JPH085427B2 - Vehicle reverse control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a vehicle retraction device for reversing a vehicle by a driving force of a starter motor, and selectively starts an internal combustion engine and retreats the vehicle. The present invention relates to a vehicle reverse control device that can be controlled.

[Prior art]

A reversing device for a vehicle that moves the vehicle backward by the driving force of a starter motor is disclosed in Japanese Patent Application No. 60-238643, 1985.
A patent application was filed on March 25.

In the vehicle reverse device of Japanese Patent Application No. 60-238643, the starter motor is used to rotate the crankshaft of the internal combustion engine to start the vehicle, and the starter motor is used as a drive source to control the speed of the vehicle to move the vehicle backward.

[Problems to be solved]

However, in this vehicle reversing device, when the switching control circuit for switching the power supply circuit to the starter motor between the starting circuit and the reverse circuit for controlling speed becomes defective, not only the vehicle reversing motion but also the internal combustion engine starting It becomes impossible and normal forward running cannot be performed.

[Means and Actions for Solving Problems]

The present invention relates to an improvement in a vehicle reverse control device that overcomes such difficulties, and a driving force of a starter motor for starting an internal combustion engine that rotates in the same direction as when the internal combustion engine is started, regardless of the internal combustion engine for driving the vehicle. Is a reverse device for a vehicle capable of reversing the vehicle, in which the starter motor, the first switch, and the second switch are connected in series to a power source, and the control means is parallel only to the second switch. The first switch is connected, and the first switch includes a first suppressing unit that turns on the first switch only when a condition for starting the internal combustion engine or a condition for moving the vehicle backward is satisfied. It is characterized in that a second suppressing means for turning off the second switch is provided and the control means adjusts the reverse speed only when the condition for causing the reverse movement is satisfied.

Since the present invention is configured as described above, when the condition for starting the internal combustion engine is satisfied, the first
The switch and the second switch are turned on, an electric current flows through the starter motor through the first switch and the second switch, the starter motor rotates, and the internal combustion engine is started by its driving force.

Further, in the present invention, the second switch is turned off when the condition for moving the vehicle backward is satisfied, but the first switch is turned on. Therefore, the starter motor is connected to the starter motor via the first switch and the control means. An electric current flows and the starter motor rotates, and the control means adjusts the reverse speed to move the vehicle backward at a required speed.

〔Example〕

1 to 11 in which the present invention is applied to a motorcycle as follows.
One embodiment shown in the drawing will be described.

First, an outline of the power transmission system of the present invention will be described with reference to FIGS. 1 and 2.

A crankshaft 3 of a multi-cylinder engine 2 mounted on a large motorcycle 1 is connected to an output shaft 7 via a clutch 4 and a multi-stage gear transmission 5, and the output shaft 7 is a shaft, a gear,
It is connected to the rear wheels 9 via a power transmission system 8 including a sprocket, a chain, etc., the multi-cylinder engine 2 is in the operating state, the clutch 4 is in the connected state, and the shift operation mechanism 6
Thus, when the multi-stage gear transmission 5 is operated in a state other than neutral, the power of the multi-cylinder engine 2 is transmitted to the rear wheels 9 and can move forward.

A cell starter motor 10 installed parallel to the crankshaft 3 of the multi-cylinder engine 2 is connected to the crankshaft 3 via a reduction gear 11, a gear 13 and a one-way clutch 14, and when the cell starter motor 10 rotates. The crankshaft 3 is always driven to rotate in the same direction as the cell starter motor 10.

Further, the cell starter motor 10 is removably connected to the output shaft 7 via the reduction gear 12 and the reverse clutch 15, and the switching operation mechanism 16 of the reverse clutch 15 has a lost motion mechanism built therein. It is connected to a reverse lever 18 via a reverse operation transmission system 17 composed of a link, a wire and the like, and is also connected to a neutral detection piece 19a via a link mechanism 19. When 5 is set to the neutral state as shown in FIG. 1 and the reverse lever 18 is pulled upward in order to retract the large-sized motorcycle 1, the switching operation mechanism 16 is switched to the reverse side, and this movement is performed. It is transmitted to the neutral detection piece 19a via the link mechanism 19, and the shift drum 6 of the gear shift operation mechanism 6 is transmitted.
The neutral detecting piece 19a can be fitted in the notch 6b of a, the switching operation mechanism 16 can be moved to its reverse switching position, the reverse clutch 15 is connected to the output shaft 7, and as shown in FIG. The output shaft 7 is rotationally driven in the reverse direction opposite to the forward direction by the multi-cylinder engine 2.

