JPS63203494A - Retreat controller for car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] L! = Top 5 ■ Plate and 1 The present invention relates to a vehicle reversing device that uses the driving force of a starter motor to move the vehicle backwards, in which the starting of an internal combustion engine and the backward movement of the vehicle can be selectively controlled. This is related to the reverse control device.

A patent application was filed on October 25, 1985 as Japanese Patent Application No. 60-238643 for a vehicle reversing device that uses the driving force of a starter motor to move the vehicle backwards.

In the vehicle reversing device disclosed in Japanese Patent Application No. 60-238643, a starter motor rotates the crankshaft of an internal combustion engine to start the engine, and the starter motor is used as a drive source to control procurement, thereby reversing the vehicle.

However, with this vehicle reversing device, if the switching control circuit that switches the power supply circuit to the starter motor between starting and reversing is malfunctioning, not only will the vehicle reverse, but the internal combustion engine will It also becomes impossible to start the engine, making normal forward travel impossible.

The present invention provides a vehicle reversing mechanism 11JI that overcomes these difficulties.
II. Regarding the improvement of the device, in a vehicle reversing device that uses the driving force of a starter motor to move the vehicle backwards, a first switch and a second switch are interposed in series in the power supply circuit of the starter motor, and the second switch 3rd in parallel to the switch
a switch is connected, the first switch is provided with a first suppressing means for turning on the first switch only when a condition for starting the internal combustion engine or a condition for moving the vehicle backward is established; leaves the vehicle,
Since the third switch is configured to adjust the backward speed, when the conditions for starting the internal combustion engine are satisfied, the first switch and the second switch are turned on, and the first switch and the second switch are turned on. A current flows through the starter motor, causing the starter motor to rotate;
The internal combustion engine is started by the driving force.

Further, in the present invention, when the condition for moving the vehicle backward is satisfied, the second switch is turned off and the first switch is turned on, and the power supply connects the first switch to
Current flows appropriately to the third switch and the starter motor, the starter motor rotates, and the vehicle is moved backward by 1 m at a required speed with its driving force.

Tomo IJI The following Figures 1 to 11 show the application of the present invention to a motorcycle.
An embodiment shown in the figure will be described.

First, the outline of the power transmission system of the present invention will be explained 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 shift f15, and this output shaft 7 is connected to a shaft, a gear,
It is connected to a rear wheel 9 via a power transmission system 8 consisting of a sprocket, a chino, etc., and when the multi-cylinder engine 2 is in operation and the clutch 4 is connected, the gear shift operation mechanism 6
When the multi-gear transmission 5 is operated to a state other than neutral, the power of the multi-cylinder engine 2 is transmitted to the rear wheels 9 to drive the vehicle forward.

Further, the cell starter motor 10 installed parallel to the crankshaft 3 of the multi-cylinder engine 2 is connected to a reduction gear 11 and a gear 13.
It is connected to the crankshaft 3 via a one-way clutch 14, so that when the cell starter motor 10 rotates, the crank @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 a reduction gear 12 and a reverse clutch 15, and the switching operation mechanism 16 of the reverse clutch 15 has a built-in lost motion mechanism, and the switching operation mechanism l1416 It is connected to the reverse lever 18 via a reverse operation transmission system 17 consisting of links, wires, etc., and is also connected to the neutral detection piece 19a via a link mechanism 19, and the shift operation mechanism 6
When the reverse lever 18 is pulled upward in an attempt to reverse the large motorcycle 1 while the multi-gear transmission 5 is set to the neutral state as shown in FIG.
The switching operation mechanism 16 is switched to the reverse side, and this movement is transmitted to the neutral detection piece 19a through the link device 411119, and the notch 6 of the shift drum 6a of the speed change operation mechanism 6 is transmitted to the neutral detection piece 19a.
The neutral detection piece 19a can be fitted into the switching operation mechanism 1.
6 can be moved to its reverse switching position, the reverse clutch 15 is connected to the output shaft 7, and the output shaft 7 is moved in the backward direction opposite to the direction in which the multi-cylinder engine 2 moves. It is designed to be rotationally driven.

