JP4942366B2 - Operation control device - Google Patents

Description

  The present invention relates to an operation control device that controls the traveling state of a vehicle in accordance with the amount of displacement of an operation lever operated by a driver, and more particularly, to a failure detection at the time of displacement detection and an operation control device equipped with a failsafe mechanism thereof. About.

  2. Description of the Related Art Conventionally, a driving control device that controls a traveling state of a vehicle according to a displacement amount of an operation lever operated by a driver is known (Patent Documents 1 and 2). In this device, the accelerator is driven when the driver tilts the operating lever forward from the reference point, for example, and the brake is driven when the driver tilts backward. The strength of the accelerator and the brake corresponds to the displacement amount of the operation lever. Therefore, even if the handicapped person is disabled and cannot operate the normal brake and accelerator, the accelerator and brake can be controlled by operating the operation lever at hand, and the vehicle can be driven. become able to.

  In such an operation control device, a linear displacement of the operation lever with respect to the vehicle body is converted into a rotational displacement of the rotating body, and the rotational amount is converted into a digital value using a rotational displacement meter (absolute encoder sensor, hereinafter referred to as an encoder sensor). I am trying to read it out.

  An absolute (absolute value) encoder sensor is provided with a plurality of slits with different periods in a rotating body, and a plurality of light receiving and emitting elements are provided for these slits to generate a plurality of pulse signals with different periods. The absolute rotation (angle) of the rotating body can be known by the combination of waveforms. This eliminates the need for return to origin, but if this is applied to the position of the operating lever that slides horizontally, the position of the operating lever can be known without requiring return to origin. The schematic structure of the absolute encoder sensor will be described later with reference to FIG.

  As described above, since the absolute encoder outputs a pulse signal having a plurality of cycles, in order to capture the signal, signal lines corresponding to the number are required. If there are many signal lines, it becomes more susceptible to noise and disconnection, so it is necessary to detect a failure with respect to such signal lines.

JP-A-8-142873 JP 2003-83107 A

  In the operation control apparatus as described above, since the driving amount of the accelerator or the brake is determined by the position of the operation lever, the encoder sensor must accurately reflect the position of the operation lever. If the encoder sensor has a failure (failure) and its output does not accurately represent the position of the control lever, the accelerator or brake will move differently than intended by the driver.

  Therefore, in an operation control device that operates the accelerator and brake by the operation lever, it always detects whether or not the encoder sensor that detects the position of the operation lever is operating normally, and if it is not normal, issues a warning to the driver or It is necessary to take measures such as forcibly stopping operation. However, in the conventional operation control apparatus, no consideration is given to such fail detection and fail safe of the encoder sensor.

  Generally, it is known that a rotation sensor is abnormal if it counts output pulses from a rotation sensor and the change in the count value is abnormal. However, when such an absolute encoder sensor is applied, multiple signals Since there is a line, it is necessary to accurately determine abnormality with respect to these signal lines.

  The present invention has been made with respect to such a point, and provides an operation control device capable of accurately performing fail detection of an absolute encoder sensor and performing appropriate fail-safe to ensure operation safety. Let it be an issue.

  In order to solve the above problems, the operation control device of the present invention detects the amount of displacement of the operation lever as the amount of rotation of the rotating body, and outputs a pulse signal having a plurality of different periods corresponding to the amount of rotation. A counter that integrates and counts based on the plurality of pulse signals from the encoder sensor, and detects the position of the operation lever based on the count number of the counter, and performs operation control based on the detected lever position. In the control device including a control unit, the count number of the counter is captured by using, as a trigger, an input of a pulse signal having a minimum period corresponding to the rotation amount among the plurality of pulse signals, and the pulse signal having the minimum period is input. Despite being done, if the count number of the counter does not change according to the pulse signal of the minimum period, Abnormality is configured to determine that occurred about Nkodasensa.

  In order to solve the above-described problem, the second operation control device of the present invention detects the displacement amount of the operation lever as the rotation amount of the rotating body, and also has a pulse signal having a plurality of different periods corresponding to the rotation amount. A counter that counts and accumulates based on the plurality of pulse signals from the encoder sensor that outputs a signal, and detects the position of the operation lever based on the count number of the counter, and operates based on the detected lever position. In the control apparatus including control means for controlling, among the plurality of pulse signals, there is no change in the level of the pulse signal having the minimum period corresponding to the rotation amount, and there is a change in the pulse signal having another different period. In this case, the encoder sensor is configured to determine that an abnormality has occurred.

