JPH06206473A - Control gain change method for automobile control means and change device thereof - Google Patents

Abstract

PURPOSE:To change the control gains of automobile control means based on characteristics applicable to running time out of a plurality of characteristics different in operational condition from the driver' points of view. CONSTITUTION:Data in a plurality of ways different in condition is extracted of a plurality of items on operational characteristics via data description cards 31 obtained from a driver who has purchased an automobile, the aforesaid data is stored in each IC card 15 by a data input means 9, each IC card 15 is fitted in an IC card connector 16, so that each control gain of automobile control means is changed based on the data of each IC card 15. Data applicable to the condition, which includes for example, operational characteristic data at the time of running on general roads and winding roads, operational characteristic data in a steady mental state, an unsteady mental state and the like as data in a plurality of ways different in condition, is applied based on the setting of a change-over switch or by means of automatic judgement.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control gain changing method for a control device of an automobile and its changing device, and more particularly to a technique for changing the control gain according to a driving characteristic of a driver.

[0002]

2. Description of the Related Art In a conventional vehicle, a control gain of driving characteristics is set so that a large number of unspecified drivers can obtain a certain degree of satisfaction no matter where and under what environment and conditions the vehicle is used. It is generally done. However, depending on the preference of each driver, the power mode and the normal mode are selected, the desired one of the control mode, the hard mode and the soft mode in the active suspension device is selected, and the four-wheel steering device is selected. Only a small number of specific control gains can be selected, such as selecting sports mode and normal mode.

However, in a car in which the control gain of the running characteristics is set for an unspecified number of drivers, or in a car in which only a specific control gain can be set through the manual switch, it is not possible to satisfy all the drivers. It is impossible at all. Therefore, a learning control vehicle has been proposed in which the driving characteristics of the driver are learned to change the control gain of the running characteristics. For example, Japanese Patent Publication No. 3-4402
In JP-A-9, the steering angular velocity, the steering angle, the yaw rate, the lateral acceleration, and the like during steering are sampled, and the characteristics of the steering of the driver are extracted based on the average value within a predetermined time to detect the front wheel and the steering wheel with respect to the steering angle. A learning control vehicle that performs learning control to change the ratio of the steered angles of the rear wheels has been proposed.

[0004]

It is not impossible to apply the learning control as described in the above publication to a drive system or an active suspension system of an automobile, but the learning control is performed under a certain similar condition. Since it is necessary to learn and apply it to control under the same conditions, when trying to apply precise and meaningful learning control, various conditions such as the driving characteristics of the driver, traveling location, traveling time zone, etc. are subdivided. It is necessary to sample the data. However, in such learning control, various detection sensors and control devices also become expensive, and it takes a lot of time and labor to develop the software, which makes the learning control very expensive. Hard to say. An object of the present invention is to provide a method for changing a control gain of a vehicle control device and a changing device thereof, which can change a control gain of a control device according to a driving characteristic of a driver, which is one of a plurality of characteristics currently applicable. Is to provide.

[0005]

According to a first aspect of the present invention, there is provided a method of changing a control gain of a vehicle control device, the method comprising: changing a control gain preset in a control device provided in an automobile. From each of the plurality of items for specifying the driving characteristics of the driver, a plurality of types of data with different conditions are obtained, the data is stored in the vehicle-mounted gain change processing control unit, and each of the plurality of items is stored. The control gain of the control device is changed by the gain change processing control means based on the data according to the corresponding condition.

According to a second aspect of the present invention, there is provided a method for changing a control gain of an automobile control device, which comprises changing a control gain preset in a control device provided in an automobile. For each of the plurality of items for specifying the characteristics of, the plurality of types of data with different conditions are obtained, the data of the plurality of items is stored in the storage medium, and the storage medium mounting unit provided in the vehicle stores the storage medium. After mounting, the data of the storage medium is read into the gain change processing control means, and the gain change processing control means changes the control gain of the control device based on the data according to the corresponding conditions for each of the plurality of items. To do.

A control gain changing device for a vehicle control device according to a third aspect is a control gain changing device for changing a control gain set in advance in a control device provided in an automobile. In order to input the data of a plurality of items for specifying the above characteristics, the data of a plurality of items including a plurality of kinds of data with different conditions for each item to the gain change processing control means, gain change processing control Data input means that is detachably connected to the means, condition determination means that is provided in the vehicle and that determines conditions that actually apply to a plurality of items, and data of the plurality of items that are input by the data input means. Of these, a gain change processing control method for changing the control gain of the control device based on the data according to each applicable condition determined by the condition determination means. It is those with a door.

According to a fourth aspect of the present invention, there is provided a control gain changing device for a control device for an automobile, which is a control gain changing device for changing a control gain preset in a control device provided in an automobile. A storage medium for storing data of a plurality of items for specifying the above characteristics, the data of a plurality of items including a plurality of types of data with different conditions for each item, and the storage medium being detachable and An input device for storing a plurality of items of data in a storage medium, the input device having a storage medium mounting portion for mounting data writably, and provided at a predetermined place independently of an automobile. An input device, condition determining means that is provided in the vehicle and determines conditions that actually apply to the plurality of items, and a storage medium that is provided in the vehicle and is detachable. A storage medium mounting portion for readable mounting, and data corresponding to each applicable condition determined by the condition determining means, out of a plurality of items of data read from the storage medium mounted in the storage medium mounting portion. Based on the above, there is provided a gain change processing control means for changing the control gain of the control device.

Here, the data of the plurality of items includes at least data corresponding to a traveling state when traveling on a plurality of types of roads (claim 5 dependent on claim 3 or claim 4), The data of the plurality of items includes at least data corresponding to the normal psychological state and the abnormal psychological state of the driver (Claim 6 dependent on Claim 3 or Claim 4). The data includes at least data corresponding to a plurality of road surface conditions due to the weather (Claim 7 dependent on Claim 3 or Claim 4), and the condition determining means relates to steering and running conditions of the automobile. A configuration configured to automatically make a determination based on detection signals from a plurality of sensors that detect the physical quantity (claim 8 dependent on claim 3 or claim 4), and the condition determination means, Automobile Instrumental comprising a plurality of manual switches provided on the instrument panel structure (claim 3 or claim of claim 4 in the dependent 9) can be configured in various embodiments and the like.