When performing a reverse switching operation of the reverse lever 18, when the multi-stage gear transmission 5 is not in the neutral state (see FIG. 2), the neutral detection piece 19a of the link mechanism 19 causes the shift drum of the shift operation mechanism 6 to move. Since it cannot fit in the notch 6b in 6a,
The switching operation mechanism 16 cannot move to the reverse switching position, the reverse clutch 15 is not connected to the output shaft 7, and the output shaft 7 by the crank shaft 3 of the multi-cylinder engine 2 is not connected.
The reverse rotation driving force of the reverse clutch 15 by the cell starter motor 10 rotating in the opposite direction to the forward rotation to the output shaft 7 is prevented from being transmitted to the output shaft 7.

Furthermore, when the cell starter motor 8 moves backward, the electric control device 20 controls the rotation / stop of the cell starter motor 8 so that the rotation speed is controlled.

Then, the electric control device 20 includes a first starter magnetic relay 21 which is a first switch for controlling the operation of the cell starter motor 8 and a second starter starter which is a second switch which is turned on by turning on a reverse switch 29 described later at the time of starting. A magnetic relay 22 and a power transistor unit 23, which is an on-reverse-time control unit configured to control the power supply current to the cell starter motor 8 in the reverse state, and the power supply current to the cell starter motor 8 in the reverse state. Power supply current suppression circuit 24 consisting of resistors 25 and 26
And a starter switch 27 that is switched at the time of starting operation,
A reverse lever switch 28 which is switched when the reverse lever 18 is operated to the reverse position, and is turned off when the multistage gear transmission 4 is operated to the neutral position and the reverse lever is operated to the reverse position, and is turned on otherwise. After the reverse switch 29, the reverse relay 30 for turning on the first starter magnetic relay 21, and the first starter magnetic relay 21 are turned on, the coil 21b of the first starter magnetic relay 21 is supplied with a current necessary for self-holding. When the starter magnetic controller 31 to supply, the speed limiter relay 32 that short-circuits both electrodes of the cell starter motor 8 when the cell starter motor 8 exceeds a predetermined number of revolutions in the backward state, and the clutch 3 is in the disengaged state. When the clutch switch 33 that turns on and the multi-stage gear transmission 4 are operated to neutral, Neutral switch
34, a side stand switch 35 which is turned on when a side stand (not shown) is flipped up, an oil pressure switch 36 which is turned off when the engine 1 is in a rotating state, and an electronic control unit 37 which controls these. ing.

The starter motor 8 constitutes the starter motor for starting according to the claims, the first starter magnetic relay 21 constitutes the first switch according to the claims, and the first starter magnetic relay 21 connects the engine 2 to the engine 2. It is equipped with a reverse switch 29 that is a means for turning on the first starter magnetic relay 21 when the conditions for starting are satisfied, and also turns on the first starter magnetic relay 21 when the conditions for moving the large-sized motorcycle 1 backward are satisfied. The reverse lever switch 28 and the terminal 37-11 of the electronic control unit 37 are provided, and the reverse switch 29, the reverse lever switch 28 and the terminal 37-11 constitute a first suppressing means, and the second starter magnetic relay 22 is The second part of the claims
The second starter magnetic relay 22 constitutes a switch, and the second starter magnetic relay 22 turns off the second starter magnetic relay 22 only when a condition for moving the vehicle backward is satisfied. The power transistor unit 23 constitutes the control means in the claims, and the power transistor unit 23 can perform the backward speed adjustment.

Further, on the engine starting wiring 40 connecting the battery + terminal 38 and the battery ground terminal 39, the a contact (normally open contact) 21a of the first starter magnetic relay 21 and the cell starter motor 8 are connected.
And a contact 22a of the second starter magnetic relay 22 are interposed in series.

