WO2016084160A1 - 車両用制御装置および車両制御方法 - Google Patents
車両用制御装置および車両制御方法 Download PDFInfo
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- WO2016084160A1 WO2016084160A1 PCT/JP2014/081242 JP2014081242W WO2016084160A1 WO 2016084160 A1 WO2016084160 A1 WO 2016084160A1 JP 2014081242 W JP2014081242 W JP 2014081242W WO 2016084160 A1 WO2016084160 A1 WO 2016084160A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/035—Bringing the control units into a predefined state, e.g. giving priority to particular actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/04—Monitoring the functioning of the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0496—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures by using a temperature sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0602—Interfaces specially adapted for storage systems specifically adapted to achieve a particular effect
- G06F3/061—Improving I/O performance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0655—Vertical data movement, i.e. input-output transfer; data movement between one or more hosts and one or more storage devices
- G06F3/0656—Data buffering arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0668—Interfaces specially adapted for storage systems adopting a particular infrastructure
- G06F3/0671—In-line storage system
- G06F3/0673—Single storage device
- G06F3/0679—Non-volatile semiconductor memory device, e.g. flash memory, one time programmable memory [OTP]
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C2205/00—Indexing scheme relating to group G07C5/00
- G07C2205/02—Indexing scheme relating to group G07C5/00 using a vehicle scan tool
Definitions
- the present invention relates to a vehicle control device, and more particularly to recording of a vehicle state and a control state before and after an abnormality that does not cause a failure but is a behavior different from normal.
- Patent Document 1 stores data for a predetermined time from the occurrence of a so-called failure event. This failure was reported to the driver, and eventually the cause of the failure was tracked. However, such failures do not often occur. It is more frequent to behave differently during normal (normal) vehicle travel. This unusual behavior is considered to be a potential driver failure. Or I don't feel it is broken, but I feel something is wrong. Or there are behaviors that you might miss. Here, such behavior is separated from “failure” and referred to as “abnormal”. A state where there is neither “failure” nor “abnormal” is referred to as “normal”. If this anomaly is missed several times, the driver may find it strange and contact the repair shop.
- the present invention has been made to solve the above problem, and by storing the state when an abnormality that is not a failure but a behavior different from normal is detected, the state of the abnormality can be grasped more accurately later. It is an object of the present invention to provide a vehicle control device and a vehicle control method that are useful for finding out the cause of the failure.
- the present invention includes a control processing unit that controls a vehicle, a monitor unit that monitors a state and a control state of the vehicle, and a nonvolatile storage unit, and the control processing unit includes a plurality of states related to the state of the vehicle.
- a vehicle control unit that inputs vehicle state information, calculates a control amount that is control state information from the vehicle state information, outputs a control signal for controlling the controlled device, and monitors the control state by the monitor unit;
- An abnormality detection unit that detects an abnormality when the vehicle state information or the control state information is in an abnormal region that does not reach the failure region for the failure, and the latest vehicle state information, control state information, and monitor information are constantly updated in advance Stores in the buffer of the control processing unit for the set period, and includes information stored in the buffer when an abnormality is detected.
- the vehicle state information, in the vehicle control device or the like includes a data storage control unit for the control state information and monitor information stored in the nonvolatile storage unit.
- the vehicle control device that is useful for later grasping the state of the abnormality more accurately and investigating the cause thereof And a vehicle control method.
- FIG. 1 is a diagram showing an example of the configuration of a vehicle control apparatus according to the present invention.
- the control unit 10 of the vehicle control device receives the voltage of the battery 1 as a power source and detection signals from the sensors 3a-3c (sensors) from the vehicle side via the input terminals IT.
- the voltage of the battery 1 is input via the ignition switch 2.
- it receives inputs from other sensors, controlled devices, external devices (3n), and the like.
- the battery 1 is shown on both the left and right input sides and the output side of the control unit 10 in FIG.
- control unit 10 outputs a control signal, which is an output signal, via an output terminal OT to one or a plurality of controlled devices 40 including actuators, motors, and the like to perform control.
- the actuator 4 shown as an example of the controlled device 40 is composed of, for example, solenoid coils 4a and 4b.
- an output terminal OT is provided so as to be able to communicate with the above-described “abnormality” which is a behavior different from normal and a diagnostic tool 5 for diagnosing a failure.
- the control unit 10 includes a power source 12 (for example, a 5-volt DC constant power source), a control processing unit 11 that performs control amount calculation, a sensor, a controlled device, and an input circuit 13a for an external device (3a-3n). -13n, supply of power to each controlled device 4, 40 including the actuator 4 etc. on the output side, relay 15 for cutting off, relay drive circuit 17 for the relay 15, and solenoid coils 4a, 4b of the illustrated actuator 4 Solenoid drive circuits 16a and 16b to be driven, monitor circuits 18a to 18n constituting a monitor unit, and a communication circuit 19 for communicating with the diagnostic tool 5 are configured.
- a drive circuit 16n is shown for the controlled device 40. However, for a controlled device that simply sends a control signal from the control unit 10, the drive circuit 16 includes, for example, an amplifier, an interface, and the like. .
