JPH0676892B2 - Abnormality determination method for angular velocity sensor output - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angular velocity sensor mounted on a vehicle to detect an angular velocity associated with a change in the traveling direction of the vehicle, and more particularly to a method of determining an output abnormality of the angular velocity sensor.

2. Description of the Related Art Recently, a gyro-type or gas-type angular velocity sensor is mounted on an automobile or the like to detect the angular velocity along with the change in the traveling direction of the vehicle to obtain the amount of change in the traveling direction of the vehicle and A travel route display device has been developed that calculates the position in two-dimensional coordinates and updates and displays the current position that changes momentarily as the vehicle travels on the screen on which the road map is projected in advance. There is.

In such a travel route display device, when the output of the angular velocity sensor is abnormal, the output error is accumulated, and the current position displayed on the road map is greatly changed as the vehicle travels. Will be lost.

However, even in that case, there is a problem in that even if it is not known that the output of the angular velocity sensor is abnormal, the current position displayed on the road map is not even known.

However, conventionally, even if it is possible to check whether or not the output of the angular velocity sensor is abnormal when the vehicle is stopped, the material for determining whether or not the output of the angular velocity sensor is abnormal while the vehicle is traveling. It is not enough to judge roughly whether the output of the angular velocity sensor obtained according to the traveling speed at that time is abnormal from the steering angle by the steering wheel operation of the vehicle slightly detected by the steering angle sensor. There wasn't.

The present invention has been made in consideration of the above points, and it is possible to easily and surely determine that the output of the angular velocity sensor is abnormal while the vehicle is traveling, and immediately take measures against the abnormal output of the angular velocity sensor. The present invention provides a method for determining an abnormality in the output of an angular velocity sensor that can be taken.

Configuration Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

When an angular velocity sensor is mounted on a vehicle to detect the angular velocity accompanying a change in the traveling direction of the vehicle, as shown in FIG.
The angular velocity ω · max applied to the vehicle A when the vehicle A is rotationally traveled at a constant rotational speed v with a minimum turning radius r is given by the following equation, which is as long as the vehicle A travels at the speed v. It is the maximum angular velocity to be applied.

ω ・ max = v / r (rad / s) (1) Therefore, when the vehicle A is traveling at the speed v, the angular velocity ω output from the on-vehicle angular velocity sensor is greater than the maximum angular velocity ω ・ max. If becomes larger, it is understood that the output of the angular velocity sensor is abnormal.

However, in the present invention, the maximum output value ω · max of the angular velocity sensor obtained when the vehicle A is test-run with the minimum turning radius r of the vehicle A at the predetermined speed v is registered in the memory in advance. When the output value ω of the angular velocity sensor obtained when the vehicle A is traveling at the speed v becomes larger than the maximum output value ω · max registered in the memory in advance, it is determined that the output of the angular velocity sensor is abnormal. I am trying to take a means to judge.

At that time, not only is it determined whether or not the output of the angular velocity sensor is abnormal only when the vehicle A is traveling at a certain speed v, but a large number of sampling speeds v1, v
The maximum output value ω ・ of the angular velocity sensor for each velocity obtained by performing a test run with 2, v3, ...
If max1, ω ・ max2, ω ・ max3, ... Are registered in the memory respectively, while the vehicle A is traveling, the traveling speed vn (n = 1,2,3, ...) at that time is addressed. By reading the maximum output value ω ・ maxn of the angular velocity sensor registered in the memory and comparing it with the output value of the angular velocity sensor at that time, it is possible to almost always determine whether or not the output of the angular velocity sensor is abnormal. Will be able to.

FIG. 1 shows a specific configuration example for implementing the present invention.

According to the configuration example, the signal processing device 3 including a CPU and the like
Reads each output signal ω · v from the angular velocity sensor 1 and the vehicle speed sensor 2 and controls writing / reading of data to / from the memory 4 while determining whether or not the output of the angular velocity sensor 1 is abnormal. The alarm device 5 is activated by the judgment output when it is judged to be abnormal.

When it is determined that the output of the angular velocity sensor 1 is abnormal when the angular velocity sensor 1 is used in the above-described travel route display device, an alarm is issued under the control of the signal processing device 3 and It is possible to take appropriate measures such as invalidating the output of the angular velocity sensor 1 at this time so as not to calculate the current position of the vehicle, or prohibiting the display of the current position of the vehicle on the screen.

