Output system

Abstract

To make it easier to identify the location where an abnormality has occurred.SOLUTION: The output system S outputs first notification information to the external device 70 when a first depression amount obtained via the vehicle control unit 30, which outputs to the BMS 40 an instruction value that controls the vehicle speed according to the first depression amount of the accelerator pedal 20 detected by the first sensor 21, differs from a second depression amount obtained directly from the second sensor 22, which detects the second depression amount of the accelerator pedal 20 in a manner different from the first sensor 21, and outputs second notification information to the external device 70 when the output value actually output by the BMS 40 in relation to the instruction value differs from an estimated value corresponding to the instruction value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an output system for outputting information related to a vehicle. [Background technology]

[0002] There are known technologies for controlling a vehicle in accordance with the amount of operation of an operating unit of the vehicle. For example, Patent Document 1 discloses a technology for controlling the output of a power source that applies voltage to a motor that drives the vehicle and the rotation speed of the motor based on the amount of depression of the accelerator pedal detected by a sensor provided on the accelerator pedal of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-182287 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when an abnormality occurs in which the vehicle is not properly controlled based on the amount of depression of the accelerator pedal, it is sometimes difficult to determine whether the abnormality is in the sensor, the motor, or the device that controls the power supply output and motor rotation speed based on the sensor detection value.

[0005] The present invention has been made in consideration of these points, and aims to make it easier to identify the location where an abnormality has occurred. [Means for solving the problem]

[0006] In one aspect of the present invention, an output system is provided that includes a first sensor that detects an amount of operation of an operating unit for controlling the speed of a vehicle, a second sensor that detects the amount of operation by a method different from that of the first sensor, a vehicle control unit that outputs an instruction value for controlling the speed of the vehicle to a control device that controls the speed in accordance with a first operation amount that is the amount of operation detected by the first sensor, and an output unit that outputs first notification information to an external device when a first difference between the first operation amount obtained via the vehicle control unit and a second operation amount that is the amount of operation obtained from the second sensor is equal to or greater than a first threshold.

[0007] The operating unit may be a pedal for controlling the speed by operation of the driver's foot, the first sensor may detect the amount of depression of the pedal corresponding to the voltage of a current flowing through a variable resistor that operates in conjunction with the pedal as the first operating amount, and the second sensor may be an optical sensor that detects the distance between the pedal and the second sensor, and may detect the amount of depression corresponding to the detected distance as the second operating amount.

[0008] The control device may further include a detection unit that detects an output value actually output by the control device in response to the instruction value, and an estimation unit that estimates an estimate of the output value of the control device in response to the instruction value based on the instruction value, and the output unit may output second notification information different from the first notification information to the external device when a second difference between the output value and the estimated value is equal to or greater than a second threshold.

[0009] The first notification information may be information indicating that the first operation amount acquired via the vehicle control unit is different from the second operation amount acquired from the second sensor, and the second notification information may be information indicating that the output value is different from the estimated value.

[0010] The detection unit may detect, as the output value, a current value of a current actually output by the control device to the motor of the vehicle in response to the instruction value.

[0011] The detection unit may detect, as the output value, an amount of fuel actually supplied by the control device to the engine of the vehicle in response to the instruction value.

[0012] The output unit may output third notification information to the external device indicating that the first sensor is abnormal if the speed of the vehicle is not a speed corresponding to the operation amount and a third difference between the first operation amount and the second operation amount obtained directly from the first sensor is equal to or greater than the first threshold value.

[0013] The output unit may output the first notification information to the external device, when the third difference is less than the first threshold value and the first difference is greater than or equal to the first threshold value, the first notification information including information indicating that the vehicle control unit is abnormal.

[0014] The device may include a detection unit that detects an output value actually output by the control device in response to the instruction value, an estimation unit that estimates an estimated value of the output value of the control device in response to the instruction value based on the instruction value, and the output unit outputs second notification information different from the first notification information to the external device when a second difference between the output value and the estimated value is equal to or greater than a second threshold, and outputs information indicating that the control device is abnormal to the external device when the first difference and the third difference are less than the first threshold and the second difference is equal to or greater than the second threshold.

[0015] The output unit may output, to the external device, information indicating that a power unit that generates power to drive the vehicle is abnormal when the first difference and the third difference are less than the first threshold value and the second difference is less than the second threshold value.

