JP2016160813A - Control device for vehicle - Google Patents
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Abstract
Description
本発明は、車両用制御装置に関し、詳しくは、車両駆動系の正転時と逆転時とで異なるパルス信号を出力する回転センサを備えた車両において前記パルス信号に基づき車両駆動系の回転方向を検出する技術に関する。 The present invention relates to a vehicle control device, and more specifically, in a vehicle having a rotation sensor that outputs different pulse signals during forward rotation and reverse rotation of a vehicle drive system, the rotation direction of the vehicle drive system is determined based on the pulse signal. It relates to the technology to detect.
特許文献１には、回転電機のロータ周りに配設されて同ロータの回転によって生じる誘起電圧に応じた信号を出力する複数の回転センサを有する内燃機関において、前記複数の回転センサからの信号の出力パターンが正回転時の出力パターンと異なることに基づき内燃機関での逆回転発生を検出する検出手段を備えた制御装置が開示されている。 In Patent Document 1, in an internal combustion engine having a plurality of rotation sensors arranged around a rotor of a rotating electrical machine and outputting signals according to an induced voltage generated by the rotation of the rotor, signals from the plurality of rotation sensors are output. A control device is disclosed that includes detection means for detecting the occurrence of reverse rotation in an internal combustion engine based on the fact that the output pattern is different from the output pattern during forward rotation.
正転時と逆転時とで異なるパルス信号を出力する回転センサの出力に基づき、車両駆動系の回転方向（車両の進行方向）を検出する制御装置においては、前記パルス信号が正転時のパルス信号及び逆転時のパルス信号のいずれにも該当しない状態（以下、不定という）がノイズの重畳などによって発生する場合がある。
そして、上記の不定が発生することで、回転方向の切り替わりの検出精度が低下するという問題があった。
In a control device that detects the rotation direction of the vehicle drive system (the traveling direction of the vehicle) based on the output of a rotation sensor that outputs different pulse signals during forward rotation and reverse rotation, the pulse signal is a pulse during forward rotation. A state (hereinafter referred to as indefinite) that does not correspond to either the signal or the pulse signal at the time of reverse rotation may occur due to noise superposition or the like.
And when said indefiniteness generate | occur | produced, there existed a problem that the detection precision of the switching of a rotation direction fell.
本発明は上記問題点に鑑みなされたものであり、パルス信号に不定が発生しても車両駆動系の回転方向の切り替わりを精度良く検出できる、車両用制御装置を提供することを目的とする。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control device that can accurately detect a change in the rotation direction of a vehicle drive system even if an indefinite pulse signal is generated.
そのため、本願発明に係る車両用制御装置は、車両駆動系の正転時と逆転時とで異なるパルス信号を出力する回転センサを備えた車両に適用され、前記パルス信号に基づき前記車両駆動系の回転方向を検出する検出部を有する車両用制御装置であって、前記検出部は、前記パルス信号毎の回転方向の検出結果が連続して同一である回数が所定の複数回数になったときに当該回転方向の検出結果を確定させ、前記パルス信号が正転時のパルス信号及び逆転時のパルス信号のいずれにも該当しないときに、前回までの回転方向の確定結果を保持するともに連続検出回数の計数値を減じるようにした。 Therefore, the vehicle control device according to the present invention is applied to a vehicle including a rotation sensor that outputs different pulse signals during forward rotation and reverse rotation of the vehicle drive system, and based on the pulse signal, the vehicle drive system A control apparatus for a vehicle having a detection unit for detecting a rotation direction, wherein the detection unit is configured such that a detection result of a rotation direction for each pulse signal is continuously the same a predetermined number of times. When the detection result of the rotation direction is confirmed, and the pulse signal does not correspond to either the forward pulse signal or the reverse rotation pulse signal, the rotation direction determination result up to the previous time is held and the number of continuous detections The count value was reduced.
上記発明によると、パルス信号にノイズが重畳するなどして不定が発生しても、車両駆動系の回転方向の切り替わりを精度良く検出できるようになる。 According to the above-described invention, even if indefiniteness occurs due to noise superimposed on the pulse signal, it is possible to accurately detect the change in the rotation direction of the vehicle drive system.
以下に本発明の実施の形態を説明する。
図１は、本発明に係る車両用制御装置の一例を示す構成ブロック図である。
図１において、車両１には動力源としての内燃機関２が搭載され、内燃機関２が発生する動力は変速機３を介して駆動輪４に伝達され、これら内燃機関２、変速機３、駆動輪４などによって車両駆動系が構成される。
変速機３の出力軸３ａには、出力軸３ａの回転を検出する回転センサ５が配置されている。
Embodiments of the present invention will be described below.
FIG. 1 is a configuration block diagram showing an example of a vehicle control device according to the present invention.
In FIG. 1, an internal combustion engine 2 as a power source is mounted on a vehicle 1, and the power generated by the internal combustion engine 2 is transmitted to drive wheels 4 via a transmission 3, and the internal combustion engine 2, transmission 3, drive A vehicle drive system is configured by the wheels 4 and the like.