A control gain changing device for a vehicle control device according to a tenth aspect is a control gain changing device for changing a control gain preset in a control device provided in an automobile, and is extracted from each of a plurality of drivers. In order to input a plurality of items of data for specifying the driving characteristics of the driver, including a plurality of types of data with different conditions for each item, to the gain change processing control means, Data input means detachably connected to the gain change processing control means, identification means provided in the vehicle for identifying a driver driving the vehicle, and a plurality of drivers provided in the vehicle identified by the identification means Condition determining means for determining the corresponding conditions for each item, and the plurality of drivers input by the data input means The control gain of the control device is changed based on the data corresponding to each of the corresponding conditions determined by the condition determining means in the data of the plurality of items of the driver identified by the identifying means among the data of the plurality of items. And a gain change processing control means.

[0011]

In the control gain changing method according to the first aspect of the present invention, the in-vehicle gain changing process is performed by obtaining plural kinds of data with different conditions for each of a plurality of items for specifying the driving characteristic from the driver. The control gain is stored in the control means, and the control gain of the control device is changed based on the data according to the corresponding conditions for each of the plurality of items. Therefore, the control characteristic of the control device of the automobile can be changed to the characteristic suitable for the driving characteristic of the driver to make it an easy-order characteristic, so that the drivability and maneuverability can be improved. Moreover, since a plurality of types of data with different conditions are obtained for each of a plurality of items and the control gain is changed based on the data according to the corresponding conditions, various conditions can be met, and the practicality and versatility are excellent.

In the control gain changing method according to a second aspect of the present invention, a plurality of items of data similar to those of the first aspect are stored in a storage medium, and the storage medium is mounted in a storage medium mounting section provided in the automobile to store the data. The data of the medium is read into the gain change processing control means, and the control gain of the control device is changed as in the first aspect. Therefore, basically, the same operation and effect as in claim 1 can be obtained, and since each driver can utilize the dedicated storage medium because the data is input to the gain change processing means via the storage medium, a plurality of drivers can be utilized. For each of the above, an easy-order characteristic can be set.

According to another aspect of the control gain changing device of the present invention, a plurality of items of data for specifying the driving characteristics of the driver, including a plurality of items of data having different conditions for each item, are stored. Extracted in advance from the driver. With the data input means connected to the gain change processing means provided in the automobile, the data input means inputs data of a plurality of items to the gain change processing control means, and after the input, the data input means performs the gain change processing. Separated from the means. When the conditions corresponding to a plurality of items are actually determined by the condition determining means provided in the vehicle, the gain change processing control means determines, among the data of the plurality of items, the corresponding conditions determined by the condition determining means. The control gain of the control device is changed based on the data corresponding to

Therefore, as in the first aspect, the control characteristic of the control device of the automobile can be changed to a characteristic adapted to the driving characteristic of the driver to make it an easy-order characteristic. And the maneuverability can be improved. Moreover, since a plurality of types of data with different conditions are obtained for each of a plurality of items and the control gain is changed based on the data according to the corresponding conditions, various conditions can be met, and the practicality and versatility are excellent.

According to another aspect of the control gain changing device of the present invention, a plurality of items of data similar to those of the third aspect are extracted from the driver in advance, and the plurality of items of data are input devices having a storage medium mounting portion and an input means. The storage medium is stored in a storage medium by an input device provided in a predetermined place independently of the automobile, and when the automobile is driven, the storage medium is attached to a storage medium attachment portion provided in the automobile. .
When the condition determining means provided in the automobile determines the corresponding conditions for a plurality of items, the gain change processing means uses the condition determining means among the data of the plurality of items read from the storage medium of the storage medium mounting portion. The control gain of the control device is changed on the basis of the data according to the determined applicable conditions. Therefore, the same operation and effect as in claim 3 can be obtained, and since data is input to the gain change processing means via the storage medium, each driver can utilize a dedicated storage medium as in claim 2. , It is possible to have an easy-order characteristic for each of a plurality of drivers.

In the control gain changing device of the present invention, since the data of the plurality of items includes at least data corresponding to a traveling state when traveling on a plurality of types of roads,
The control gain can be changed so as to match the driving characteristics of the driver and the characteristics according to the type of road.

In the control gain changing device of the sixth aspect, since the data of the plurality of items includes at least data corresponding to the normal psychological state and the abnormal psychological state of the driver,
The control gain can be changed so as to match the driving characteristic of the driver and the characteristic corresponding to the psychological state.

In the control gain changing device of the present invention, since the data of the plurality of items includes at least data corresponding to a plurality of road surface conditions due to weather, it is a driving characteristic of the driver that the road surface condition due to weather is present. It is possible to change the control gain so as to match the characteristics according to the characteristics.

According to another aspect of the control gain changing device of the present invention, the condition determining means is configured to automatically make a determination based on the detection signals from a plurality of sensors that detect physical quantities related to the steering and running conditions of the automobile. Therefore, it is not necessary to operate switches to determine the conditions. In the control gain changing device of the ninth aspect, the condition determining means is composed of a plurality of manual switches provided on the instrument panel of the automobile, so that the structure of the condition determining means is simplified.

In a control gain changing device according to a tenth aspect of the present invention, in the device substantially similar to the fourth aspect, data of a plurality of items is extracted from each of the plurality of drivers so as to correspond to each of the plurality of drivers, and the automobile is changed. The identification means for identifying the driver is provided in the gain change processing means, and in the data of the plurality of items of the driver identified by the identification means, based on the data corresponding to each corresponding condition determined by the condition determination means, The control gain of the control device is changed. Therefore, basically, the same action and effect as in claim 4 are obtained, and even if the storage medium is not utilized as in claim 3, it is easy to order for each of the plurality of drivers. It can have various characteristics.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. First, an outline of the control gain changing device and the changing method of the vehicle control device according to the present embodiment will be described. When a user's driver purchases a car, the general characteristics associated with the driver's driving (gender, age, car history, etc.) and the car's desired performance (drivability, ride comfort) , Fuel consumption) and usage conditions (usage environment, usage conditions) in which the driver uses the vehicle, driving characteristics during winding driving, driving characteristics depending on psychological conditions, driving characteristics during weather changes,
For a plurality of items such as, etc., let the driver fill in the characteristics peculiar to the driver on the prescribed data entry card.