When performing a quick speed switching operation upwards of this reverse lever 18, multi-stage gear shifting! ! 15 is not in a neutral state (second
(see figure), the neutral detection piece 19a of the link mechanism 19 cannot fit into the notch 6b of the shift drum 6a of the speed change operation mechanism 6, so the switching operation mechanism 16 cannot move to its reverse switching position. The reverse clutch 15 is not connected to the output shaft 7 and is driven by the cell starter motor 10 which rotates in the opposite direction to the forward direction rotation to the output 'I* 7 by the crankshaft 3 of the multi-cylinder engine 2.
This prevents the backward rotational driving force from being transmitted to the output @7.

Furthermore, when the cell starter motor 10 is retracting,
The electronic control unit @20 controls its rotation and stopping on and off, and also controls its rotational speed.

Therefore, the electronic control device 20 controls the cell starter motor 10
The first starter magnetic relay 2 controls the operation of the
1, a second forward starter magnetic relay 22, a power transistor unit 23 that controls the power supply current to the cell starter motor 10 in the backward state, and a resistor that suppresses the power supply current to the cell starter motor 10 in the backward state. 25 and 26, a starter switch 27 that is switched at the time of starting operation, a reverse lever switch 28 that is switched when the reverse lever 18 is operated to the reverse position, and a multi-stage gear shift +! a reverse switch 29 that is turned off when the reverse lever 15 is operated to the neutral position and the reverse lever 18 is operated to the reverse position, and is turned on in other cases; and a first starter magnetic relay 2.
After the reverse relay 30 turns on the reverse relay 30 and the first starter magnetic relay 21 are turned on, a starter magnetic controller [
]-ra 31, a speed limiter relay 32 that short-circuits both electrodes of the cell starter motor 10 when the cell starter motor 10 exceeds a predetermined rotation speed in the backward state, and a speed limiter relay 32 that is turned on when the clutch 4 is in the disengaged state. a neutral switch 34 that turns on when the multi-gear transmission 5 is operated in neutral, a side stand switch 35 that turns on when the side stand (not shown) is raised, and a clutch switch 33 that turns on when the multi-cylinder engine 2 is in a rotating state. The oil pressure switch 36 is equipped with an oil pressure switch 36 that is turned off when the oil pressure is reached, and an electronic control unit 37 that controls the oil pressure switch 36.

In addition, the engine starting wiring 40 connecting the battery + terminal 38 and the battery ground terminal 39 is connected to the a contact 21a of the first starter magnetic relay 21, the a contact 22a of the cell starter motor 10, and the second starter magnetic relay 22.
are interposed in series.

Further, a resistor 25 of the power supply current suppression circuit 24 and a power transistor unit 23 are connected in series to a backward wiring 41 connected in parallel to the a contact 22a of the second starter magnetic relay 22. A resistor 26 is interposed in a leak wire 42 connected in parallel to the power transistor unit 23, and a speed limiter relay 32 is connected to a brake wire 43 connecting the positive terminal of the cell starter motor 10 and the battery ground terminal 39. A contact 3
2a and a fuse 44 are interposed in series.

Furthermore, the reverse relay 3 is connected to the line connecting the a contact 27b of the starter switch 27 and the battery ground terminal 39.
0 coil 30b, diode 45, and reverse switch 29 are interposed in series, and the coil 21 of the first starter magnetic relay 21 is connected to the wire connecting the a contact 27b of the starter switch 27 and the battery ground terminal 39.
b, the a contact 30a of the reverse relay 30, and the clutch switch 33 are interposed in series.

Furthermore, a diode 46 and a coil 22b of the second starter magnetic relay 22 are connected in series to a line connecting the positive side terminal 10a of the cell starter motor 10 and the reverse switch 29.

In addition, when the reverse lever 18 is operated to the retreat position, the neutral indicator lamp 47 and the neutral switch 3 are connected to the contact 28a of the reverse lever switch 28, which is turned on to the battery + terminal 38, and the battery ground terminal 39.
4 are connected in series, and the contact 28b of the reverse lever switch 28, which is turned on by the battery + terminal 38 when the reverse lever 18 is operated to the reverse position, is connected to the electronic control unit 3.
1 terminal 37-1.

Furthermore, 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. and is connected to a battery ground terminal 39 via an oil pressure switch 36.

Terminals 37-4°3 of electronic control units 1 to 37
7-5 is connected to the + side terminal 10a and the one side terminal 10b of the cell starter motor 10, so that the voltage applied to the cell starter motor 10 is detected.