  In order to solve the above problem, the third operation control device of the present invention detects the amount of displacement of the operating lever as the amount of rotation of the rotating body, and a pulse signal having a plurality of different periods corresponding to the amount of rotation. A first counter that circulates and counts based on the plurality of pulse signals from the encoder sensor that outputs, a second counter that sequentially counts and counts the first counter, and the second counter In the control device comprising a control means for detecting the position of the operating lever based on the count number of the counter and controlling the operation of the brake or accelerator vehicle based on the detected lever position, the plurality of pulse signals Among them, the input of a pulse signal having a minimum period corresponding to the rotation amount is used as a trigger to capture the count number of the counter, and the pulse having the minimum period If the count number of the counter does not change according to the pulse signal of the minimum cycle even though the signal is input, the pulse signal having a cycle other than the minimum cycle of the encoder sensor is abnormal. It is configured so that it is determined that the occurrence has occurred.

  In order to solve the above problem, the fourth operation control device of the present invention detects the amount of displacement of the operating lever as the amount of rotation of the rotating body, and a pulse signal having a plurality of different periods corresponding to the amount of rotation. A first counter that circulates and counts based on the plurality of pulse signals from the encoder sensor that outputs, a second counter that sequentially counts and counts the first counter, and the second counter In the control device comprising a control means for detecting the position of the operating lever based on the count number of the counter and controlling the operation of the brake or accelerator vehicle based on the detected lever position, the plurality of pulse signals If there is no change in the level of the pulse signal with the minimum period corresponding to the amount of rotation, and there is a change in the pulse signal with another different period It is configured to determine that an abnormality for pulse signal of the minimum period of the encoder sensor is occurring.

  In the operation control apparatus according to the first aspect of the present invention, the count number is captured by using, as a trigger, an input of a pulse signal having a minimum period corresponding to the rotation amount among a plurality of pulse signals output from the encoder sensor. . Therefore, when there is no abnormality in the encoder sensor and the pulse signal with the minimum cycle is input, the count number of the counter changes in accordance with the pulse signal with the minimum cycle. Therefore, by detecting a case where such a change is not made, it is possible to quickly detect an abnormality in the encoder sensor.

  In the operation control apparatus according to the second aspect of the invention, when the encoder sensor is operating normally, there is a change in a pulse signal having a different period other than the pulse signal having the minimum period corresponding to the rotation amount. There is always a change in the level of the pulse signal having the minimum period. Therefore, by monitoring the case where there is no change in the level of the pulse signal having the minimum period and there is a change in the pulse signal having another different period, the occurrence of an abnormality in the encoder sensor can be detected promptly.

  In the operation control apparatus according to the third aspect of the invention, the count number is captured by using, as a trigger, an input of a pulse signal having a minimum period corresponding to the rotation amount among a plurality of pulse signals output from the encoder sensor. . Therefore, when a pulse signal with the minimum cycle is input, the count number of the counter changes according to the pulse signal with the minimum cycle. Therefore, by detecting a case where such a change is not made, it is possible to quickly detect the occurrence of an abnormality in a pulse signal having a cycle other than the minimum cycle of the encoder sensor.

  In the operation control apparatus according to the fourth aspect of the present invention, when there is no change in the level of the pulse signal having the minimum period corresponding to the rotation amount and there is a change in the pulse signal having another different period, the encoder sensor Since it can be considered that an abnormality has occurred in the pulse signal having the minimum cycle, an abnormality in the pulse signal having the minimum cycle can be quickly detected by monitoring this state.

  FIG. 1 (a) is a diagram showing the operating lever 1 provided on the passenger seat side of the driver's seat, and when the operating lever 1 in the neutral position is pulled backward (1 ′), the vehicle is accelerated, and the front (1 ") and the brake is applied. The moving range of the lever 1 is limited by a mechanical stopper (not shown) provided at the end of the moving range. The mechanical stopper includes an accelerator end switch. The brake end switch (see FIG. 2) is provided, and it is detected that the lever 1 has made the maximum movement on the accelerator side or the brake side, and FIG. In Fig. 2 (b), 12a is a rotating body, 12b is a slit, 12c is a light emitting element such as a light emitting diode, and 12d is a light receiving element such as a photodiode. An element is shown.

  FIG. 2 is a block diagram showing a schematic configuration of the operation control apparatus according to the embodiment of the present invention. In the figure, reference numeral 10 denotes a position detection device for the operation lever 1. In one embodiment, the operation lever 1 is configured to be movable 50 mm to the accelerator side and 75 mm to the brake side, for example. The movement of the operation lever 1 is detected by the encoder sensor 12, and the detected value is output to the lever position detection electronic control unit (ECU) 30 through, for example, eight signal lines as 8-bit data. Although not shown, the ECU 30 has a microprocessor, calculates the control amounts of the accelerator and the brake from various input data, and transmits this to the accelerator and brake control mechanism 40.

  The accelerator is composed of a drive member for driving (accelerating) the vehicle, for example, a throttle actuator, and the brake is composed of a drive member for stopping the vehicle, for example, a brake hydraulic actuator. Neutral is the neutral position of the accelerator and brake and does not accelerate or stop.