Next, the data input device 9 dedicated to the dealer
(Corresponding to data input means) (see FIG. 2),
With the input device 9 having the IC card connector 14 to which the IC card 15 can be detachably attached, the driver-specific data of the plurality of items is input, the data is written in the IC card 15, and then the IC in which the data is written. With the card 15 attached to the IC card connector 16 provided in the automobile, data is read from the IC card 15 to the control gain change processing device 21 (see FIG. 3) of the automobile, and the predetermined value of the control gain change processing device 21 is read. Data processing is performed by a control program for control gain change control, and an engine control device, a power steering control device, an active suspension control device, and a control device included in a control device of an automobile are provided.
Four control gain correction coefficients for changing the respective preset control gains in the wheel steering control device are obtained, and the four control gain correction coefficients are calculated.
A control gain change signal corresponding to one control gain correction coefficient is supplied to each of the engine control device, the power steering control device, the active suspension control device, and the four-wheel steering control device to change their control gains.

The control gain change processing device 21 is provided with a road changeover switch, a psychological state changeover switch, and a weather changeover switch. When general road running is set, driving characteristics during winding running are set. The control gain is changed without applying the data of, and when the psychological state normal is set, the control gain is changed without applying the data of the driving characteristic by the psychological state,
Further, when the weather is fine or cloudy, the control gain is changed without applying the data of the driving characteristic when the weather changes. As a result, driving, steering, steering, and
The suspension characteristics are added to the characteristics peculiar to the driver (this includes driving characteristics according to the type of road, driving characteristics according to the psychological state, driving characteristics when the weather changes, etc.). It can be adjusted accordingly to make the car easy order.

Next, the details of the entire structure of the automobile, the control system, the data entry card, and the control gain change processing control will be described.
I will explain in order. However, the following description includes both the description of the control gain changing device and the description of the control gain changing method. As shown in FIG. 1, the vehicle 1 includes at least a front wheel 4f and a rear wheel 4r, an engine 2 and an automatic transmission 2a, front and rear wheel braking devices 3, and a power steering device 8 that assists a steering wheel 5. , And a rear wheel steering device 7 for steering the rear wheels 4r.

The vehicle 1 further includes an engine control unit 10 (EGI) for controlling the intake air amount, ignition timing, fuel injection amount, etc. of the engine 2 with preset control gains (base control gains). An active suspension control device 11 (ACS) that controls the active suspension device 6 for the front and rear wheels 4f and 4r with a preset control gain (base control gain), and a rear wheel steering device 7 that has a preset control gain (base gain). The four-wheel steering control device 12 (4WS) controlled by the control gain) and the power steering control device 13 controlling the power steering device 8 by the preset control gain (base control gain).
(P / S) are provided. Note that the respective controls executed by the respective control devices 10 to 13 are general ones, and a description thereof will be omitted. Further, detection signals necessary for the respective controls are inputted to these control devices 10 to 13 from sensors (not shown), but the description of these sensors is omitted because they are general ones.

Next, the control system will be described with reference to FIGS. The control gain changing device 20 includes a data input device 9 held by a dealer, an IC card 15 for storing driver-specific data extracted by a data entry card via the data input device 9, and an automobile 1 An IC card connector 16 incorporated in the instrument panel and capable of mounting the IC card 15 in a detachable and data transferable manner, a control gain change processing device 21 incorporated in the automobile 1, a ROM 22 and a RAM 23, and an IC card connector 16 A display 19 and a display controller 19a built in the instrument panel near the vehicle, a road changeover switch 19, a psychological state changeover switch 24, a weather changeover switch 25, and sensors 26 to 26, which are connected to the control gain change processing device 21, respectively. It is composed of 29 etc., Shows which are connected as. The switches 19, 24 and 25 correspond to condition determining means.

As shown in FIG. 2, the data input device 9 is a dedicated input device owned by a dealer who sells the automobile 1, and a data entry card 31 (see FIGS. 4 and 5) described later. ), A keyboard 9a capable of inputting data to be entered, a CRT display 9b, a control unit including a microcomputer, and an IC card connector 14 to which an IC card 15 can be removably and detachably attached. . The IC card 15
Is equipped with a random access memory (RAM) in which data can be written.

The control gain change processing device 21 mainly comprises an input / output interface and a CPU of a computer. The change processing device 21 includes an engine control device 10, a power steering control device 11, and an active suspension control device. 12, 4-wheel steering control device 13
And the change processing device 21,
ROM22 and RAM23 attached to it are connected,
A control program for control gain change control, which will be described later, is stored in advance in the ROM 22, and in the RAM 23, memories necessary for the control calculation (memory, buffer, counter,
(For example, a flag) and a memory for storing the data input from the input device 9. Incidentally, the control devices 10 to 1
3 may be composed of one or more control units.

Further, the control gain change processing device 21 includes:
A vehicle speed sensor 26 for detecting the vehicle speed of the automobile 1, a steering angle sensor 27 for detecting the steering angle of the steering wheel 5, a μ sensor 28 for detecting the friction coefficient of the road surface, a vertical acceleration sensor 29 for detecting the vertical acceleration acting on the vehicle body, etc. The sensors of are connected. The change processing device 21 is provided with a conversion circuit and a shaping circuit for A / D converting the detection signals from the sensors and for shaping the waveform. Further, the change processing device 21 is connected to a road changeover switch 19, a psychological state changeover switch 24, and a weather changeover switch 25, and is erased to erase the data in the RAM 23 when the dealer trades in the automobile 1 by the driver. A switch 30 and a cancel switch 17 for invalidating the data read from the IC card 15 are also connected.

Next, the data entry card 31 will be described. The data entry card 31 illustrated in FIGS. 4 and 5 is
When purchasing a car 1, the owner driver (hereinafter referred to as the driver) who uses the car 1 fills in or the dealer fills in while listening to the driver. The data entry card 31 indicates the owner driver. 5 items (gender, age, vehicle history, number of owned vehicles,
Use form) question and its entry column, and three items (temperature, place, altitude) question and its entry column regarding the use environment,
Two items (main use, main passenger) questions and entry fields regarding usage conditions, three items (drivability, riding comfort, fuel efficiency) questions and entry fields regarding desired performance, and when traveling in the wind 3 questions about the driving characteristics and their entry fields, 4 questions about the driving characteristics in an unnatural psychological state and their entry fields, and 4 questions about the driving characteristics when the weather changes and The entry field and the field are printed.