- the control processing unit 11 includes a calculation unit 11x, a temporary storage unit (volatile storage unit) 11a, a buffer 11b, a memory write request buffer 11c, and a timer 11d.
- a calculation unit 11x that is a CPU (Central Processing Unit) performs various calculations and controls according to a program stored in advance in a nonvolatile storage unit 14 to be described later, for example.
- CPU Central Processing Unit
- FIG. 2 shows a processing function block diagram of an example of the calculation unit 11x.
- the calculation unit 11x in FIG. 2 also includes a vehicle control unit 111 and a failure determination unit 112 that are generally performed in a vehicle control device. Further, an abnormality detection unit 113, a data storage control unit 114, a data read control unit 115, and the like, which are features of the present invention, are further included.
- the vehicle control unit 111 includes a power steering control unit 111a having a motor drive current calculation unit 111aa, which will be described later in a fourth embodiment, as an example of vehicle control.
- the control unit 10 also has a nonvolatile storage unit 14.
- the nonvolatile storage unit 14 is composed of, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory) in which stored information does not disappear even when the power is turned off.
- EEPROM Electrically Erasable Programmable Read-Only Memory
- the nonvolatile storage unit 14 writes data and further reads the stored data according to a command from the control processing unit 11.
- the vehicle control unit 111 of the calculation unit 11x of the control processing unit 11 in FIG. 2 drives the solenoid coils 4a and 4b of the actuator 4 based on, for example, input information (S1-S3) that is vehicle state information from the sensors 3a to 3c. For example, a control amount (C1, C2) consisting of a current value is calculated. The control amount is used as control state information. Further, the vehicle control unit 111 monitors whether or not the same current as the control amount is supplied to the solenoid coils 4a and 4b by the monitor circuits 18a to 18c, and monitors the calculated control amount, that is, the target value. Feedback control is performed according to the deviation from the actual monitor value (M1-M3). The monitor value is used as monitor information.
- the monitor values M1-M3 are the voltage of the battery 1 and the current value to the solenoid coils 4a, 4b, respectively.
- the control processing unit 11 includes a variety of vehicle state information, control state information, and vehicle control data and information that are monitor information, and the existing vehicle control unit 111 of FIG. It is used for vehicle control and failure determination of the failure determination unit 112.
- the data storage control unit 114 shown in FIG. 2 selects input information (S1-S3), control amounts (C1, C2), and monitor values (M1-M3) in consideration of various abnormal states. In other words, these data are not newly input or calculated for the above-mentioned “abnormality” detection, but the existing vehicle control unit 111, the vehicle determination of the failure determination unit 112, the data used for the failure determination, the information Select data and information to be used for abnormality detection and abnormality verification after abnormality detection.
- These data are stored in a temporary storage unit 11a made of, for example, RAM (Random Access Memory) built in the control processing unit 11 in the same manner as other data XX.
- the buffer 11b is configured as a ring buffer, for example.
- the buffer can write and hold a total of eight pieces of data (S1 to S3, C1, C2, M1-M3) to be written n times.
- the vehicle control unit 111 periodically inputs input information (S1-S3), calculates control amounts (C1, C2), and monitors monitor values (M1-M3).
- the data for n times means data for n times of periodic operation.
- every time new data is input one after another the oldest data is pushed out and deleted, and new n times of data are constantly written. In this way, since old data is pushed out sequentially by new data, a ring buffer configuration is adopted.
- the data storage control unit 114 transfers, for example, three previous data from the current point in the buffer 11b to the memory write request buffer 11c.
- (eight) ⁇ (three times) data is transferred to the memory write request buffer 11c, these data are written in the memory blocks 14a-14n existing in the nonvolatile storage unit 14.
- the data storage control unit 114 transfers the data to the ring buffer 11b and further to the memory write request buffer 11c for a preset time or a preset number of times, and these are also stored in the nonvolatile storage unit 14. Write to memory blocks 14a-14n. As a result, data from a preset period (time or number of times) before the abnormality detection to data after the preset period (time or number of times) has elapsed since the abnormality detection is stored.
- the data storage control unit 114 stores the latest vehicle state information, control state information, and monitor information in the buffer 11b for a preset period while constantly updating it, and stores it in the buffer 11b when an abnormality is detected.
- the vehicle state information before and after the abnormality detection, the control state information, and the monitor information are stored in the nonvolatile storage unit 14 including the detected information.
- the data storage control unit 114 transfers the vehicle state information, the control state information, and the monitor information to the memory write request buffer 11 c and then stores them in the nonvolatile storage unit 14.
- the timer 11d of the control processing unit 11 is used for counting a preset time.
- the diagnostic tool 5 is connected to the control unit 10 as shown in FIG. 1, and a predetermined operation for reading data is performed on the diagnostic tool 5 by an operator.
- the calculation unit 11 x of the control processing unit 11 receives a data read command from the diagnostic tool 5 via the communication circuit 19.
- the data read control unit 115 receives the data read command, all the data stored in the nonvolatile storage unit 14 in FIG. 3 from the memory blocks 14a to 14n or specific information according to the command from the diagnostic tool 5 is displayed. The information is read out and transferred to the diagnostic tool 5 via the communication circuit 19.