Further, the terminal 31-6 of the electronic control unit 37 is a terminal for detecting the applied voltage of the power transistor unit 23, and the terminal 31-1 of the electronic control unit 37 is a terminal for detecting a switching operation of the starter switch 21.

Furthermore, even in the reverse operation, the terminal 37-8 of the electronic control unit 37 is connected to the coil 50b of the high beam relay 50 or the low beam relay 51 via the dimmer switch 49.
This is an output terminal for supplying current to the coil 51b of the high beam relay 50 or the low beam relay 51, and when the coil 50b of the high beam relay 50 or the coil 51b of the low beam relay 51 is energized, the
1 A contact 51a is turned on, and the high beam light 52
Alternatively, the low beam light 53 is turned on.

Furthermore, the terminal 37-9 of the electronic control unit 37 is an output terminal for controlling the output of the power transistor unit 23, and the terminal 37-10 of the electronic control unit 37 is an output terminal for controlling the speed limiter relay 32 on and off. It 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.

However, the terminal 37-11 of the t3 electronic control unit 37 is an output terminal for turning on the reverse relay 30 and turning on the first starter magnet and the pull relay 21 even when the reverse switch 29 is in the off state. The terminal 37-12 of the unit 37 operates the starter magnetic controller 31 after a predetermined time has elapsed since the first starter magnetic relay 21 is turned on, and supplies enough current to self-hold the first starter magnetic relay 21. It is an output terminal for supplying current to the coil 21b of the first starter magnetic relay 21, and a terminal 37-13 of the electronic control unit 31 is used to light up the reverse display lamp 54 to indicate this in the fast speed state. This is the output terminal of

Next, the electronic control unit 37 will be explained.

The electronic control unit 37 is connected to the terminal 37-1 of the electronic control unit 37 and supplies constant voltage power of 5V to the CPLJ59. The CPU is connected to the I source circuit 5 and the terminals 37-2, 37-3 of the electronic control unit 37.
A digital input circuit 56 which applies digital input to the input port 59, and a terminal 37- of the electronic control unit 37.
4゜37-5.37-6, connected to 37-7 and CP
An analog input circuit 57 that applies an analog input to the input port of U3O, and a terminal 37-8 of the electronic control unit 31.
37-9゜37-10, 37-11, 37-12
, 37-13; a ROM 6G containing sequence programs necessary to execute the flowcharts shown in FIGS. 7 and 8; and a digital input circuit 56. A RAM 61 that can read and write input data of the analog input circuit 51, data obtained by the operation of the CPU 59, and other data, and a digital input circuit 56. R according to the input signal of the analog input circuit 57
It consists of a CPU 59 that executes sequence programs and instructions stored in the OM 60 and outputs control signals to each part of the electronic control device 20 via an output circuit 58.

The operation of the control system of this embodiment will be explained below based on the flowcharts shown in FIGS. 7 and 8.

In addition to the main routine shown in FIG. 7, this control routine has an interrupt routine shown in FIG.
The same interrupt routine is executed every time.

First, to explain the interrupt routine, this interrupt routine is mainly a timekeeping routine for operating functions that require vehicle time, and in step A carry occurs every second, and in the next step [phase] it is determined whether there is a carry or not.
If the carry is not standing, jump to the step [stock],
If the carry is standing, proceed to step [phase].

Therefore steps [stock] to [phase] are executed every p milliseconds.

Then, when proceeding to step [phase] every p milliseconds, it is determined whether or not the start flag is set, and when the a contact 27b of the starter switch 27 is turned on, the starter flag is set to [phase], so the next 049 Check the status of the second elapsed flag (step [stock]).

This 649 seconds elapsed flag indicates that q milliseconds (q>
1)) is timed and is set when q milliseconds have elapsed.

Therefore, at first, the flag is in a reset state, and q milliseconds are counted in step (2), and the process proceeds to the next step [stock].

In step [stock], the state of the ON-Lock flag is determined.

The 0N-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 the cell starter motor.The condition is that the voltage across the cell starter motor is 0N-Loc is when the state of 3V or less continues for 3 to 5 seconds.
The k flag is set when the voltage is below the voltage, and the ON-Lock time is measured in the next step [phase].