Next, the control gain correction coefficient corresponding to the item of the data entry card 31 will be described.

[0032]

[Table 1]

[0033]

[Table 2]

[0034]

[Table 3]

The control gain correction coefficients corresponding to the five items of the item A of the data entry card 31 are as shown in Table 1,
In addition, the data entry card 31 has three items in section B and two in section C.
The control gain correction coefficient corresponding to the three items, item and D term,
As shown in Table 2, the point allocations and map numbers corresponding to the three items of the E item, the four items of the F item, and the four items of the G item of the data entry card 31 are as shown in Table 3. Yes, the contents of Tables 1 to 3 and the maps of FIGS. 6 to 8 are stored in the ROM 22 in advance as tables and arithmetic expressions associated with the control gain change control program of the ROM 22.

Basically, the control gain correction coefficient is set in the range of 0.8 to 1.2, as can be seen from Table 2, from the viewpoint of preventing a large change in the characteristics of the automobile. However, it is not limited to this range. Here, EGI10
Regarding the control gain of, the control gain “small” is in the low fuel consumption direction, and the control gain “large” is in the power increasing direction. ACS
Regarding the control gain of 11, the control gain “small” is the riding comfort up direction, and the (soft direction) control gain “large” is the steering stability up direction (hard direction). Regarding the control gain of the 4WS12, the control gain “small” is the small turning property increasing direction (negative phase gain increasing direction), and the control gain “large” is the steering stability increasing direction (common mode gain increasing direction). P
Regarding the control gain of / S13, the control gain "small" is the direction in which the steering force is light, and the control gain "large" is the direction in which the steering force is heavy.

The control gain correction coefficients of the five items in the A term of Table 1 are EGI10, ACS11, 4WS12 and P / S13.
It is a correction coefficient that is commonly set to the control gain correction coefficient and the common control gain correction coefficient that corrects the correction component determined by the control gain correction coefficient in Table 2. B, C in Table 2
The control gain correction coefficients for the terms D and E are EGI10 and ACS.
Since these are correction coefficients set independently for 11 and 4WS12 and P / S13, they should also be called individual control gain correction coefficients. The three control gain correction coefficients of the E term to the G term of Table 3 are the same as the control gain correction coefficient of the A term.
The correction coefficient is commonly set for 10, ACS 11, 4WS 12, and P / S 13, and should also be called a common control gain correction coefficient for correcting the correction component determined by the control gain correction coefficient in Table 2.

Next, regarding the control gain correction coefficient illustrated in Table 1, as a general tendency, the correction coefficient "small" is in the direction of decreasing the control gain correction amount, that is, the direction close to the base control gain, and the correction coefficient "large" is the control gain. In the direction of increasing the correction amount, that is, in the direction away from the base control gain, the control gain correction coefficient is small in consideration of the fact that driving is not very good for women, young people, elderly people, and people with a car history of less than 1.5 years. For those who are 21 to 30 years old or have a car history of 5 years or more, the control gain correction coefficient is set to a large value in consideration of the fact that they are good at driving. When using other than the above, the control gain correction coefficient is set to be small in consideration of being used by a plurality of persons.

Next, regarding the control gain correction coefficient illustrated in Table 2, in consideration of low μ and a decrease in oil viscosity in cold regions, and for a commuting type, a sense of saloon car is enhanced,
The control gain correction coefficient is set from the viewpoints of improving the steering stability and sports car orientation for leisure use, and improving fuel economy and quick turnability for shopping and sales. In addition, the items A to D of the data entry card 31 are general roads, normal psychological conditions, and fine or cloudy weather (high μ
Road condition).

Here, items A to D of the data entry card 31.
In the section, enter the check mark, that is,
Regarding the first term and the D term of the A term of Table 1 and the B term of Table 2, the control gain correction coefficients are a1 to a1 from Table 1 and Table 2.
5, b1, and d1 to d3, one is decided for each, but the column for entering the "rank" in the data entry card 31, that is, the second and third terms of the B term of Table 2 and C
With respect to the term, the control gain correction coefficient is determined by calculation by using the value of the control gain correction coefficient in Table 2 and adding the weight of the rank as follows. In this case, 40% weight is given to the first rank, 30% weight is given to the second rank, 20% weight is given to the third rank, and 10% weight is given to the fourth rank. The coefficient is calculated.

For example, in the second term of the B term, if the ranking is the urban area (first place), the suburbs (second place), the rural area (third place), and the mountainous area (fourth place), The term control gain correction coefficient b2 is calculated as follows by weighting b21 to b24. b2 = 0.4 × b21 + 0.3 × b22 + 0.2 × b2
3 + 0.1 × b24 Incidentally, this calculation is performed by EGI10, ACS11, 4WS1.
2, P / S13 is performed for each control gain correction coefficient.

The control gain correction coefficient b3 of the third term of the B term is also weighted in the same manner as described above, and EGI10, A
It is calculated for each control gain correction coefficient of CS11, 4WS12, P / S13, and the control gain correction coefficient c1 of the first term of the C term is also weighted in the same order as described above using the correction coefficients c11 to c14. Then, EGI10, ACS1
It is calculated for each control gain correction coefficient of 1, 4WS12, P / S13, and the control gain correction coefficient c2 of the second term of the C term is also weighted in the same manner as described above using the correction coefficients c21 to c24. Then, EGI10, ACS11, 4
It is calculated for each control gain correction coefficient of WS12 and P / S13.

On the other hand, E of the data entry card 31
The control gain correction coefficients e, f, and g of the terms G to G are calculated based on the point distribution (points are marked in square marks) shown in Table 3 and the maps of FIGS. 6 to 8.
For example, suppose that the check mark is entered in the check entry column on the leftmost side in E (1), (2), (3), then (1),
The total points of (2) and (3) are 9 points, and by applying these total points to the map of FIG. 6, the control gain correction coefficient e is obtained as 1.2. The same applies to the F and G terms. The control gain correction coefficient calculation routine and the maps shown in FIGS. 6 to 8 are included in the control gain change control program.

Next, the control gain changing control will be described with reference to FIG.
~ It demonstrates based on the flowchart of FIG. In the figure, Si (i = 1, 2, ...) Shows each step. The control gain change control includes the control gain correction coefficient calculation process shown in FIGS. 9 and 10 and the control gain change process shown in FIG. 11.