  The position detection device 10 also has an accelerator end switch 14, a brake end switch 16, and a neutral switch 18, and outputs a detection signal to the ECU 30 when the lever 1 reaches the accelerator end, the brake end, and the neutral position. The accelerator end and the brake end are composed of the mechanical stoppers described above. An accelerator / brake lock mechanism 20 is controlled by a lock signal from the ECU 30 to lock the movement of the operation lever 1.

  FIG. 3 is a diagram showing the relationship between the stroke of the operation lever 1 and the output waveforms of the switches 14, 16, 18 and the encoder sensor 12. 3A shows the output waveform of the neutral switch 18 accompanying the lever stroke, FIG. 3B shows the output waveform of the accelerator end switch 14, FIG. 3C shows the output waveform of the brake end switch 16, and FIG. d) shows a waveform in which the output when the encoder sensor 12 is operating normally is regarded as the counter α (first counter).

  The encoder sensor 12 is an 8-bit absolute encoder sensor and outputs signals AB0 to AB7 in parallel. The encoder sensor 12 detects the state of the rotating body that rotates a plurality of times with the horizontal movement of the lever, using an optical element or the like. Therefore, by regarding the output of the encoder sensor 12 as a counter α having a dynamics of 0 to 255, the rotation amount and rotation position of the rotating body can be indicated by the value of the counter α. That is, as the lever moves, the value of the counter is counted cyclically, so that it can be determined by the counter α that the lever is moving. However, because the counter α cannot represent the total amount of movement of the operating lever 1 (because the counter α is cyclically incremented), the neutral position (neutral) of the lever is the base point as shown in FIG. The counter α is sequentially integrated every time the counter α changes as (0), for example, a 16-bit counter β (second counter) is generated, and the movement amount of the lever 1, that is, the lever position, is expressed by the counter β value. It is trying to express. The control amount of the accelerator or the brake is determined by the value of the counter β.

FIG. 4 shows the timing for generating the counters α and β from the encoder sensor output. The dynamics of the counter α is 0 to 255, and is updated at the rising / falling timing A of the output of the least significant bit AB0 of the encoder sensor, as shown in the figure. The counter β is calculated from the value of the counter α as follows, with the reference point of the operation lever set to 0.
β = β ₀ + (α−α ₀ )
Here, β ₀ represents the previous counter β value, α ₀ represents the previous counter α value, and α represents the current counter α value. When the counter α changes from 256 to 1, or from −256 to −1, that is, when the counter crosses, β ± 1 is set. Therefore, when the output of the encoder sensor is normal, the counter calculates as follows.

When the change amount of the counter α is +1 or −255: Counter β + 1
When the change amount of the counter α is −1 or +255: Counter β−1
In the example of FIG. 3, the output rising / falling interval of the lowest bit AB0 of the encoder sensor is 0.05 mm, and the maximum rotation speed of the encoder sensor is 100 μs / 0.05 mm. The least significant bit AB0 of the encoder sensor is incremented by 1 as the gears of the rotating body are rotated one by one.

  In the encoder sensor as described above, if any of the encoder sensor output ports AB0 to AB7 is disconnected, short-circuited, or noise occurs, the encoder sensor does not output a correct value, and the ECU 30 erroneously recognizes the position of the operation lever. . In the operation control apparatus according to the present invention, in order to avoid such erroneous recognition of the operation lever position, fail detection of the encoder sensor is performed according to the following fail definition. Further, by performing appropriate fail safe according to the detected fail content, it is possible to perform safe driving control for the driver.

  The fail of the encoder sensor defined in the present invention and its fail safe are as follows.

Fail 1
The disconnection, short circuit or noise of the output ports AB1 to AB7 of the encoder sensor is defined as fail 1. This failure is detected by acquiring the counter β value at the rising / falling timing of the output AB0 (A in FIG. 4), and the cumulative number of times when the difference from the previously acquired counter β value is not ± 1 is determined in advance. When the predetermined number of times is exceeded, it is determined that any one of the output ports AB1 to AB7 is disconnected or short-circuited, or noise is generated (that is, an abnormality occurs in the pulse signals AB1 to AB7).

  As shown in FIG. 4, when the encoder sensor is operating normally, the difference between the previous and current values of the counter α and the counter β is ± 1. Accordingly, when the amount of change in the counter α and β values exceeds ± 1, it can be considered that an abnormality has occurred. AB0 is a pulse with the minimum period. As a result, if AB0 changes by ± 1, the value of the counter β should always change by ± 1 with the change. That is, since the abnormality is determined by the minimum unit pulse (movement amount), it can be determined with high accuracy.

  However, when the driver manually operates the operation lever, the rotation of the encoder sensor gears skips and the counter is disconnected. In order not to determine such a case as a failure of the encoder sensor, processing for accumulating the number of occurrences of the count abnormality is performed. This is because errors occur repeatedly if the encoder sensor has a structural failure.