- the operator can view the data before and after the occurrence of the abnormality by performing an operation of displaying the transferred data on the diagnostic tool 5 on the screen of the diagnostic tool 5 or printing it with a printing device, for example. It becomes possible to find out the abnormal state and its cause. In particular, since peripheral data other than data indicating an abnormality can be obtained, the cause of the abnormality can be more reliably investigated. Note that the stored data before and after the occurrence of an abnormality can be read from the control unit 10 anywhere, not only at a repair shop or a dealer, if the diagnostic tool 5 is connected to the control unit 10.
- abnormality detection unit 113 of the control processing unit 11 Based on the same concept as that for failure, “abnormal” is determined when a preset threshold value is exceeded or less.
- the preset threshold value is an intermediate value that hardly occurs in normal control and does not reach the failure determination value.
- the horizontal axis indicates the sensor value S
- the vertical axis indicates the current value I that is the control amount.
- the normal region 20 (S1 to S2, I1 to I3) is assumed.
- a sensor value or a current value enters the abnormal region 21 (S1 to S3, I2 to I4), it is determined that there is an abnormality.
- the areas other than the normal area 20 and the abnormal area 21 are failure areas.
- FIG. 5 similarly, if a sensor value or a current value enters a region (S1 to S4, I5 to I6) inside the one-dot chain line 22 slightly inside the normal region 20, it is determined that there is an abnormality.
- the outside of the normal area 20 is a failure area.
- the abnormal region is between the normal region and the failure region. That is, an area that does not reach the failure area with respect to the normal area is defined as an abnormal area.
- the abnormality detection threshold value is between a normal value and a failure determination threshold value, and normality, abnormality, or failure is determined based on whether the value is greater than or less than each threshold value, or exceeds or is less than the threshold value.
- the abnormality detection unit 113 detects that the sensor value or the control amount (for example, the current value) exceeds or falls below a threshold that cannot be generated during the normal control set in advance, And the data after the occurrence of an abnormality are stored in the nonvolatile storage unit 14.
- the non-volatile storage unit 14 stores not only data for abnormality determination but also a plurality of types of data related to these data.
- data selected in advance is stored in the buffer, and the data for the preset time or number of times from the time of abnormality detection at the time of abnormality detection is nonvolatile.
- the data in the sex storage unit 14 it becomes possible to read out this data at a later date and to investigate the state of the abnormality and the cause of the occurrence.
- the abnormality detection unit 113 performs abnormality detection.
- the failure determination may be performed at the same time.
- the data storage control unit 114 performs the same as when the abnormality detection unit 113 detects an abnormality.
- the vehicle state information, the control state information, and the monitor information at the time of failure determination by the failure determination unit 112 are transferred to the nonvolatile storage unit 14 via the temporary storage unit 11a, the ring buffer 11b, and the memory write request buffer 11c. Is stored separately.
- Embodiment 2 a vehicle control apparatus according to Embodiment 2 of the present invention will be described.
- the configuration is basically the same as that of the above embodiment shown in FIG. 1-5.
- the nonvolatile storage unit 14 can store only a finite amount of data.
- the sensor 3a is a vehicle speed sensor
- the sensor 3b is an engine speed sensor
- the sensor 3c is a temperature sensor. Assume that the vehicle speed sensor of the sensor 3a is abnormal. The disconnection of the signal line, the power supply line, the ground line, etc.
- the vehicle speed sensor abnormality is unrelated to the engine speed of the sensor 3b.
- the temperature of the sensor 3c may be related. Therefore, the sensor 3b is not stored, but the data of the sensor 3c is stored. Further, the control amounts C1 and C2 may change depending on the vehicle speed, and are to be stored. However, it is not necessary to store the current value monitored by the monitor circuits 18b and 18c.
- the monitor circuit 18a indirectly monitors the battery voltage and sets it as a storage target.
- the data storage control unit 114 excludes data irrelevant to the abnormality from the storage target and stores only the data that is related or possibly related.
- data to be stored is determined in advance.
- the abnormality occurrence date and time is data to be stored for all abnormalities, and there is data to be stored when any abnormality occurs in this way.
- the occurrence date and time can be added to all data based on, for example, the count of the timer 11d.
- the above-described abnormality in which the vehicle speed signal is input or interrupted is not related to the control amount, and may not be so accurate as to be used for the control amount calculation.
- the temperature is not required up to 20.0 degrees, and the number after the decimal point is reduced to 20 degrees.
- the used storage capacity of one piece of data is reduced. That is, the accuracy of data is taken into consideration.
- the number of stored data is reduced. It is necessary to shorten the time interval for storing data that changes greatly in a short time, such as the engine speed. On the other hand, for example, for temperature, data every second is sufficient. Therefore, the number of stored data is suppressed by distinguishing and storing the time interval for storing according to the type of stored data from short time to long time.
- the type of data to be stored (vehicle state information , Control status information, type of data stored in monitor information), number of digits of stored data, and storage interval table are stored in advance in the nonvolatile storage unit 14 or the like, and the data storage control unit 114 stores the table.
- the data is transferred to the memory write request buffer 11c and data is stored in the nonvolatile storage unit 14.
