JPH0599058A - Controller mounted on vehicle - Google Patents

Abstract

PURPOSE:To provide a controller mounted on a vehicle which can achieve a more fail-safe condition by controlling more safely an object to be controlled when both two detecting means judge the object free from abnormalities. CONSTITUTION:After a first abnormality judging process (step 100-300) by taking in acceleration sensor signals TA1 and TA2 and when both first and second acceleration sensors 11, 12 judge the absence of abnormalities, smaller one of TA1 or TA2 value is written in TA (step 500-510) to figure out required torque (step 800) from TA through a second abnormality judging process (step 600) and drive controllably a motor 30 on the basis of the calculated value (step 900).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle control device provided with two detecting means for detecting a predetermined driving state of a vehicle and performing vehicle-related control based on the outputs of these detecting means.

[0002]

2. Description of the Related Art In recent years, for the purpose of so-called fail-safe, such as avoiding a runaway of a vehicle due to a sensor failure or wire harness disconnection (or contact failure), two detecting means for detecting a predetermined operating state of the vehicle are provided. An in-vehicle control device has been proposed which is provided and controls a controlled object around the vehicle based on the detection values of the detection means.

As an example thereof, a technique in which first and second throttle sensors are provided in an internal combustion engine is disclosed in Japanese Patent Application Laid-Open No. 64-60755. In such a conventional technique, when one of the two detection means (first or second throttle sensor) fails, based on the detection value of the other detection means (second or first throttle sensor) (of the internal combustion engine) I was in control.

[0004]

However, in the prior art, when it is determined that neither of the detecting means is abnormal, the detected value of any one of the detecting means set in advance is used to control the object to be controlled. I was in control. Therefore, for example, control may be performed based on an erroneous detection value due to the inclusion of noise in the detection value used for control.

An object of the present invention is to provide an on-vehicle control device for controlling the controlled object more safely and further fail-safe when it is judged that neither of the two detecting means is abnormal.

[0006]

As shown in FIG. 5, the construction of such an on-vehicle control device according to the present invention comprises first and second detecting means for detecting a predetermined driving state of the vehicle, and Control means for controlling a controlled object based on the detection value of either the first or second detection means, and the first and second detection means based on the detection values of the first and second detection means And a detection value of the detection unit that is determined not to be abnormal when the determination unit determines that either the first or the second detection unit is abnormal. The first or second selection means for selecting the detection value used in the control by the control means, and the first or second detection means by the determination means, the first or Among the detection values of the second detection means, the above A second selecting means for selecting a value having a high priority preset for controlling the controlled object to a safer side as the detected value used in the control by the control means. ..

[0007]

In the vehicle-mounted control device according to the present invention having the above-described structure, first, the first and second detecting means detect a predetermined driving state of the vehicle. The determination means determines whether or not the first and second detection means are abnormal based on the respective detected values.

When the judging means judges that either the first or second detecting means is abnormal, the first selecting means selects the detection value of the detecting means which is judged not to be abnormal. The control means controls the controlled object based on the detection value selected by the first selection means.

Further, when the judging means judges that neither the first nor the second detecting means is abnormal, in order to control the controlled object to the safer side among the detected values of the first or second detecting means. The second selecting means selects a preset value having a high priority. The control means controls the controlled object based on the detection value selected by the second selection means.

In such a vehicle-mounted control device according to the present invention, as in the prior art, when it is determined that either the first or the second detection means is abnormal, it is determined that it is not abnormal. Since the control target is controlled based on the detection value of the detection means, even if an abnormality occurs in either of the two detection means, fail-safe is achieved by the control based on the detection value of the detection means having no abnormality.

In addition, in the vehicle-mounted control device according to the present invention, when it is determined that neither the first detection means nor the second detection means is abnormal, the second selection means and the control means
The controlled object is controlled based on a preset value with a high priority in order to control the controlled object to a safer side. Therefore, in that case, even if the detection value of either the first or the second detection means is an erroneous value due to noise or the like, control is performed based on a highly safe value, and fail-safe is achieved. ..

[0012]

Embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the examples described in detail below, and includes all examples that can be conceived by those skilled in the art without departing from the gist of the present invention.

FIG. 1 shows a schematic configuration of a motor control device 1 for an electric vehicle according to this embodiment. The motor control device 1 is
The first and second accelerator sensors 11 and 12 for detecting the depression amount of the accelerator pedal 2 and an electronic control unit (ECU) 20 connected to the first and second accelerator sensors 11 and 12, and an output side of the ECU 20 is a motor that is a power source of the electric vehicle. It is connected to 30. The ECU 20 controls the drive amount of the motor 30 based on the outputs (detection values) of the first or second accelerator sensors 11 and 12 according to the accelerator depression amount, and thereby the drive control of the electric vehicle is executed.