In addition, the a contact of the second starter magnetic relay 22
The resistor 25 of the power supply current suppressing circuit 24 and the power transistor unit 23 are interposed in series on the backward wiring 41 connected in parallel to the resistor 22a, and the leak is connected in parallel to the resistor 25 and the power transistor unit 23. Resistance 26 to wiring 42
The brake wiring 43 connecting the positive terminal of the cell starter motor 8 and the battery ground terminal 39 is provided with the a contact 32a of the speed limiter relay 32 and the fuse 44 in series.

Furthermore, the starter switch 27 comprises a b-contact (normally closed contact) 27a and an a-contact (normally open contact) 27b. When the starter switch 27 is switched, the b-contact 27a is turned off and the a-contact 28b is turned on. The coil 30b of the reverse relay 30, the diode 45 and the reverse switch 29 are connected in series to the line connecting the a-contact 27b and the battery ground terminal 39, and the starter switch 27a The coil 21b of the first starter magnetic relay 21 is connected to the wire connecting the contact 27b and the battery ground terminal 39.
And a contact 30a of reverse relay 30 and clutch switch 33
And are interposed in series.

Moreover, the diode 46 and the coil 22b of the second starter magnetic relay 22 are connected in series to the line connecting the + side terminal 8a of the cell starter motor 8 and the reverse switch 29.

Further, the neutral display lamp 47 and the neutral switch 34 are connected in series to the contact 28a of the reverse lever switch 28 and the battery ground terminal 39 which are turned on to the battery + terminal 38 when the reverse lever is operated to the non-reverse position.
Battery + terminal with the reverse lever operated to the reverse position
The contact 28b of the reverse lever switch 28 turned on by 38 is connected to the terminal 37-1 of the electronic control unit 37.

Therefore, when the reverse lever switch 28 is operated to the non-retracted position (the position connected to the contact 28a side), the power supply to the electronic control unit 37 is cut off and the execution of the program is stopped.

Further, the terminal 37-2 of the electronic control unit 37 is connected to the battery ground terminal 39 via the side stand switch 35, and the terminal 37-3 of the electronic control unit 37 is connected to the battery + terminal 38 via the oil pressure indicator lamp 48. It is also connected to the battery ground terminal 39 via the oil pressure switch 36.

Furthermore, the terminals 37-4 and 37-5 of the electronic control unit 37 are connected to the + side terminal 8a and the-side terminal 8b of the cell starter motor 8, and the voltage applied to the cell starter motor 8 is detected. It is like this.

The terminal 37-6 of the electronic control unit 37 is a voltage applied detection terminal of the power transistor unit 23, and the terminal 37-7 of the electronic control unit 37 is a terminal for detecting the switching operation of the starter switch 27.

Further, the terminal 37-8 of the electronic control unit 37 is connected to the high beam relay via the dimmer switch 49 even in the backward movement.
An output terminal for supplying current to the coil 50b of 50 or the coil 51b of the low beam relay 51, and the coil 50b of the high beam relay 50 or the coil 51b of the low beam relay 51.
Is energized, the a contact point 50a of the high beam relay 50 or the a contact point 51a of the low beam relay 51 is turned on, and the high beam light 52 or the low beam light 53 is turned on.

The relays 50 and 51 are designed to be energized via the b contact 27a of the starter switch 27.
High beam light 52 and low beam light with 27 off
One of the 53 is lit.

That is, when the ignition switch is turned on, either the high beam light 52 or the low beam light 53 is lit on a trial basis, and it is turned off when the starter switch 27 is turned on,
The starter motor is driven without power being consumed by lighting.

Furthermore, the terminal 37-9 of the electronic control unit 37 is an output terminal that controls the output of the power transistor unit 23, and the terminal 37-10 of the electronic control unit 37 is an output terminal that controls the on / off of the speed limiter relay 32. Is connected to the coil 32b of the speed limiter relay 32, and when the coil 32b is energized, the a contact 32a of the speed limiter relay 32 is turned on.

Moreover, the terminal 37-11 of the electronic control unit 37 is an output terminal for turning on the reverse relay 30 and turning on the first starter magnetic relay 21 even when the reverse switch 29 is in the off state. Terminal
37-12 is a coil of the first starter magnetic relay 21 that operates the starter magnetic controller 31 after a lapse of a predetermined time after the first starter magnetic relay 21 is turned on to operate the first starter magnetic relay 21 by itself. 21b is an output terminal for supplying a current, and the terminal 37-13 of the electronic control unit 37 is an output terminal for lighting the backward display lamp 54 and displaying it in the backward state.