- Embodiment 3 a vehicle control apparatus according to Embodiment 3 of the present invention will be described.
- the configuration is basically the same as that of the above embodiment shown in FIG. 1-5.
- deletion and overwriting of data stored when an abnormality occurs will be described.
- One of the deletions of the stored data is deletion of the stored data based on a deletion command by the diagnostic tool 5.
- the diagnostic tool 5 When necessary information is obtained by the diagnostic tool 5, the obtained data is no longer necessary, and there is no problem even if it is deleted.
- the data storage control unit 114 first stores only newer or latest data (information) regarding data (information) related to the same abnormality. If the same abnormality occurs, the past data storage area can be overwritten to easily erase the past data and reduce the storage capacity.
- the abnormality is stored according to a predetermined priority order.
- An abnormal condition determined to be important in advance by this agreement is preferentially stored.
- An important abnormality is an abnormality that has a great influence on vehicle travel.
- newer abnormalities are stored.
- the abnormality returns to the normal value within a preset time after the occurrence of the abnormality, the corresponding data (information) can be deleted, and another abnormality can be used for the storage area of this data.
- the above-described storage priorities are also added to the table of the nonvolatile storage unit 14 of the second embodiment.
- the non-volatile storage unit 14 can be efficiently used by erasing and overwriting the stored data, and more necessary data can be stored.
- FIG. FIG. 6 is a diagram showing a specific example of part of the vehicle control apparatus according to Embodiment 4 of the present invention.
- FIG. 4 shows the entire configuration of a typical electric power steering control system according to the present invention.
- the assist torque AT of the motor 55 having the motor drive unit 55 a added to the steering shaft 52 is added to the steering torque ST of the driver transmitted from the handle 51 to the steering shaft 52.
- the added torque is multiplied several times by the steering gear box 53, and the direction of the tire 57 is changed via the rack and pinion mechanism 56.
- the main function of the electric power steering control device is to generate an assist torque AT corresponding to the steering torque ST of the driver.
- the steering torque ST when the driver turns the steering wheel 51 is detected by the torque sensor 3d, and a signal is sent to the control unit 10 as a steering torque detection signal S4.
- the power detection control unit 111a shown in FIG. 2 of the calculation unit 11x of the control processing unit 11 performs steering with the voltage detection signal S5 and the current detection signal S6, which are state quantities (vehicle state information) of the motor 55.
- An applied voltage V1 (C3) which is a control amount for generating the assist torque AT, is calculated from the torque detection signal S4 and added to the motor driver 55a.
- the voltage detection signal S5 and the current detection signal S6 are obtained from the voltage sensor 3e and the current sensor 3f.
- the torque sensor 3d, the voltage sensor 3e, and the current sensor 3f are sensors included in the sensor, the controlled device, and the external device (3a-3n) of FIG. 1, and are a steering torque detection signal S4, a voltage detection signal S5, and a current detection signal S6.
- the tire 57 receives road surface reaction torque RRT, and the steering shaft 52 receives friction torque FT and steering shaft reaction force SAR.
- the motor drive current calculation unit 111aa in FIG. 2 calculates the target value (control amount) of the current from the sensor signal. Then, current control is performed so that the actual current value (monitor value or current detection signal S6) of the motor 55 matches the target value.
- the motor 55 generates torque obtained by multiplying the current value by a torque constant and a gear ratio (gear ratio between the motor and the steering shaft), and assists the torque when the driver steers.
- detection signals from the vehicle speed sensor 3a and the temperature sensor 3c are further input to the control unit 10 with respect to a control example described later. These sensors are included in the sensor, the controlled device, and the external device (3a-3n) in FIG.
- FIG. 13a is an input circuit for inputting a vehicle speed detection signal S1 from the vehicle speed sensor 3a for detecting the vehicle speed; 13d is an input circuit for inputting a steering torque detection signal S4 from a torque sensor 3d (see FIG. 6) for detecting the steering torque ST, 13c is an input circuit for inputting the temperature detection signal S3 from the temperature sensor 3c for detecting the temperature in the control processing unit 11, 111aa1 is a target current control processing unit that calculates a target current of the motor 55 using the detected vehicle speed, steering torque, temperature, and the like. 111aa2 is a subtractor that subtracts the current detected by the current sensor 3f (see FIG.
- Reference numerals 55a, 55, and 3f denote motor drivers for driving the motors in FIG. 6, motors, and current sensors for detecting motor currents.
- the target current control processing unit 111aa1 and the subtractor 111aa2 are configured by the motor drive current calculation unit 111aa of FIG.
- FIG. 8 shows a functional block showing an example of the internal configuration of the target current control processing unit 111aa1.
- an assist map compensation unit that obtains torque to assist with an assist map in accordance with the steering torque detection signal S4 from the torque sensor 3d and the vehicle speed detection signal S1 from the vehicle speed sensor 3a. 111aa1-1.
- the current limiting processing unit 111aa1-2 limits the current in a preset pattern according to the temperature detection signal S3 from the temperature sensor 3c, as indicated by reference numeral 32 in FIG. That is, the motor output is limited.
- the current limit processing unit 111aa1-2 limits the command current instructed by the assist map compensation unit 111aa1-1, and obtains a target current value (control amount) as an assist torque amount.
