JPH09160643A - Diagnostic system for vehicle - Google Patents

Diagnostic system for vehicle

Info

Publication number
JPH09160643A
JPH09160643A JP7321588A JP32158895A JPH09160643A JP H09160643 A JPH09160643 A JP H09160643A JP 7321588 A JP7321588 A JP 7321588A JP 32158895 A JP32158895 A JP 32158895A JP H09160643 A JPH09160643 A JP H09160643A
Authority
JP
Japan
Prior art keywords
abnormality
manual
vehicle
travel
autonomous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP7321588A
Other languages
Japanese (ja)
Inventor
Kazunori Kagawa
和則 香川
Hiroaki Tanaka
宏明 田中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP7321588A priority Critical patent/JPH09160643A/en
Publication of JPH09160643A publication Critical patent/JPH09160643A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215Sensor drifts or sensor failures

Landscapes

  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

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

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【発明の属する技術分野】本発明は車両用診断システ
ム、特に自律走行(自動運転)モードと手動走行モード
を有する車両の診断に関する。
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】[0002]

【従来の技術】従来より、各種センサからの情報に基づ
いて車両の速度や操舵角を制御して自律走行を行う自動
運転が知られており、切換スイッチにより自律走行モー
ドと手動走行モードを適宜切り換えられるようになって
いる。例えば、特開平3−286315号の自動操舵装
置には、車両の自動操舵と通常のハンドル操作による手
動操舵との切換を任意に行わせる操舵モード切換スイッ
チを設けることが記載されている。
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】[0003]

【発明が解決しようとする課題】このように自律走行モ
ードと手動走行モードを有する車両においては、両モー
ドが共に正常に機能する必要があり、従って、両モード
の正常/異常を診断する診断システム(ダイアグシステ
ム)が重要である。
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.

【0004】しかしながら、例えば自律走行中に自律走
行で主に用いられる進路認識・障害物センサの正常/異
常の診断を開始することは好ましくなく、また、検査用
信号を入力して出力を得るようなアクチュエータ系機器
の診断はそのアクチュエータが作動中は不可能である。
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.

【0005】本発明は上記従来の課題に鑑みなされたも
のであり、その目的は、自律走行系機器及び手動走行系
機器の正常/異常を早期かつ確実に診断して両モードを
円滑に機能させることが可能な車両用診断システムを提
供することにある。
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】[0006]

【課題を解決するための手段】上記目的を達成するため
に、第1の発明は、自律走行モードと手動走行モードを
有する車両の診断システムであって、自律走行モードを
実行中に手動走行モードで用いられる機器の正常/異常
を診断する診断手段と、前記診断手段で異常と診断され
た場合に手動走行モードへの移行前にその旨を報知する
報知手段とを具備することを特徴とする。
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. .

【0007】また、上記目的を達成するために、第2の
発明は、自律走行モードと手動走行モードを有する車両
の診断システムであって、手動走行モードを実行中に自
律走行モードで用いられる機器の正常/異常を診断する
診断手段と、前記診断手段で異常と診断された場合に、
自律走行モードへの移行前にその旨を報知する報知手段
とを具備することを特徴とする。
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.

【0008】このように、自律走行時には手動走行系の
機器を診断し、また手動走行時には自律走行系の機器の
診断を行うので、自律走行から手動走行に切り換える
際、あるいは手動走行から自律走行に切り換える際にこ
れから切り換えるべきモードの状態を予め知ることがで
き、円滑にモード移行(場合によってはモード移行の中
止)を行うことができる。なお、移行前とは、移行する
に先だっての意味であり、例えば両モードを切り換える
切換スイッチが設けられている場合には、切換スイッチ
を操作する前及び切換スイッチを操作した時を含み、さ
らにこの切換スイッチを操作後実際に走行システムのモ
ード切換が完了するまでの時間も含む概念である。
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】[0009]