In the control gain correction coefficient calculation process, the data of a plurality of items written in the data entry card 31 is processed by the IC.
This is a process for inputting to the change processing device 21 via the card 15 and calculating a composite final control gain correction coefficient based on the data, at the time of starting the engine and at any one of the changeover switches 19, 24, 25. This processing is executed at the time of switching, and this processing will be described with reference to FIGS. 9 and 10.

When control is started by turning on the ignition switch of the automobile 1, it is judged whether or not the accessory mode (engine stop state) is set based on the signal of the ignition switch supplied from the EGI 10 (S1), and Ye
After waiting until it becomes s, when it becomes the accessory mode, I
It is determined whether the IC card 15 is attached to the C card connector 16 (S2). If the determination is No, S
In step 3, a message prompting the user to insert the IC card 15 is displayed on the display 19. Next, in step S4, the soft timer starts counting from the first No determination in step S2, and it is determined whether a predetermined time has elapsed. If not, the process returns to S2, and when a predetermined time (for example, 60 seconds) has passed without the IC card 15 being mounted, this processing control is ended. In this case, control by the base control gain is executed without changing the control gain.

On the other hand, if the result of the determination in S2 is Yes,
In S5, the process of reading the data of the IC card 15 is executed, and the read data is stored in the memory of the new data storage unit of the RAM 23. Next, in S6, EG
For I10, ACS11, 4WS12, P / S13,
Control gain correction coefficients b2e, b2a, b2w, b2p
And the control gain correction coefficients b3e, b3a, b3w, b3
p and control gain correction coefficients c1e, c1a, c1w, c
1p and control gain correction coefficients c2e, c2a, c2w,
c2p is calculated by adding the weighting of the rank as described above. At the end, "e", "a", "w", "p"
Are subscripts indicating EGI, ACS, 4WS, and P / S, respectively.

Thus, from the input data and the calculation result of S6, EGI10, ACS11, 4WS12, P / S13
The control gain correction coefficients of all items in Table 2 for each of the above are determined. That is, b1e, b2e, b3e, c1e, c2e, d are set as the control gain correction coefficients of all the items of the EGI 10.
1e, d2e, d3e are decided, ACS11, 4WS1
The same applies to the control gain correction coefficient of 2 and P / S13.

Next, in S7, EGI10 and ACS1 are calculated using the control gain correction coefficients of all the items in Table 2 above.
The composite control gain correction coefficients Ke, Ka, Kw, and Kp of 1, 4WS12, and P / S13 are calculated by the following equations. Ke = b1e × b2e × b3e × c1e × c2e × d1
e × d2e × d3e Ka = b1a × b2a × b3a × c1a × c2a × d1
a × d2a × d3a Kw = b1w × b2w × b3w × c1w × c2w × d1
w × d2w × d3w Kp = b1p × b2p × b3p × c1p × c2p × d1
pxd2pxd3p

Next, in S8, the control gain correction coefficients e, f, g are calculated.
Description will be given with reference to 0. After the start of this arithmetic processing, the signals from the changeover switches 19, 24 and 25 are read (S21), and then whether the switch 19 is ON (that is,
It is determined whether or not winding traveling (S22), Yes
If s, the correction coefficient e is calculated in S22 by the method described above, and if No, the correction coefficient e is set to e = 1.0 in S23.

Next, it is determined whether or not the switch 24 is ON (that is, whether or not the psychological state is abnormal) (S2
4) If Yes, the correction coefficient f is calculated by the above-described method in S25, and if No, the correction coefficient f is set to f = 1.0 in S26. Next, whether the switch 25 is ON (that is, whether it is rainy or snowy)
If it is determined (S27), Yes, the correction coefficient g is calculated in S28 by the above-described method, and if No, the correction coefficient g is set to g = 1.0 in S29, and then the process returns to return to FIG. The process proceeds to S9.

Next, in S9, the correction amount components of the composite control gain correction coefficients Ke, Ka, Kw, and Kp are shown in Table 1.
The control gain correction coefficients a1 to a5 and the control gain correction coefficients e to g obtained in S8 are respectively multiplied to obtain EGI10, ACS11, 4WS12, P / S13.
Final control gain correction coefficient FKe, FKa, FKw, F
Kp is calculated by the following equation. FKe = 1.0 + (Ke-1.0) x a1 x a2 x a3 x a4 x
a5 × e × f × g FKa = 1.0 + (Ka−1.0) × a1 × a2 × a3 × a4 ×
a5 × e × f × g FKw = 1.0 + (Kw−1.0) × a1 × a2 × a3 × a4 ×
a5 × e × f × g FKp = 1.0 + (Kp−1.0) × a1 × a2 × a3 × a4 ×
a5 × e × f × g

Next, in S10, the final control gain correction coefficients FKe, FKa, FKw, FKp are stored in the RAM2.
3 is stored in the memory 3, and in S11, the flag FG indicating the completion of the calculation of the final control gain correction coefficients FKe, FKa, FKw, and FKp is set, and the control gain correction coefficient calculation process ends.

Next, based on the flowchart of FIG.
The final control gain correction coefficients FKe, FKa, FKw, and FKp obtained by the control gain correction coefficient calculation process described above are used as EGI10, ACS11, 4WS12, P / S13.
The control gain changing process for changing the control gains of 1 will be described. When the control gain changing process is started with the ignition switch turned on, the vehicle speed sensor 26, the steering angle sensor 27, the μ sensor 28, and the vertical acceleration sensor 29.
Various signals including the detection signals from and are read (S4
0) Next, in S41, it is determined whether or not the flag FG is in the set state. When the flag is set, the process proceeds to S42, and when it is not set, the process proceeds to S47.

Next, it is determined whether or not the engine 2 is operating (S42). If the engine 2 is not operating, the process returns to S41, and if it is operating, the process proceeds to S43. In S43, it is determined based on the detection signals from the vehicle speed sensor 26 and the steering angle sensor 27 whether or not the vehicle is in a sharp turning state. In S44, based on the detection signals from the vertical acceleration sensor 29, it is determined whether or not the vehicle is traveling on a rough road. Also, in S45, it is determined whether or not the vehicle is traveling on a low μ road based on the detection signal from the μ sensor 28.
On the condition that the vehicle is not traveling on a bad road and not traveling on a low μ road, the process proceeds to S46.

