JPH09160643A - Diagnostic system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To diagnose whether or not both mode equipments are normal or abnormal as to a vehicle which travels by switching the autonomous travel and manual travel. SOLUTION: When the autonomous travel is carried out by an automatic drive ECU 30, a manual travel ECU 10 diagnoses whether equipments for power steering 12 and transmission 14 are normal or abnormal. If abnormality is detected as a result of the diagnosis, the shift from the autonomous travel to the manual travel is reported to the driver before the shift. When the manual travel is performed by the manual travel ECU 10, the automatic drive ECU 30 diagnoses whether or not equipments such as a travel path recognizing and obstacle detecting sensor 32, a GPS 36, etc., are normal or abnormal and if abnormality is detected, a shift to the autonomous travel is inhibited and the inhibition is reported to the driver.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle diagnostic system, and more particularly to a vehicle diagnostic system having an autonomous driving (automatic driving) mode and a manual driving mode.

[0002]

2. Description of the Related Art Conventionally, automatic driving is known in which the vehicle speed and steering angle are controlled on the basis of information from various sensors to autonomously drive the vehicle. It can be switched. For example, Japanese Patent Laid-Open No. 3-286315 discloses that an automatic steering device is provided with a steering mode changeover switch for arbitrarily switching between automatic steering of a vehicle and manual steering by a normal steering wheel operation.

[0003]

In the vehicle having the autonomous traveling mode and the manual traveling mode as described above, it is necessary for both modes to function normally. Therefore, a diagnostic system for diagnosing normality / abnormality in both modes. (Diagnosis system) is important.

However, it is not preferable to start the course recognition / diagnosis of normality / abnormality of the obstacle sensor, which is mainly used in autonomous traveling during autonomous traveling, for example, and input an inspection signal to obtain an output. Diagnosis of various actuator devices is impossible while the actuator is operating.

The present invention has been made in view of the above conventional problems, and an object of the present invention is to make a normal and abnormal diagnosis of an autonomous traveling system device and a manual traveling system device early and surely to make both modes function smoothly. It is to provide a diagnostic system for a vehicle capable of performing the above.

[0006]

In order to achieve the above object, a first invention is a vehicle diagnostic system having an autonomous traveling mode and a manual traveling mode, wherein the manual traveling mode is executed while the autonomous traveling mode is being executed. A diagnostic means for diagnosing normality / abnormality of equipment used in the above, and an informing means for informing that fact before the shift to the manual traveling mode when the diagnostic means diagnoses an abnormality. .

In order to achieve the above object, the second invention is a diagnostic system for a vehicle having an autonomous traveling mode and a manual traveling mode, which is used in the autonomous traveling mode during execution of the manual traveling mode. Diagnostic means for diagnosing normality / abnormality of, and when an abnormality is diagnosed by the diagnosing means,
It is characterized by comprising an informing means for informing that before the shift to the autonomous traveling mode.

As described above, since the equipment of the manual traveling system is diagnosed during the autonomous traveling and the equipment of the autonomous traveling system is diagnosed during the manual traveling, when switching from the autonomous traveling to the manual traveling or from the manual traveling to the autonomous traveling. At the time of switching, the state of the mode to be switched can be known in advance, and the mode can be smoothly changed (in some cases, the mode can be stopped). Note that "before transition" means before transition, and for example, when a changeover switch for switching between the two modes is provided, it includes before operating the changeover switch and when operating the changeover switch. This is a concept including the time until the mode switching of the traveling system is actually completed after the changeover switch is operated.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a system configuration diagram of the present embodiment. As the manual traveling system 100, an electronic control unit ECU 10 and a power steering 1 as diagnostic means are provided.
2. A transmission 14 and an engine 16 are provided, and an ABS (anti-lock brake system) 18, TRC (traction control: registered trademark) 20, and VSC (vehicle stability control) 22 are further provided as traveling control mechanisms. On the other hand, the autonomous traveling (automatic driving) system 200 includes an automatic driving ECU 30 as a diagnostic means, a route recognition / obstacle detection sensor 32 such as a CCD camera, a road-vehicle communication device 34 such as an infrared transceiver, a GPS 36, a vehicle speed sensor 38. , A switching interface (switching switch) 40 for switching between autonomous traveling and manual traveling, a driving status monitor display 42, a steering actuator 44, a brake actuator 46, an accelerator actuator 48, a system abnormality warning device 50, and a notice notice coping method display device 52. Is provided. Note that these distinctions are not strict, and some devices are common to both modes. For example, power steering 12, transmission 14, engine 16, A
The BS 18 and the like are also used in the autonomous traveling system, and the vehicle speed sensor 38
The system abnormality warning device 50 and the notice notification coping method display device 52 are also used in a manual traveling system. Further, the operation status monitor display 42 and the system abnormality warning device 5
0, precautions notification coping method display device 52 can also be configured by a single CRT display device provided near the driver's seat. Further, the manual traveling ECU 10 and the automatic driving ECU 3
It is also possible to configure 0 with a single ECU. In this case, the switching interface 40 functions as a switch that switches the functions of a single ECU.