- the electric power steering control includes other compensation such as compensation control for suppressing the motor 55 from rotating at a high speed, but is omitted here.
- the other compensation control after adding the compensation value of the compensation control to the output of the assist map compensation unit 111aa1-1, the current limit processing unit 111aa1-2 is processed, and then the target current value for controlling the motor To decide. Further, the content of the present invention is valid even if there is other compensation.
- a current limiting processing unit 111aa1-2 is provided as overheat protection.
- the driver since the assist is performed with the current compensated by the assist map, the driver can obtain a handle feeling that does not feel strange.
- the current limitation is performed by the current limitation processing unit 111aa1-2, the assist amount is limited, and the driver may feel uncomfortable feeling during steering the steering wheel.
- the abnormality detection unit 113 determines that an abnormality has been detected.
- the data storage control unit 114 also stores the vehicle state information, control state information, and monitor information related to the calculation of the motor drive current calculation unit (111aa) in the buffer 11b.
- data is transferred to the memory write request buffer 11c shown in FIGS. 1 and 3 described above, and a process of writing information such as current and temperature in the nonvolatile storage unit 14 is executed.
- the driver may feel that it has failed as described above. However, it does not actually break down, but is a process that acts to protect the motor driver 55a or the motor 55 from the assist control. If you don't steer for a while, the heat will stop and you will return to normal feeling. For this reason, if the information written in the nonvolatile storage unit 14 is analyzed later when it is brought to the repair shop, it can be explained that the assist amount is not limited by the above-described control but is limited. .
- FIG. 9 is a functional block diagram of a target current control processing unit of a vehicle control apparatus according to Embodiment 5 of the present invention.
- FIG. 9 shows a functional block of a modification of the configuration of the target current control processing unit of FIG.
- a device other than the electric power steering control device for example, in order to maintain the lane, the assist assist signal S9 from the lane recognition device is input and added to the assist amount so as to correct the assist amount of the motor.
- the control structure in the case is shown.
- the adder 111aa1-3 includes the target current control processing unit 111aa1, and the input circuit 13e is one of the input circuits in FIG.
- the lane recognition device is an external device included in the sensor, the controlled device, and the external device (3a-3n) in FIG.
- the abnormality detection unit 113 determines that an abnormality has been detected.
- the data storage control unit 114 also stores auxiliary assist signals, currents, and the like in the buffer 11b.
- data is transferred to the memory write request buffer 11c described above, and a process of writing information such as current and auxiliary assist signals to the nonvolatile storage unit 14 is executed.
- the written information can be analyzed to verify the situation in which assistance could not be provided.
- FIG. FIG. 10 is a diagram for explaining the control of the vehicle control apparatus according to the sixth embodiment of the present invention.
- the control unit 10 of FIG. 8 in order to drive the motor, power is supplied from a battery (for example, the battery 1 of FIG. 1) that is a vehicle power supply, and is supplied to the motor 55 as the applied voltage V ⁇ b> 1.
- V ⁇ b> 1 the applied voltage
- the broken line A in FIG. 10 when the capacity of the battery decreases, the voltage applied to the motor 55 decreases, the torque generated from the motor and the motor output decrease, and steering becomes difficult. there is a possibility.
- the abnormality detection unit 113 determines that abnormality has been detected.
- the data storage control unit 114 also stores information such as current and power supply voltage in the buffer 11b.
- data is transferred to the memory write request buffer 11c described above, and a process of writing information such as current and information such as power supply voltage to the nonvolatile storage unit 14 is executed.
- a process of writing information such as current and information such as power supply voltage to the nonvolatile storage unit 14 is executed.
- the overheat protection control when the current timing is limited to protect against overheat, whether or not the overheat protection control is activated by storing and analyzing the vehicle state information, the control state information, and the monitor information before and after being restricted. Can be analyzed.
- the process of how the auxiliary assist amount is calculated abnormally can be analyzed by storing and analyzing the data before detecting the abnormality. For this reason, for example, in the data storage control unit 114, the timing of storing the vehicle state information, the control state information, and the monitor information in the nonvolatile storage unit 14 according to the type of abnormality is set before the abnormality detection, before and after the abnormality detection, and after the abnormality detection. Switch to one. Regarding these timings, a table that defines the timing for each type of abnormality is stored in advance in the nonvolatile storage unit 14 or the like.
- the vehicle control device and the vehicle control method according to the present invention can be applied to various vehicles.