Fail 1 Detection and its Fail Safe Flow FIG. 5 is a diagram showing the detection of fail 1 and its fail safe flow. This flow is started when the encoder sensor output AB0 is triggered. First, in step S1, the amount of change is calculated from the current value and the previous value of the counter β. In step S2, it is determined whether or not the change amount is ± 1, and if it is ± 1 (YES in step S2), it is determined that no failure 1 has occurred and the process returns to the overall flow. The overall flow is a flow for performing comprehensive failure detection of the encoder sensor by combining various types of failure detection, and details thereof will be described later.

  In the case of NO in step S2, the value of the counter β is corrected to ± 1 in step S3 to prevent sudden changes in the brake and accelerator control amounts. In the next step S4, the number of corrections of the counter β is counted, and in step S5, it is detected whether or not the counter value exceeds a certain value. If it exceeds a certain value (YES in step S5), it is determined that the encoder sensor has failed, the fail safe 1 process is performed in step S6, and the flow is terminated.

  FIG. 6 shows the details of the fail safe 1 process. In step S6a, the counter β value is maximized and the operating lever is driven to the brake side to stop the vehicle. Thereafter, a warning lamp of the vehicle is turned on in step S6b, a warning buzzer is sounded in step S6c to notify the driver of the danger, and further, failure information (failure contents) is displayed on the display of the car navigation device in step S6d.

  On the other hand, if the counter value does not exceed the predetermined value in step S5 of FIG. 5 (NO in step S5), the process returns to the overall flow.

Fail 2
The disconnection or short circuit of the encoder sensor output port AB0 is defined as fail 2. For detection of fail 2, the levels of encoder sensor output ports AB0 to AB7 are acquired at regular intervals, and a trigger is generated at output level AB0 even though any of output levels AB1 to AB7 changes. If there is no predetermined number of times, it is determined that the output port AB0 is disconnected or short-circuited.

Detection of fail 2 and its fail-safe flow FIG. 7 shows the detection of fail 2 and its fail-safe flow. The start timing of this flow is every fixed period. First, in step S10, port levels of encoder sensor outputs AB1 to AB7 are acquired. This acquisition is performed as a double reading. In step S11, it is determined whether or not the result of the twice reading is the same. When the determination result is NO, that is, when reading fails twice (when it overlaps with the port value switching timing), the determination is not performed and the entire flow returns.

  If reading is successful twice in step S11 (YES in step S11), the previous value is acquired in step S12, the acquired previous value is compared with the current value in step S13, and there is no trigger at the output port AB0. Nevertheless, it is determined whether or not a change has occurred in the output ports AB1 to AB7. If there is a change in the output ports AB1 to AB7, the output port AB0 always generates a trigger. If NO in step S13, it is determined that the encoder sensor is operating normally, and the entire flow returns. .

  On the other hand, if YES in step S13, it may be determined that some abnormality has occurred in the encoder sensor output, and in the next step S14, the number counter is incremented to count the number of occurrences of abnormality. In step S15, it is determined whether or not the value of the number counter has exceeded a certain value. If it has not exceeded the certain value (NO in step S15), the process returns to the overall flow. This is to avoid considering the occurrence of noise several times as an abnormality of the encoder sensor. If it is determined in step S15 that the value of the number counter has exceeded a certain value (YES in step S15), the fail safe process 1 is executed in step S16, assuming that a failure 2 has occurred, and the vehicle is forcibly stopped. Let The failsafe process 1 is the same as that shown in FIG.

Fail 3
Time is acquired at each rising / falling timing (A in FIG. 4) of the output AB0 of the encoder sensor. If the rising / falling interval is less than a predetermined time, for example, less than 100 μs, it is determined as noise of the output AB0. Is defined as Fail 3.

Detection of fail 3 and its fail-safe flow FIG. 8 shows the detection of fail 3 and its fail-safe flow. The start timing of this flow is the trigger generation of the output port AB0. In step S20, it is detected whether or not the detected trigger of the output port AB0 is the second or later. If NO in step S20, that is, if the detected trigger of the output port AB0 is not the second time, the process returns to the overall flow. In the case of YES in step S20, the amount of change in the trigger occurrence time two times before and after is calculated in step S21. Specifically, the difference between the current trigger occurrence time and the previous trigger occurrence time is detected. In step S22, it is determined whether or not the difference (change amount) detected in step S21 exceeds 100 μs. If the difference is not less than 100 μs, it is determined that the detected AB0 trigger is a normal output, and the process returns to the overall flow.

  If it is determined in step S22 that the detected difference is less than 100 μs (YES in step S22), the detected AB0 trigger is determined to be noise. In this case, the calculation process of the counter β and the other fail detection are not performed, and the time asynchronous fail detection process described later in the entire flow is ended.