The processing of this embodiment will be described below with reference to the flowchart of FIG. First, the system determines whether or not autonomous traveling (automatic driving) is being performed (S101). When the automatic driving is in progress, the automatic driving ECU 30
A control signal is output to perform a diagnosis of the manual traveling system. Based on this control signal, the ECU 10 determines normality / abnormality of each device of the manual traveling system such as the power steering 12 and the transmission 14 (S102). The specific diagnostic items are as follows.

<Power Steering> Electric power steering: ECU output, torque sensor output, motor drive amplifier output (monitored by current sensor), clutch (for motor disengagement) (current consumption detected) Hydraulic power steering: pump Output pressure (monitored by oil pressure sensor) <Transmission> Hydraulic pressure for automatic shift (monitored by oil pressure sensor) <Engine> EFI output <ABS / TRC / VSC> Operating status As described above, these power steering, engine, ABS, etc. Since the operation is performed regardless of automatic / manual operation, the ECU 10 determines normal / abnormal during automatic operation and the automatic operation ECU 30 during manual operation.

If it is determined that there is an abnormality in the equipment after determining the normality / abnormality of each of these equipments, the fact is immediately output to the system abnormality warning device 50 to inform the driver, Item notification coping method display device 52
The coping method is displayed (S104). The details of the warning and the coping method are as follows.

<Power steering> Warning sound and voice warning “Power steering abnormality detected” message display “Turning the steering wheel requires more force than usual. Stop the car and ask for repair,
Remedy display for "Please choose whether or not to automatically stop the vehicle in the evacuation area"<Transmission> Warning sound and voice warning Message display "Abnormality was detected in the transmission""Evacuation to a safe place" Please contact us for repair. ”<Engine> Warning sound and voice warning“ Engine abnormality detected ”message display“ Evacuate to a safe place and stop. Remedy for "Please request repairs"<ABS / TRC / VSC> Switch to fail mode of various control devices Warning sound and voice warning "ABS (TRS / VSC) error was detected."
Message display "The function to improve running stability is partially lost. Please request repair as soon as possible." In addition, if it is determined that there is no abnormality in the manual running system, the diagnosis is performed. If the abnormality is detected, the process proceeds to the diagnosis process of the autonomous traveling system device within the possible range (S103). If an abnormality is detected, the notice and the coping method are instructed (S105). As specific instructions, for example, "An abnormality was detected in the automatic driving device. Please evacuate to a safe place and stop. Please request repair."
And so on.

On the other hand, if it is determined in S101 that the vehicle is not in the automatic driving mode, the automatic driving ECU 30 shifts to the diagnosis process for the manual traveling system (S106). If the vehicle is not in the automatic driving mode, it means that the vehicle is traveling manually, so this diagnosis is performed within a possible range. For example, power steering 12, transmission 14, engine 16
And so on. Then, when any abnormality is detected in these, the shift to the automatic driving is immediately prohibited, the fact is warned, and the coping method is displayed (S108). Specifically, it is as follows.

<Power steering> Warning sound and warning by voice Message display of "Abnormality of power steering is detected" Display of remedy for "Turning steering wheel requires more force than usual"<Transmission> Warning Sound generation and voice warning Message display of "abnormality detected in transmission" Remedy display of "Please evacuate to a safe place, stop, and request repair"<Engine> Warning sound generation and voice Warning message "The engine has detected an error" Message display "Please evacuate to a safe place, stop, and request repair" Remedy display Also, an error was detected in the equipment for manual traveling If not, the autonomous driving ECU 30 shifts to the diagnostic processing of the device of the autonomous traveling system (S107). The specific diagnostic items are as follows.