【発明の実施の形態】以下、図面に基づき本発明の実施
の形態について説明する。
BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

【0010】図1には本実施形態のシステム構成図が示
されている。手動走行系100としては、診断手段とし
ての電子制御装置ECU10、パワーステアリング1
2、トランスミッション14、エンジン16が設けら
れ、さらに走行制御機構としてABS(アンチロックブ
レーキシステム)18、TRC(トラクションコントロ
ール:登録商標)20、VSC(ビークルスタビリティ
コントロール)22が設けられている。一方、自律走行
(自動運転)系200としては、診断手段としての自動
運転ECU30、CCDカメラなどの進路認識・障害物
検出センサ32、赤外線送受信器などの路車間通信装置
34、GPS36、車速センサ38、自律走行と手動走
行を相互に切り換える切換インターフェース(切換スイ
ッチ)40、運転状況モニタディスプレイ42、操舵ア
クチュエータ44、ブレーキアクチュエータ46、アク
セルアクチュエータ48、システム異常警告装置50及
び注意事項告知対処方法表示装置52が設けられてい
る。なお、これらの区別は厳密なものではなく、両モー
ドで共通している機器もある。例えば、パワーステアリ
ング12やトランスミッション14、エンジン16、A
BS18等は自律走行系でも使用され、車速センサ38
やシステム異常警告装置50、注意事項告知対処方法表
示装置52は手動走行系でも使用される。また、運転状
況モニタディスプレイ42、システム異常警告装置5
0、注意事項告知対処方法表示装置52は、運転席近傍
に設けられた単一のCRT表示装置で構成することもで
きる。さらに、手動走行ECU10と自動運転ECU3
0を単一のECUで構成することも可能である。この場
合、切換インターフェース40が単一のECUの機能を
切り換えるスイッチとして機能することになる。
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.

【0011】以下、図2のフローチャートを用いて本実
施形態の処理を説明する。まず、システムは、自律走行
(自動運転)中か否かを判定する(S101)。自動運
転中である場合には、自動運転ECU30はECU10
に対して手動走行系の診断を行うよう制御信号を出力す
る。ECU10は、この制御信号により、パワーステア
リング12やトランスミッション14などの手動走行系
の各機器の正常/異常を判定する(S102)。具体的
な診断項目は以下の通りである。
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.

【0012】<パワーステアリング> 電気パワーステアリングの場合:ECU出力、トルクセ
ンサ出力、モータ駆動アンプ出力(電流センサで監
視)、クラッチ(モータ切り離し用)(消費電流を検
出) 油圧パワーステアリングの場合:ポンプ出力圧(油圧セ
ンサで監視) <トランスミッション>自動変速用油圧(油圧センサで
監視) <エンジン>EFI出力 <ABS・TRC・VSC>作動状況 なお、上述したようにこれらパワーステアリング、エン
ジン、ABS等は自動/手動にかかわりなく動作してい
るので、自動運転中はECU10が、手動運転中は自動
運転ECU30が正常/異常を判定する。
<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.

【0013】そして、これら各機器の正常/異常を判定
した後、機器に異常ありと診断された場合には、直ちに
その旨をシステム異常警告装置50に出力して運転者に
報知するとともに、注意事項告知対処方法表示装置52
に対処方法を表示する(S104)。具体的な警告の内
容及び対処方法は以下の通りである。
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.