 Next, the electronic control unit 37 will be described.

The electronic control unit 37 is a terminal 37 of the electronic control unit 37.
-Constant voltage power supply circuit 55 connected to -1 to supply constant voltage power of 5V to CPU 59, and terminals 37-2, 37- of electronic control unit 37
Digital input circuit 56 connected to 3 to add digital input to the input port of CPU59, and connected to terminals 37-4,37-5,37-6,37-7 of electronic control unit 37 to the input port of CPU59. Analog input circuit 57 for adding analog input and terminals 37-8, 37-9, 37-10, 37-11, 37-12, 37-1 of electronic control unit 37
An output circuit 58 for giving an output to 3, a ROM 60 containing a sequence program necessary for executing the flowcharts shown in FIGS. 7 and 8, and a digital input circuit 5
6, RAM 61 that can read and write the input data of analog input circuit 57, the data obtained by the operation of CPU 59, and other data
And a CPU 59 that executes a sequence program or instruction stored in the ROM 60 according to the input signals of the digital input circuit 56 and the analog input circuit 57 and outputs a control signal to each unit of the electric control device 20 via the output circuit 58. ing.

The operation of the control system of this embodiment will be described below with reference to the flowcharts shown in FIGS. 7 and 8.

This control routine has an interrupt routine shown in FIG. 8 in addition to the main routine shown in FIG. 7. The interrupt routine is executed every 1 msec, and the power of the electronic control unit 37 is turned on. Once done, it becomes feasible.

First, the interrupt routine will be described. The interrupt routine is a timekeeping routine mainly for operating a function that requires the time of the vehicle, and performs an interrupt count for counting p milliseconds in steps, and p milliseconds Each time a carry stands, the presence / absence of a carry is judged in the next step. If the carry is not standing, jump to the step, and if the carry is standing, proceed to the step.

Therefore, steps to are executed every p milliseconds.

When the process advances to the step every p milliseconds, it is judged whether or not the start flag is set, and the starter switch 27
Since the starter flag is set when the contact a 27b is turned on, the state of the next q-millimeter elapsed flag is checked (step).

This q millisecond elapsed flag is set for q milliseconds (q>
p) is timed and is set when q milliseconds have elapsed.

The q millisecond elapsed flag is always reset when the contact a 27b of the starter switch 27 is turned off.

Therefore, at first, the same flag is reset and the time of q milliseconds is measured in step, and the process proceeds to the next step.

 In the step, the state of the ON-Lock flag is judged.

The ON-Lock flag is set when an overload is applied to the cell starter motor, for example, when the movement of the vehicle body is obstructed by an obstacle behind, etc., and the condition is that the voltage across the cell starter motor is 3 below 3V
The ON-Lock flag is set when the voltage is lower than the voltage, and the above-mentioned ON is performed in the next step.
-Lock flag Time is kept.

Then, in the next step, it is determined whether or not the power transistor short flag (P.Tr.short flag) is set, and the power transistor unit 23 has failed and the conduction state has continued for r milliseconds (q> r) or more. The time is detected, and the P.Tr.short flag is set in the conductive state. Here, the P.Tr.short time is measured in the next step.

From the above steps, it is executed every p millisecond to measure various times.

Then, perform the digital conversion of each voltage to calculate the average of the terminal voltage of the cell starter motor described later,
At the end of conversion, the average flag (Ave. flag) is set.

Next, on / off control of the power transistor unit 23 is performed in steps to cancel the interrupt (step), and the process returns to the main routine.

In the main routine, first, various flags, conditions, etc. are initialized (step), and Ave.
Whether or not the flag is set is determined, and when the digital conversion of each voltage of the starter motor terminal voltage is not completed,
Since the Ave. flag is in the reset state, the process jumps to the step, and if completed, the process proceeds to the step and the average value of the terminal voltage of the cell starter motor is calculated.

The voltage average value yn is obtained by adding the previously detected average voltage value yn-1 and the voltage xn detected and digitally converted this time under a constant proportional distribution as shown in the following equation.

yn = α · yn-1 + (1-α) · xn, that is, yn is obtained by multiplying yn-1 and xn by α and (1-α), respectively, and averages the variations in the detected voltage. .