In the next step ■, it is determined whether the power transistor short flags (P, Tr, 5hort flags) are set, and if the power transistor unit 23 fails and the conduction state continues for r milliseconds (Q<r) or more. It detects when P, Tr, 5 are in a conductive state.
The hort flag is set and now the next step [
This P, Tr, 5hort time is measured in [phase].

The above steps ① to [phase] are executed every p milliseconds to measure various times.

Then, in step [phase], each voltage is digitally converted to calculate the average terminal voltage of the cell starter motor 10, which will be described later.
, flag) is set.

Next, on/off control of the power transistor unit 23 is performed in step [share], the interrupt is canceled (step [phase]), and the process returns to the main routine.

In the main routine, initial settings of various flags, conditions, etc. are first made (step ■), and then ^Ve is set in step ■.
, It is determined whether or not the flag is set, and if the digital conversion of each voltage of the starter motor terminal voltage has not been completed, the flag is in the reset state, so the process jumps to step ①, and if it has been completed, Proceed to step ■,
The average value of the terminal voltage of the cell starter motor is calculated.

This voltage average value yn is obtained by adding the voltage xn detected this time and digitally converted to the previous average voltage value yn-1 based on a constant proportional distribution as shown in the following equation.

yn=α-yn-1+ (1-α)・xn or yn
is the product of multiplying y n-1 and xn by α and (1-α), respectively, and adding them, thereby averaging out the variations in the detected voltages.

Based on the motor terminal voltage vm obtained in this way,
In the next step (2), vehicle speed is determined.

In this step (2), three flags to be determined later are set and reset based on the voltage (2) m.

That is, as shown in FIG. 9, the power transistor off flag (P, Tr, OFF flag) is
is reset when it is less than bv, set when it is more than bv, and the starter magnetic switch off flag (S, H, O
The rF flag) is set when Vm exceeds C■ in the reset state, and is reset when it falls below bv in the set state, and the limiter flag is reset when vm is less than dV and set when it is more than dV. Ru.

Since the motor terminal voltage vm substantially corresponds to the vehicle speed, the above three flags are set depending on the vehicle speed state.

When the vehicle speed is determined in this way, the Ave flag is reset (step 2), and it is first determined whether or not the limiter flag is set (step 2).

As described above, the limiter flag is set when <vyrt≧dV, and at this time, it is assumed that the vehicle is moving backwards at a predetermined speed or higher on a slope, and in this case, the process jumps to step [phase].

In step [phase], current is passed from the brake relay output terminal 37-10 of the electronic control unit 37 to the speed limiter relay 32, turning on the same relay 32.

Therefore, the cell starter motor 10. Resistance 26. Fuse 44. A closed loop circuit of the speed limiter relay 32 is formed to limit the cell starter motor 10.

Then, proceeding to step [phase], the reverse display lamp 54 is turned off, and the reverse control is stopped (step [phase]).
Control by this routine ends.

In addition, in step ■, the vehicle speed is less than the predetermined limit speed (Vm
<dV), in the next step ■, S, H, O
The state of the FF flag is determined.

The backward vehicle speed is controlled by changing the ON/OFF duty ratio of the power transistor unit 23, and the control relationship of the motor terminal voltage vm according to this duty ratio is shown in FIG.

Duty control is performed in the range vm<bv, and when vm≦av, the duty at that time (5TDT')
is maximum (point A), control is stopped at Vm = bV, and the duty (EDDT) at that time is minimum (8 points)
.

Therefore, when the S, H, and OFF flags are set in step ■, this means that the motor terminal voltage vm exceeds CV. Unlike the backward control at the time of braking in step [phase], the process returns to step (2) again and backward control is still possible.

Once the S, H, and OFF flags are set as described above, they are not reset unless the motor terminal voltage vm becomes less than bv, so that stability control is performed.

In other words, when the S, H, and OFF flags are in the reset state, the first
The vehicle speed is controlled between AB as shown in FIG.

Therefore, if the S, H, and OFF flags are in the reset state at step (2), the process proceeds to step (2) and the P, Tr.

It is determined whether the OFF flag is set.

If the motor terminal voltage Vm is greater than or equal to bv, P, Tr.

With the OFF flag set, duty control is not performed and the process jumps to step [stock]. However, if V7FL≦bv, the process proceeds to step ■, where the vehicle speed and duty table are searched, and the power transistor unit 23 is energized. Determine the time or duty.