【0014】<パワーステアリング> 警告音発生と音声による警告 「パワーステアリングに異常が検出されました」のメッ
セージ表示 「ハンドルを切るには通常より大きな力が必要です。手
動へ移行し安全な場所に車を止めて修理を依頼するか、
自動的に車両を退避エリアへ停車させるかを選択して下
さい」の対処方法表示 <トランスミッション> 警告音発生と音声による警告 「トランスミッションに異常が検出されました」のメッ
セージ表示 「安全な場所へ退避して停車します。修理を依頼して下
さい」の対処方法表示 <エンジン> 警告音発生と音声による警告 「エンジンに異常が検出されました」のメッセージ表示 「安全な場所へ退避して停車します。修理を依頼して下
さい」の対処方法表示 <ABS・TRC・VSC> 各種制御装置のフェイルモードに移行 警告音発生と音声による警告 「ABS(TRS/VSC)に異常が検出されました」
のメッセージ表示 「走行安定性を向上させる機能が一部失われておりま
す。早めに修理を依頼して下さい」の対処方法表示 また、手動走行系に異常なしと判定された場合には、診
断できる範囲内で自律走行系の機器の診断処理に移行し
(S103)、異常が検出された場合にはその告知と対
処方法の指示を行う(S105)。具体的な指示として
は、例えば「自動運転装置に異常が検出されました。安
全な場所へ退避し停車します。修理を依頼して下さい」
等である。
<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.

【0015】一方、S101にて自動運転でないと判定
された場合には、自動運転ECU30は手動走行系の診
断処理に移行する(S106)。自動運転でない場合に
は、手動で走行していることになるから、この診断は可
能な範囲内で行われることになる。例えば、パワーステ
アリング12やトランスミッション14、エンジン16
などである。そして、これらに異常が検出された場合に
は、直ちに自動運転への移行を禁止するとともにその旨
を警告すると共に対処方法を表示する(S108)。具
体的には、以下の通りである。
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.

【0016】<パワーステアリング>警告音発生と音声
による警告 「パワーステアリングに異常が検出されました」のメッ
セージ表示 「ハンドルを切るには通常より大きな力が必要です」の
対処方法表示 <トランスミッション>警告音発生と音声による警告 「トランスミッションに異常が検出されました」のメッ
セージ表示 「安全な場所へ退避して停車して、修理を依頼して下さ
い」の対処方法表示 <エンジン>警告音発生と音声による警告 「エンジンに異常が検出されました」のメッセージ表示 「安全な場所へ退避して停車して、修理を依頼して下さ
い」の対処方法表示 また、手動走行系の機器に異常が検出されなかった場合
には、自動運転ECU30は自律走行系の機器の診断処
理に移行する(S107)。具体的な診断項目は以下の
通りである。
<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.

【0017】<操舵アクチュエータ>電気パワーステア
リングの場合にはトルクセンサの監視を除いたもの <ブレーキアクチュエータ> モータ固着か否か(起動時に回転させて異常を検出) <アクセルアクチュエータ> モータ固着か否か(クラッチを切って回転させて検出) クラッチ(モータ切り離し用)(消費電流を監視) <進路認識・障害物検出センサ>これらのセンサで冗長
系を構成するため相互の出力を比較して異常を検出 <自動運転ECU>ECU10と冗長系を構成し相互の
出力を比較してECU10が異常を検出 <各アクチュエータ駆動アンプ>電流指令値と出力電流
の比較 <路車間通信装置>通信ループテスト <GPS>自律航法装置との出力比較(なお、自律航法
装置とは、距離センサと方位センサの組み合わせをい
う) <車速センサ>GPSデータからの計算値との比較 <切換インターフェース(スイッチ)>消費電流の監
視、起動時全セグメント点灯 <音声警告装置>消費電流の監視、起動時発声 <警告音発生装置>消費電流の監視、起動時発音 <システム異常警告装置>消費電流の監視、起動時全セ
グメント点灯 <注意事項告知・対処方法表示装置>消費電流の監視、
起動時全セグメント点灯 <運転状況モニタ・ディスプレイ>消費電流の監視、起
動時全セグメント点灯 そして、この診断の結果異常が検出された場合には、直
ちに自動運転への移行を禁止すると共にその旨を警告
し、対処方法を表示する。具体的には、各種制御装置の
フェイルモードへの移行、警告音発生、音声による警
告、「自動運転装置に異常が検出されました」のメッセ
ージ表示、「自動運転は出来ません。修理を依頼して下
さい」の対処方法表示、である。
<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.

