Vehicle control using multiple sensors
First Claim
1. A control device for controlling a vehicle using first and second accelerator sensors configured to provide an accelerator control input, the control device comprising:
- a fault detector configured to detect that one of the first and second accelerator sensors has developed a fault; and
an accelerator control input setting section configured to determine the accelerator control input using an output of a normal sensor other than a faulty sensor when the faulty sensor has been detected by the fault detector,the accelerator control input setting section dividing a full range of output signal levels of the normal sensor into a plurality of regions including an opening region in which the accelerator control input increases at a first rate of change, and a closing region in which the accelerator control input decreases at a second rate of change,the accelerator control input setting section determining a change in the accelerator control input depending on which of the plurality of regions contains the output signal level of the normal sensor.
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Accused Products
Abstract
One of the two accelerator sensors 165a and 165b is detected faulty by analyzing variation patterns outputted by the two sensors even when the outputs of two sensors remain within their respective normal output ranges. An accelerator control input is determined using the output of the fault-free sensor if a faulty sensor is detected. The fault detector detects the faulty sensor by analyzing variation patterns of outputs of the first and second accelerator sensors when the outputs of the first and second accelerator sensors remain within respective normal output ranges thereof.
12 Citations
74 Claims
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1. A control device for controlling a vehicle using first and second accelerator sensors configured to provide an accelerator control input, the control device comprising:
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a fault detector configured to detect that one of the first and second accelerator sensors has developed a fault; and an accelerator control input setting section configured to determine the accelerator control input using an output of a normal sensor other than a faulty sensor when the faulty sensor has been detected by the fault detector, the accelerator control input setting section dividing a full range of output signal levels of the normal sensor into a plurality of regions including an opening region in which the accelerator control input increases at a first rate of change, and a closing region in which the accelerator control input decreases at a second rate of change, the accelerator control input setting section determining a change in the accelerator control input depending on which of the plurality of regions contains the output signal level of the normal sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 66)
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18. A vehicle comprising:
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a prime mover configured to drive an axle of the vehicle; and a control device configured to control the prime mover using first and second accelerator sensors for provide an accelerator control input as a control input, the control device including; a fault detector configured detect that one of the first and second accelerator sensors has developed a fault; and an accelerator control input setting section configured to determine the accelerator control input using an output of a normal sensor other than a faulty sensor when the faulty sensor has been detected by the fault detector, the accelerator control input setting section dividing a full range of output signal levels of the normal sensor into a plurality of regions including an opening region in which the accelerator control input increases at a first rate of change, and a closing region in which the accelerator control input decreases at a second rate of change, the accelerator control input setting section determining a change in the accelerator control input depending on which of the plurality of regions contains the output signal level of the normal sensor. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 67)
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35. A control method for controlling a vehicle using first and second accelerator sensors configured to provide an accelerator control input as a control input, the control method comprising the steps of:
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(a) detecting that one of the first and second accelerator sensors has developed a fault; and (b) determine the accelerator control input using an output of a normal sensor other than a faulty sensor when the faulty sensor has been detected, the step (b) including the steps of; dividing a full range of output signal levels of the normal sensor into a plurality of regions including an opening region in which the accelerator control input increases at a first rate of change, and a closing region in which the accelerator control input decreases at a second rate of change, and determining a change in the accelerator control input depending on which of the plurality of regions contains the output signal level of the normal sensor. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 68)
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52. A control device for controlling a prescribed control object using first and second sensors configured to provide a control input, the control device comprising:
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a fault detector configured to detect that one of the first and second sensors has developed a fault by analyzing temporal variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof, the fault detector detecting a faulty sensor by determining whether the temporal variation pattern output by each sensor corresponds to one of a plurality of preset fault patterns that represent mutually different fault events; and a control input setting section configured to determine the control input using an output of a normal sensor other than the faulty sensor when the faulty sensor has been detected by the fault detector, the control input setting section dividing a full range of output signal levels of the normal sensor into a plurality of regions in which the control input changes at different rates of change, the control input setting section determining a change in the control input depending on which of the plurality of regions contains the output signal level of the normal sensor. - View Dependent Claims (53, 54, 56, 57, 69, 71)
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55. A control device for controlling a prescribed control object using first and second sensors configured to provide a control input, the control device comprising:
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a fault detector configured to detect that one of the first and second sensors has developed a fault by analyzing temporal variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof, the fault detector detecting a faulty sensor by determining whether the temporal variation pattern output by each sensor corresponds to one of a plurality of preset fault patterns that represent mutually different fault events; and a control input setting section configured to determine the control input using an output of a normal sensor other than the faulty sensor when the faulty sensor has been detected by the fault detector, the control input setting section dividing a full range of output signal levels of the normal sensor into a plurality of regions in which the control input changes at different rates of change, the control input setting section determining a change in the control input depending on which of the plurality of regions contains the output signal level of the normal sensor, wherein the control input is determined by multiplying a control input value obtained from the output of the normal sensor by a prescribed coefficient less than 1.