[0016] The pedal may be an accelerator pedal for controlling the output of a power unit that is the control device.

[0017] The pedal may be a brake pedal for controlling the braking force of a brake that is the control device.

[0018] The vehicle may further include a detection unit that detects the braking force actually exerted by the brake relative to the instruction value, and an estimation unit that estimates an estimated value of the braking force of the brake relative to the instruction value based on the instruction value, and the output unit may output second notification information different from the first notification information to the external device when a second difference between the braking force and the estimated value is equal to or greater than a second threshold value.

[0019] The estimation unit may determine the estimated value corresponding to the instruction value obtained from the vehicle control unit by inputting the instruction value obtained from the vehicle control unit into a function that outputs an estimated value corresponding to the input instruction value, or by identifying the estimated value corresponding to the instruction value obtained from the vehicle control unit from a data table that associates estimated values ​​with instruction values. [Effects of the Invention]

[0020] The present invention has the effect of making it easier to identify the location where an abnormality has occurred. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram illustrating a configuration of an output system according to a first embodiment. [Figure 2] 10 is a flowchart illustrating an example of a process for outputting notification information. [Figure 3] 10 is a flowchart illustrating an example of a second notification information output process. [Figure 4] FIG. 10 is a diagram illustrating the configuration of an output system according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] [Configuration of Output System S of First Embodiment] 1 is a diagram illustrating the configuration of an output system S according to a first embodiment. The output system S is mounted on a vehicle such as a truck. The output system S includes a motor 10, an accelerator pedal 20, a first sensor 21, a second sensor 22, a vehicle control unit 30, a BMS (Battery Management System) 40, a detection unit 50, and an information output device 600.

[0023] The motor 10 is a power unit that generates power to run the vehicle. The power (driving force) generated by the motor 10 is transmitted to drive wheels (not shown) of the vehicle, thereby enabling the vehicle to run. The vehicle of the first embodiment is an electric vehicle that runs on the power of the motor 10.

[0024] Accelerator pedal 20 is an operating unit for controlling the speed of the vehicle by operating the foot of the driver who drives the vehicle. First sensor 21 detects a first depression amount of accelerator pedal 20 when the driver depresses accelerator pedal 20 as a first operation amount of the operating unit. For example, first sensor 21 detects the first depression amount of accelerator pedal 20 corresponding to the voltage of a current flowing through a variable resistor that operates in conjunction with the movement of shaft 24 of accelerator pedal 20. Alternatively, first sensor 21 may detect the first depression amount of accelerator pedal 20 by detecting the position of a magnet provided on shaft 24 connected to accelerator pedal 20.

[0025] The vehicle control unit 30 is an ECU (Electronic Control Unit) that controls the speed of the vehicle. The vehicle control unit 30 outputs to the BMS 40 an instruction value that sets the vehicle speed to a speed corresponding to the first depression amount acquired from the first sensor 21. The vehicle control unit 30 determines an instruction value corresponding to the first depression amount by inputting the first depression amount to an instruction value output function that outputs a larger instruction value as the input first depression amount increases, and outputs the determined instruction value to the BMS 40. It is assumed that the instruction value output function is obtained in advance by experiment or simulation.

[0026] The BMS 40 is a speed control device that adjusts the vehicle speed to a speed corresponding to an instruction value. The BMS 40 includes a power source 41. The power source 41 is, for example, a secondary battery, but may also be a generator. The secondary battery is, for example, a lithium-ion battery or a lead-acid battery, but is not limited to these.

[0027] The BMS 40 controls the speed of the vehicle by controlling the output of the motor 10 by controlling the power supplied to the motor 10 by the power supply 41. Specifically, the BMS 40 controls the output of the motor 10 by setting the value of the current supplied to the motor 10 by the power supply 41 to a value corresponding to the first instruction value. As an example, the BMS 40 increases the speed of the vehicle by causing the power supply 41 to output a current of a larger value to the motor 10 as the instruction value increases.

[0028] The detection unit 50 is a galvanometer that detects the value of the current flowing from the power supply 41 to the motor 10. The detection unit 50 detects the value of the current actually output by the BMS 40 to the motor 10 in response to an indicated value as the output value actually output by the speed control device. While the BMS 40 is outputting current to the motor 10, the detection unit 50 detects the value of the current flowing from the power supply 41 to the motor 10 at predetermined time intervals. The predetermined time is, for example, 10 milliseconds, but is not limited to this.