Fail 4
While the operation lever is stopped, the respective levels of outputs AB0 to AB7 are acquired and read twice. If a state in which the result does not match after reading twice is continued for a predetermined time, it is determined as fail 4 of the encoder sensor. In a state where the operation lever is stopped, the encoder sensor output is stable, and the results of reading the output twice should match. Nevertheless, if the output fails to be read twice, it is considered that there is a problem with the encoder sensor itself. The detection of the fail 4 is performed as an initial check when the IG switch is turned on.

Detection of Fail 4 and its Fail Safe Flow FIG. 9 shows the detection of fail 4 and its fail sale flow. Since this fail detection is performed as an initial check of the entire flow, the processing is started when the IG switch is turned on. After the processing is started, the levels of encoder sensor output ports AB0 to AB7 are acquired in step S30. In order to execute the reading of the output value twice, in step S31, it is determined whether or not the acquisition in step S30 is the second or subsequent acquisition. If it is not the second and subsequent acquisitions (NO in step S31), the process returns to step S30 and the subsequent steps are executed again.

  If YES in step S31, the previous value is acquired in step S32, and in step S33, it is determined whether the previous value and the current value match. That is, it is determined in step S33 whether or not the reading is successful twice. If successful (YES in step S33), the encoder sensor returns to the overall flow assuming that there is no abnormality. If it has failed (NO in step S33), it is determined in step S34 whether or not the state continues for a predetermined time. If it has continued (YES in step S34), it is determined that the encoder sensor itself is abnormal and a failure has occurred. Perform safe 1 processing. The fail safe process 1 is the same as that shown in FIG.

  If it is determined in step S34 that the reading failure has not continued for a predetermined time (NO in step S34), the process returns to step S30 and the subsequent steps are executed again.

Fail 5
The counter β value is acquired at the maximum position (accelerator side / brake side) at which the operation lever can be driven. If the counter β value is not the minimum value / maximum value, this is determined as a failure of the encoder sensor.

  When the operating lever reaches the maximum drive position, the accelerator end switch 14 / brake end switch 16 is turned on and the respective detection signals are output. When this detection signal is output, if the encoder sensor is operating normally, the value of the counter β takes the minimum value / maximum value. However, for example, when the value of the counter β is corrected in step S3 in the fail 1 detection flow, the counter β value is far from the ideal value (minimum value / maximum value). By detecting this state, the value of the counter β can be corrected to an ideal value.

Detection of Fail 5 and its Fail Safe Flow FIG. 10 shows the detection of fail 5 and the flow of its fail sale. This flow is started when the AB0 trigger occurs and the accelerator end switch 14 or the brake end switch 16 (lever end sensor) constituting the lever end sensor is turned on. First, at step S40, the counter β value is acquired, and at step S41, it is determined whether or not the acquired counter β value is the maximum value. In the case of the maximum value (YES in step S41), regarding the fail 5, it is assumed that the encoder sensor is operating normally and the process returns to the overall flow. If it is not the maximum value in step S41 (NO in step S41), it is determined that there is a deviation in the counter β value for some reason, and fail safe 2 processing is performed in step S42. Specifically, the fail safe 2 is to correct the counter β value to the maximum value (ideal value). After correction, return to the overall flow.

Fail 6
If the value of the counter β is not 0 even though the operation lever is at the reference point (neutral position), it is determined that the encoder sensor has failed. This is designated as fail 6. As in the case of fail 5, for example, when the value of counter β is corrected in step S3 in the detection flow of fail 1, the counter β value is far from the ideal value (0). Therefore, the value of the counter β can be returned to the ideal value by detecting the failure 6.

Detection of Fail 6 and its Fail Safe Flow FIG. 11 shows the detection of fail 6 and its fail safe flow. This detection flow is started at the timing of the reference point when the AB0 trigger occurs. The reference point is determined by the counter α = 0. First, the counter β value is acquired in step S50, and it is determined in step S51 whether the acquired counter β value is 0 or not. If the counter β value is 0 (YES in step S51), the process returns to the overall flow. If it is determined in step S51 that the counter β value is not 0 (NO in step S51), failsafe 3 processing is performed in step S52, and the process returns to the overall flow. Specifically, the fail-safe process is to correct the value of the counter β to 0. For example, as a result of correcting the counter β in the step S3 of fail 1 detection, the counter β value is an ideal value (the driver's value). This is a measure for correcting a state that has deviated from the counter β value accurately reflecting the lever operation.

Fail 7
For example, in the case of FIG. 3, if the counter β value is positive even though the operating lever is on the accelerator side, or if the counter β value is negative even though the operating lever is on the brake side, the encoder sensor fails. This is determined as fail 7.

  This failure occurs when the counter β is deviated from the ideal value as a result of correcting the counter β in step S3 of the fail 1 detection flow. In this case, although the operation lever is on the accelerator side near the reference point (neutral position), the counter β value indicates the value on the brake side, or the counter β is displayed even though the operation lever is on the brake side. If the value indicates the value on the accelerator side, braking and accelerator control opposite to the driver's intention is performed, which is very dangerous. Therefore, detection of fail 7 is important.

