JPH10322809A - Vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To keep appropriate vehicle driving conditions at all times by permitting the drive of a wheel motor by a controller, when a diagnoser operated at start diagnoses that the wheel drive is possible. SOLUTION: A vehicle controller 33 couples the electronic control unit 29 of an antilock brake system which control the operation of a brake and the electronic control unit 27 of an EPI through connectors 73 and 71, respectively, and also couples each kind of sensors through a connector 67. Such a vehicle controller 33 possesses a function of self-diagnosing whether the normal vehicle drive by wheel motors 15 and 17 is possible or not, in addition to the function of controlling wheel motors 15 and 17 and an engine 11, and it permits the drive of the wheel motors 15 and 17 when it diagnoses that the wheel drive is possible, by operating the self-diagnosing function at start operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle in which wheels can be driven by a wheel motor, and more particularly to a vehicle in which a wheel motor can be selectively mounted as needed.

[0002]

2. Description of the Related Art Wheel motors have been proposed to increase driving efficiency when wheels are driven by electric motors. In a general wheel motor, since all or a part of the motor is housed in the wheel of the wheel, the rotational driving force of the motor rotor is directly transmitted to the wheel, and the energy loss in the driving force transmission path is small. A wheel motor having such advantages is used as a driving wheel of an electric vehicle, or provided on a driven wheel of a normal engine-driven vehicle,
It has been considered to use it as an alternative driving force in emergency or a driving force for attitude control.

[0003] Japanese Patent Application Laid-Open No. 1-298903 describes an invention of a control device for an electric vehicle equipped with such a wheel motor.

[0004]

In the case of a vehicle in which a wheel motor can be selectively mounted on an engine-driven vehicle, whether or not the vehicle has a wheel motor is determined.
Alternatively, the manner of driving control of the engine differs depending on whether or not the wheels can be driven by the wheel motor.
For example, if a wheel motor is not installed, the vehicle will be a two-wheel drive vehicle that uses only the driving force of the engine, and if the driven wheels are replaced with wheels that have a wheel motor, the driving force of both the engine and the wheel motor will be used. In a vehicle that can be a four-wheel drive vehicle, the drive control method of the engine greatly differs depending on whether or not to perform wheel drive by a wheel motor. Therefore, it is necessary to always check whether or not the wheels can be normally driven by the wheel motor before traveling.

However, according to the above-mentioned prior art, since the vehicle is an electric vehicle, the wheel motor is not mounted selectively at the request of the user, but is always mounted. Therefore, in the prior art, although the drive means is initialized and the start-up check is performed at the time of starting the wheel motor, basic diagnosis such as whether or not the wheel motor is properly mounted so as to drive the wheel is not performed. not going. Therefore, the inspection processing according to the conventional technique cannot be directly applied to a vehicle on which a wheel motor is selectively mounted.

[0006]

The vehicle according to the present invention can be mounted with two or more wheel drive devices that can be driven independently of each other, and one of the two or more wheel drive devices is detachably mounted. In a vehicle that is a wheel motor, a control device that controls a wheel driving device including a wheel motor, and a diagnostic device that self-diagnoses whether or not wheel driving can be performed by the wheel motor are provided. When it is determined that the wheel drive is possible, the drive of the wheel motor by the control device is permitted.

[0007] According to this vehicle, since the wheel motor is detachable, it is necessary to greatly change the drive control method of the vehicle depending on whether or not the wheel motor is mounted. For example, in the case of a vehicle equipped with a gasoline engine as another wheel drive device, a four-wheel drive using both the gasoline engine and the wheel motor is performed by installing the wheel motor, or either the gasoline engine or the wheel motor is used. It is possible to select whether to use two-wheel drive using the drive device described above, and the drive control corresponding to each is selected.

On the other hand, a self-diagnosis is performed at the time of a traveling start operation, that is, before traveling, as to whether or not the wheel motor can be driven by a wheel motor. Does not attempt to drive the wheel motor by mistake even though the vehicle cannot drive the wheels.