[0029] The second sensor 22 detects the second depression amount of the accelerator pedal 20 as the second operation amount of the steering unit using a method different from that of the first sensor 21. For example, the second sensor 22 includes an optical sensor that detects the distance L between the accelerator pedal 20 and the second sensor 22, and detects the second depression amount according to the distance L detected by the optical sensor. Specifically, the second sensor 22 uses the distance L between the accelerator pedal 20 and the second sensor 22 when the accelerator pedal 20 is not depressed as a reference distance, and detects the amount of decrease in distance from the reference distance when the accelerator pedal 20 is depressed as the second depression amount.

[0030] However, if there is an abnormality in any of the first sensor 21, the vehicle control unit 30, and the BMS 40 when the driver depresses the accelerator pedal 20, the vehicle speed will not correspond to the amount of depression of the accelerator pedal 20. In this case, the vehicle manager must check each of the first sensor 21, the vehicle control unit 30, and the BMS 40 to determine whether or not there is an abnormality, which requires a lot of time and effort to identify the cause of the speed control abnormality that is preventing the vehicle speed from corresponding to the amount of depression of the accelerator pedal 20.

[0031] In response to this, the information output device 600 of the first embodiment outputs support information that supports identifying the location of the abnormality that is causing the speed control abnormality. For example, if the first and second depression amounts acquired via the vehicle control unit 30 differ, it is likely that the first sensor 21 is not detecting the depression amount correctly or the vehicle control unit 30 is not performing appropriate processing, and therefore there is a high probability that the first sensor 21 or the vehicle control unit 30 is abnormal. Therefore, if the first and second depression amounts acquired via the vehicle control unit 30 differ, the information output device 600 outputs support information to the external device 70 indicating that either the first sensor 21 or the vehicle control unit 30 is abnormal. The external device 70 is, for example, a personal computer or server of the vehicle manager, and displays the support information on a display unit. By checking the support information, the manager can determine that the cause of the speed control abnormality is an abnormality in the first sensor 21 or the vehicle control unit 30.

[0032] Furthermore, if the actual current value detected by the detection unit 50 differs from the estimated current value estimated based on the instruction value of the vehicle control unit 30, it is considered that the BMS 40 is not outputting a current of an appropriate value, and there is a high probability that the BMS 40 is malfunctioning. Therefore, if the current value and the estimated current value differ, support information indicating that the BMS 40 is malfunctioning is output to the external device 70. By checking the support information, the administrator can determine that the cause of the speed control abnormality is an abnormality in the BMS 40.

[0033] In this way, the administrator can easily identify the location where the abnormality has occurred by checking the first notification information or the second notification information output by the information output device 600 when an abnormality in speed control occurs. The configuration of the information output device 600 will be described below.

[0034] [Configuration of information output device 600] The information output device 600 has a storage unit 610 and a control unit 620. The storage unit 610 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, etc. The storage unit 610 stores a program to be executed by the control unit 620.

[0035] The control unit 620 is a computational resource including a processor such as a CPU (Central Processing Unit). The control unit 620 executes a program stored in the storage unit 610 to realize functions as an acquisition unit 621, an estimation unit 622, and an output unit 623.

[0036] The acquisition unit 621 acquires the first depression amount detected by the first sensor 21. Specifically, the acquisition unit 621 acquires the first depression amount, which is raw data, directly from the first sensor 21. The acquisition unit 621 also acquires a processed depression amount, which is the first depression amount after being processed by the vehicle control unit 30, from the vehicle control unit 30. The processing by the vehicle control unit 30 is, for example, a process of converting a data format, but is not limited to this. The acquisition unit 621 acquires the second depression amount detected by the second sensor 22 directly from the second sensor 22. Specifically, the acquisition unit 621 acquires the second depression amount, which is raw data, from the second sensor 22.

[0037] The acquisition unit 621 acquires, from the vehicle control unit 30, an instruction value for adjusting the vehicle speed to a speed corresponding to the pedal depression amount. Specifically, the acquisition unit 621 acquires, from the vehicle control unit 30, the instruction value that the vehicle control unit 30 has output to the BMS 40. Note that the acquisition unit 621 may acquire the instruction value via the BMS 40.