At S46, four sets of control gain change signals corresponding to the final control gain correction coefficients FKe, FKa, FKw, and FKp are calculated, and the four sets of control gain change signals are EGI10, ACS11, 4WS12, P / S1
3 and the control gain is changed based on the control gain change signal. During the operation of the engine, the control gain change signal is changed to EGI10, ACS1 every minute time.
1, 4WS12 and P / S13, respectively.

On the other hand, when the flag FG is in the reset state, when the vehicle is making a sharp turn, traveling on a bad road, or traveling on a low μ road, the process proceeds to S47, and the output of the control gain change signal is prohibited. Therefore, EGI10, ACS11, 4WS1
2. In P / S13, control is performed by the preset base control gain. When the processing control is terminated without the IC card 15 being mounted, or when the cancel switch 17 is turned on, the control by the base control gain is performed as in the case where the output of the control gain change signal is prohibited. Will be done.

Next, display control will be described. R
The OM22 includes a display control program for displaying as described below, EGI10, ACS11, 4WS12, P /
The data of the same base control gain as the preset base control gain is stored in S13. Further, the RAM 23 has an old data storage unit for storing the data of the last set control gain correction coefficients FKe, FKa, FKw, FKp, and the last set control gain correction coefficients FKe, FKa, FKw, FKp. And a new data storage section for storing the data.

After the control routine shown in FIG. 9 is completed, the display control program is used to change the control gain before and after the control gain based on the data of the base control gain of the ROM 22 and the data of the old data storage unit and the new data storage unit of the RAM 23. 12, the control characteristics before and after the control gain is changed (they are displayed in parallel so that the change gap before and after the change is also displayed) and the base gain are calculated as shown in FIG. The control characteristic by the control gain and the comment of the general evaluation are displayed on the display. In the figure, the control characteristics based on the base control gain are displayed as horizontal dotted lines, the control characteristics based on the old data are marked with "Old", and the control characteristics based on the new data are marked with "New". It is also provided with other accompanying information for promoting understanding. However, regarding the above display, it may be displayed by the control gain or the control gain correction coefficient.

Regarding the technique for displaying the above-mentioned general comments, the control gain of the EGI 10 is small, medium, and large, and "low fuel consumption", "normal", "power increase", and the control gain of ACS11 is small, medium, and large. "Improved riding comfort", "Normal",
Corresponding to "improvement in steering stability", 4WS12 control gains small, medium, and large, corresponding to "improved turning performance", "normal", "improved steering stability", and P / S13 control gains small, medium, and large Message display data relating to characteristics such as "light steering force", "normal", "steering force heavy", and display data for messages that are constantly displayed are stored in advance in association with the display control program of the ROM 22. The various display messages described above are selected and displayed according to the control gain.

In the control gain changing device and the changing method of the vehicle control device described above, the EGI10, ACS11, 4 and the EGI10, ACS11, 4 are based on the driver-specific data relating to the driving-related characteristics and usage conditions of the driver.
By changing the base control gain of WS12 and P / S13,
Since the driving characteristics of the vehicle can be changed to match the driving characteristics of the driver and the characteristics of the vehicle usage condition, it is possible to make the vehicle easy to drive and have an easy-order characteristic that suits the driver's taste.

Furthermore, the changeover switches 19, 24, including the data of the driving characteristics of the driver relating to the winding running, the psychological state and the weather change, in the data of a plurality of items.
In accordance with No. 25, the control gain is changed on the basis of the data of the driving characteristics relating to the winding running, the non-normal psychological state and the running on the snowy road. Therefore, it is excellent in practicality and versatility. .

Moreover, the predetermined data entry card 31 is adopted, the data peculiar to the driver is extracted from the driver and stored in the IC card 15 by the data input device 9,
Since the control gain change processing device 21 is configured to be input via the IC card 15, the device is much simpler than the learning control system, and at a low cost, substantially the same technical effect can be obtained. . Moreover, since it is not necessary to provide the data input device 9 in each vehicle, it is economical. Furthermore,
Since it is configured to input the driver-specific data into the automobile through the lightweight and compact IC card 15,
It becomes possible to utilize the IC card 15 dedicated to each driver.

Next, a part of the above embodiment may be variously modified as follows. 1] The data entry card 31 is filled in for each of a plurality of drivers who mainly use automobiles, data unique to each driver is taken, and the IC card 15 in which the unique data of each driver is stored is created. , The control gain change processing device 21 through the own IC card 15
To enter data into. Alternatively, a plurality of ICs each storing a plurality of types of data for each driver
The card 15 may be created so that each driver selectively uses a plurality of IC cards 15.

2) The data entry card 31 is provided with questions and entry fields regarding the driving characteristics of the driver regarding highway driving, and the data is also input to the gain change processing device 21 via the IC card 15. It is also possible that the highway can be set by the road changeover switch 19 and the control gain is changed at the time of traveling on the highway in consideration of driving characteristics of the driver when traveling on the highway. .

3] The road changeover switch 19 is omitted, and instead of this, the vehicle speed V and the steering angle θh detected by the vehicle speed sensor 26 and the steering angle sensor 27 are used, respectively, and a general road traveling state or a winding traveling state is used. It is configured to detect automatically. The weather changeover switch 25 is omitted, and instead, the high μ road condition or the low μ road condition is automatically detected based on the detection signal from the μ sensor 28. Further, the psychological state changeover switch 24 is omitted, and instead, a yaw rate sensor for detecting the yaw rate ψv of the vehicle body is provided, and a predetermined map (see FIG. 13) using the steering angle θh and the yaw rate ψv as parameters is controlled. ROM attached to the control program for gain change control
22. The map shown in FIG. 13 is divided into an area A corresponding to a normal psychological state, an area B corresponding to a non-normal psychological state, and an area C corresponding to a dangerous driving state, and the detected steering angle θh, Corresponding detected yaw rate ψ
A large number of data (θh, ψv) with v are sampled, and whether the psychological state is normal or abnormal is automatically determined from the probability that this data (θh, ψv) enters the area A. In FIG. 13, S1 is a threshold line that divides the region A from the region B when traveling on a low μ road or when the vehicle speed is equal to or higher than a predetermined value, and S2 is not traveling on a low μ road and the vehicle speed is It is a threshold line that divides the area A and the area B in a normal case where the value is not more than a predetermined value.