A rotation sensor 5 that detects the rotation of the output shaft 3 a is disposed on the output shaft 3 a of the transmission 3.
回転センサ５は、出力軸３ａが所定角度だけ回転する毎に立ち下りエッジ又は立ち上がりエッジとなるパルス信号ＤＲＰを出力するセンサであり、更に、パルス信号ＤＲＰのパルス幅ＷＤＲＰが出力軸３ａの回転方向によって異なるよう構成されていて、パルス周期ＣＤＲＰの計測により出力軸３ａの回転速度の計測が可能であるとともにパルス幅ＷＤＲＰの計測によって出力軸３ａの回転方向の検出が可能に構成されている。 The rotation sensor 5 is a sensor that outputs a pulse signal DRP that has a falling edge or a rising edge each time the output shaft 3a rotates by a predetermined angle. Further, the pulse width WDRP of the pulse signal DRP indicates the rotation direction of the output shaft 3a. The rotational speed of the output shaft 3a can be measured by measuring the pulse period CDRP, and the rotational direction of the output shaft 3a can be detected by measuring the pulse width WDRP.
図２に示す例では、パルス信号ＤＲＰは、角度位置の検出がないとハイレベルを保持し、角度位置の検出時に所定パルス幅の間だけローレベルに立ち下がるパルス信号であり、回転センサ５は、パルス信号ＤＲＰのロー期間の幅（パルス幅）が正転時には逆転時よりも短くなるよう構成されていて、例えば、出力軸３ａが正転する（車両１が前進する）ときにロー期間の幅が３０〜６０μｓのパルス信号ＤＲＰを出力し、出力軸３ａが逆転する（車両１が後退する）ときにロー期間の幅が１００〜２００μｓのパルス信号ＤＲＰを出力する。 In the example shown in FIG. 2, the pulse signal DRP is a pulse signal that maintains a high level if no angular position is detected and falls to a low level only during a predetermined pulse width when the angular position is detected. The width (pulse width) of the low period of the pulse signal DRP is configured to be shorter than that at the time of reverse rotation during forward rotation. For example, when the output shaft 3a rotates forward (the vehicle 1 moves forward), A pulse signal DRP having a width of 30 to 60 μs is output, and a pulse signal DRP having a low period width of 100 to 200 μs is output when the output shaft 3a reverses (the vehicle 1 moves backward).
なお、正転時のパルス幅及び逆転時のパルス幅は、上記の範囲に限定されるものでないことは明らかである。
また、パルス信号ＤＲＰは、角度位置の検出がないとローレベルを保持し、角度位置の検出時に所定パルス幅の間だけハイレベルに立ち下がるパルス信号とすることができる。また、正転時の方が逆転時よりもパルス幅（μｓ）が長くなる構成とすることができる。
更に、回転方向によるパルス信号ＤＲＰの違いとして、振幅が回転方向によって異なるように回転センサ５を構成したり、周波数が回転方向によって異なるように回転センサ５を構成したり、パルス幅、振幅、周波数のうちの複数が回転方向によって異なるように回転センサ５を構成したりすることができる。
Obviously, the pulse width during forward rotation and the pulse width during reverse rotation are not limited to the above ranges.
Further, the pulse signal DRP can be a pulse signal that maintains a low level when no angular position is detected and falls to a high level only during a predetermined pulse width when the angular position is detected. Further, the pulse width (μs) can be longer during forward rotation than during reverse rotation.
Further, as the difference in the pulse signal DRP depending on the rotation direction, the rotation sensor 5 is configured such that the amplitude varies depending on the rotation direction, the rotation sensor 5 is configured such that the frequency varies depending on the rotation direction, and the pulse width, amplitude, frequency The rotation sensor 5 can be configured such that a plurality of the rotation sensors differ depending on the rotation direction.
ＣＰＵ、ＲＯＭ、ＲＡＭなどを含むマイクロコンピュータを内蔵する制御装置１０は、回転センサ５が出力するパルス信号ＤＲＰを入力し、出力軸３ａの回転速度の検出処理及び回転方向の検出処理を、ＲＯＭなどに記憶されたプログラムに従って実行する。つまり、制御装置１０は、出力軸３ａの回転方向を検出する検出部としての機能をソフトウエアとして備えている。 The control device 10 incorporating a microcomputer including a CPU, ROM, RAM, etc. receives the pulse signal DRP output from the rotation sensor 5, and performs the detection processing of the rotation speed and the detection of the rotation direction of the output shaft 3a in the ROM or the like. Execute according to the program stored in That is, the control device 10 includes a function as a detection unit that detects the rotation direction of the output shaft 3a as software.
図３のフローチャートは、制御装置１０による回転方向の検出処理の流れを示す。
制御装置１０は、ステップＳ１０１で、回転センサ５が出力するパルス信号ＤＲＰのパルス幅ＷＤＲＰの計測を行う。
The flowchart of FIG. 3 shows the flow of the rotation direction detection processing by the control device 10.
In step S101, the control device 10 measures the pulse width WDRP of the pulse signal DRP output from the rotation sensor 5.