Based on the motor terminal voltage Vm obtained in this way,
The vehicle speed is determined in the next step.

In this step, the setting and resetting of three flags, which will be determined later on the basis of the voltage Vm, are set.

That is, as shown in FIG. 9, the power transistor off flag (P.Tr.OFF flag) is reset when Vm is less than bV and set when bm or more, and the starter magnetic switch off flag (SMOFF flag) is Vm when reset. Is set when the voltage exceeds cV, it is reset when the voltage falls below bV in the set state, and the limiter flag is set to Vm.
Reset below dV and set above dV.

Since the motor terminal voltage Vm substantially corresponds to the vehicle speed, the above three flags are set according to the vehicle speed state.

When the vehicle speed is determined in this manner, the Ave. flag is reset (step), and it is first determined whether or not the limiter flag is set (step).

As described above, the limiter flag is set when Vm ≧ dV. At this time, it is assumed that the vehicle is moving backward on a slope at a predetermined speed or higher. In this case, the step jumps to step.

In the step, a current is applied to the speed limiter relay 32 from the brake relay output terminal 37-10 of the electronic control unit 37 to turn on the contact a 32a of the relay 32.

Therefore, cell starter motor 8, resistor 26, fuse
44, the closed loop circuit of the speed limiter relay 32 is formed, and the cell starter motor 8 is dynamically braked.

When Vm ≧ dV, as is clear from FIG. 9, S.
The M.OFF flag is in the set state and the reverse control is stopped in the route from step to step described below
The starter magnetic relay 21 is off.

Then proceed to the step further and the backward display lamp 54
Is turned off, the reverse control is stopped (step), and the control by this routine is finished.

In the step, the vehicle speed is less than the predetermined limit speed (Vm
If <dV), the state of the SMOFF flag is determined in the next step.

Control of the reverse vehicle speed is controlled by the power transistor unit 23.
Although it is done by changing the ON / OFF duty ratio,
FIG. 10 shows the control relationship of the motor terminal voltage Vm based on this duty ratio.

Duty control is performed in the range of Vm <bV,
When Vm ≧ aV, the duty (STDT) at that time is the maximum (point A), and when Vm = bV, the control is stopped, and the duty (EDDT) at that time is the minimum (point B).

Therefore, when the SMOFF flag is set in step, the motor terminal voltage Vm exceeds cV and the vehicle speed becomes equal to or higher than the first reverse vehicle speed. At this time, the step jumps to the starter magnetic relay 21 The a-contact is turned off to stop the reverse control, and this time, unlike the reverse control at the time of braking in the above step, the step returns to the step again and the reverse control is still possible.

Once the SMOFF flag is set as described above, it is not reset unless the motor terminal voltage Vm becomes less than bV, and stable control is performed.

That is, when the SMOFF flag is reset, the vehicle speed control between AB shown in FIG. 7 is performed.

Therefore, if the SMOFF flag is in the reset state in step, the process proceeds to step and it is determined whether or not the P.Tr.OFF flag is set.

If the motor terminal voltage Vm is bV or more, the P.Tr.OFF flag is set and duty control is not performed and the process jumps to the step.If Vm ≦ bV, the process advances to the step and the vehicle speed / duty table is searched. That is, the energization time of the power transistor unit 23, that is, the duty is determined.

Then, in the next step, the state of the q millisecond elapsed flag is determined.

As described later in the startup control, the vehicle speed is not controlled for q milliseconds after the starter switch 27 is turned on,
Since the ON-Lock detection in the next step is not performed, the flag is reset and jumps to the starter flag before q milliseconds.

When q milliseconds have elapsed, go to step ON-Lock
Detection is done.

That is, in the step, it is detected whether the overload is applied to the cell motor and the motor terminal voltage Vm is 3 V or less for 3 to 5 seconds as described above (time counting is performed in the interrupt routine step), and the condition is determined. Is satisfied and it is judged as ON-Lock, (step),
The user jumps to the step, turns off the reverse display lamp 54, and stops the reverse control (step).

If it is determined that the lock is not ON-Lock in the step, proceed to the step and detect P.Tr.short.