In the next step (2), the state of the 049 seconds elapsed flag is determined.

As will be described later in the startup control section, the vehicle speed is not controlled for 049 seconds after the starter switch 27 is turned on.
Since 0N-Lock detection in the next step ■ is not performed,
Before q milliseconds have elapsed, the flag is in the reset state and the step @
fly to

When 049 seconds have passed, proceed to step ■0N-Lo
ck detection is performed.

That is, in step (2), as described above, it is detected whether an overload has been applied to the starter motor and the motor terminal voltage vm has been below 3V for 3 to 5 seconds (TI!1
The time is measured in step ■ of the interrupt routine)
, When the conditions are satisfied and it is determined that the lock is 0N-Lock (step @), jump to step [phase] and turn on the reverse display lamp 5.
4 is turned off and the reverse control is stopped (step [phase]).

When it is determined in step (2) that the lock is not 0N-Lock, the process proceeds to step @ and detects P, Tr, and 5hort.

Motor terminal? When ffLt continues to be 1.5 V or more for r milliseconds or more (time measurement is performed in step [phase] of the interrupt routine), it is determined that the power transistor 23 is shorted (step [shared]). , jumps to step [phase], turns off the reverse display lamp 54, and stops the reverse control (step [phase]).

Unless the power transistor 23 is short-circuited.

If so, proceed to the next step ■.

In the same step ■, the status of the side stand switch 35° and oil pressure switch 36 is checked by the CPU.
59, and as determined in the next step [stock], if the side stand switch 35 is off or the oil pressure switch 36 is on, proceed to step (3), turn off the reverse display lamp 54, Stop the backward control (step [phase]) and return to step ■.

That is, reversing is prohibited when the side stand is out or when the multi-cylinder engine 2 is stopped.

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, the step moves from step [phase] to step ■, and since it is possible to reverse, the reverse display lamp 54 is turned on. , Next, the state of the starter switch 27 is input to the CPU 59 (step [phase]), and the state is determined (step ■).
, if the a contact 27b of the starter switch 27 is in the OFF state, jump to step [phase] and stop the backward control, and if the a contact 27b of the starter switch 27 is in the ON state, check whether the next q millisecond elapsed flag is set. Determine (Step @).

If 149 seconds have not elapsed since the a contact 27b of the starter switch 27 was turned on, the process advances to step [phase] and q milliseconds have elapsed, and when q milliseconds have elapsed, the step [phase] moves q milliseconds. Controls to set the second elapsed flag.

When it is determined that 149 seconds have elapsed in step @, the process moves to step (2) and the reverse relay 30 is turned off.

This means that when operating the first starter magnetic relay 21, it is only operated via the reverse relay 30 for q milliseconds, and the rest is operated by the starter magnetic controller 31.
This is to maintain the ON state of the first starter magnetic relay 21 by controlling the supply of current necessary for self-holding to this coil 21b, thereby suppressing power consumption.

Then, in the next step ■, it is determined whether the startup control flag is set, but this startup control flag is set in the next step [
This is set when the vehicle speed control performed only at startup, which is executed in step [phase] and O, is completed; in this case, step [phase]
fly to

Therefore, at startup, the flag goes to step [phase] with the flag in a reset state, and startup control is performed.

When starting in reverse, control as shown in FIG. 11 is performed to reduce the starting shock.

That is, the a contact 27b of the starter switch 21 is turned on.
After q milliseconds, power transistor unit 2
3 is in a non-conducting state and the voltage applied to the cell starter motor 10 is reduced to start it at low rotation speed, and after 149 seconds have elapsed, the Td waiting time power transistor unit 23
Startup control is performed by adjusting the duty ratio of

Here, the solid line B indicates the maximum value of the duty ratio that is allowed as time passes during startup, and initially the duty ratio is determined over time based on the solid line B.

Therefore, in step [phase], the duty ratio is searched for the elapsed time of the solid line B, and the startup control time T
d and sets the startup control flag when the same time elapses.

Then, in the next step O, the duty ratio for the vehicle speed of S;tC is searched, compared with the actual 1i1B, and the one with the smaller duty ratio is selected.

Then, proceed to the next step [phase], set the power transistor output flags (P, Tr, OUT flags), and return to step (2) again.