[0009]

FIG. 1 is a system diagram showing a configuration of a vehicle which can selectively mount a wheel motor according to an embodiment of the present invention. This vehicle is a front-wheel-engine-driven vehicle in which front wheels 3 and 4 are rotationally driven by a gasoline engine 11 that is a main power source. Wheel motors 15 and 17 that can be attached to and detached from left and right wheels 7 and 9 of the rear wheels are retrofitted. Is provided. As a result, the vehicle can run with four-wheel drive. The wheel motors 15, 17
By removing the rear wheels and using the rear wheels 7 and 9 as normal driven wheels, it is also possible to run with two-wheel drive using only a gasoline engine. The engine 11 has a throttle valve 1 similar to that mounted on a normal gasoline engine vehicle.
The output of the throttle valve 13 is controlled by a command from an electronic control unit (ECU) 27 of an electronically controlled fuel injection device (EFI) in accordance with the operation of the accelerator pedal. Is done.

The driving force of the wheel motors 15 and 17 is used as an auxiliary force, and is used, for example, as an auxiliary power when traveling on an uphill or for controlling a posture during turning. Such wheel motors 15 and 16 are mounted together with the wheels 7 and 9 on a wheel support mounted on a suspension arm, and the respective rotating shafts of the wheel motors 15 and 16 and the respective axle hubs of the wheels 7 and 9 And coaxially rotate together. The wheel motors 15 and 17 are driven by power supply from an electronic control unit (ECU) 31 for performing drive control of the entire wheel including drive adjustment of the front and rear wheels,
Controlled. The vehicle control ECU 31 includes a vehicle control unit 3
3, motor control units 35, 37 and inverters 39, 4
1 is provided. The motor control unit 35 and the inverter 39 supply controlled power to the left wheel motor 15, respectively, and the motor control unit 37 and the inverter 41 supply controlled power to the right wheel motor 17, respectively. is there.

The vehicle control unit 33 is connected to an electronic control unit (ECU) 29 of the antilock brake system (ABS) for controlling the operation of the brake and the ECU 27 of the EFI via connectors 73 and 71, respectively. Further, the vehicle control unit 33 is connected to various sensors via a connector 67 via a connector.

Various sensors include a steering angle sensor 53 for detecting a steering angle of a front wheel, which is a steering wheel, an accelerator sensor 55 for detecting an amount of depression of an accelerator pedal, and a brake for detecting whether or not a brake pedal is depressed. Sensor 5
7. a shift position switch 59 for detecting a gear shift position of the transmission of the engine drive system;
A yaw rate sensor 61 for detecting the turning angular velocity of the vehicle, a lateral acceleration sensor 63 for detecting the lateral acceleration of the vehicle,
Longitudinal acceleration sensor 6 for detecting the longitudinal acceleration of the vehicle
5. PK for detecting parking brake on / off status
B sensor 77, wheel speed sensors 19, 21, 23, 24 for independently detecting the speeds of the four front, rear, left and right wheels
Etc.

The inverters 39 and 41 are connected to the DC / DC converter 43 by connectors 69 and 79. The DC / DC converter 43 is connected to the battery 45 having a voltage of 12 volts (V) via the connector 81. doing. In addition, the inverter units 39 and 41
Is connected to the wheel motors 15 and 17 via a connector 69 and power supply lines 83 and 85.

The vehicle control unit 33 controls the driving of the entire vehicle based on the outputs of these sensors. Therefore, naturally, the wheel motor 1
Drive control of 5 and 17 is also performed. That is, the drive of the wheel motors 15 and 17 is controlled by adjusting the outputs of the inverters 39 and 41 based on the outputs from various sensors including the wheel speed sensors 23 and 25 and the accelerator sensor 55 according to a preset algorithm. .

The vehicle control unit 33 has a function of performing self-diagnosis as to whether or not normal wheel driving by the wheel motor is possible, in addition to a function of controlling the wheel driving devices, ie, the wheel motors 15, 17 and the engine 11. Have.
Since the wheel motors 15 and 17 are detachable, which can be selectively attached as needed, it is checked at least before running whether or not the wheels can be driven by the wheel motors and whether or not the vehicle can be driven by four wheels. The vehicle control unit 3
3 itself needs to know.