次いで、制御装置１０は、ステップＳ１０２に進み、今回のパルス信号のパルス幅ＷＤＲＰが正転時のパルス幅（３０〜６０μｓ）に該当せずかつ逆転時のパルス幅（１００〜２００μｓ）にも該当しないか否かを判定する。
つまり、図４に示すように、パルス幅ＷＤＲＰが０〜３０μｓ、６０〜１００μｓ、２００μｓ以上のいずれかに該当する場合、制御装置１０は、当該パルス幅ＷＤＲＰのパルス信号ＤＲＰを正転時のパルス信号及び逆転時のパルス信号のいずれにも該当しない不定パルス信号として判別する。
Next, the control device 10 proceeds to step S102, where the pulse width WDRP of the current pulse signal does not correspond to the forward pulse width (30 to 60 μs) and also corresponds to the reverse pulse width (100 to 200 μs). It is determined whether or not.
That is, as shown in FIG. 4, when the pulse width WDRP corresponds to any of 0 to 30 μs, 60 to 100 μs, and 200 μs or more, the control device 10 applies the pulse signal DRP having the pulse width WDRP to the pulse during forward rotation. It is determined as an indefinite pulse signal that does not correspond to either the signal or the pulse signal during reverse rotation.
不定パルス信号の入力を検出すると、制御装置１０は、ステップＳ１０３に進んで、揺動判定結果を前回値に保持し、次のステップＳ１０４では、方向検知カウンタを零にリセットする（零にまで減算させる）。
上記の揺動判定とは、正転から逆転への切り替わり、又は、逆転から正転への切り替わりを揺動の発生状態として検出する処理であり、揺動有りとは回転方向の切り替わりが発生したことを示し、揺動無しとは回転方向の切り替わりが発生していないことを示す。
When the input of the indefinite pulse signal is detected, the control device 10 proceeds to step S103, holds the swing determination result at the previous value, and in the next step S104, resets the direction detection counter to zero (subtracts to zero). )
The above swing determination is a process of detecting the switching from forward rotation to reverse rotation or the switching from reverse rotation to forward rotation as the occurrence state of the swing. The fact that there is no oscillation indicates that no change in the rotation direction has occurred.
また、方向検知カウンタは、同一回転方向の連続検出回数を計数するためのカウンタであり、初期値は零、最大値は２に設定される。
制御装置１０は、ステップＳ１０２で、今回計測したパルス幅ＷＤＲＰが正転時のパルス幅の範囲若しくは逆転時のパルス幅の範囲のいずれかに該当していると検出すると、ステップＳ１０５に進む。換言すれば、制御装置１０は、正転時のパルス幅のパルス信号ＤＲＰ若しくは逆転時のパルス幅のパルス信号ＤＲＰを入力したときにステップＳ１０５に進む。
The direction detection counter is a counter for counting the number of continuous detections in the same rotational direction. The initial value is set to zero and the maximum value is set to two.
When the control device 10 detects in step S102 that the pulse width WDRP measured this time corresponds to either the range of the pulse width at the time of forward rotation or the range of the pulse width at the time of reverse rotation, the control device 10 proceeds to step S105. In other words, the control device 10 proceeds to step S105 when a pulse signal DRP having a pulse width during forward rotation or a pulse signal DRP having a pulse width during reverse rotation is input.
ステップＳ１０５で、制御装置１０は、今回検出した回転方向（正転又は逆転）と前回検出した回転方向（正転又は逆転）とが一致しない状態であるか否か、換言すれば、正転から逆転若しくは逆転から正転への切り替わりが発生したか否かを検出する。
パルス幅ＷＤＲＰに基づく回転方向の検出結果が、正転から逆転若しくは逆転から正転に切り替わった場合、制御装置１０は、ステップＳ１０６へ進んで揺動有りの判定を行った後、ステップＳ１０７へ進んで方向検知カウンタに１をセットする。
In step S105, the control device 10 determines whether or not the currently detected rotation direction (forward rotation or reverse rotation) and the previously detected rotation direction (forward rotation or reverse rotation) do not match, in other words, from forward rotation. It is detected whether reverse rotation or switching from reverse rotation to forward rotation has occurred.
If the detection result of the rotation direction based on the pulse width WDRP is switched from normal rotation to reverse rotation or reverse rotation to normal rotation, the control device 10 proceeds to step S106, determines whether there is a swing, and then proceeds to step S107. To set 1 to the direction detection counter.
また、制御装置１０は、回転方向の切り替わりを検出しなかった場合、ステップＳ１０８に進む。
尚、前回の計測パルス幅が正転時のパルス幅及び逆転時のパルス幅のいずれにも該当せず、前回のパルス信号ＤＲＰが不定パルス信号であった場合は、不定から正転若しくは不定から逆転への切り替わりとなり、この場合、制御装置１０はステップＳ１０８に進む。
On the other hand, when the control device 10 does not detect the change of the rotation direction, the control device 10 proceeds to step S108.
If the previous measurement pulse width does not correspond to either the forward pulse width or the reverse pulse width, and the previous pulse signal DRP is an indefinite pulse signal, it is determined from indefinite to forward or indefinite. In this case, the control device 10 proceeds to step S108.