First and second accelerator sensors 11, 12
Are two sensors having the same function and have a well-known structure such as a potentiometer,
The voltage supplied from the ground wire 15 and 16 is divided according to the amount of depression of the accelerator pedal 2, and the potential corresponding to the amount of depression of the accelerator pedal 2 enters the ECU 20 through the signal lines 17 and 18. Is captured. Signal lines 17, 18
Is connected to an A / D converter 23 having a known structure in the ECU 20, and the A / D converter 23 is connected to a microcomputer 25. Therefore, the analog signal corresponding to the depression amount of the accelerator pedal 2 is converted into a digital signal by the A / D converter 23 and input to the microcomputer 25. The microcomputer 25 has a well-known structure including a CPU, a ROM, a RAM, etc., performs a motor drive control process described later, and outputs the motor 30 via an output circuit 27 in the ECU 20.
To drive.

Next, a motor drive control process executed every 8 ms by the microcomputer 25 will be described with reference to FIGS. As shown in FIG. 2, first, the detection values of the first and second accelerator sensors 11 and 12 are taken in as digital signals TA1 and TA2 via the signal lines 17 and 18 and the A / D converter 23, respectively (step 100). And 200), those TA1,
First abnormality determination processing is performed based on TA2 (step 3).
00).

In the first abnormality determination process, as shown in FIG. 3, when it is determined that the first accelerator sensor 11 is abnormal on the basis of the value of TA1, the flag 1 is set and the second accelerator sensor 12 is determined on the basis of the value of TA2. When it is determined that is abnormal, the flag 2 is set, and a process as a determination unit is executed.

That is, in consideration of the disconnection and the short-circuit with the power source, TA1 is within the range of the normal value (for example, 0.
It is determined whether or not it is 1 V or more and KV2 (eg, 4.9 V) or less (step 310), and the value of TA1 is KV1 or more and KV2.
If the following is true, the flag F1 and the counter C1 are reset (step 370), and the process proceeds to the determination regarding TA2 (step 410). Here, the counter C1 is a counter that is incremented by a timer interrupt process executed every 4 ms. In step 310, the value of TA1 is KV1
If it is less than or greater than KV2, it is determined whether or not the value of the counter C1 is greater than or equal to a predetermined value KT (for example, 500 ms) (step 330). In step 330,
If the value of the counter C1 is less than KT, proceed to the determination regarding TA2 (step 410). If the value of the counter C1 is greater than or equal to KT, set the flag F1 to 1 (step 350) and then determine regarding TA2 (step 410). move on. Therefore, in steps 310 and 330, it is determined whether the first accelerator sensor 11 is abnormal by determining whether the state in which TA1 is an abnormal value has continued for a predetermined time or longer.

Similarly, whether or not the second accelerator sensor 12 is abnormal is also determined by whether or not the state in which TA2 is an abnormal value has continued for a predetermined time or longer (step 410).
~ 470). That is, it is determined whether or not TA2 is KV1 or more and KV2 or less (step 410), and TA2 is set to KV.
If it is V1 or more and KV2 or less, the flag F2 and the counter C2 are reset (step 470), and the process ends. TA2 is less than KV1 or KV2 in step 410
If it exceeds, it is determined whether the value of the counter C2 is greater than or equal to the predetermined value KT (step 430). In step 430,
If the value of the counter C2 is less than KT, the process is terminated, and if the value of the counter C2 is KT or more, the flag F
After setting 2 to 1 (step 450), the process ends. The counter C2 is also incremented by the timer interrupt process executed every 4 ms.

This first abnormality determination process (step 30
0) After the end, the case is divided depending on whether or not the first or second accelerator sensor 11, 12 is judged to be abnormal while observing the flag F1 and the flag F2. In each case, an appropriate value is used as the basis of the motor drive control. Is executed as a TA value for calculating the required torque (step 500-
560).

That is, first, it is determined whether or not both the first and second accelerator sensors 11 and 12 are abnormal (step 500). When both the flags F1 and F2 are 0, both the first and second accelerator sensors 11 and 12 are not abnormal. Therefore, the process proceeds to step 510, and the process as the second selection means for writing the smaller value of TA1 or TA2 to TA is executed. Executed. In step 510, even if it is determined that both the first and second accelerator sensors 11 and 12 are not abnormal, it is possible that noise or the like is mixed in TA1 or TA2, which is the detected value, and the values are erroneous. Because there is
Even in such a case, T that uses a safer value for control
Select as the A value. In this embodiment, the accelerator pedal depression amount is detected, and the drive control of the motor 30 that is the drive source of the electric vehicle is performed based on the detected value. Therefore, the value on the safer side, whichever is smaller, TA1 or TA2. Is T
A is selected as A, the required torque is calculated based on the value of TA (step 800), and drive control of the motor 30 is performed (step 900). Therefore, in that case, the drive amount of the motor 30 is small, and fail-safe is achieved.