[0038] The acquisition unit 621 acquires the vehicle speed. For example, the acquisition unit 621 acquires the vehicle speed based on the number of rotations per unit time of the drive wheels of the vehicle or the motor 10. Note that the acquisition unit 621 may acquire the vehicle speed using other known methods.

[0039] The estimation unit 622 estimates the current value of the current output from the BMS 40 to the motor 10. For example, the estimation unit 622 estimates an estimated current value of the current output from the BMS 40 to the motor 10 in response to an instruction value based on the acquired instruction value. Specifically, the estimation unit 622 inputs the acquired instruction value into a current value estimation function that outputs an estimated current value corresponding to the input instruction value, thereby determining the estimated current value corresponding to the acquired instruction value. The current value estimation function is assumed to be obtained in advance by experiment or simulation and stored in the storage unit 610.

[0040] The estimation unit 622 may determine the estimated current value by identifying an estimated current value corresponding to the instruction value. For example, the estimation unit 622 determines the estimated current value corresponding to the acquired instruction value by identifying the estimated current value corresponding to the acquired instruction value from a data table that associates instruction values ​​with estimated current values. The data table associates each of a plurality of instruction values ​​with an estimated current value that is estimated to be output by the BMS 40 when each instruction value is output to the BMS 40. The data table is assumed to be obtained in advance through experiments or simulations and stored in the storage unit 610.

[0041] The estimation unit 622 estimates a speed corresponding to the depression amount of the accelerator pedal 20. For example, the estimation unit 622 determines an estimated speed corresponding to the first depression amount by inputting a first depression amount into a speed estimation function that outputs a speed corresponding to the input depression amount. The speed estimation function includes, for example, the vehicle weight, the gradient of the road on which the vehicle is traveling, and the rotation speed of the motor 10 as parameters, and is assumed to be determined in advance through experiments or simulations. The estimation unit 622 determines an estimated speed corresponding to the first depression amount by inputting the first depression amount, the vehicle weight, the gradient of the road, and the rotation speed of the motor 10 into the speed estimation function. Note that the acquisition unit 621 is assumed to be able to acquire the vehicle weight, the gradient of the road, and the rotation speed of the motor 10.

[0042] If there is an abnormality in the vehicle, the output unit 623 outputs support information that supports identifying the location of the abnormality. For example, if the acquired vehicle speed differs from the estimated speed, the output unit 623 determines that there is an abnormality in that the vehicle speed does not correspond to the amount of depression of the accelerator pedal 20, and outputs the support information to the external device 70. Specifically, the output unit 623 outputs the support information to the external device 70 if the difference between the vehicle speed and the estimated speed is equal to or greater than a speed determination threshold, and does not output the support information if the difference between the vehicle's actual speed and the estimated speed is less than the speed determination threshold. The speed determination threshold is a threshold for determining whether the vehicle's actual speed differs from the estimated speed, and is set to, for example, a value equal to or greater than the maximum value of the estimation error of the vehicle's speed, but is not limited to this.

[0043] When outputting the support information, the output unit 623 determines whether the post-processing step amount differs from the second step amount. The output unit 623 determines that the post-processing step amount differs from the second step amount when a first difference between the post-processing operation amount and the second step amount is equal to or greater than a first threshold, and determines that the post-processing step amount matches the second step amount when the first difference is less than the first threshold. The first threshold is a threshold for determining whether the post-processing operation amount differs from the second step amount. The first threshold in the first embodiment is set according to the larger of the measurement error of the first sensor 21 and the measurement error of the second sensor 22. Specifically, the first threshold is set to a value larger than the larger of the two measurement errors, but is not limited to this.

[0044] When the post-processing depression amount differs from the second depression amount, the output unit 623 outputs first notification information indicating that the post-processing depression amount differs from the second depression amount as support information to the external device 70. The output unit 623 may output first notification information including first abnormality information indicating that either the first sensor 21 or the vehicle control unit 30 is abnormal to the external device 70 as support information. An administrator who has confirmed the first notification information can determine that there is an abnormality in the first sensor 21 or the vehicle control unit 30. The administrator can then correct the program of the vehicle control unit 30 installed in the vehicle in which the speed control abnormality occurred, thereby preventing the occurrence of the speed control abnormality. Furthermore, the administrator can apply the corrected program of the vehicle control unit 30 to vehicle control units 30 installed in other vehicles, thereby preventing the occurrence of the speed control abnormality in other vehicles as well.