Since the embodiment shown in FIGS. 1 to 11 is configured as described above, when the reverse lever 18 is pushed down and the starter switch 27 is turned on, the reverse is activated 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-gear transmission 5 is set to neutral, the clutch switch 33 or neutral switch 34 is turned on, so the reverse relay 30
A contact 30a is turned on, turning on the first starter magnetic relay 21 and turning on the second starter magnetic relay 22, so that the battery ground is connected from the battery + terminal 38 via the engine starting wiring @40 When current flows through the terminal 39, the cell starter motor 10 rotates in six directions as shown in FIG. 3, and the rotation of the cell starter motor 10 cranks the crankshaft 3 in the same six directions. is started.

Also, after starting the multi-cylinder engine 2, this multi-cylinder engine 2
When the multi-gear transmission 5 is set to the neutral state and the reversing lever 18 is pulled upward in a state in which the A signal indicating that it is possible to reverse is sent to the CPU 59 via the circuit 56, so even if the reverse switch 29 is turned off by pulling up the reverse lever 18, the output from the terminal 37-11 of the electronic control unit 37 will cause the reverse The relay 30 is turned on, and the first starter magnetic relay 21 is turned on, so that the cell starter motor 10 rotates in the backward direction as shown in FIG. The cylinder engine 2 rotates the output shaft 7 in the 8-direction direction (which is opposite to the 8-direction rotation in normal forward running).
The output shaft 7 is rotationally driven in the direction shown by the broken arrow, and the large motorcycle 1 moves 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, no power is transmitted 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 transferred to the cell starter motor 10.
It is not transmitted to.

However, if the multi-cylinder engine 2 is not in operation,
Since the oil pressure switch 36 is turned on,
The reverse relay 30 is not turned on, the first starter magnetic relay 21 is turned off, and the cell starter motor 1
0 cannot be rotated.

In addition, the reverse clutch 15 is blocked and the starter motor 10
The reverse switch 29, which detects the state in which the driving force is not transmitted to the output shaft 7, is turned on and the clutch switch 33 is turned on.
Alternatively, when the neutral switch 34 is turned on and a condition is established that allows the engine 2 to start, the first starter magnetic relay 21 corresponding to the first switch and the second starter magnetic relay 21 corresponding to the second switch are activated. Magnetic relay 22 is turned on, starter motor 10 rotates, and reduction gear 11. The driving force of the starter motor 10 is transmitted to the crankshaft 3 via the gear 13 and the one-way clutch 14, and the engine 2 can be started by being cranked. In this case, even if the reverse operation system 17 is disconnected, the reverse lever switch 28 cannot be switched, and the electronic control unit 37 cannot be powered on, the engine 2 cannot be started. can.

Looking at the operating state over time since the starter switch 27 was turned on, control of the electronic control unit 31 is started when the starter switch 27 is turned on, initial settings are first made (step ■), and then the motor terminal voltage is digitally converted. Until this is done (step ■), jump to step ■ and press the side stand switch 35. Determine the switch state of the oil pressure switch 36 (step [phase]
), if it is possible to reverse, turn on the reverse display lamp 54 (step [phase]), and check whether the starter switch 27 is turned on (step ■), and if it is turned on, before q milliseconds have elapsed. Now wait for the same q milliseconds to pass (
Step @).

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

The vehicle speed does not exceed the predetermined limit speed (Vm=dV) (step ■), and the vehicle speed control upper limit speed (Vm=cV)
), when the step is lower than ■), P, Tr, OF
The state of the F flag is judged, but in the initial stage until the start control ends, the vehicle speed is low, so step
The state of the second elapsed flag is determined, and if q milliseconds have not elapsed, no detection is performed on 0N-LOC, and P, Tr, 5
hort is detected (step @).

If the power transistor unit 23 is normal and not shorted (step ■), turn the side stand switch 35 again. Check the state of the oil pressure switch 36 (steps ■, @), and if the multi-cylinder engine 2 is rotating and it is possible to move backwards, check the on state of the starter switch 27 (
Step [phase], ■), then check the state of the 649 seconds elapsed flag (step @).

If q milliseconds have elapsed, the reverse relay 30 is turned off (step @)), and starting control is performed in step [phase], O.