3] D to G of the data entry card 31
Instead of the terms, E1-E3, F1, F2 shown in FIG.
The items are entered on the data entry card 31 to extract data such as the driver's desired driving characteristics. E1 to E3
The control gain correction coefficient determined from the term as follows is B
This is for correcting the correction component of the control gain correction coefficient that is determined based on the data from the terms C and C. The term (2) is
It is for changing the control gain of EGI10, and the correction coefficient is
1.2, 1.0 for high power, normal and fuel efficiency
, 0.8 is set in advance, and the term (3) is for changing the control gain of the ACS 11, and the correction coefficient is 1.2, 1.0, 1.2, 1.0, respectively.
It is preset such as 0.8.

The item (4) is for changing the control gain of the P / S 13, and the correction coefficient is 1.2, 1.0 and 0.8 respectively for a large steering force, a normal steering force and a light steering force. Is set in advance, the term (5) is for changing the control gain of the 4WS12, and the correction coefficient is 1.2, 1.0, respectively for good steering stability, good for normal and small turning, respectively. It is preset such as 0.8. The term (1) gives an empirical coefficient for correcting the correction coefficients of (2) to (5), and the empirical coefficient is 1.15, 1.
It is preset as 00, 0.85.

The control gain correction coefficient determined from the F1 to F2 terms as follows is for correcting the correction component of the control gain correction coefficient determined based on the data from the B and C terms and E1 to E3. Is. Regarding the F1 term, the correction factor of the (1) term is 1.2 for mild, moderate, and severe, respectively.
It is preset as 1.0 and 0.8, and the correction factor in (2) is 1.2, 1.0 for not short, normal, and short, respectively.
, 0.8, and the correction factor of (3) is
Standard, non-standard, 1.2, and 1.
It is set in advance as 0, 0.8, and the correction coefficient in (4) is
For the dull one, the ordinary one, and the sharp one, 0.
It is preset such as 8, 1.0 and 1.2. Regarding the F2 term, the correction coefficients of the (1) to (3) terms are preset as 1.2, 1.0, and 0.8 for non-severe, normal, and severe, respectively. The correction coefficient and empirical coefficient data set as described above are stored in the ROM 22 in advance together with the control program for the control gain change control.

On the instrument panel of the automobile, a setting switch WS (not shown) for setting winding running and a setting switch RS for setting running on a snowy road are provided.
S (not shown) and a setting switch ABS (not shown) for setting an abnormal state are provided, and these setting switches W
S, RSS, and ABS are connected to the control gain change processing device 21, and when they are all OFF, E
The final control gain correction coefficient is determined without adding the data of the terms 2, E3, and F2.

When the setting switch WS is ON, the final control gain correction coefficient is determined by adding the data of the E2 term instead of the data of the E1 term, and when the setting switch RSS is ON. The final control gain correction coefficient is determined by adding the data of the E3 item instead of the data of the E1 item, and when the setting switch ABS is ON,
In addition to the data of the F1 term, considering the data of the F2 term,
The final control gain correction coefficient is determined. Since the contents of the control gain change control are clear from the above description, the description thereof will be omitted. The setting switches WS, RS
S and ABS correspond to the condition determining means.

5] In the above-described embodiment, the data specific to the driver is extracted by writing the data on the data entry card 31. However, the data of the driver is not necessarily based on this method, but based on a predetermined manual, etc. The final control gain correction factors FKe, F are set so as to reflect the characteristics in operation.
Data of Ka, FKw, and FKp is created, the data is stored in the IC card 15, and the data of the final control gain correction coefficients FKe, FKa, FKw, and FKp are supplied to the control gain change processing device 21. It is also possible. However, in this case, each changeover switch 19, 2
Final control gain correction coefficient F when 4, 25 are turned on
Data of Ke, FKa, FKw, and FKp are also created, and I
It shall be stored in the C card 15.

6] Instead of the data entry card 31, an optically or magnetically readable data processing card was adopted, and the data entered on the data processing card was provided in the data input device 9. It is configured to be read by an optical or magnetic reader and stored in the IC card 15. 7] A magnetic card, a floppy disk, or an optical disk can be used instead of the IC card 15 as the storage medium. In this case, the data input device 9 includes a magnetic card drive device, an FD drive device, and An optical disk drive is provided, and a magnetic card drive and FD are also installed on the instrument panel of a car.
A drive device and an optical disk drive device shall be provided.

Next, another embodiment will be described with reference to FIG. Control gain changing device 20A of this embodiment
Then, the data input device 24, the IC card 15,
The IC card connector 16 is omitted, and instead,
An input device 30 for directly inputting the data of the data entry card 31 to the control gain change processing device 21 (for example,
It is a diagnostic device for computer diagnosis), and is provided with an input device 30 which is detachably connected to the change processing device 21 only at the time of data input, and other configurations are similar to those of the above-described embodiment. . The input device 30 is owned by a dealer, and the data of the data entry card 31 extracted from the driver is input to the change processing device 21 by the input device 30 before handing over the vehicle to the driver, and then the input device 30. Is separated from the change processing device 21. However, the data input from the input device 30 is stored in the memory of the RAM 23,
The RAM 23 is backed up by a battery. The control gain changing control in the control gain changing device 20A is substantially the same as that in the above-described embodiment, but the steps S2 to S5 in the flowchart of FIG. 9 are unnecessary.

Here, a modification of this embodiment will be described. In the above embodiment, the case where the control gain is changed through the data of the driving characteristics of one driver has been described. However, the data entry card 31 is provided with an identification symbol (for example, A, B, ... .) Is provided, and each of a plurality of drivers is made to fill in the data entry card 31, and data of a plurality of items relating to driving characteristics of the plurality of drivers is input through the data input device 30. Input to the control gain change processing device 21, R
It is configured to be stored in the AM 23. In addition, a setting switch for inputting an identification signal corresponding to the identification symbol is provided on the instrument panel of the vehicle so that the driver driving the vehicle inputs the identification signal for identifying himself through the setting switch. To configure. In the control gain change control, data regarding the driving characteristics of the driver designated by the identification signal input from the setting switch is read from the RAM 23 and the control gain is changed.

