than G30, the process advances to step 150, and |
If it is determined that G33| is less than or equal to G30, the flag F3 is set to 1 in step 140, and then the process proceeds to step 150.

In step 150, it is determined whether flag F1 is 1 and flags F2 and F3 are 0. If this determination is NO, the process advances to step 170.

In step 170, it is determined whether flag F2 is 1 and flags F3 and F1 are 0. If this determination is NO, the process advances to step 190.

In step 190, it is determined whether flag F3 is 1 and flags F1 and F2 are 0. If this determination is no, the process advances to step 210.

If the determination in step 150 is YES, in step 160 the first acceleration sensor 18
A display indicating that the second acceleration sensor 20 is abnormal is displayed on the display device 44, and when a YES determination is made in step 170, a display indicating that the second acceleration sensor 20 is abnormal is displayed in step 180. If the determination in step 190 is YES, in step 200 the third acceleration sensor 2
A message indicating that step 2 is abnormal is displayed, and after these steps are completed, the control according to the control flow shown in FIGS. 6 and 7 ends.

At step 210, flags F1,
It is determined whether all of F2 and F3 are 0,
If a YES determination is made in this step, the process advances to step 260, and if a NO determination is made, the process advances to step 220.

[0068] A case where a YES determination is made in this step 210 means that even though it was determined in step 20 that there is an abnormality in one of the acceleration sensors, in step 50 and thereafter, This is a case where it is determined that all the acceleration sensors are normal. Therefore, the abnormality detection of the acceleration sensors in step 20 or steps 50 to 20
This is a case where there is some kind of abnormality in identifying the abnormal acceleration sensor at 0, and the case where a negative determination is made in step 210 means that there is an abnormality in two or more acceleration sensors, or there is an abnormality in the yaw rate sensor. In some cases, etc.

In step 220, step 210
In step 230, a count value Na of a counter relating to the number of times a negative determination has been made is incremented by one, and then the process proceeds to step 230.

In step 230, the count value Na
It is determined whether or not Na exceeds the threshold value A (positive integer), and when it is determined that Na is less than or equal to A, the detection of an abnormality in the acceleration sensor or abnormal acceleration is performed. Since there is a possibility that the sensor was not properly specified, the process returns to step 10, and when it is determined that Na exceeds A, the process proceeds to step 240, where the count value Na is reset to 0, and then The process then proceeds to step 250.

In step 250, a message indicating that all acceleration sensors or yaw rate sensors are abnormal is displayed on the display device 44, and then the control according to the control flow shown in FIGS. 6 and 7 ends. .

In step 260, step 210
At step 270, the count value Nb of a counter relating to the number of times a YES determination has been made is incremented by 1, and the process then proceeds to step 270.

In step 270, the count value Nb
It is determined whether or not Nb exceeds the threshold B (positive integer), and when it is determined that Nb is less than or equal to B, the detection of an abnormality in the acceleration sensor or abnormal acceleration is performed. Since there is a possibility that the sensor was not properly specified, the process returns to step 10, and when it is determined that Nb exceeds B, the process proceeds to step 280, where the count value Nb is reset to 0, and then The process then proceeds to step 290.

In step 290, a display indicating that there is an abnormality in detecting an abnormality in the acceleration sensor or identifying an abnormal acceleration sensor is displayed on the display device 44, and then the control shown in FIGS. 6 and 7 is performed. Control by flow ends.

According to this embodiment, as in the first embodiment described above, the acceleration sensors 18, 20, 22
It is determined whether the acceleration sensors are normal or not based on the detected values of acceleration G1, G2, G3, and if all acceleration sensors are normal, the accelerations G1, G2, G3 are detected.
Based on G3, the longitudinal acceleration Gx and lateral acceleration Gy of the vehicle body
is calculated, and if at least one of the acceleration sensors 18, 20, and 22 is abnormal, a warning is issued to the driver of the vehicle to indicate the abnormality.

Furthermore, if it is determined that at least one of the acceleration sensors is abnormal, the routine from step 50 onward is executed, thereby determining whether any of the first to third acceleration sensors is abnormal. It is determined whether there is an abnormal sensor, and whether the abnormal sensor is the acceleration sensor 18, 20, or 22 is displayed on the display device 44.

Also according to this embodiment, step 230
If a negative determination is made in step 270, the process returns to step 10, so that an abnormality in the acceleration sensor may be temporarily detected or an abnormal acceleration sensor may be identified due to disturbance noise, for example. Even if this is not performed properly, the detection of abnormality in the acceleration sensor or the identification of the abnormal acceleration sensor will be performed appropriately after the noise or the like that is the cause of the problem disappears.