ステップＳ１０８で、制御装置１０は、前回のパルス信号ＤＲＰが、正転時のパルス幅の範囲及び逆転時のパルス幅の範囲のいずれにも該当しないパルス幅ＷＤＲＰである不定パルス信号であったか否かを検出する。
前回のパルス信号ＤＲＰが不定パルス信号であった場合、制御装置１０は、ステップＳ１０９に進み、揺動有り／無しの判定結果を前回のまま保持し、次のステップＳ１１０では、方向検知カウンタに１をセットして、今回検出した回転方向の連続検出回数を計数する。
In step S108, the control device 10 determines whether or not the previous pulse signal DRP is an indefinite pulse signal having a pulse width WDRP that does not correspond to either the forward pulse width range or the reverse pulse width range. Is detected.
When the previous pulse signal DRP is an indefinite pulse signal, the control device 10 proceeds to step S109 and holds the determination result of presence / absence of oscillation as it was before, and in the next step S110, the direction detection counter is incremented by 1. Is set and the number of continuous detections in the rotational direction detected this time is counted.
つまり、不定から正転若しくは不定から逆転に切り替わったときに、制御装置１０はステップＳ１０９、ステップＳ１１０に進むことになる。
一方、前回検出した回転方向（正転又は逆転）と今回検出した回転方向（正転又は逆転）とが一致し、同一の回転方向が２回以上連続して検出されている場合、制御装置１０は、ステップＳ１１１に進み、揺動無し（回転方向の切り替わり無し）の判定を行い、次のステップＳ１１２では、方向検知カウンタの値を前回値から１だけインクリメントして２にする。
That is, when switching from indefinite to forward rotation or indefinite to reverse rotation, the control device 10 proceeds to step S109 and step S110.
On the other hand, when the rotation direction (forward rotation or reverse rotation) detected last time coincides with the rotation direction detected this time (forward rotation or reverse rotation) and the same rotation direction is continuously detected twice or more, the control device 10 In step S111, it is determined that there is no swing (no rotation direction switching). In the next step S112, the value of the direction detection counter is incremented by 1 from the previous value to 2.
なお、方向検知カウンタの値は最大値が２に設定されていて、制御装置１０は、ステップＳ１１２に進んだときに前回の方向検知カウンタの値が２であった場合は、方向検知カウンタの値を２に保持する。
上記のようにして、制御装置１０は、パルス信号ＤＲＰのパルス幅ＷＤＲＰの計測値に基づいて回転方向を判別し、回転方向の判別結果に基づき揺動有り／無しの判定を行うとともに方向検知カウンタの増減を制御する。
If the maximum value of the direction detection counter is set to 2 and the control device 10 proceeds to step S112 and the previous value of the direction detection counter is 2, the value of the direction detection counter is Is held at 2.
As described above, the control device 10 determines the rotation direction based on the measured value of the pulse width WDRP of the pulse signal DRP, determines whether or not there is a swing based on the determination result of the rotation direction, and determines the direction detection counter. Control the increase / decrease.
そして、ステップＳ１１３で制御装置１０は、今回揺動無しの判定を行ったか否かを判断し、同じ回転方向が連続している揺動無しの状態であれば、ステップＳ１１４に進む。
ステップＳ１１４で制御装置１０は、出力軸３ａの回転速度をパルス周期に基づき算出し、算出した回転速度を最新検出値に設定する。
Then, in step S113, the control device 10 determines whether or not the determination is made that there is no swing this time, and if the same rotation direction is continuous and there is no swing, the process proceeds to step S114.
In step S114, the control device 10 calculates the rotation speed of the output shaft 3a based on the pulse period, and sets the calculated rotation speed to the latest detection value.
次いで、制御装置１０は、ステップＳ１１５に進み、方向検知カウンタの値と前回まで回転方向の確定結果とに基づき、回転方向（車両進行方向）の確定処理を実施する。制御装置１０は、方向検知カウンタの値が２である場合は今回検出した回転方向を最終的な回転方向として確定し、方向検知カウンタの値が１又は０である場合は前回の確定結果をそのまま保持して今回の確定結果とする。
一方、制御装置１０は、揺動有りの判定を行った場合、ステップＳ１１３からステップＳ１１６へ進み、出力軸３ａの回転速度をパルス周期の最新計測値に基づいて更新する処理を停止させ、前回における回転速度の計測値を保持させる。
Next, the control device 10 proceeds to step S115, and executes the determination process of the rotation direction (vehicle traveling direction) based on the value of the direction detection counter and the determination result of the rotation direction until the previous time. When the value of the direction detection counter is 2, the control device 10 determines the rotation direction detected this time as the final rotation direction, and when the value of the direction detection counter is 1 or 0, the previous determination result is used as it is. Hold this as the final result.
On the other hand, if the control device 10 determines that there is a swing, the control device 10 proceeds from step S113 to step S116, stops the process of updating the rotation speed of the output shaft 3a based on the latest measured value of the pulse period, Holds the measured value of the rotation speed.