Further, after step 510, step 5
Considering a case where an error is mixed in the value written in TA in 10, the process proceeds to the second abnormality determination processing 600 described later.
In step 500, at least one of the flags F1 and F2 is 1, so the first or second accelerator sensor 1
When it is determined that at least one of 1 and 12 is abnormal, the process proceeds to step 520 and it is determined whether both the first and second accelerator sensors 11 and 12 are abnormal. When both flags F1 and F2 are 1 in the determination in step 520, it is determined that both the first and second accelerator sensors 11 and 12 are abnormal, and the process proceeds to step 530 to guide the minimum motor output for the escape traveling. Default value of T
Write to A.

In step 520, if at least one of the first and second accelerator sensors 11 and 12 is not abnormal because at least one of the flags F1 and F2 is 0, the process proceeds to step 540. Is abnormal. That is, when the flag F1 is 1 and the flag F2 is 0, it is determined that the first accelerator sensor 11 is abnormal and the second accelerator sensor 12 is not abnormal, and the process proceeds to step 550 to write the value of TA2 to TA. On the contrary, if the flag F1 is 0 and the flag F2 is 1 in the determination of step 540, it is determined that the first accelerator sensor 11 is not abnormal and the second accelerator sensor 12 is abnormal, and the routine proceeds to step 560, where TA1 is set to TA1.
Write the value of. This step 540 to step 56
When 0, the process as the first selecting means is executed. After steps 530, 550 and 560, the abnormality warning light is turned on (step 570), the required torque is calculated based on TA (step 800), and the motor 30 is drive-controlled (step 900). The first or second accelerator sensor 11, 12 is processed by the processing as the first selecting means.
Even if an abnormality occurs in any of the above, the output value from the sensor on the non-abnormal side is written in TA, the required torque is calculated based on the TA value, drive control of the motor 30 is executed, and fail-safe is achieved. There is.

Finally, the second abnormality determination processing (steps 610 to 750) executed after step 510 is shown in FIG.
It will be explained based on. In this process, TA1 and TA which are the outputs of the first or second accelerator sensors 11 and 12
When the deviation of the value of 2 is equal to or larger than the predetermined value for a predetermined time or more, the flag F3 is set to 1 (steps 610 to 610).
680). When the flag F3 is 1, TA1
Alternatively, it is determined that there is an erroneous input such as noise mixed in any of TA2, and the abnormality warning lamp is turned on (step 73
0), TA is written with a default value for evacuation traveling as described above (step 750).

That is, after step 510, the deviation between the values of TA1 and TA2 is a predetermined value KV3 (for example, 0.5V).
It is determined whether or not the above (step 610). If the difference between the values of TA1 and TA2 is less than KV3 in step 610, the counter C3 is reset (step 6
40) and proceeds to step 650. TA in step 610
When the difference between the values of 1 and TA2 is KV3 or more, the value of the counter C3 is KT2 (for example, 500 m
s) It is determined whether or not it is more than or equal to (step 620).
In step 620, when the value of the counter C3 is greater than or equal to KT3, the flag F3 is set to 1 (step 63
0) The process proceeds to step 650 and the value of the counter C3 is KT3.
If less, immediately proceed to step 650.

In step 650, TA1 and T are further added.
It is determined whether or not the deviation of the value of A2 is equal to or more than a predetermined value KV4 (for example, 0.2V). If the difference between the values of TA1 and TA2 is greater than or equal to KV4 in step 650, the counter C
4 is reset (step 680) and step 710
Proceed to. However, the value of KV4 is less than or equal to the value of KV3 in step 610. When the difference between the values of TA1 and TA2 is less than KV4 in step 650, it is determined whether the value of the counter C4 is a predetermined value KT3 (eg, 500 ms) or more (step 660). In step 660,
When the value of the counter C4 is greater than or equal to KT3, the flag F3 is set to 0 (step 670), and the process proceeds to step 710. When the value of the counter C4 is less than KT3, the process immediately proceeds to step 710.

Here, both the counters C3 and C4 are counters that are incremented by a timer interrupt process executed every predetermined time (for example, 4 ms). Step 71
At 0, it is determined whether or not the flag F3 is 1, and when the flag F3 is 1, it is determined that at least one of TA1 and TA2 has an erroneous input due to noise mixing, and the abnormality warning light is turned on. After that (step 730), the default value is written in TA (step 750), and then the process ends. If the flag F3 is 0 in the determination of step 710, it is determined that neither TA1 nor TA2 has an erroneous input, and the process ends. After the completion of the second abnormality determination processing 600, the required torque is calculated from the TA value (step 800), and the motor 30 is drive-controlled based on the calculated value (step 900).