In the above embodiment, EGI and ACS
The case where the control gains of 4WS and P / S are changed has been described, but the ABS for controlling the anti-lock braking device instead of or in addition to these.
The present invention can be similarly applied to a TCS control device for controlling a control device and a traction control device, an air conditioner control device, a seat device control device, and the like.
It goes without saying that various modifications can be added to a part of the embodiment without departing from the technical idea of the present invention.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a drive system, a suspension system, and a steering system of an automobile according to an embodiment.

FIG. 2 is an explanatory diagram of a data entry card, a data input device, an IC card connector and the like.

FIG. 3 is a configuration diagram of a main part of a control system of the control gain changing device.

FIG. 4 is a diagram showing a part of a data entry card.

FIG. 5 is a diagram showing the rest of the data entry card.

FIG. 6 is a diagram as a map for calculating a control gain correction coefficient e.

FIG. 7 is a diagram as a map for calculating a control gain correction coefficient f.

FIG. 8 is a diagram as a map for calculating a control gain correction coefficient g.

FIG. 9 is a flowchart of a control gain correction coefficient calculation process routine.

10 is a flowchart of a subroutine of S8 of FIG.

FIG. 11 is a flowchart of a control gain changing routine.

FIG. 12 is an explanatory diagram showing a display example of control characteristics on a display.

FIG. 13 is a map of a modified example.

FIG. 14 is a diagram showing a part of a data entry card according to a modification.

FIG. 15 is a configuration diagram of a main part of a control system of a control gain changing device according to another embodiment.

[Explanation of symbols]

1 Automotive 2 Engine 6 Active Suspension Device 7 Rear Wheel Steering Device 8 Power Steering Device 9 Data Input Device 10 Engine Control Device (EGI) 11 Active Suspension Control Device (AC
S) 12 Four-wheel steering control device (4WS) 13 Power steering control device (P / S) 14 IC card connector 15 IC card 16 IC card connector 20 Control gain change device 21 of automobile control device 21 Control gain change processing device 22 ROM 23 RAM 26 Vehicle speed sensor 27 Rudder angle sensor 28 μ sensor 29 Vertical acceleration sensor 30 Input device 31 Data entry card

Claims (10)

[Claims] 1. A control gain changing method for changing a control gain preset in a control device provided in an automobile, wherein each of a plurality of items for specifying a driving characteristic of a driver from a driver, Obtaining a plurality of different conditions data, the data is stored in the on-vehicle gain change processing control means, based on the data according to the corresponding conditions for each of the plurality of items, by the gain change processing control means, A control gain changing method for a vehicle control device, comprising changing the control gain of the control device. 2. A control gain changing method for changing a control gain preset in a control device provided in an automobile, wherein each of a plurality of items for specifying a driving characteristic of the driver from a driver, Obtaining a plurality of types of data with different conditions, storing the data of the plurality of items in a storage medium, mounting the storage medium in a storage medium mounting portion provided in the automobile, and controlling the gain change processing of the data in the storage medium. The control gain of the vehicle control device is characterized in that the control gain of the control device is changed by the gain change processing control means based on the data according to the corresponding conditions for each of the plurality of items. Modification method. 3. A control gain changing device for changing a control gain preset in a control device provided in an automobile, comprising a plurality of items of data for identifying a driving characteristic of the driver extracted from the driver. Therefore, data of multiple items including multiple types of data with different conditions for each item,
Data input means that is detachably connected to the gain change processing control means in order to input to the gain change processing control means, and condition determination means that is provided in the vehicle and determines respective conditions that actually apply to a plurality of items , Gain change processing control means for changing the control gain of the control device based on data corresponding to each of the corresponding conditions determined by the condition determination means among the data of the plurality of items input by the data input means And a control gain changing device for an automobile control device. 4. A control gain changing device for changing a control gain preset in a control device provided in an automobile, comprising a plurality of items of data for identifying a driving characteristic of the driver extracted from the driver. A storage medium for storing data of a plurality of items including a plurality of types of data with different conditions for each item; and a storage medium mounting portion for mounting the storage medium in a removable and writable manner. An input device for storing data of a plurality of items in a storage medium, the input device having an input means, the input device being provided in a predetermined place independently of an automobile, and the plurality of items being provided in the automobile. Condition determining means for individually determining the corresponding conditions, and a storage medium mounting portion for mounting the storage medium on the vehicle in a detachable and data readable manner. A gain for changing the control gain of the control device based on the data corresponding to each of the corresponding conditions determined by the condition determining means, out of the data of a plurality of items read from the storage medium mounted on the storage medium mounting portion. A control gain changing device for a vehicle control device, comprising: a change processing control means; 5. The data of the plurality of items includes at least data corresponding to a traveling state when traveling on a plurality of types of roads.
A control gain changing device for a vehicle control device according to. 6. The data of the plurality of items includes at least data corresponding to a normal psychological state and an abnormal psychological state of a driver.
A control gain changing device for a vehicle control device according to. 7. The data of the plurality of items is at least
The control gain changing device for a vehicle control device according to claim 3 or 4, which includes data corresponding to a plurality of road surface conditions due to weather. 8. The condition determining means is configured to automatically make a determination based on detection signals from a plurality of sensors that detect physical quantities related to steering and running conditions of the automobile. The control gain changing device for a vehicle control device according to claim 3 or 4. 9. The control gain changing device for a vehicle control device according to claim 3 or 4, wherein the condition determining means comprises a plurality of manual switches provided on an instrument panel of the vehicle. . 10. A control gain changing device for changing a control gain preset in a control device provided in an automobile, wherein a plurality of control gain changing devices are extracted from each of a plurality of drivers to specify driving characteristics of the driver. In order to input the data of a plurality of items, which is the data of the items, including a plurality of kinds of data with different conditions for each item, to the gain change processing control means,
Data input means detachably connected to the gain change processing control means, identification means provided in the vehicle for identifying a driver who drives the vehicle, and a plurality of drivers provided in the vehicle identified by the identification means Condition determining means for determining the corresponding conditions for each item, among the data of a plurality of items for the plurality of drivers input by the data input means, in the data of a plurality of items for the driver identified by the identification means, A gain changing process control means for changing a control gain of the control device based on data corresponding to each of the corresponding conditions determined by the condition determining means, and a control gain of the vehicle control device, comprising: Change device.