The driving control of the wheel motors 15 and 17 may be determined by the algorithm of the vehicle control unit 33 based on the design concept for the vehicle. For example, when the vehicle is used to assist the front wheel driving force, which is the main driving force when traveling uphill, the acceleration sensor 55, the shift position switch 59, the wheel speed sensors 19, 21, 23, 25, etc. Control may be performed such that when it is detected that the vehicle is traveling, the vehicle is rotated at a speed corresponding to the wheel speed at that time.

Further, it can be used as an alternative power when an engine trouble occurs, and can also be used for posture control during turning.

Next, a diagnosis process before traveling by the vehicle control unit 33 will be described with reference to a flowchart of FIG. This vehicle does not have a setting switch for driving the wheel motor, and the wheel motor is automatically driven based on the control of the vehicle control unit 33 when the wheel motor is properly mounted. It has become.

When the driver operates the start switch 75 to start the engine, power is turned on to various electric components including the vehicle control unit 33, and the vehicle control unit 33 enters a standby state. In this state, the self-diagnosis program for the wheel motor shown in FIG. 2 starts, and the vehicle controller 33 waits until the start switch 75 is further operated to turn on the ignition (IG) (step 101).

When the IG is turned on, the routine proceeds to step 103, where it is determined whether or not the left and right wheel motors 15, 17 are mounted. This judgment is based on the wheel motor 1
This is achieved by checking the continuity of the connector 69 between the vehicle control ECU 31 and the vehicle control ECU 31 functioning as a wheel motor drive circuit.

When it is determined that the wheel motors 15 and 17 are not mounted, the routine proceeds to step 105, where it waits until the start (ST) of the start switch 75 is turned on. The diagnosis ends.
Note that the ST ON state of the start switch 75 is set to the engine 1
1 means driving the starter motor for starting the motor.

In step 103, the wheel motor 1
When the installation of 5 and 16 is confirmed, the process proceeds to the subroutine of step 107. In step 107, it is checked whether or not the connection between the vehicle control ECU 31 and various elements connected via the connectors 67, 68, 71, 73, 79 is proper. Check the continuity between them. If an improper connection is confirmed in this subroutine, an abnormal display is performed by a display means not shown, and if it is confirmed that the connection is proper, the process proceeds to the next step 109.

Step 109 is a subroutine for performing an initial check on the vehicle control ECU 31 itself and the EFIECU 27 and ABS ECU 29 connected thereto. Here, each ECU checks whether or not the original control operation can be performed.
Memory check of each ECU, signal operation check and I
A communication check between the CUs is performed. If abnormal, an abnormal display is performed by a display unit not shown, and if normal, the process proceeds to step 111.

Step 111 is a subroutine for checking the current between the left inverter 39 and the left wheel motor 15, and checking the current between the right inverter 41 and the right wheel motor 16, respectively. . In this check, a predetermined voltage is applied to the wheel motors 15 and 16 from the inverters 39 and 41 to detect the rise time and the magnitude of the current, and determine whether or not these are within a predetermined range. If it is out of the predetermined range, display an error,
If it is within the predetermined range, it is determined to be normal and further step 1
Go to step 13.

In step 113, the wheel motor 15,
This is a subroutine for checking the rotation direction of No. 17.
Since the wheel motors 15 and 17 are detachable powers, there is a possibility of reverse rotation if there is a connection error or the like. Therefore, it is determined in this subroutine whether the rotation direction is correct. Specifically, in a state where the parking brake or the foot brake is applied, the vehicle control unit 33 sends the motor control units 35 and 37 to the motor control units 35 and 37 so as to generate a weak forward driving force within a range where the spring of the vehicle body contracts but the vehicle body does not advance. The motor drive dummy signal is given to the wheel motor 15
And 17 are driven for a short time, and the actual rotation direction of the wheel motors 15 and 17 at that time is detected to confirm whether or not forward rotation is performed. If reverse rotation is detected, an abnormal direction is displayed because the rotation direction is abnormal. If forward rotation is detected, the process proceeds to step S15.