This starting control is executed for approximately Td seconds after q milliseconds have elapsed since the starter switch 27 is turned on, and thereafter, the process jumps from step (2) to step [phase] and the starting control is not performed.

At the end of the start control, the duty ratio has been determined based on the duty ratio for the normal vehicle speed (see Fig. 11), so step (2) will be executed from then on, and the vehicle speed will be controlled by searching the duty ratio for the vehicle speed. Ru.

When reversing while controlling the vehicle speed in this way,
When the vehicle speed control upper limit speed (Vm=cV) is exceeded, the reverse control is stopped (Step Co., Ltd.), and when the vehicle speed exceeds the predetermined limit speed (Vm=dV),
Turn on the speed limiter relay 32 (step [
After applying dynamic braking and stopping the reverse control (step [phase]), the control by the electronic control unit 37 is ended.

As described above, in the present invention, even if the third switch that adjusts the reverse speed fails, the second switch in parallel with the third switch is turned on as long as the starting conditions are met. Since the first switch is also turned on, the starter motor can rotate and the required start can be performed.

Further, in the present invention, J5 has a second switch that turns off the second switch only when the conditions for starting the internal combustion engine are not satisfied.
Since the third switch for adjusting the backward speed is connected in parallel to the second switch provided with the suppressing means, the circuit configuration is simplified and costs can be reduced.

[Brief explanation of the drawing]

1 and 2 are schematic explanatory diagrams illustrating an embodiment of the vehicle reverse control device according to the present invention, and FIG. 1 shows the reverse state,
FIG. 2 shows the starting state, FIG. 3 is an explanatory diagram illustrating the power transmission state from the crankshaft and starter motor to the output shaft, and FIG. 4 is a side view of the motorcycle equipped with the reverse control device. Fig. 5 is a circuit diagram of the embodiment, and Fig. 6 is a circuit diagram of the embodiment.
A circuit diagram illustrating details of the electronic control unit in the figure;
FIG. 7 is a flowchart illustrating the main routine of this embodiment, FIG. 8 is a flowchart illustrating the interrupt routine of this embodiment, FIG. 9 is an explanatory diagram illustrating the flag setting method in single series determination, 11 is a diagram showing the relationship between motor terminal voltage and duty to explain the vehicle speed control method, and FIG. 11 is a diagram showing the relationship between duty ratio and time to explain control at startup. 1...Large motorcycle, 2...Multi-cylinder engine, 3
... Crankshaft, 4... Clutch, 5... Multi-stage gear transmission, 6... Speed change operation mechanism, 7... Output shaft, 8
... Power transmission system, 9... Rear wheel, 10... Cell starter motor, 1t, 12... Reduction gear, 13...
・Gear, 14... One-way clutch, 15... Backward clutch, 16... Switching operation mechanism, 17... Backward operation transmission system, 18... Backward lever, 19... Link mechanism, 20. ...Electronic control device, 21...First starter magnetic relay, 22...Second starter magnetic relay, 23...Power transistor unit, 24...Power supply current suppression circuit, 25.26・・・
・Resistor, 27... Starter switch, 28... Reverse lever switch, 29... Reverse switch, 3
0... Reverse relay, 31... Starter magnetic controller, 32... Speed limiter relay, 33... Clutch switch, 34... Neutral switch, 35... Side stand switch,
36... Oil pressure switch, 31... Electronic control unit, 38... Battery + terminal, 39...
Battery ground terminal, 40... Engine starting wiring, 4
1... Backward wiring, 42... Leak wiring, 43...
Control wiring, 44... Fuse, 45.46... Diode, 47... Neutral indicator lamp, 48...
・Oil pressure display lamp, 49... Dimmer 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...RA
M.

Claims (1)

[Claims] In a vehicle reversing device that uses the driving force of a starter motor to move the vehicle backwards, the starter motor's power supply circuit includes:
A first switch and a second switch are interposed in series, and a third switch is connected in parallel to the second switch,
The first switch includes a first suppressing means that turns on the first switch only when a condition for starting the internal combustion engine or a condition for causing the vehicle to move backward is satisfied, and the second switch includes a first suppressing means 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. 1. A reversing control device for a vehicle, comprising: a second suppressing means that turns off the second switch only when the above is satisfied, and the third switch adjusts the reversing speed.