Detection of Fail 7 and its Fail Safe Flow FIG. 12 shows the detection of fail 7 and its fail safe flow. This flow is started by the AB0 trigger. First, a counter β value is acquired in step S60, and accelerator / brake information is acquired in step S61. The accelerator / brake information is determined from the value of the counter α when the reference point sensor is switched on / off. For example, when the counter α is α <128, the brake side is determined, and when α ≧ 128, the accelerator side is determined.

  Next, in step S62, if the counter β value is negative and accelerator side information is generated, or if the counter β is positive and brake side information is generated, that is, if YES in step S62, Since it is determined that the encoder sensor is operating normally, the overall flow is started. On the other hand, if NO in step S62, that is, if accelerator / brake control that is opposite to the driver's lever operation is being performed as a result of correcting the counter β value, the counter β value is set to 0 in step S63 for the time being. Execute failsafe 3 and then move to the overall flow.

  Since the ideal value of the counter β value can be calculated only when the reference point sensor or the brake end sensor is on, in step S63, the counter β value is temporarily set to 0, and control opposite to the driver's intention is performed. To prevent that.

Fail 8
When the reference point sensor is on, the counter α value is compared with the counter β value (if the counter α value ≧ 128, the 2's complement value is compared with the counter β value), and if both are different, the encoder sensor This failure is determined as failure 8, and this is designated as failure 8.

  As in fail 5 to 7, when the counter β value is corrected, the counter β value may be away from the ideal value. In such a case, a failure 8 occurs.

Detection of Fail 8 and its Fail Safe Flow FIG. 13 shows the detection of fail 8 and its fail safe flow. The start timing of this flow is that the AB0 trigger is generated and the reference point sensor is turned on. First, in step S70, the value of the counter α is acquired, and in the next step S71, the value of the counter β is acquired. In step S72, it is determined whether or not the value of the counter β is an ideal value based on the values acquired in steps S70 and 71. Here, the ideal value is the counter β value = the counter α value when the counter α value <128, and the counter β value = the two's complement of the counter α value when the counter α value ≧ 128.

  The reason why the counter α value and the two's complement are provided in the ideal value of the counter β value is that the counter β value is 0 at the reference point. For example, the range from the accelerator end to the brake end is 0 to 2560. This is not necessary when shown.

  If YES in step S72, the encoder sensor is operating normally, and the process returns to the overall flow. If NO in step S72, fail safe 4 is executed in step S73 to replace the counter β value with the counter α value (or its 2's complement). Thereby, the counter β value is corrected to an ideal value (normal value). Thereafter, the process returns to the entire flow.

  The above is the description of the failure of the encoder sensor detected based on the present invention and the fail safe thereof. However, in actual operation control, the detection of each fail and the fail safe always monitor the abnormality of the encoder sensor. In addition, during the period when the IG switch is on, it is implemented as a series of controls.

  FIG. 14 shows what is performed as regular processing (time synchronization) in such a series of controls (overall flow). The process of FIG. 14 is started when the IG switch of the vehicle is turned on, and the fail 2 detection and the fail safe process in step P4 are repeated at regular intervals during the vehicle operation control period.

  In FIG. 14, when the IG switch is turned on, fail 4 is detected and processed as an initial check in step P1. The fail 4 detects a state where the encoder sensor generates a lot of noise and its output is not stable even though the operation lever is in a stopped state, and FIG. 9 shows the detection and fail-safe process. . Immediately after turning on the IG switch (at the initial time), the control lever should be stopped. However, if the values of the encoder sensor outputs AB0 to AB7 are not stable, the encoder sensor itself is incomplete. it is conceivable that. Therefore, in that case, the process of maximizing the brake (fail safe 1 in FIG. 6) is performed to place the vehicle in a stopped state, and the driver is warned with an alarm or the like.

  If it is determined in step P1 that there is no problem with the encoder sensor, a system initialization process (step P2) is performed. This process includes calculation of the counter β value. When the initialization process is completed, the process of detecting disconnection or short-circuit of the output AB0 of the encoder sensor (detection of fail 2 and fail-safe) is performed after detecting the passage of a certain time (YES in step P3) (step P4). . As described above, since the counter β value is acquired in synchronization with the trigger of the output AB0, the counter β is not updated unless the trigger of the output AB0 is generated for some reason. As a result, the driver's request via the operation lever is not reflected in the control value.

  Therefore, it is necessary to regularly monitor whether or not the trigger of the output AB0 exists over the driving time of the vehicle. The detection of fail 2 in step P4 is a process executed for this purpose. If the trigger of the output AB0 is not detected in step P4 and there is a change in the values of AB1 to AB7, it is determined that the encoder sensor has failed and control is performed to maximize the brake. Is notified (FIG. 7). If no abnormality is detected in step P4, it is confirmed in step P5 that the IG switch is turned on, and then the process returns to step P3 to wait for a certain period of time, and then step P4 is executed again. If the IG switch is turned off in step P5 (YES in step P5), the process is terminated.