In step 115, the wheel motor 15,
17 is a subroutine for checking a motor offset. Here, under the condition of constant current, the offset of the rotation angle position sensor attached to each wheel motor is changed in current phase from 0 degrees to 360 degrees, and the peak value of the rotation amount of the motor is obtained. The offset of the sensor output phase is checked and set as a regular offset.

When step 115 is completed, the process waits until the start (ST) of the start switch 75 is turned on (step 117). When ST is turned on, the parking brake is turned off and the torque command becomes zero. At this time, a lamp display or the like indicating that the wheel motor can be started is performed, and the self-diagnosis processing is terminated (steps 119 and 120).

Next, a drive abnormality monitoring and drive switching system during traveling by the vehicle control unit 33 when the wheel motor is mounted will be described with reference to the flowchart of FIG.

First, it is determined whether the vehicle is running using both the driving force of the engine driving and the driving force of the wheel motor (step 201). If this determination is affirmative, the wheel motors 15 and 17 are in operation. Yes, proceed to step 207 (step 205).

In step 207, it is determined whether at least one of the left and right wheel motors is abnormal. If the drive systems of the left and right wheel motors 15 and 17 are both normal, the process proceeds to step 209 to determine whether or not the drive system of the engine 11 is abnormal. If not, the process proceeds to step 221 to continue running. continue.

If it is determined in step 209 that the engine system is abnormal, the operation of the engine system is stopped to indicate that it is abnormal, the mode is switched to wheel drive only by the wheel motor system (step 213), and traveling is performed. Continue (step 221).

If it is determined in step 207 that at least one of the left and right wheel motors is abnormal, the operation of the drive system by the wheel motor is stopped to display an abnormality, and the wheel drive by the engine system alone is performed. Switching (step 211) and running are continued (step 221).

On the other hand, if the result of the determination in step 201 is negative, that is, if the vehicle is not running using both the drive system of the engine system and the wheel motor system, the process proceeds to the determination box of step 203.

In step 203, it is determined whether or not the vehicle is running only with the driving force of the engine system. If the determination is negative, that is, if the vehicle is running with the driving force of only the wheel motor system, step 221 is executed.
Then, the driving is continued. If the determination is affirmative, that is, if the vehicle is running with only the driving force of the engine system, it is determined whether the engine system is abnormal (step 215).

If the determination in step 215 is denied, the process proceeds to step 221 to continue the running. If the determination is affirmed, the operation of the engine system is stopped, an abnormality is displayed, and the operation is switched to the currently unused wheel motor system. After that, the traveling is continued (steps 217, 221).

According to this drive abnormality monitoring and drive switching system, when an abnormality occurs in either the wheel drive system by the engine or the wheel drive system by the wheel motor during traveling, the abnormal drive system is automatically activated. Is stopped, and the driving is switched to the running of the other normal drive system only. Thus, even if an abnormality occurs in the drive system during traveling, there is an advantage that a sudden traveling abnormality does not occur.

Next, a diagnosis process before traveling by the vehicle control unit 33 when the vehicle has a setting switch for determining whether or not to perform wheel driving by a wheel motor will be described with reference to the flowchart of FIG. Although not shown, the wheel motor drive switch is arranged in the operable range of the driver, and its output signal is input to the vehicle control unit 33.

When the driver operates the start switch 75 to start the engine, power is supplied to various electric components including the vehicle control unit 33, and the vehicle control unit 33 enters a standby state. In this state, the self-diagnosis program for the wheel motor shown in FIG. 4 starts, and the vehicle controller 33 waits until the start switch 75 is further operated to turn on the ignition (IG) (step 301).