Further, in the present invention, the output value ω _s of the angular velocity sensor obtained when the vehicle is test-run at the constant steering angle θ at the constant speed v is registered in advance, and the constant speed v and the predetermined value are registered. The output value ω of the angular velocity sensor obtained during normal traveling of the vehicle at the steering angle θ is compared with the pre-registered output value ω _s, and when there is a difference between the two, the output of the angular velocity sensor is abnormal. I am trying to judge.

At that time, not only is it determined whether or not the output of the angular velocity sensor is abnormal only when the vehicle is traveling at a certain speed v and a steering angle θ, but also a large number of sampling speeds v1, v2, The output values ω _s 1, ω _s 2, ω _s 3, ... Of the angular velocity sensor, which are obtained by performing test runs with the combinations of v3, ... And steering angles θ1, θ2, θ3, ... This means that, while the vehicle is traveling, the combination of the traveling speed vn (n = 1,2,3, ...) At that time and the steering angle θn is used as the address of the angular velocity sensor registered in the memory in advance. By reading the output value ω _s n and comparing it with the output value of the angular velocity sensor at that time, it becomes possible to almost always determine whether or not the output of the angular velocity sensor is abnormal.

FIG. 3 shows a specific configuration example for carrying out the present invention.

According to the configuration example, the signal processing device 3 including a CPU and the like
Reads the output signals ω, v, θ from the angular velocity sensor 1, the vehicle speed sensor 2 and the steering angle sensor 6, respectively, and stores them in the memory 4
While controlling the writing and reading of data to and from the angular velocity sensor 1, it is judged whether or not the output of the angular velocity sensor 1 is abnormal.
The alarm device 5 operates according to the determination output when it is determined to be abnormal.

As described above, in the abnormality determination method of the angular velocity sensor output according to the present invention, when the angular velocity sensor is mounted on the vehicle and the angular velocity due to the change in the traveling direction of the vehicle is detected, the vehicle is preliminarily set under a certain condition. The output value of the angular velocity sensor obtained during test running is registered, and the output value of the angular velocity sensor obtained during normal running of the vehicle under the above-mentioned constant conditions is compared with the previously registered output value. It is possible to determine whether the output of the angular velocity sensor is abnormal or not by easily and surely determining that the output of the angular velocity sensor is abnormal while the vehicle is traveling. It has an excellent advantage that measures can be taken immediately due to abnormal output of the sensor.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration example for specifically implementing an abnormality determination method for an angular velocity sensor output according to the present invention, and FIG. 2 is a diagram showing a state in which a vehicle is rotating at a minimum turning radius. FIG. 3 is a block diagram showing a configuration example for specifically implementing another method for determining an abnormality in the output of the angular velocity sensor according to the present invention. 1 ... Angular velocity sensor, 2 ... Vehicle speed sensor, 3 ... Signal processing device, 4 ... Memory, 5 ... Alarm device, 6 ... Steering angle sensor

Claims (4)

[Claims] 1. When an angular velocity sensor is mounted on a vehicle to detect an angular velocity due to a change in the traveling direction of the vehicle, the angular velocity sensor is obtained when the vehicle is test-run at a constant speed with a minimum turning radius of the vehicle. The maximum output value of the angular velocity sensor is registered, and the output of the angular velocity sensor becomes abnormal when the output value of the angular velocity sensor obtained when the vehicle is traveling at the constant speed becomes larger than the maximum output value registered in advance. A method for determining an abnormality in the output of the angular velocity sensor, which is determined as follows. 2. The maximum output value of the angular velocity sensor for each speed obtained by performing test running at several speeds is registered respectively, and the angular speed sensor is registered in advance according to the speed when the vehicle is running. Is compared with the output value of the angular velocity sensor that is actually obtained at that time. 3. An angular velocity sensor is mounted on a vehicle to detect the angular velocity associated with a change in the traveling direction of the vehicle, which is obtained when the vehicle is test-run at a constant speed and a predetermined steering angle in advance. The output value of the angular velocity sensor is registered, and when the output value of the angular velocity sensor obtained when the vehicle is traveling at the constant speed and at the predetermined steering angle is different from the output value registered in advance, the output of the angular velocity sensor is output. Is a method for determining an abnormality in the output of the angular velocity sensor, which is determined to be abnormal. 4. An output value of an angular velocity sensor obtained by performing a test run at several kinds of speeds and / or steering angles is registered respectively, and is registered in advance according to the speed and / or the steering angle when the vehicle is running. The method for determining an abnormality of the output of the angular velocity sensor according to the above-mentioned item 3, wherein the output value of the angular velocity sensor and the output value of the angular velocity sensor actually obtained at that time are compared.