  FIG. 15 is a series of failure detection flows started (time asynchronous) when the output port AB0 is triggered in the overall flow. First, in step P10, it is determined whether or not the initialization process (step P2) shown in FIG. 14 has been completed. If the initialization process has not been completed (NO in step P10), this process ends.

  If it is determined in step P10 that the initialization process has been completed, the trigger time of the output AB0 is stored in step P11. Next, after calculating the value of the counter β in step P12, the detection of fail 3 and fail safe are executed in step P13. The detection of fail 3 and fail safe are shown in FIG. The purpose of this process is to detect the noise of the output AB0, and when it is determined that the output AB0 has been generated due to noise, the calculation of the counter β and the subsequent failure detection are not performed. The detection of fail 3 has the effect of reducing the processing load and preventing false detection of failure.

  If no abnormality is detected in step P13, fail 1 is detected and fail safe is executed in step P14. The detection of fail 1 and fail safe are shown in FIGS. The purpose of this process is to detect disconnection or frequent occurrence of short circuits in any of the outputs AB1 to AB7 of the encoder sensor. When a disconnection or a short circuit occurs in any of the output ports AB1 to AB7, the counter β value does not change smoothly by ± 1, but abrupt changes occur.

  Since the accelerator or brake is controlled by the value of the counter β, if the counter β value changes abruptly, the accelerator or brake control value changes abruptly against the driver's intention, which is very dangerous. Therefore, when disconnection or short circuit of the output ports AB1 to AB7 is detected in step P14, a process for correcting the counter β value is performed to reduce the change in the control amount of the accelerator or the brake, thereby avoiding danger. Note that if the change amount of the counter β exceeds ± 1 by the detection of fail 1, a fail-safe process is performed to stop the operation of the vehicle, and a warning is issued to the driver via an alarm or the like.

  If no abnormality occurs in Step P14, fail 7 detection and fail safe are executed in Step P15. Details of detection of fail 7 are shown in FIG. The purpose of this fail detection is that the correction value deviates from the ideal value due to the correction of the counter β value executed in step P14, and as a result, the brake is applied even though the driver moves the operating lever to the accelerator side. This is to avoid a situation where the accelerator control is performed even though the control is performed or the driver is operating the operation lever to the brake side. In other words, it is possible to prevent the operation control opposite to the driver's intention from being performed.

  If no abnormality is detected in step P15, it means that the reference point sensor is not turned on in step P16 (NO in step P16) and the lever END sensor is not turned on in step P17 (NO in step P17). Confirm and end the process.

  If it is detected in step P16 that the reference point sensor is turned on (YES in step P16), detection of fail 8 and fail-safe are executed in step P18. The detection of fail 8 is shown in FIG. The fail safe associated with the detection of the fail 8 is executed in order to correct the value of the counter β with the value of the counter α at the reference point and reset it to the ideal value.

  Next, in step P19, the ON state of the reference point sensor is detected again. If the ON state is detected (YES in step P19), fail 6 is detected and fail safe is executed in step P20. The detection of fail 6 is shown in FIG. The fail safe associated with the detection of fail 6 is to return the value of the counter β to 0 at the reference point.

  If NO in step P19, the process proceeds to step P17. If the lever end sensor (accelerator end switch, brake end switch) is ON in step P17, fail 5 is detected and fail safe is performed in step P21. This process is a process for returning the value of the counter β to the ideal value when the lever end sensor is turned on. That is, when the brake end switch is turned on, the value of the counter β is set to the maximum value, and when the accelerator end switch is turned on, the counter β value is set to the minimum value.

  As described above, the fail detection process when the trigger of the output port AB0 occurs is completed. When the next trigger is generated at the output port AB0, step P10 and subsequent steps are executed again.

  The driving member may be a driving system for other driving such as a steering driving system for steering, regardless of the accelerator or the brake. Further, although the ECU has been described as an example of the operation control device, the category of the invention is not limited to the operation control device, but may be a program, a method, or an integrated circuit (IC) incorporating such processing. Alternatively, an abnormality detection program, an abnormality detection method, and an abnormality detection device that detect the occurrence of an abnormality in the encoder sensor based on the count number of the counter of the present invention may be used.

The figure which shows schematic structure of an operation lever and an absolute encoder sensor. The block diagram which shows schematic structure of the operation control apparatus concerning this invention. The figure which shows the output waveform of an encoder sensor. The figure which shows the production | generation timing of counter (alpha) and (beta). The figure which shows the detection of the failure 1, and the flow of the fail safe. The figure which shows the flow of the fail safe 1. FIG. The figure which shows the detection of the failure 2, and the flow of the fail safe. The figure which shows the detection of the failure 3, and the flow of the fail safe. The figure which shows the detection of the failure 4, and the flow of the fail safe. The figure which shows the detection of the failure 5, and the flow of the fail safe. The figure which shows the detection of the failure 6, and the flow of the fail safe. The figure which shows the detection of the failure 7, and the flow of the fail safe. The figure which shows the detection of the failure 8, and the flow of the fail safe. The figure which shows the time detection failure detection whole flow. The figure which shows the time asynchronous failure detection whole flow.