When the IG is turned on, the process proceeds to step 303. Step 303 is a step in which the vehicle control ECU 31 itself and the EFIECU 27 and ABSE
This is a subroutine for performing an initial check on the CU 29. Here, each ECU checks whether or not the original control operation can be performed.
, A signal operation check, a communication check between ICUs, and the like. If abnormal, an abnormal display is performed by a display means (not shown), and if normal, the process proceeds to step 305 to start the start switch 75 (S
It waits until T) is turned on (step 305). S
Turning on T means that the engine 11 is started and the vehicle can be driven by driving the engine.

When the start (ST) of the start switch 75 is turned on, the routine proceeds to step 307, where it is determined whether or not the wheel motor drive switch is turned on. If the wheel motor drive switch is not on, the wheel drive by the wheel motor will not be performed in principle,
The self-diagnosis for the wheel motor after step 309 is not required, and the self-diagnosis processing ends.

If the wheel motor drive switch has been turned on, the flow advances to step 309 to determine whether or not the left and right wheel motors 15 and 17 are mounted. This determination is made based on the wheel motors 15, 17 and the vehicle control ECU 31.
This is achieved by confirming whether or not the connector 69 is connected between the two. Wheel motor 15,
If 17 is not mounted, the flow shifts to step 311 to display that no wheel motor is mounted, and terminates the self-diagnosis processing. If the wheel motor is mounted, the flow shifts to the subroutine of step 313.

Step 313 is a subroutine having the same contents as step 107 in FIG. 2 for checking the connector connection. The vehicle control ECU 31 and the connectors 67, 68, 7
The connection between the DC / DC converter 43 and the battery 45 is checked while the connection between the DC / DC converter 43 and the battery 45 is checked. If an improper connection is confirmed in this subroutine, an error display is performed by a display means (not shown), and if it is confirmed that the connection is proper, the process proceeds to the next step 317.

Step 317 corresponds to step 111 in FIG.
This is a subroutine having the same content as that of the left inverter 39.
This is a subroutine for checking the current between the right wheel motor 15 and the right wheel motor 16 and the current between the right inverter 41 and the right wheel motor 16. In this check, a predetermined voltage is applied to the wheel motors 15 and 16 from the inverters 39 and 41 to detect the rise time and the magnitude of the current, and determine whether or not these are within a predetermined range. If it is out of the predetermined range, display an error,
If it is within the predetermined range, it is determined to be normal, and step 3 is performed.
Move to 19.

In step 319, the wheel motor 15,
Step 113 of FIG. 2 for checking the rotation direction of No. 17
This is a subroutine with the same contents as. That is, the vehicle control unit 33 sends the motor control units 35, 3 and 3 to generate a weak forward driving force in a range where the spring of the vehicle body contracts but the vehicle body does not advance.
7, a motor drive dummy signal is given to drive the wheel motors 15 and 17 for a short time, and the actual rotation direction of the wheel motors 15 and 17 at that time is detected to confirm whether or not the motor is rotating forward. If the reverse rotation is detected, an abnormal direction is displayed because the rotation direction is abnormal. If the forward rotation is detected, the process further proceeds to step 321.

In step 321, the wheel motor 15
This is the same subroutine as step 115 in FIG. 2 for checking the 17 motor offset. Here, under the condition of a constant current, the offset of the rotation angle position sensor attached to each wheel motor is changed from 0 degree to 36 degrees.
By changing the current phase to 0 degrees, the peak value of the rotation amount of the motor is obtained, the offset of the position sensor output phase is checked,
Use a regular offset.

When step 321 is completed, when the parking brake is turned off and the torque command becomes zero, a lamp display or the like indicating that the wheel motor can be started is performed, and this self-diagnosis processing is ended ( Steps 323, 325).

Next, a drive abnormality monitoring and drive switching system for a vehicle equipped with a wheel motor drive switch when the switch is turned on will be described with reference to the flowchart of FIG.

Since the wheel motor drive switch is in the ON state, the wheel motors 15 and 17 are in operation or in an operable state (step 401). In this state, the judgment of step 403 is performed.