[0045] When the post-processing depression amount matches the second depression amount, the output unit 623 may output first normal information indicating that the first sensor 21 and the vehicle control unit 30 are normal. By checking the first normal information, the administrator can determine that the first sensor 21 and the vehicle control unit 30 are normal, and therefore can omit investigating whether or not there is an abnormality in the first sensor 21 and the vehicle control unit 30.

[0046] When the first sensor 21 and the vehicle control unit 30 are normal, the output unit 623 determines whether the BMS 40 is abnormal based on the actual current value and the estimated current value. Specifically, when a second difference between the actually detected current value and the estimated current value is equal to or greater than a second threshold, the output unit 623 determines that the BMS 40 is abnormal, and when the second difference is less than the second threshold, the output unit 623 determines that the BMS 40 is normal. The second threshold is a threshold for determining whether the actual current value and the estimated value differ, and is set to be equal to or greater than the maximum value of the measurement error of the detection unit 50, but is not limited to this.

[0047] When the BMS 40 is abnormal, the output unit 623 outputs second notification information indicating that the actual current value and the estimated current value differ as support information to the external device 70. The output unit 623 may output second notification information including second abnormality information indicating that the BMS 40 is abnormal as support information to the external device 70. In this way, the administrator who checks the second notification information can determine that the BMS 40 is abnormal.

[0048] When the BMS 40 is normal, the output unit 623 may output second normal information indicating that the BMS 40 is normal. By checking the second normal information, the administrator can determine that the BMS 40 is normal, and therefore does not need to investigate whether or not there is an abnormality in the BMS 40.

[0049] However, the second depression amount directly acquired from the second sensor 22 is irrelevant to the control of the vehicle speed. Therefore, when a speed control abnormality occurs, if the first depression amount directly acquired from the first sensor 21 differs from the second depression amount, there is a high probability that the first sensor 21 is not properly detecting the first depression amount.

[0050] Therefore, when a speed control abnormality occurs, if a third difference between the first depression amount and the second depression amount obtained directly from the first sensor 21 is equal to or greater than a first threshold, the output unit 623 determines that the first sensor 21 is abnormal. If the first sensor 21 is abnormal, the output unit 623 outputs third notification information indicating that the first sensor 21 is abnormal to the external device 70 as support information. The manager who confirms the third notification information can know that the first sensor 21 is abnormal, and can therefore determine that the speed control abnormality is caused by the abnormality of the first sensor 21.

[0051] If the third difference is less than the first threshold when a speed control abnormality occurs, the output unit 623 determines that the first sensor 21 is normal. If the first sensor 21 is normal, the output unit 623 determines whether or not there is an abnormality in the vehicle control unit 30. Specifically, if the first sensor 21 is normal when a speed control abnormality occurs and the first difference between the post-processing depression amount and the second depression amount is equal to or greater than the first threshold, the output unit 623 determines that there is an abnormality in the vehicle control unit 30. If there is an abnormality in the vehicle control unit 30, the output unit 623 outputs, as support information, first notification information including control unit abnormality information indicating that there is an abnormality in the vehicle control unit 30. A manager who confirms the first notification information including the control unit abnormality information can understand that the cause of the speed control abnormality is an abnormality in the vehicle control unit 30.

[0052] If the first sensor 21 is normal and the first difference is less than the first threshold when a speed control abnormality occurs, the output unit 623 determines that the vehicle control unit 30 is normal. If the vehicle control unit 30 is normal, the output unit 623 outputs control unit normality information indicating that the vehicle control unit 30 is normal as support information.

[0053] When the first sensor 21, the vehicle control unit 30, and the BMS 40 are normal, the output unit 623 may output support information indicating that another device is abnormal. For example, when the first sensor 21, the vehicle control unit 30, and the BMS 40 are normal when a speed control abnormality occurs, the output unit 623 outputs support information including motor abnormality information indicating that there is a high probability that the motor 10 is abnormal to the external device 70. This allows the administrator to determine that the speed control abnormality is caused by an abnormality in the motor 10.

[0054] [Processing to output notification information] 2 is a flowchart showing an example of a process for outputting notification information. The process for outputting notification information is executed when a speed control abnormality occurs. For example, the process for outputting notification information is executed when a speed control abnormality occurs during a running test in the development stage of a vehicle.