つまり、回転方向が切り替わるときには、パルス周期が実際の回転速度とは異なる値を示すようになって、回転速度を誤検出する可能性がある。そこで、制御装置１０は、揺動有りの判定を行った場合に、パルス周期に基づく回転速度の更新を停止し、回転速度の検出誤差が増大することを抑制する。 That is, when the rotation direction is switched, the pulse period shows a value different from the actual rotation speed, and the rotation speed may be erroneously detected. Therefore, when the control device 10 determines that there is a swing, the control device 10 stops updating the rotational speed based on the pulse period, and suppresses an increase in the rotational speed detection error.
図５は、図３のフローチャートに示した回転方向の検出処理の特性を、前回判断状態と今回判断状態との組み合わせ毎に示す図である。
図５において、前回判断状態は、前回において確定された回転方向を示し、「（不定）」の記載は、前回が不定パルスであったために回転方向の確定が前々回から引き継がれたことを示す。
FIG. 5 is a diagram showing characteristics of the rotation direction detection processing shown in the flowchart of FIG. 3 for each combination of the previous determination state and the current determination state.
In FIG. 5, the previous determination state indicates the rotation direction determined last time, and the description of “(undefined)” indicates that the determination of the rotation direction has been taken over from the previous time because the previous time was an indefinite pulse.
また、今回判断状態は、パルス幅ＷＤＲＰに基づく正転、逆転、不定の判別結果を示し、係る前回判断状態と今回判断状態との組み合わせ毎に３段に分けて表示されるのが今回の最終的な判断結果であり、上段が今回確定される回転方向、中段が揺動判定結果、下段が方向検知カウンタの値を示す。中段の「−」マークは前回判定結果の保持、中段の「×」マークは揺動有りの判定結果、中段の「○」マークは揺動無しの判定結果を示す。
なお、車両１の停止時、つまり、出力軸３ａの回転が停止している状態では、制御装置１０は、回転方向を不定確定とし、かつ、揺動有りを判定し、更に、方向検知カウンタの値を零にリセットする。更に、停止状態から出力軸３ａが回り始めた発進時には、制御装置１０は、初回のパルス信号ＤＲＰを、パルス幅が正転時若しくは逆転時に該当していても不定パルスとし、かつ、揺動有りの判定を行う。
In addition, the current determination state indicates a forward rotation, reverse rotation, and indefinite determination result based on the pulse width WDRP, and is displayed in three stages for each combination of the previous determination state and the current determination state. The upper stage shows the rotation direction determined this time, the middle stage shows the swing determination result, and the lower stage shows the value of the direction detection counter. The middle “−” mark indicates that the previous determination result is retained, the middle “x” mark indicates that the rocking is present, and the middle “o” mark indicates that there is no rocking.
When the vehicle 1 is stopped, that is, in a state where the rotation of the output shaft 3a is stopped, the control device 10 determines that the rotation direction is indefinite and determines that there is a swing, and further, the direction detection counter Reset the value to zero. Further, at the time of starting when the output shaft 3a starts to rotate from the stopped state, the control device 10 sets the initial pulse signal DRP as an indefinite pulse even when the pulse width corresponds to forward rotation or reverse rotation, and there is oscillation. Judgment is made.
図５に示すように、制御装置１０は、今回のパルス信号ＤＲＰが不定パルスである場合、前回判断状態に関わらず、前回に確定された回転方向を保持させ、かつ、方向検知カウンタの値を零にリセットする。
また、制御装置１０は、前回正転を検出していて今回も正転を検出した場合は、回転方向を正転（車両前進状態）に確定させ、揺動無しの判定を下し、更に方向検知カウンタの値を２にする。同様に、制御装置１０は、前回正逆転を検出していて今回も逆転を検出した場合は、回転方向を逆転（車両更新状態）に確定させ、揺動無しの判定を下し、更に方向検知カウンタの値を２にする。
As shown in FIG. 5, when the current pulse signal DRP is an indefinite pulse, the control device 10 maintains the rotation direction that was previously determined regardless of the previous determination state, and sets the value of the direction detection counter. Reset to zero.
In addition, when the control device 10 detects the normal rotation last time and also detects the normal rotation this time, the control device 10 determines the rotation direction as normal rotation (vehicle forward state), determines that there is no swing, and further determines the direction. Set the value of the detection counter to 2. Similarly, if the control device 10 has detected forward / reverse rotation last time and also detected reverse rotation this time, the control device 10 determines that the rotation direction is reverse (vehicle update state), determines that there is no swing, and further detects the direction. Set the counter value to 2.
更に、制御装置１０は、前回正転を検出した状態や、前回不定パルスを検知したことによって前々回の正転判定を継続させている状態において、今回逆転パルスを検知すると、揺動有りの判定を下す。同様に、制御装置１０は、前回逆転を検出した状態や、前回不定パルスを検知したことによって前々回の逆転判定を継続させている状態において、今回正転パルスを検知すると、揺動有りの判定を下す。 Furthermore, when the control device 10 detects the current reverse rotation pulse in the state in which the previous normal rotation has been detected or in the state in which the previous forward rotation determination has been continued by detecting the previous indefinite pulse, the control device 10 determines that there is a swing. I will give you. Similarly, when the controller 10 detects the current forward rotation pulse in a state where the previous reverse rotation is detected or in a state where the previous reverse rotation determination is continued by detecting the previous indefinite pulse, the control device 10 determines that there is a swing. I will give you.