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58. A control method for controlling a prescribed control object using first and second sensors configured to provide a control input, comprising the steps of:
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(a) detecting that one of the first and second sensors has developed a fault by analyzing temporal variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof, and (b) determining the control input using an output of a normal sensor other than a faulty sensor when the faulty sensor has been detected, wherein the step (a) includes the step of detecting the faulty sensor by determining whether the temporal variation pattern output by each sensor corresponds to one of a plurality of preset fault patterns that represent mutually different fault events, and the step (b) includes the steps of; dividing a full range of output signal levels of the normal sensor into a plurality of regions in which the control input changes at different rates of change, and determining a change in the control input depending on which of the plurality of regions contains the output signal level of the normal sensor. - View Dependent Claims (59, 60, 62, 70, 72)
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61. A control method for controlling a prescribed control object using first and second sensors configured to provide a control input, comprising the steps of:
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(a) detecting that one of the first and second sensors has developed a fault by analyzing temporal variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof, and (b) determining the control input using an output of a normal sensor other than a faulty sensor when the faulty sensor has been detected, wherein the step (a) includes the step of detecting the faulty sensor by determining whether the temporal variation pattern output by each sensor corresponds to one of a plurality of preset fault patterns that represent mutually different fault events, wherein the step (b) includes the steps of; dividing a full range of output signal levels of the normal sensor into a plurality of regions in which the control input changes at different rates of change, and determining a change in the control input depending on which of the plurality of regions contains the output signal level of the normal sensor, wherein the control input is determined by multiplying a control input value obtained from the output of the normal sensor by a prescribed coefficient less than 1.
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63. A control device for controlling a prescribed control object using first and second sensors configured to provide identical control inputs when the first and second sensors are operating normally, the control device comprising:
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a fault detector configured to detect that one of the first and second sensors has developed a fault, by analyzing temporal variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof, the fault detector detecting a faulty sensor by determining whether the temporal variation pattern output by each sensor corresponds to one of a plurality of preset fault patterns that represent mutually different fault events; and a control input setting section configured to determine the control input using outputs of the first and second sensors, the control input setting section dividing a full range of output signal levels of the first or second sensor into a plurality of regions in which the control input changes at different rates of change, the control input setting section determining a change in the control input depending on which of the plurality of regions contains the output signal level of the first or second sensor, wherein, upon detection of a fault with respect to at least one of the first and second sensors, the control input setting section ignores the control inputs obtained from the outputs of the first and second sensors when the first and second sensors do not provide substantially identical control inputs, and the control input setting section determines the control input from the outputs of the first and second sensors when the first and second sensors provide substantially identical control inputs. - View Dependent Claims (64, 73)
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65. A control method for controlling a prescribed control object using first and second sensors configured to provide identical control inputs when the first and second sensors are operating normally, the method comprising the steps of:
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detecting that one of the first and second sensors has developed a fault, by analyzing temporal variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof, a faulty sensor being detected by determining whether the temporal variation pattern output by each sensor corresponds to one of a plurality of preset fault patterns that represent mutually different fault events; dividing a full range of output signal levels of the first or second sensor into a plurality of regions in which the control input changes at different rates of change, and determining a change in the control input depending on which of the plurality of regions contains the output signal level of the first or second sensor, and upon detection of a fault with respect to at least one of the first and second sensors, ignoring the control inputs obtained from the outputs of the first and second sensors when the first and second sensors do not provide substantially identical control inputs, and determining the control input from the outputs of the first and second sensors when the first and second sensors provide substantially identical control inputs. - View Dependent Claims (74)
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Specification