【0018】このように、本実施形態では、自動運転E
CU30で自律走行(自動運転)中に手動走行ECU1
0で手動走行系の正常/異常診断を完了し、手動走行E
CU10で手動走行(手動運転)中に自動運転ECU3
0で自律走行系の正常/異常診断を完了して他の走行モ
ードに移行する前にその診断結果を運転者に報知するの
で、運転者は適切な措置を講じて他のモードに円滑に移
行することができるようになる。なお、単一のECUで
自律走行/手動走行を行う場合には、一方のモードを実
行中にCPUのアイドルタイムを利用して、あるいは時
分割処理で他方のモードの診断を行えばよい。
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.

【0019】また、本実施形態では、異常が検出された
場合に直ちにその旨を報知するようにしているが、例え
ば手動走行系に自律走行系の異常が検出された場合、運
転者が切換スイッチ40を操作した際、あるいは操作後
であって移行完了前にその旨のメッセージを表示して自
律走行には移行できないことを報知してもよい。
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】[0020]

【発明の効果】以上説明したように、本発明によれば、
自律走行系機器及び手動走行系機器の正常/異常を確実
に診断して両モードを円滑に機能させることができる。
特に、一方の走行モードから他方の走行モードに移行す
る前にその異常が報知されるので、運転者は他のモード
移行後に予期しない異常に遭遇するおそれが減少し、円
滑な走行が可能となる。
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. .

【図面の簡単な説明】[Brief description of the drawings]

【図1】 本発明の実施形態の構成ブロック図である。FIG. 1 is a configuration block diagram of an embodiment of the present invention.

【図2】 同実施形態の処理フローチャートである。FIG. 2 is a processing flowchart of the embodiment.

【符号の説明】[Explanation of symbols]

10 手動走行ECU、12 パワーステアリング、1
4 トランスミッション、16 エンジン、18 AB
S、20 TRC、22 VSC、30 自動運転EC
U、32 進路認識・障害物検出センサ、34 路車間
通信装置、36GPS、38 車速センサ、40 切換
インターフェース(切換スイッチ)、42 運転状況モ
ニタディスプレイ、44 操舵アクチュエータ、46
ブレーキアクチュエータ、48 アクセルアクチュエー
タ、50 システム異常警告装置、52 注意事項告知
対処方法表示装置。
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)

【特許請求の範囲】[Claims] 【請求項1】 自律走行モードと手動走行モードを有す
る車両の診断システムであって、 自律走行モードを実行中に手動走行モードで用いられる
機器の正常/異常を診断する診断手段と、 前記診断手段で異常と診断された場合に、手動走行モー
ドへの移行前にその旨を報知する報知手段と、 を具備することを特徴とする車両用診断システム。
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.
【請求項2】 自律走行モードと手動走行モードを有す
る車両の診断システムであって、 手動走行モードを実行中に自律走行モードで用いられる
機器の正常/異常を診断する診断手段と、 前記診断手段で異常と診断された場合に、自律走行モー
ドへの移行前にその旨を報知する報知手段と、 を具備することを特徴とする車両用診断システム。
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.
JP7321588A 1995-12-11 1995-12-11 Diagnostic system for vehicle Pending JPH09160643A (en)

Priority Applications (1)

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JP7321588A JPH09160643A (en) 1995-12-11 1995-12-11 Diagnostic system for vehicle

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Application Number Priority Date Filing Date Title
JP7321588A JPH09160643A (en) 1995-12-11 1995-12-11 Diagnostic system for vehicle

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Publication Number Publication Date
JPH09160643A true JPH09160643A (en) 1997-06-20

Family

ID=18134226

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7321588A Pending JPH09160643A (en) 1995-12-11 1995-12-11 Diagnostic system for vehicle

Country Status (1)

Country Link
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