[0055] The acquisition unit 621 acquires the depression amount of the accelerator pedal 20 from each sensor (step S1). Specifically, the acquisition unit 621 acquires the first depression amount detected by the first sensor 21 from the first sensor 21, and acquires the second depression amount detected by the second sensor 22 from the second sensor 22.

[0056] The output unit 623 determines whether the first sensor 21 is abnormal based on whether the two depression amounts acquired by the acquisition unit 621 are different (step S2). Specifically, the output unit 623 determines whether the first sensor 21 is abnormal based on whether a third difference between the first depression amount and the second depression amount is equal to or greater than a first threshold. If the third difference is equal to or greater than the first threshold (Yes in step S2), the output unit 623 determines that the first sensor 21 is abnormal, and outputs third notification information to the external device 70 (step S3). Specifically, the output unit 623 outputs the third notification information indicating that the first sensor 21 is abnormal to the external device 70 as support information.

[0057] If the third difference is less than the first threshold value (No in step S2), the output unit 623 determines that the first sensor 21 is normal, and proceeds to step S4. The acquisition unit 621 acquires the post-processing depression amount from the vehicle control unit 30 (step S4). The output unit 623 determines whether the vehicle control unit 30 is abnormal based on the post-processing depression amount and the second depression amount (step S5). Specifically, the output unit 623 determines whether the vehicle control unit 30 is abnormal based on whether the first difference between the post-processing depression amount and the second depression amount is equal to or greater than the first threshold value. If the first difference is equal to or greater than the first threshold value (Yes in step S5), the output unit 623 determines that the vehicle control unit 30 is abnormal, and outputs first notification information to the external device 70 (step S6). Specifically, the output unit 623 outputs the first notification information including control unit abnormality information indicating that the vehicle control unit 30 is abnormal, as support information.

[0058] If the first difference is less than the second threshold value (No in step S5), the output unit 623 determines that the vehicle control unit 30 is normal, and executes second notification information output processing (step S7). Figure 3 is a flowchart showing an example of the second notification information output processing.

[0059] The acquisition unit 621 acquires, from the vehicle control unit 30, an instruction value for adjusting the vehicle speed to a speed corresponding to the first depression amount (step S71). The estimation unit 622 determines an estimated current value corresponding to the acquired instruction value (step S72). Specifically, the estimation unit 622 determines an estimated current value corresponding to the acquired instruction value by inputting the acquired instruction value into a current value estimation function that outputs an estimated current value corresponding to the input instruction value.

[0060] The acquisition unit 621 acquires the current value of the current actually output by the vehicle control unit 30 (step 73). Specifically, the acquisition unit 621 acquires the current value actually output by the BMS 40 to the motor 10 in response to the instruction value detected by the detection unit 50.

[0061] The output unit 623 determines whether or not the BMS 40 is abnormal based on the actual current value and the estimated current value (step S74). Specifically, the output unit 623 determines whether or not the BMS 40 is abnormal based on whether or not a second difference between the actual current value and the estimated current value is equal to or greater than a second threshold value.

[0062] If the second difference is equal to or greater than the second threshold (Yes in step S74), the output unit 623 determines that the BMS 40 is abnormal, and outputs second notification information indicating that the actual current value and the estimated current value differ (step S75). Specifically, the output unit 623 outputs the second notification information including second abnormality information indicating that the BMS 40 is abnormal, as support information, to the external device 70. If the second difference is less than the second threshold (No in step S74), the output unit 623 determines that the BMS 40 is normal, and outputs motor abnormality information indicating that there is a high probability that the motor 10 is abnormal to the external device 70 (step S76).

[0063] [Effects of the Output System S According to the First Embodiment] As described above, the output system S according to the first embodiment first detects a first depression amount of the accelerator pedal 20 using the first sensor 21, and then detects a second depression amount of the accelerator pedal 20 using the second sensor 22, which detects the depression amount using a method different from that of the first sensor 21. If the first depression amount acquired from the vehicle control unit 30 and the second depression amount acquired from the second sensor 22 differ, the output system S outputs first notification information to the external device 70 indicating that the first depression amount and the second depression amount differ.