図６のタイムチャートは、車両１の停止から発進して再度停止するまでの間における回転方向検出（前進／後退判定）、揺動有り／無し判定、方向検知カウンタの変化の一例を示す。
図６において、「今回状態」はパルス幅ＷＤＲＰが正転、逆転、不定のいずれに該当しているかを示し、「判断状態」は制御装置１０における回転方向の検知結果を示し、「方向検知」は回転方向の検知結果と方向検知カウンタとから制御装置１０によって確定された車両の進行方向（回転方向）の確定結果を示す。
The time chart of FIG. 6 shows an example of rotation direction detection (forward / reverse determination), presence / absence of swing, and change in the direction detection counter during the period from when the vehicle 1 starts to stop and then stops again.
In FIG. 6, “current state” indicates whether the pulse width WDRP corresponds to normal rotation, reverse rotation, or indefinite, “judgment state” indicates a detection result of the rotation direction in the control device 10, and “direction detection”. Indicates the confirmation result of the traveling direction (rotation direction) of the vehicle determined by the control device 10 from the detection result of the rotation direction and the direction detection counter.
図６において、時刻ｔ０から時刻ｔ１までの車両停止状態で、制御装置１０は、不定パルスを検知することになり、回転方向を不定とし、揺動無しの判定を行い、更に、方向検知カウンタを零に保持する。
時刻ｔ１で正転パルスを入力すると、制御装置１０は、初回パルスであることから不定パルスと判断して方向検知カウンタを零に保持する一方、揺動有りの判定を下す。
In FIG. 6, when the vehicle is in a stopped state from time t0 to time t1, the control device 10 detects an indefinite pulse, makes the rotational direction indefinite, determines that there is no swing, and further sets a direction detection counter. Hold at zero.
When a forward rotation pulse is input at time t1, the control device 10 determines that the pulse is an indefinite pulse because it is the first pulse, holds the direction detection counter at zero, and determines that there is a swing.
時刻ｔ２で正転パルスを再度入力すると、制御装置１０は、方向検知カウンタを１にするが、揺動有りの判定を継続させる。
時刻ｔ３で正転パルスを再度入力すると、時刻ｔ２での検知に続けて連続して正転パルスを検知したことになるので、制御装置１０は、方向検知カウンタを２にし、揺動無しの判定を行い、車両の進行方向を前進（出力軸３ａの回転方向を正転）に確定させる。
When the forward rotation pulse is input again at time t2, the control device 10 sets the direction detection counter to 1, but continues the determination that there is a swing.
When the forward rotation pulse is input again at time t3, the forward rotation pulse is detected continuously following the detection at time t2. Therefore, the control device 10 sets the direction detection counter to 2 and determines that there is no oscillation. To confirm that the traveling direction of the vehicle is forward (the rotational direction of the output shaft 3a is normal).
時刻ｔ４で逆転パルスを入力すると、制御装置１０は、逆転パルス検知の初回として方向検知カウンタを１にし、正転から逆転への切り替わりに基づき揺動有りの判定を下すが、逆転検知が連続していないので、車両の進行方向としては前回の前進状態（出力軸３ａの正転状態）に保持させる。
時刻ｔ５で再度逆転パルスを入力すると、制御装置１０は、逆転パルスを連続して検知したことに基づき、方向検知カウンタを２にし、揺動無しの判定を行い、更に、車両の進行方向を後退に（出力軸３ａの回転方向を逆転に）確定させる。
When a reverse rotation pulse is input at time t4, the control device 10 sets the direction detection counter to 1 as the first reverse pulse detection, and makes a determination that there is a swing based on switching from forward rotation to reverse rotation, but the reverse rotation detection continues. Therefore, the traveling direction of the vehicle is maintained in the previous forward state (the forward rotation state of the output shaft 3a).
When the reverse rotation pulse is input again at time t5, the control device 10 sets the direction detection counter to 2 based on the fact that the reverse rotation pulse is continuously detected, determines that there is no swing, and further reverses the traveling direction of the vehicle. (The rotation direction of the output shaft 3a is reversed).
時刻ｔ６で不定パルスを入力すると、制御装置１０は、方向検知カウンタを零にリセットし、前回の揺動無しの判定及び後退の確定を保持するとともに、逆転パルス後の不定パルスの検知状態（図６に示す逆（不）の状態）を検出する。
時刻ｔ７で逆転パルスを入力すると、制御装置１０は、逆転パルス検知の初回として方向検知カウンタを１にするが、前回の揺動無しの判定及び後退の確定を保持する。
When an indefinite pulse is input at time t6, the control device 10 resets the direction detection counter to zero, holds the previous determination of no swing and the confirmation of reverse, and detects the indefinite pulse after the reverse rotation pulse (see FIG. 6 (the reverse (non) state) is detected.