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Abstract
Description
図1はこの発明による車両用制御装置の構成の一例を示す図である。車両用制御装置のコントロールユニット10には車両側からそれぞれ入力端子ITを介して、電源であるバッテリ1の電圧、各センサ3a-3c(センサ類)からの検出信号が入力されている。バッテリ1の電圧はイグニッションスイッチ2を介して入力される。また、その他の複数のセンサ、被制御装置、外部装置(3n)等からも入力を受ける。なお説明の便宜上、バッテリ1を図1のコントロールユニット10の左右の入力側と出力側の両側に記載しているが、同一のものである。
一方、コントロールユニット10はそれぞれ出力端子OTを介して出力信号である制御信号をアクチュエータ、モータ等からなる1つまたは複数の被制御装置40に出力して制御を行う。被制御装置40の一例として示されているアクチュエータ4は例えばソレノイコイルド4a,4bから構成されている。また上述の、正常と異なる挙動である「異常」、および故障の診断用の診断ツール5と通信可能なように出力端子OTが備えられている。
なお、図1で被制御装置40に対して駆動回路16nが示されているが、コントロールユニット10から単に制御信号を送る被制御装置に対しては、駆動回路16は例えば増幅器、インタフェース等からなる。
モニタ値M1-M3はそれぞれ、バッテリ1の電圧と、ソレノイドコイル4a、4bへの電流値である。
そしてバッファ11bでは、次々に新しいデータが入力される毎に、最も古いデータが押し出されて削除され、絶えず新しいn回分のデータが書き込まれている。このように古いデータが新しいデータにより順に押し出されてゆくため、リングバッファ構成としている。
なお、予め設定された時間のカウントに制御処理部11のタイマ11dを使用する。
修理工場では図1で示したように診断ツール5がコントロールユニット10に接続され、作業者により診断ツール5にデータ読み出し用の予め決められた操作が行われる。制御処理部11の演算部11xは通信回路19を介して診断ツール5からデータ読み出し指令を受ける。データ読み出し制御部115は、データ読み出し指令を受けると、図3で不揮発性記憶部14に格納されたデータをメモリブロック14a-14nから全部、又は診断ツール5からの指令に従った特定の情報を読み出し、これらの情報を通信回路19を介して診断ツール5へ転送する。作業者は診断ツール5に、転送されたデータを例えば診断ツール5の画面に表示、または印字装置で印字させる操作を行うことで、異常の発生前、及び異常発生後のデータを見ることができ、異常の状態、及びその原因を探ることが可能となる。特に異常を示したデータ以外の周辺データを入手することができるので、異常発生原因の追究がより確実にできるようになる。
なお、コントロールユニット10からの、異常発生時前後の記憶されたデータの読み出しは、診断ツール5をコントロールユニット10に接続すれば、修理工場やディーラに限らず、どこでも行える。
図5においては、同様に正常領域20に対してそれより少し内側の一点鎖線22の内側の領域(S1~S4、I5~I6)にセンサ値又は電流値が入ると異常と判断する。図5では正常領域20の外側は故障領域である。
より一般的には、異常領域は正常領域と故障領域の間にある。すなわち、正常領域に対して故障領域には至らない領域を異常領域とする。または、異常検知閾値は正常値と故障判定閾値の間にあり、それぞれの閾値以上か閾値未満か、または閾値を超えたか閾値以下かで正常、異常、故障を判断する。
次にこの発明の実施の形態2による車両用制御装置について説明する。構成は図1-5に示した上記実施の形態のものと基本的に同じである。不揮発性記憶部14は有限のデータ量しか記憶できない。また、故障発生時のためのデータも記憶する必要があるため、異常検知時のデータを効率よく記憶しなければならない。そのため異常の内容に応じて記憶すべきデータを取捨選択することが必要である。例えばセンサ3aが車速センサ、センサ3bはエンジン回転数センサ、センサ3cは温度センサとする。センサ3aの車速センサが異常発生したと仮定する。信号ライン、電源ライン、グランドラインの断線等は故障発生であるので、異常とはならない。ここでは車速信号が入力されたり遮断されたりの不連続な状況が発生したと仮定する。この異常は制御処理部11の車両制御部111により予め設定された間隔毎に演算している車速により簡単に検知でき、車速センサの入力異常の可能性が大と異常検知部113が判断できる。
また、異常発生日時はすべての異常に関して記憶対象データであり、このようにいかなる異常が発生した場合でも記憶するデータも存在する。
なお、発生日時は、例えばタイマ11dのカウントに基づいて、全てのデータに付加させることができる。
次にこの発明の実施の形態3による車両用制御装置について説明する。構成は図1-5に示した上記実施の形態のものと基本的に同じである。ここでは異常発生時記憶したデータの削除、上書きについて説明する。記憶データの削除の1つは、診断ツール5による削除指令に基づく記憶データの消去である。診断ツール5で必要な情報を入手した場合、入手されたデータはすでに不要となり、消去しても問題はない。
なお、上述の記憶の優先順位についても、上記実施の形態2の不揮発性記憶部14のテーブルに加えておく。