In step 403, it is determined whether at least one of the left and right wheel motors is abnormal. If the drive systems of the left and right wheel motors 15 and 17 are both normal, proceed to step 405 to determine whether the drive system of the engine 11 is abnormal. If not, proceed to step 411 and continue running. continue.

If it is determined in step 405 that the engine system is abnormal, the operation of the engine system is stopped to display the abnormality, and the driving is switched to the wheel drive only by the wheel motor system (step 409). Continue (step 411).

If it is determined in step 403 that at least one of the left and right wheel motors is abnormal, the operation of the drive system by the wheel motor is stopped to display an abnormality, and the wheel drive by the engine system alone is performed. Switching (step 407) and running are continued (step 411).

According to this drive abnormality monitoring and drive switching system, when an abnormality occurs in either the wheel drive system by the engine or the wheel drive system by the wheel motor during traveling, the abnormal drive system is automatically activated. Is stopped, and the driving is switched to the running of the other normal drive system only. Thus, there is an advantage that even if an abnormality occurs in the drive system during traveling, a sudden traveling abnormality does not occur.

In the above-described embodiment, the main wheel driving means is the gasoline engine 11, but other driving means, for example, a diesel engine or another electric motor may be used.

[0054]

As described above, according to the vehicle of the present invention, a self-diagnosis is performed at the time of a driving start operation, that is, before driving, to determine whether wheel driving by a wheel motor is possible, and only when it is determined that driving is possible. Since the driving of the wheel motor by the control device is permitted, the wheel motor is not erroneously driven even though the wheel motor cannot drive the wheel. Therefore, two or more types of wheel drive devices that can be driven independently of each other can be mounted,
In a vehicle in which one of the two or more types of wheel driving devices is a wheel motor that is detachably mounted, an appropriate wheel driving state is always maintained.

[Brief description of the drawings]

FIG. 1 is a system diagram showing a configuration of a vehicle that can selectively mount a wheel motor according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a diagnostic process before traveling by a vehicle control unit 33;

FIG. 3 is a flowchart showing a drive abnormality monitoring and drive switching system during traveling by a vehicle control unit 33;

FIG. 4 is a flowchart showing a second diagnosis process before traveling by a vehicle control unit 33;

FIG. 5 is a flowchart showing a second drive abnormality monitoring and drive switching system during traveling by a vehicle control unit 33;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Body, 3, 5, 7, 9 ... Wheels, 11 ... Engine, 1
5, 17: wheel motor, 31: vehicle control ECU, 3
3: vehicle control unit, 35, 37: motor control unit, 39, 4
1 ... inverter, 67, 69, 71, 73 ... connector,
43 DC / DC converter, 45 battery, 83,
85 ... power supply wiring.

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Takayuki Katsuta 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation

Claims (5)

[Claims] 1. A vehicle in which two or more types of wheel driving devices that can be driven independently of each other can be mounted, and one of the two or more types of wheel driving devices is a wheel motor that is removably mounted. A control device for controlling a wheel drive device including a wheel motor, and a diagnostic device for self-diagnosis as to whether or not wheel drive by the wheel motor is possible. A vehicle that permits the control of the wheel motor by the control device when the control is performed. 2. The vehicle according to claim 1, wherein the diagnosis device includes a detection unit that detects whether the wheel motor and the wheel motor drive circuit are electrically connected. 3. The diagnostic device according to claim 1, wherein the diagnostic device includes a unit that supplies a drive current to the wheel motor in a wheel braking state and detects a rotation direction from the movement of the wheel motor. Vehicle. 4. The vehicle according to claim 1, further comprising a switch for setting whether to drive the wheel motor, and operating the diagnostic device when the switch is on the driving side. 5. A vehicle in which two or more types of wheel driving devices that can be driven independently of each other can be mounted, and one of the two or more types of wheel driving devices is a wheel motor that is removably mounted. A control device for controlling the driving of the wheel motor; and abnormality detection means for determining whether or not the wheel drive by the wheel motor is normal during traveling, and when the abnormality detection means determines that there is an abnormality, the wheel motor is controlled by the control device. A vehicle characterized by prohibiting driving of the vehicle.