When the motor terminal voltage is 1.5V or more for more than r milliseconds (when the time is measured in the interrupt routine step), it is determined that the power transistor 23 is short-circuited (step) and jump to the step. The reverse display lamp 54 is turned off, and the reverse control is stopped (step).

If the power transistor 23 is not short-circuited, proceed to the next step.

In the same step, the state of the side stand switch 35 and the oil pressure switch 36 are input to the CPU 59, and in the next step, the side stand comes out and the side stand switch 35 is off, or the engine 1 stops and the oil is turned off. If the pressure switch 36 is on, go to step
Is turned off, the reverse control is stopped (step), and the process returns to the step.

That is, when the side stand is out and the engine is rotating, and the reverse lever is operated to the reverse position to turn on the contact a 28b of the reverse lever switch 28, the contact a 27b of the starter switch 27 is turned on. , Retreat is prohibited.

When the side stand switch 35 is turned on, the oil pressure switch 36 is turned off, and the multi-cylinder engine 2 is rotating, it is possible to move from step to step, and it means that the vehicle can move backward. Input the status of switch 27 to CPU59 (step),
Judge the state (step), starter switch
If the a-contact 27b of 27 is in the off state, the control jumps to the step to stop the reverse control, and if the a-contact 27b of the starter switch 27 is in the on state, it is judged whether or not the next q millisecond elapsed flag is set (step). .

After the contact a 27b of the starter switch 27 is turned on, q
If milliseconds have not elapsed, go to step q
Wait for milliseconds.

When it is determined that q milliseconds have elapsed in step, the process proceeds to step and the reverse relay 30 is turned off.

When operating the first starter magnetic relay 21, this is done through the reverse relay 30 for q milliseconds, and then the starter magnetic controller 31 supplies the current necessary to hold the first starter magnetic relay 21 by itself. This is because the supply of power to the coil 21b is controlled to maintain the ON state of the first starter magnetic relay 21 and suppress power consumption.

Then, in the next step, it is judged whether or not the start control flag is set.This start control flag is set when the vehicle speed control at the time of start executed in the next step is completed. Fly to the step.

Therefore, at the time of start-up, the flag is in the reset state and the process proceeds to step to perform start-up control.

At the time of reverse starting, the control shown in Fig. 11 is performed to reduce the starting shock.

That is, for q milliseconds after the starter switch 27 is turned on, the power transistor unit 23 is brought into a non-conducting state and the voltage applied to the cell starter motor 8 is reduced to start at a low rotation speed. The start control is performed by adjusting the time and the duty ratio of the power transistor unit 23.

Here, the solid line B shows the maximum value of the duty ratio allowed with the elapse of time at the time of start-up, and the duty ratio is determined with time based on the solid line B in the initial stage.

Therefore, in step, the duty ratio with respect to the elapsed time of the solid line B is searched, the startup control time Td is monitored, and when the same time has elapsed, the startup control flag is set.

Then, in the next step, the duty ratio with respect to the vehicle speed indicated by the broken line C is searched and compared with the solid line B, and the one with the smaller duty ratio is selected.

Then, the process proceeds to the next step, the power transistor output flag (P.Tr.OUT flag) is set, and the process returns to the step again.

The contents of the flowcharts shown in FIGS. 7 and 8 have been described above, and the operating state after the starter switch 27 has been turned on will be examined with time.

Since the embodiment shown in FIGS. 1 to 11 is constructed as described above, when the reversing lever 18 is tilted downward and the starter switch 27 is turned on, as shown in FIG. Since the switch 29 is turned on, the coil 30b of the reverse relay 30 is energized and the reverse relay 30 is operated. At this time, if the clutch 4 is set to neutral or the multi-stage gear transmission 5 is set to neutral, the clutch switch 33 or the neutral switch is set.
Since 34 is turned on, the a contact 30a of the reverse relay 30 is turned on, the first starter magnetic relay 21 is turned on, and the second starter magnetic relay 22 is turned on. Current flows to the battery ground terminal 39 via the
As shown in the figure, the cell starter motor 10 rotates in the A direction, the rotation of the cell starter motor 10 cranks the crankshaft 3 in the A direction as well, and the multi-cylinder engine 2 is started.