図6はこの発明の実施の形態4による車両用制御装置の一部の具体例を示す図である。図4はこの発明に係る代表的な電動式パワーステアリング制御装置系の部分の全体構成である。電動式パワーステアリング制御装置系は、ハンドル51からステアリング軸52に伝わる運転者の操舵トルクSTに、ステアリング軸52に付加された、モータ駆動機55aを有するモータ55のアシストトルクATが足し合わされる。足し合わされたトルクは、ステアリングギアボックス53により数倍にされ、ラック&ピニオン機構56を介してタイヤ57の方向を変える仕組みになっている。
トルクセンサ3d、電圧センサ3e,電流センサ3fは図1のセンサ、被制御装置、外部装置(3a-3n)に含まれるセンサであり、操舵トルク検出信号S4、電圧検出信号S5及び電流検出信号S6は図1のコントロールユニット10への入力情報(車両状態情報)となる。
タイヤ57には路面反力トルクRRT、ステアリング軸52には摩擦トルクFTとステアリング軸反力SARが掛かる。
なお、後述する制御例に関し、コントロールユニット10にはさらに車速センサ3a、温度センサ3cからの検出信号も入力される。これらのセンサは図1のセンサ、被制御装置、外部装置(3a-3n)に含まれるセンサである。
13aは車速を検出する車速センサ3aからの車速検出信号S1を入力する入力回路、
13dは操舵トルクSTを検出するトルクセンサ3d(図6参照)からの操舵トルク検出信号S4を入力する入力回路、
13cは制御処理部11内の温度を検出する温度センサ3cからの温度検出信号S3を入力する入力回路、
111aa1は検出された車速と操舵トルクと温度などを用いてモータ55の目標電流を演算する目標電流制御処理部、
111aa2は目標電流制御処理部111aa1の出力から電流センサ3f(図6参照)により検出される電流を減算する減算器、
55a,55,3fは図6のそれぞれモータを駆動するモータ駆動機、モータ、モータ電流を検出する電流センサである。
なお、目標電流制御処理部111aa1と減算器111aa2は図2のモータ駆動電流演算部111aaで構成される。
図9はこの発明の実施の形態5による車両用制御装置の目標電流制御処理部の機能ブロック図である。図9は図8の目標電流制御処理部の構成の変形例の機能ブロックを示す。図8に加え、電動パワーステアリング制御装置以外の装置、例えば、車線を維持するために、モータのアシスト量を補正するように車線認識装置からの補助アシスト信号S9を入力してアシスト量に加算する場合の制御構成を示す。補助アシスト信号S9を入力する入力回路13eと、加算器111aa1-3とにより、入力された補助アシスト信号S9とアシストマップ補償部111aa1-1の出力するアシスト補正量とを加算演算した結果を、電流制限処理部111aa1-2への指示電流値とするものである。
なお、加算器111aa1-3は目標電流制御処理部111aa1で構成されるものであり、入力回路13eは図1の入力回路のうちの1つである。また車線認識装置は図1のセンサ、被制御装置、外部装置(3a-3n)に含まれる外部装置である。
図10はこの発明の実施の形態6による車両用制御装置の制御を説明するための図である。図8のコントロールユニット10において、モータ駆動するため、車両電源であるバッテリ(例えば図1のバッテリ1)から電力供給され、モータ55へ印加電圧V1として供給される。このため、図10の破線Aで示すようにバッテリの能力が低下した場合において、モータ55へ印加する電圧が下がり、モータから発生するトルク、並びに、モータ出力が低下し、ハンドル操舵がし難くなる可能性がある。このため、電源電圧すなわちバッテリ1の電圧を検出し、予め設定された閾値以下となった場合、異常検知部113が異常検知と判断する。データ記憶制御部114は、電流、電源電圧等の情報もバッファ11bに格納している。そして異常が検知されると、上述のメモリ書き込み要求バッファ11cにデータを転送し、そのときの電流、電源電圧等の情報等の情報を不揮発性記憶部14に書き込む処理を実行する。これにより、書き込まれた情報を解析すれば、異常発生時にバッテリの能力が低下していか否かを検証することができる。また、記憶するタイミングについて、過熱保護するために電流制限された場合、制限される前後の前記車両状態情報、制御状態情報およびモニタ情報を記憶し解析することで過熱保護制御が作動したか否かを解析することができる。また、補助アシスト量が異常であるかまたは加算できないときは、異常検知前のデータを記憶し解析することで補助アシスト量の演算がどのように異常演算されたかの過程を解析することができる。
このため例えばデータ記憶制御部114において、異常の種類に応じて車両状態情報、制御状態情報およびモニタ情報を不揮発性記憶部14に記憶するタイミングを、異常検知前、異常検知前後、異常検知後のいずれかに切り替える。これらのタイミングについても、異常の種類ごとにタイミングを定めたテーブルを予め不揮発性記憶部14等に格納しておく。
Claims (11)
- 車両の制御を行う制御処理部と、
前記車両の状態および制御状態をモニタするモニタ部と、
不揮発性記憶部と、
を備え、
前記制御処理部が、
前記車両の状態に関する複数の車両状態情報を入力し、前記車両状態情報から制御状態情報である制御量を演算して被制御装置を制御する制御信号を出力すると共に前記モニタ部により制御状態をモニタする車両制御部と、
前記車両状態情報または制御状態情報が故障に対する故障領域には至らない異常領域にあることで異常を検知する異常検知部と、