When the reverse rotation pulse is input at time t7, the control device 10 sets the direction detection counter to 1 as the first reverse rotation pulse detection, but retains the previous determination of no swing and the confirmation of the backward movement.
時刻ｔ８で不定パルスを検知すると、制御装置１０は、方向検知カウンタを零にリセットし、前回の揺動無しの判定及び後退の確定を保持するとともに、逆転パルス後の不定パルスの検知状態を検出する。
時刻ｔ９で正転パルスを入力すると、制御装置１０は、正転パルス検知の初回として方向検知カウンタを１にし、逆転から正転への切り替わりとして揺動有りの判定を下すが、正転パルスは複数回連続していないので、後退の確定を保持する。
When the indefinite pulse is detected at time t8, the control device 10 resets the direction detection counter to zero, holds the previous determination of no swing and the confirmation of the backward movement, and detects the indefinite pulse detection state after the reverse rotation pulse. To do.
When a forward rotation pulse is input at time t9, the control device 10 sets the direction detection counter to 1 as the first forward pulse detection, and makes a determination that there is a swing as switching from reverse rotation to forward rotation. Since it does not continue multiple times, it holds the confirmation of the reverse.
時刻ｔ１０で再度正転パルスを入力すると、制御装置１０は、正転パルスを連続して検知したことに基づき、方向検知カウンタを２にし、揺動無しの判定を行い、更に、車両の進行方向を後退から前進に（出力軸３ａの回転方向を逆転から正転に）切り替えて確定させる。
時刻ｔ１１で不定パルスを入力すると、制御装置１０は、方向検知カウンタを零にリセットするが、前回の揺動無しの判定及び前進の確定を保持するとともに、正転パルス後の不定パルスの検知状態（図６に示す正（不）の状態）を検出する。
When the forward rotation pulse is input again at time t10, the control device 10 sets the direction detection counter to 2, based on the fact that the forward rotation pulse has been continuously detected, determines that there is no swing, and further the vehicle traveling direction. Is switched from reverse to forward (the rotation direction of the output shaft 3a is changed from reverse to normal) to be confirmed.
When an indefinite pulse is input at time t11, the control device 10 resets the direction detection counter to zero, but holds the previous determination of no swing and the determination of forward movement, and also detects the indefinite pulse after the forward rotation pulse. (Positive (not) state shown in FIG. 6) is detected.
時刻ｔ１２で逆転パルスを入力すると、制御装置１０は、逆転パルス検知の初回として方向検知カウンタを１にし、正転から逆転への切り替わりとして揺動有りの判定を行うが、逆転パルスが連続する状態ではないので、車両の進行方向は前進確定に保持させる。
時刻ｔ１３で不定パルスを入力すると、制御装置１０は、方向検知カウンタを零にリセットするが、前回の揺動有りの判定及び前進の確定を保持するとともに、逆転パルス後の不定パルスの検知状態（図６に示す逆（不）の状態）を検出する。
When the reverse rotation pulse is input at time t12, the control device 10 sets the direction detection counter to 1 as the first detection of the reverse rotation pulse, and performs the determination of the presence of oscillation as the switching from the normal rotation to the reverse rotation. Therefore, the traveling direction of the vehicle is held in a fixed forward direction.
When an indefinite pulse is input at time t13, the control device 10 resets the direction detection counter to zero. However, the controller 10 retains the previous determination of the presence of oscillation and the confirmation of forward movement, and also detects the indefinite pulse after the reverse rotation pulse ( The reverse (non) state shown in FIG. 6 is detected.
時刻ｔ１４で再度不定パルスを入力すると、制御装置１０は、方向検知カウンタを零に保持し、前回の揺動有りの判定及び前進の確定を保持するとともに、逆転パルス後の不定パルスの検知状態を検出する。
時刻ｔ１５で、制御装置１０は、パルス信号ＤＲＰの入力が所定時間以上無いことに基づき車両１の停止（出力軸３ａの回転停止）を検知すると、不定パルスの検知状態に設定し、方向検知カウンタを零に保持し、揺動無しの判定状態に保持する。
When the indefinite pulse is input again at time t14, the control device 10 holds the direction detection counter at zero, holds the determination of the presence of the previous swing and the determination of the forward movement, and the detection state of the indefinite pulse after the reverse rotation pulse. To detect.
At time t15, when the control device 10 detects the stop of the vehicle 1 (the rotation stop of the output shaft 3a) based on the absence of the input of the pulse signal DRP for a predetermined time or more, the control device 10 sets the detection state of the indefinite pulse, and the direction detection counter Is held at zero, and the judgment state without swinging is held.
以上のように、パルス信号ＤＲＰが、正転時のパルス信号ではなく逆転時のパルス信号でもない不定パルス信号である場合に、制御装置１０は、方向検知カウンタの値（同一回転方向の連続検出回数）を零にリセットする一方、不定パルス検知前の回転方向の判定結果を保持させる。
これにより、例えば、（１）正転パルス信号→（２）逆転パルス信号→（３）不定パルス信号→（４）逆転パルス信号とパルス信号ＤＲＰが変化する場合に、（４）の逆転パルス信号に基づいて回転方向が逆転方向に確定されることが避けられ、不定パルス信号の発生によって回転方向が誤検出されることを抑制できる。
As described above, when the pulse signal DRP is an indefinite pulse signal that is neither a forward pulse signal nor a reverse pulse signal, the control device 10 determines the value of the direction detection counter (continuous detection in the same rotational direction). Count) is reset to zero, and the determination result of the rotation direction before detecting the indefinite pulse is held.