In the illustrated embodiment, the angle α is 1
20°, but if the angle α is an angle other than 120°, the flowcharts shown in FIGS. , the process may be modified to return to step 10 when a negative determination is made in step 60.

Although the present invention has been described in detail with respect to specific embodiments above, the present invention is not limited to these embodiments, and various other embodiments may be made within the scope of the present invention. It will be clear to those skilled in the art that this is possible. For example, when the moving object is a vehicle, it may be determined whether the moving object is traveling straight or not based on whether the steering angle and steering angular velocity are substantially zero.

[0080]

Effects of the Invention As is clear from the above description, according to the above-described first configuration of the present invention, the accelerations G1, G2, G3 detected by the first to third acceleration sensors
The absolute value of the total Gt is calculated, and when the absolute value of the total Gt exceeds the threshold G0, it is determined that an abnormality has occurred in at least one of the first to third acceleration sensors. It is possible to reliably detect that any one of the acceleration sensors is abnormal even without arranging an acceleration sensor for abnormality detection in parallel with the acceleration sensor.

Further, according to the above-mentioned second configuration of the present invention,
Even if an acceleration sensor for abnormality detection is not installed in parallel with each acceleration sensor, it is not only possible to reliably detect an abnormality in any one of the acceleration sensors as in the case of the first configuration. It is possible to specify which of the first to third acceleration sensors is abnormal.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing a first embodiment of a device according to the present invention configured as an acceleration detection and abnormality determination device that detects acceleration of a vehicle body and determines a detected abnormality.

FIG. 2 is a block diagram showing the arithmetic and control device of the embodiment shown in FIG. 1;

FIG. 3 is a flowchart showing a control flow achieved by the arithmetic and control device shown in FIG. 2;

FIG. 4 is a schematic configuration diagram showing a second embodiment of the device according to the present invention, which is configured as an acceleration detection and abnormality determination device that detects the acceleration of the vehicle body and determines detection abnormality, similar to the first embodiment; It is.

FIG. 5 is a block diagram showing the arithmetic and control device of the embodiment shown in FIG. 4;

FIG. 6 is a flowchart showing a part of the control flow achieved by the arithmetic and control device shown in FIG. 5;

FIG. 7 is a flowchart showing the remaining part of the control flow achieved by the arithmetic and control unit shown in FIG. 6;

FIG. 8 is an explanatory diagram showing a procedure for detecting longitudinal acceleration Gx and lateral acceleration Gy of a vehicle body by an acceleration detection device to which the present invention relates.

[Explanation of symbols]

10... Acceleration detection and abnormality discrimination device 12... Vehicle body 18, 20, 22... Acceleration sensor 24... Arithmetic control device 26... Active suspension control device 28... Microcomputer 30... CPU 32... ROM 34... RAM 44... Display device 46... yaw rate sensor

Claims (2)

[Claims] 1. An acceleration detection device for detecting the acceleration of parts of a moving object whose acceleration is to be detected, wherein the accelerations of parts of a moving object are separated from each other by substantially 120° around the center of gravity in a horizontal plane passing through the center of gravity. The first to third directions D1, D
2 and D3, and the longitudinal acceleration and lateral acceleration of the portion are calculated based on the accelerations G1, G2, and G3 detected by the first to third acceleration sensors. A detection abnormality determination device for an acceleration detection device having an output calculation device calculates the sum Gt of the accelerations G1, G2, G3, and when the absolute value of the sum Gt exceeds the threshold G0, the A detection abnormality determination device for an acceleration detection device configured to determine that an abnormality has occurred in at least one of first to third acceleration sensors. 2. An acceleration detecting device for detecting the acceleration of a portion of a moving object whose acceleration is to be detected, the first acceleration detecting device being arranged such that the acceleration detecting device detects the acceleration of a portion of a moving object whose acceleration is to be detected, wherein the first to third acceleration sensors that detect acceleration in the third to third directions D1, D2, and D3; and acceleration G1 detected by the first to third acceleration sensors.
, G2, and G3, the first direction is inclined at an angle ψ with respect to the moving direction of the moving object, and the first direction is inclined at an angle ψ with respect to the moving direction of the moving object, and The third direction is a detection abnormality determining device for an acceleration detecting device spaced at an equal angle α from the first direction, and means for detecting straight movement of the moving object; Acceleration G1 detected by the acceleration sensor
, G2, and G3, and the arithmetic and control device calculates when the moving object is traveling substantially straight: [Equation 1] G11=G2 - G3 [Equation 2] G22=G1 −G3 /cosα [Math. 3] G
33=G1 - G2 /cosα is calculated, and G11, G
A detection abnormality determination device for an acceleration detection device configured to determine that an abnormality has occurred in each of the first to third acceleration sensors when only one of G.22 and G33 is substantially 0.