最新の前記車両状態情報、制御状態情報およびモニタ情報を常に更新しながら予め設定された期間分、前記制御処理部が有するバッファに格納すると共に、異常検知された時に、前記バッファに格納された情報を含めて、異常検知前後の前記車両状態情報、制御状態情報およびモニタ情報を前記不揮発性記憶部に記憶させるデータ記憶制御部と、
を含む車両用制御装置。 - 前記制御処理部が、メモリ書き込み要求バッファを含み、
前記データ記憶制御部は、前記異常検知時には、前記バッファ内および前記異常検知後の前記車両状態情報、制御状態情報およびモニタ情報を前記メモリ書き込み要求バッファに転送してから前記不揮発性記憶部に記憶させる請求項1に記載の車両用制御装置。 - 前記データ記憶制御部は、
異常検知時に検知された異常に対して予め設定された種類の前記車両状態情報、制御状態情報およびモニタ情報を選択して前記メモリ書き込み要求バッファに転送し、
前記不揮発性記憶部の記憶領域が足りない場合には、予め設定された情報の記憶の優先順位の高い情報を転送し、また同一異常が複数回発生した場合には、より新しい情報を転送する請求項2に記載の車両用制御装置。 - 前記制御処理部が、前記車両状態情報または制御状態情報が前記故障領域にあることで故障と判定する故障判定部を含み、
前記データ記憶制御部は、
前記異常検知部の異常検知時と同様にして、前記故障判定部の故障判定時の前記車両状態情報、制御状態情報およびモニタ情報を前記不揮発性記憶部に、異常検知の情報とは分離して記憶させる請求項2または3に記載の車両用制御装置。 - 外部から接続された診断ツールとの通信を行う通信回路を備え、
前記制御処理部が、前記診断ツールからのデータ読み出し指令に従って前記不揮発性記憶部に記憶された情報を読み出し、前記通信回路を介して前記診断ツールへ転送するデータ読み出し制御部を含む、請求項1から4までのいずれか1項に記載の車両用制御装置。 - 前記車両制御部が、運転者の操舵トルクを補助するアシストトルクを発生させるモータを制御する電動式パワーステアリング制御部を含み、
前記電動式パワーステアリング制御部が、前記モータの制御中にモータ出力を制限する演算処理を含む、前記車両状態情報、制御状態情報およびモニタ情報に従ってモータ駆動電流の目標電流値を演算するモータ駆動電流演算部を含み、
前記異常検知部が、前記モータ駆動電流演算部においてモータ出力が制限されて予め設定された閾値以下になると異常検知とし、
前記データ記憶制御部が、前記モータ駆動電流演算部の演算に係る前記車両状態情報、制御状態情報およびモニタ情報を前記バッファに格納すると共に、前記異常検知部で異常を検知した時に、前記バッファに格納された情報を含めて、異常検知前後の前記車両状態情報、制御状態情報およびモニタ情報を前記不揮発性記憶部に記憶させる請求項1から5までのいずれか1項に記載の車両用制御装置。 - 前記車両制御部が、前記モータまたは前記モータを駆動するモータ駆動機の温度を入力し、
前記モータ駆動電流演算部でのモータ出力の制限が、前記モータを駆動することで前記モータまたはモータ駆動機が発熱することを抑制するためのもので、前記モータまたはモータ駆動機の温度に対して予め設定されたパターンに従ってモータ出力の制限を行う請求項6に記載の車両用制御装置。 - 前記モニタ部が、前記車両の電源電圧をモニタし、
前記異常検知部が、前記車両の電源電圧が低下し予め設定された閾値以下となったときに異常検知とし、
前記データ記憶制御部が、前記車両の電源電圧、出流を前記バッファに格納すると共に、前記異常検知部で異常を検知した時に、前記バッファに格納された情報を含めて、異常検知前後の前記車両状態情報、制御状態情報、モニタ情報、車両の電源電圧、電流を前記不揮発性記憶部に記憶させる、
請求項6または7に記載の車両用制御装置。 - 前記モータ駆動電流演算部が、外部で演算された補助アシスト量を加算して目標電流値を演算し、
前記異常検知部が、前記補助アシスト量が異常であるかまたは加算できないときに異常検知とし、
前記データ記憶制御部が、前記補助アシスト量、電流を前記バッファに格納すると共に、前記異常検知部で異常を検知した時に、前記バッファに格納された情報を含めて、異常検知前後の前記車両状態情報、制御状態情報、モニタ情報、補助アシスト量、電流を前記不揮発性記憶部に記憶させる、
請求項6から8までのいずれ1項に記載の車両用制御装置。 - 前記データ記憶制御部において、異常の種類に応じて前記車両状態情報、制御状態情報およびモニタ情報を前記不揮発性記憶部に記憶するタイミングを、異常検知前、異常検知前後、異常検知後のいずれかに切り替える請求項1から5までのいずれ1項に記載の車両用制御装置。
- 車両の状態に関する複数の車両状態情報を入力し、前記車両状態情報から制御状態情報である制御量を演算して被制御装置を制御する制御信号を出力すると共にモニタ部により制御状態をモニタする車両制御工程と、
前記車両状態情報または制御状態情報が故障に対する故障領域には至らない異常領域にあることで異常を検知する異常検知工程と、
最新の前記車両状態情報、制御状態情報およびモニタ情報を常に更新しながら予め設定された期間分、前記バッファに格納すると共に、異常検知された時に、前記バッファに格納された情報を含めて、異常検知前後の前記車両状態情報、制御状態情報およびモニタ情報を不揮発性記憶部に記憶させるデータ記憶制御工程と、
を含む車両制御方法。
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