Further, after the multi-cylinder engine 2 is started, when the multi-cylinder engine 2 is in operation, the multi-stage gear transmission 5 is set to the neutral state and the reverse lever 18 is pulled upward to turn off the oil pressure switch 36. , Electronic control unit
CPU 59 from terminal 37-3 of 37 through digital input circuit 56
Since a signal that allows reversing is sent to, even if the reverse switch 29 is turned off by pulling the reversing lever 18 upward,
The output from the terminal 37-11 of the electronic control unit 37 turns on the reverse relay 30 and turns on the first starter magnetic relay 21. Therefore, as shown in FIG. The multi-cylinder engine 2 rotates in the direction A, and the multi-cylinder engine 2 outputs in the direction A (the direction indicated by the broken line arrow) opposite to the direction B of the output shaft 7 in the case of normal forward running. The shaft 7 is driven to rotate, and the large motorcycle 1 can move backward. In this case, since the rotation speed from the cell starter motor 10 via the gear 13 and the one-way clutch 14 is lower than the rotation speed of the crankshaft 3, there is no transmission of power from the cell starter motor 10 to the crankshaft 3. Moreover, since the one-way clutch 14 is interposed between the gear 13 and the crankshaft 3, the rotational torque of the crankshaft 3 is reduced by the cell starter motor 10.
Will not be transmitted to.

However, when the multi-cylinder engine 2 is not in operation, the reverse pressure relay 30 is not turned on, the first starter magnetic relay 21 is turned off, and the cell starter motor 10 is turned on because the oil pressure switch 36 is turned on.
Cannot rotate.

Further, the reverse switch 29 for detecting the state in which the reverse clutch 15 is disengaged and the driving force of the starter motor 10 is not transmitted to the output shaft 7 is turned on, and the clutch switch 33 or the neutral switch 34 is turned on to start the engine 2. If the condition is satisfied, the first starter magnetic relay 21 corresponding to the first switch and the second starter magnetic relay 22 corresponding to the second switch are turned on, the starter motor 10 rotates, and the reduction gear 11 Then, the driving force of the starter motor 10 is transmitted to the crankshaft 3 via the gear 13 and the one-way clutch 14 to be cranked so that the engine 2 can be started. In this case, the engine 2 can be started even if the wire of the reverse operation system 17 is cut and the switching operation of the reverse lever switch 38 is disabled, and the power supply to the electronic control unit 37 cannot be turned on.

When moving backward, operate the reverse lever to the reverse position to turn on the contact a 28b of the reverse lever switch 28, then turn on the starter switch 27, move backward while turning on, and stop when the starter switch 27 is turned off. Controlled to do so.

First of all, starter switch 27 is turned on.
The control of the electronic control unit 37 is started by turning on the contact a 27b of 27, and the initial setting is first made (step),
Next, until the motor terminal voltage is digitally converted (step), jump to the step and judge the switch states of the side stand switch 35 and the oil pressure switch 36 (step). Is turned on (step), and it is determined whether or not the starter switch 27 is turned on (step). If the starter switch 27 is on, it waits for the same q millisecond before q millisecond has elapsed (step).

When the terminal voltage of the starter motor is digitally converted while repeating the above steps, the Ave. flag is set (step), the average voltage value is calculated (step), and the vehicle speed is determined. (Step), various flags are set and reset, Ave.
The flag is reset again (step).

When the vehicle speed does not exceed the predetermined limit speed (Vm = dV) (step) and is lower than the vehicle speed control upper limit speed (Vm = cV) (step), the state of the P.Tr.OFF flag is judged. (Step), the vehicle speed is low at the beginning until the end of the start control, jumping over the step, the state of the next q millisecond elapsed flag is judged, and when q milliseconds have not elapsed, ON-Lock detection is not performed. If not, P.Tr.short is detected (step).

If the power transistor unit 23 is normal and is not short-circuited (step), check the state of the side stand switch 35 and the oil pressure switch 36 again (step), and if it can move backward, check the starter switch 27 on state (step). Then, the state of the q millisecond elapsed flag is checked (step).

If q milliseconds have elapsed, the reverse relay 30 is turned off (step), and the start control is performed in step.

This start control is executed for the winning Td seconds after q milliseconds have passed since the starter switch 27 was turned on, and thereafter, the start control is skipped and the start control is not performed.