<Steering Actuator> In the case of electric power steering, the monitoring of the torque sensor is excluded. <Brake actuator> Whether the motor is fixed (rotate at startup to detect an abnormality) <Axel actuator> Whether the motor is fixed (Clutch is disengaged and detected by rotation) Clutch (for motor disengagement) (Monitor current consumption) <Route recognition / obstacle detection sensor> These sensors form a redundant system and compare their outputs to detect an error. Detection <Automatic driving ECU> A redundant system is formed with the ECU 10 and the outputs are compared with each other to detect an abnormality. <Each actuator drive amplifier> Comparison between current command value and output current <Road-to-vehicle communication device> Communication loop test <GPS > Output comparison with autonomous navigation system (Note that autonomous navigation system is a combination of distance sensor and direction sensor. <Vehicle speed sensor> Comparison with calculated value from GPS data <Switching interface (switch)> Monitoring current consumption, lighting all segments at startup <Voice warning device> Monitoring current consumption, utterance at startup <Warning sound generator ＞ Monitor current consumption, sound at startup <System abnormality warning device> Monitor current consumption, turn on all segments at startup <Display device for notice and coping method> Monitor current consumption,
Lighting all segments at startup <Operating status monitor / display> Monitoring current consumption, lighting all segments at startup If any abnormality is detected as a result of this diagnosis, immediately prohibit the transition to automatic operation and notify that effect. Warn and display remedy. Specifically, transition to fail mode of various control devices, warning sound generation, voice warning, message display of "abnormality detected in automatic driving device", "automatic driving is not possible. Request repair. Please display the solution.

Thus, in this embodiment, the automatic driving E
Manual traveling ECU1 during autonomous traveling (automatic driving) with CU30
0 completes the normal / abnormal diagnosis of the manual drive system,
Automatic driving ECU3 during manual driving (manual driving) with CU10
At 0, the diagnosis result is notified to the driver before completing the normal / abnormal diagnosis of the autonomous traveling system and shifting to another driving mode, so the driver takes appropriate measures to smoothly shift to another mode. You will be able to. When performing autonomous traveling / manual traveling with a single ECU, the idle mode of the CPU may be used while executing one mode, or the other mode may be diagnosed by time-division processing.

Further, in this embodiment, when an abnormality is detected, the fact is immediately notified. However, for example, when an abnormality of the autonomous traveling system is detected in the manual traveling system, the driver changes the switch. A message to that effect may be displayed when the user operates 40, or after the operation and before the completion of the transition, to notify that the autonomous traveling cannot be performed.

[0020]

As described above, according to the present invention,
It is possible to surely diagnose normality / abnormality of the autonomous traveling system device and the manual traveling system device and smoothly operate both modes.
In particular, since the abnormality is notified before shifting from one driving mode to the other driving mode, the driver is less likely to encounter an unexpected abnormality after shifting to the other driving mode, which enables smooth driving. .

[Brief description of the drawings]

FIG. 1 is a configuration block diagram of an embodiment of the present invention.

FIG. 2 is a processing flowchart of the embodiment.

[Explanation of symbols]

10 Manual travel ECU, 12 Power steering, 1
4 transmissions, 16 engines, 18 AB
S, 20 TRC, 22 VSC, 30 automatic driving EC
U, 32 Path recognition / obstacle detection sensor, 34 Road-to-vehicle communication device, 36 GPS, 38 Vehicle speed sensor, 40 Change interface (change switch), 42 Driving status monitor display, 44 Steering actuator, 46
Brake actuator, 48 Accelerator actuator, 50 System abnormality warning device, 52 Precautions notice Remedy display device.

Claims (2)

[Claims] 1. A diagnostic system for a vehicle having an autonomous traveling mode and a manual traveling mode, the diagnostic means diagnosing normality / abnormality of a device used in the manual traveling mode during execution of the autonomous traveling mode, and the diagnostic means. A vehicle diagnostic system, comprising: an informing means for informing that when an abnormality is diagnosed in 1. before shifting to the manual traveling mode. 2. A diagnostic system for a vehicle having an autonomous traveling mode and a manual traveling mode, the diagnostic means diagnosing normality / abnormality of equipment used in the autonomous traveling mode during execution of the manual traveling mode. A vehicle diagnostic system, comprising: an informing unit for informing that when an abnormality is diagnosed in 1. before transitioning to the autonomous traveling mode.