Thus, for example, when (1) forward pulse signal → (2) reverse pulse signal → (3) indefinite pulse signal → (4) reverse pulse signal and pulse signal DRP change, the reverse pulse signal of (4) Therefore, it is possible to prevent the rotation direction from being determined as the reverse rotation direction and to prevent erroneous detection of the rotation direction due to the generation of the indefinite pulse signal.
つまり、パルス信号ＤＲＰにノイズが重畳することで、制御装置１０が回転方向を誤検出することを抑制でき、回転方向の誤検出が抑制されることで、揺動判定の精度が向上し、パルス周期に基づく回転速度の検出精度を向上させることができる。 That is, by superimposing noise on the pulse signal DRP, it is possible to suppress the controller 10 from erroneously detecting the rotational direction, and by suppressing erroneous detection of the rotational direction, the accuracy of the swing determination is improved, and the pulse The detection accuracy of the rotation speed based on the cycle can be improved.
以上、好ましい実施形態を参照して本発明の内容を具体的に説明したが、本発明の基本的技術思想及び教示に基づいて、当業者であれば種々の変形態様を採り得ることは自明である。
上記実施形態において、制御装置１０は、変速機３の出力軸３ａの回転方向を検出するが、内燃機関２の出力軸（クランクシャフト）の回転方向の検出を同様に実施することができ、回転方向を検出する駆動系の回転体は出力軸３ａに限定されるものではない。
Although the contents of the present invention have been specifically described above with reference to the preferred embodiments, it is obvious that those skilled in the art can take various modifications based on the basic technical idea and teachings of the present invention. is there.
In the embodiment described above, the control device 10 detects the rotation direction of the output shaft 3a of the transmission 3, but can similarly detect the rotation direction of the output shaft (crankshaft) of the internal combustion engine 2 and rotate. The rotating body of the drive system that detects the direction is not limited to the output shaft 3a.
また、回転方向を検出するための回転センサと、回転速度を検出するための回転センサとを個別に備えることができる。
また、上記実施形態では、連続検出回数が２に達すると、そのときの回転方向を確定させる構成としたが、複数回数を２に限定するものではなく３回以上とすることができる。
そして、回転方向を確定させる連続検出回数を３回以上とする場合、制御装置１０は、不定パルス信号の入力に基づき方向検知カウンタの値を零にリセットさせたり（零にまで減算させたり）、又は、不定パルス信号の入力に基づき方向検知カウンタの値を１だけ減算させたりすることができる。
Moreover, the rotation sensor for detecting a rotation direction and the rotation sensor for detecting a rotational speed can be provided separately.
In the above embodiment, when the number of continuous detections reaches 2, the rotation direction at that time is determined. However, the number of times is not limited to 2, and can be 3 or more.
When the number of continuous detections for determining the rotation direction is 3 or more, the control device 10 resets the value of the direction detection counter to zero based on the input of the indefinite pulse signal (subtracts to zero), Alternatively, the value of the direction detection counter can be subtracted by 1 based on the input of the indefinite pulse signal.
１…車両、２…内燃機関、３…変速機、３ａ…出力軸、５…回転センサ、１０…制御装置
DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Internal combustion engine, 3 ... Transmission, 3a ... Output shaft, 5 ... Rotation sensor, 10 ... Control apparatus
Claims (4)
前記検出部は、前記パルス信号毎の回転方向の検出結果が連続して同一である回数が所定の複数回数になったときに当該回転方向の検出結果を確定させ、前記パルス信号が正転時のパルス信号及び逆転時のパルス信号のいずれにも該当しないときに、前回までの回転方向の確定結果を保持するともに連続検出回数の計数値を減じる、車両用制御装置。 Vehicle control having a detection unit that detects a rotation direction of the vehicle drive system based on the pulse signal, applied to a vehicle including a rotation sensor that outputs different pulse signals during forward rotation and reverse rotation of the vehicle drive system A device,
The detection unit determines the detection result of the rotation direction when the number of times that the detection result of the rotation direction for each pulse signal is continuously the same is a predetermined number of times, and the pulse signal is in the forward rotation A vehicle control device that holds the result of determination of the rotation direction up to the previous time and reduces the count value of the number of continuous detections when neither the pulse signal nor the pulse signal during reverse rotation corresponds.
前記検出部は、前記パルス信号のパルス幅の計測値と閾値とを比較して回転方向の検出を行う、請求項１又は２記載の車両用制御装置。 The pulse signal is a pulse signal having different pulse widths during forward rotation and reverse rotation,
The vehicle control device according to claim 1, wherein the detection unit compares the measured value of the pulse width of the pulse signal with a threshold value to detect the rotation direction.
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