At the end of the startup control, the duty ratio is determined based on the duty ratio with respect to the normal vehicle speed (see FIG. 11), so that steps are executed thereafter, and the vehicle speed control is performed by the duty ratio search for the vehicle speed. .

In this way, when the vehicle speed is being controlled and the vehicle is moving backward, when the vehicle speed control upper limit speed (Vm = cV) is exceeded (step), the reverse control is stopped (step), and the vehicle speed is set to the predetermined limit speed (Vm = Vm). = DV), the speed limiter relay 32 is turned on (step), dynamic braking is applied, the reverse control is stopped (step), and then the control by the electronic control unit 37 ends.

[Brief description of drawings]

1 and 2 are schematic explanatory views showing an embodiment of a vehicle reverse control device according to the present invention, and FIG. 1 is a reverse state.
FIG. 2 shows a starting state, FIG. 3 is an explanatory view showing a power transmission state from a crankshaft and a starter motor to an output shaft, and FIG. 4 is a side view of a motorcycle equipped with its reverse control device. FIG. 5 is a circuit diagram of the embodiment, FIG. 6 is a circuit diagram showing details of the electronic control unit in FIG. 5, FIG. 7 is a flow chart showing a main routine of this embodiment, and FIG. FIG. 9 is a flowchart showing an interrupt routine of the present embodiment, FIG. 9 is an explanatory view showing a flag setting method in vehicle speed determination, and FIG. 10 is a relationship between motor terminal voltage and duty for explaining a vehicle speed control method. FIG. 11 and FIG. 11 are diagrams showing the relationship of the duty ratio with respect to time for explaining the control at the time of startup. DESCRIPTION OF SYMBOLS 1 ... Engine, 2 ... Crankshaft, 3 ... Clutch, 4 ... Multistage gear transmission, 5 ... Output shaft, 6 ... Power transmission system, 7 ... Rear wheel, 8 ... Cell starter motor, 9 ... Output shaft, 10 ... One way Clutch, 11 ... Reverse gear reducer, 12 ... Reverse clutch, 13 ... Gear, 14 ... One-way clutch, 15 ... Reverse clutch, 16 ... Switching operation mechanism, 17 ... Reverse operation transmission system, 18 ... Reverse lever, 19 ... Link mechanism , 20 ... Electric control device, 21 ... First starter magnetic relay, 22 ... Second starter magnetic relay, 23 ... Power transistor unit, 24 ... Feed current suppressing circuit, 25, 26 ... Resistor, 27 ... Starter switch, 28 ... Reverse Lever switch, 29 ... Reverse switch, 30 ... Reverse relay, 31 ... Starter magnetic controller, 32 ... Speed limiter relay, 33 ... Clutch switch, 34 ... Newt Switches, 35 ... side stand switch, 36 ... Oil pressure switch, 37 ... ECU, 38 ... battery + terminal, 39 ... battery ground terminal, 40 ... engine start line,
41 ... backward wiring, 42 ... leak wiring, 43 ... braking wiring, 44 ... fuse, 45, 46 ... diode, 47 ... neutral indicator lamp, 48 ... oil pressure indicator lamp, 49 ... dammer switch, 50 ... high beam relay, 51 … Low beam relay, 52… High beam light, 53… Low beam light, 54
… Reverse indicator lamp, 55… Constant voltage power supply circuit, 56… Digital input circuit, 57… Analog input circuit, 58… Output circuit, 59
… CPU, 60… ROM, 61… RAM.

Claims (1)

[Claims] 1. A vehicle reversing device capable of reversing a vehicle by the driving force of a starter motor for starting an internal combustion engine, which rotates in the same direction as when the internal combustion engine is started, regardless of the internal combustion engine for driving. The starter motor, the first switch and the second switch are connected to a power source in series, the control means is connected in parallel only to the second switch, and the first switch is a condition for starting an internal combustion engine or The first switch is provided with a first restraint means for turning on the first switch only when a condition for moving the vehicle backward is satisfied, and the second switch turns off the second switch only when a condition for moving the vehicle backward is satisfied. A reversing control device for a vehicle, comprising: a second restraining means for restraining, wherein the control means adjusts a retreating speed.