By the determination and processing in the second abnormality determination processing 600, even if it is determined that neither the first and second accelerator sensors 11 and 12 are abnormal (steps 500 to 510), TA1 and TA2 If the deviation of the value is equal to or more than the predetermined value for more than the predetermined time, it is determined that there is an erroneous input due to mixing of noise or the like, the abnormality warning light is turned on (step 730), and By writing a default value in TA, which is the basis for calculating the required torque for the vehicle (step 750), the output of the motor 30 is controlled to the minimum output for the evacuation traveling, and the evacuation traveling of the electric vehicle is realized. Fail safe can be achieved.

As is clear from the details described above, in the electric vehicle motor control device 1 of this embodiment, TA1 and TA2 which are the detection values of the first and second accelerator sensors 11 and 12 are set. If it is determined that both the intake (steps 100 and 200) and the first and second accelerator sensors 11 and 12 are not abnormal, it is safer to drive and control the motor 30 that is the drive source of the electric vehicle.
Alternatively, the required torque is calculated based on the smaller value of TA2 and the motor 30 is drive-controlled. Therefore, even if TA1 or TA2 has an erroneous detection value due to noise or the like, it is a safer value TA1 or TA2.
The motor 30 is drive-controlled based on the smaller one of these values, and fail-safe is achieved.

In addition to the above-described present embodiment, when the first or second accelerator sensor 11, 12 is provided with a so-called idle switch near the fully closed position of the accelerator sensor, all the respective sensors are The idle switch ON state (fully closed) as the closing signal is taken in by OR of both inputs to determine the fully closed state, and when either one is fully closed, the drive control of the motor 30 is performed based on the fully closed determination. Good. By performing such control, it is possible to eliminate the output of the accelerator sensor in which noise is mixed and to achieve further fail-safe.

Further, in the above-described present embodiment, the default value is written in TA for fail-safe operation to guide the minimum output of the motor 30 for the evacuation traveling, but it is a control target instead of the processing. You may make it perform the process for stopping a motor etc. Alternatively, instead of the default value, a safety value calculated based on TA1 or TA2 may be written in TA.

Furthermore, in the present embodiment, the abnormality warning light is turned on when an abnormality in the detected value is detected. Instead, an alarm sound is emitted in the vehicle compartment, or an alarm sound that can be heard outside the vehicle is also issued. You may ring. In addition, when such an abnormality in the detected value is found, safety measures may be taken such as carrying out processing such as door lock on / off and emergency light blinking.

Although the ECU 20 is directly connected to the motor 30 in this embodiment, the ECU 20 and the motor may be connected via an inverter. Although the motor control device for an electric vehicle has been described as the present embodiment, the present invention is not limited to the drive control of the motor and is not limited to the case of being used for an electric vehicle. For example, the present invention includes two detection means for detecting a predetermined operating state of the vehicle, such as internal combustion engine control, linkless throttle control, or automatic drive control, and performs control based on the output of these detection means. It can be used for any on-vehicle control device. Further, the present invention is not limited to the case of including two detection means for detecting a predetermined driving state of the vehicle, respectively, and includes a plurality of detection means for detecting the predetermined driving state of the vehicle in an overlapping manner. Any control device can be applied as long as it is controlled based on the detected value of.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an electric vehicle motor control device 1 according to an embodiment.

FIG. 2 is a flowchart showing a motor drive control process.

FIG. 3 is a flowchart showing first abnormality determination processing.

FIG. 4 is a flowchart showing second abnormality determination processing.

FIG. 5 is a claim correspondence diagram illustrating the configuration of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Motor control device for electric vehicles, 11 ... 1st accelerator sensor, 12 ... 2nd accelerator sensor,
20 ... Electronic control unit (ECU), 23 ... A /
D converter, 25 ... Microcomputer, 27 ... Output circuit,

Claims (1)

[Claims] 1. A first and second detection means for detecting a predetermined driving state of a vehicle, a control means for controlling a controlled object based on a detection value of the first or second detection means, Determination means for determining whether or not the first and second detection means are abnormal based on detection values of the first and second detection means, and which of the first or second detection means is determined by the determination means When it is determined that is abnormal, the detection value of the detection unit that is determined not abnormal, the first selection unit for selecting as the detection value used in the control by the control unit, the determination unit by the When it is determined that neither of the first and second detecting means is abnormal, a preset priority for controlling the controlled object to a safer side among the detection values of the first or second detecting means. The higher ranking value is sent to the control means. That vehicle control apparatus characterized by comprising a, a second selecting means for selecting as the detected value to be used in the control.