Explanation of symbols

1 Operation lever 10 Position detection device 12 Encoder sensor 14 Accelerator end switch 16 Brake end switch 18 Neutral switch (reference point switch)
20 Accelerator / brake lock 30 Lever position detection electronic control unit (ECU)

Claims (9)

The amount of displacement of the operating lever is detected as the amount of rotation of the rotating body, and the plurality of outputs from the encoder sensor that outputs pulse signals having a plurality of different periods corresponding to the amount of rotation are integrated as a multi-bit signal. And a control device comprising a counter for counting, and a control means for detecting the position of the operation lever based on the count number of the counter and performing operation control based on the detected lever position.
Among the plurality of pulse signals, the counter receives the count number of the counter with the input of the pulse signal having the minimum period corresponding to the rotation amount as a trigger, and the counter is input despite the input of the pulse signal having the minimum period. The operation control device determines that an abnormality has occurred in the encoder sensor when the count number of the encoder sensor has not changed in accordance with the pulse signal of the minimum cycle.   The operation control device according to claim 1, further comprising a correction unit configured to correct the count number so as to be changed when it is detected that the count number has not changed.   The driving control device according to claim 2, wherein when the correction by the correcting means exceeds a predetermined number of times, the count is set to a value at which the brake of the vehicle is driven to the maximum, and the driving control is performed. . The amount of displacement of the operating lever is detected as the amount of rotation of the rotating body, and the plurality of outputs from the encoder sensor that outputs pulse signals having a plurality of different periods corresponding to the amount of rotation are integrated as a multi-bit signal. And a control device comprising a counter for counting, and a control means for detecting the position of the operation lever based on the count number of the counter and performing operation control based on the detected lever position.
Among the plurality of pulse signals, when there is no change in the level of the pulse signal having the minimum period corresponding to the rotation amount and there is a change in the pulse signal having another different period, an abnormality occurs in the encoder sensor. Operation control device that determines that   5. The operation control device according to claim 4, wherein when the abnormal state is determined a plurality of times, the operation is controlled by setting the count number to a value at which a brake of the vehicle is driven to a maximum.   And a position detection sensor for detecting that the operation lever is at a maximum accelerator driving position of the vehicle and a maximum braking position of the vehicle, respectively. The position detecting sensor allows the operation lever to be at the accelerator maximum driving position or the brake maximum driving position. The operation control device according to claim 2, wherein when it is detected that the counter is detected, the count number in the counter is corrected to a maximum value or a minimum value.   Furthermore, a position detection sensor that detects that the operation lever is in a neutral position that is a neutral position on the accelerator side and the brake side of the vehicle is provided, and the position detection sensor detects that the operation lever is in the neutral position. The operation control device according to claim 2, wherein the count value in the counter is corrected to an ideal value set in advance as being at the neutral position. The amount of displacement of the operating lever is detected as the amount of rotation of the rotating body, and the plurality of outputs from the encoder sensor that outputs pulse signals having a plurality of different periods corresponding to the amount of rotation are circulated as a multi-bit signal. A first counter for counting and
A second counter that sequentially accumulates and counts the counts of the first counter;
In a control device comprising a control means for detecting the position of the operation lever based on the count number of the second counter and controlling the operation of the vehicle of the brake or accelerator based on the detected lever position.
Among the plurality of pulse signals, the counter receives the count number of the counter with the input of the pulse signal having the minimum period corresponding to the rotation amount as a trigger, and the counter is input despite the input of the pulse signal having the minimum period. The operation control device determines that an abnormality has occurred in the pulse signal having a period other than the minimum period of the encoder sensor when the count number of the encoder sensor has not changed according to the pulse signal of the minimum period . The amount of displacement of the operating lever is detected as the amount of rotation of the rotating body, and the plurality of outputs from the encoder sensor that outputs pulse signals having a plurality of different periods corresponding to the amount of rotation are circulated as a multi-bit signal. A first counter that counts, a second counter that sequentially accumulates and counts the count number of the first counter, and a position of the operation lever is detected based on the count number of the second counter. In the control device comprising a control means for controlling the operation of the vehicle of the brake or accelerator based on the lever position detected together with,
Among the plurality of pulse signals, when there is no change in the level of the pulse signal having the minimum cycle according to the rotation amount and there is a change in the pulse signal having another different cycle, the minimum cycle of the encoder sensor An operation control device that determines that an abnormality has occurred in the pulse signal.

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