[0064] If the first depression amount and the second depression amount acquired from the vehicle control unit 30 are different, it is considered that the first sensor 21 is not detecting the depression amount correctly or the vehicle control unit 30 is not outputting an appropriate instruction value. Therefore, the manager who checks the first notification information can determine that there is an abnormality in either the first sensor 21 or the vehicle control unit 30. In this way, by the output system S outputting the first notification information, the manager can easily identify the location where the abnormality has occurred.

[0065] Furthermore, when the vehicle control unit 30 outputs to the BMS 40 an instruction value for controlling the vehicle speed according to the first pedal depression amount, the output system S detects, using the detection unit 50, the current value of the current actually output by the BMS 40. Next, the output system S estimates an estimated current value of the current to be output by the BMS 40 based on the instruction value. Then, if the actual current value detected by the detection unit 50 differs from the estimated current value, the output system S outputs second notification information indicating that the actual current value and the estimated current value differ to the external device 70. Furthermore, if the current value and the estimated current value differ, it is considered that the BMS 40 is abnormal. Therefore, an administrator who checks the second notification information can determine that the BMS 40 is abnormal.

[0066] [Configuration of Output System S of Second Embodiment] The output system S of the first embodiment has a motor 10 as a power unit. The output system S of the second embodiment has an engine 80 instead of the motor 10 and the BMS 40. In other words, the vehicle of the second embodiment is an engine vehicle that runs on the power of the engine 80. FIG. 4 is a diagram for explaining the configuration of the output system S of the second embodiment. Below, differences between the output system S of the second embodiment and the output system S of the first embodiment will be explained, and explanations of similarities will be omitted.

[0067] The engine 80 is an internal combustion engine (power unit) that burns and expands a mixture of fuel and intake air (air) to generate power for propelling the vehicle. In this embodiment, the engine 80 is a diesel engine, but is not limited to this and may be a gasoline engine. The engine 80 has a fuel injection unit 81 and an engine control unit 82. The fuel injection unit 81 is a speed control device that controls the speed of the vehicle by injecting a predetermined amount of fuel into the combustion chamber of the engine 80. The fuel injection unit 81 controls the speed of the vehicle by injecting a supply amount of fuel into the combustion chamber according to a command value output from the engine control unit 82. For example, the fuel injection unit 81 increases the amount of fuel injected as the command value increases, thereby increasing the speed of the vehicle.

[0068] The engine control unit 82 outputs an instruction value to the fuel injection unit 81 to adjust the vehicle speed to a speed corresponding to the depression amount. Specifically, the engine control unit 82 outputs an instruction value corresponding to the first depression amount to the fuel injection unit 81. As an example, the engine control unit 82 outputs a larger instruction value to the fuel injection unit 81 as the first depression amount increases.

[0069] The detection unit 50 of the second embodiment detects the amount of fuel supplied that is injected into the combustion chamber by the fuel injection unit 81. For example, the detection unit 50 detects the amount of fuel supplied that is actually injected into the combustion chamber by the fuel injection unit 81 relative to an instruction value. Specifically, the detection unit 50 includes a flow rate sensor provided in the fuel injection unit 81, and detects the amount of fuel supplied that is actually injected relative to the instruction value using the flow rate sensor. The detection unit 50 can detect the actual amount of fuel supplied using known technology.

[0070] The estimation unit 622 estimates an estimated supply amount of fuel to be injected by the fuel injection unit 81 into the combustion chamber of the engine 80. For example, the estimation unit 622 determines the estimated supply amount corresponding to the instruction value by inputting an instruction value into a supply amount estimation function that outputs an estimated supply amount corresponding to the input instruction value. Alternatively, the estimation unit 622 may determine the estimated supply amount by identifying the estimated supply amount corresponding to the instruction value from a data table that associates the estimated supply amount corresponding to the instruction value. It is assumed that the above-mentioned supply amount estimation function and data table are obtained in advance by experiments or simulations and stored in the storage unit 610.

[0071] When the difference between the actual fuel supply amount and the estimated supply amount is equal to or greater than a predetermined threshold, the output unit 623 outputs second notification information indicating that the supply amount and the estimated supply amount differ to the external device 70. Furthermore, when the difference between the actual fuel supply amount and the estimated supply amount is equal to or greater than a predetermined threshold, the output unit 623 may output second notification information including injection unit abnormality information indicating an abnormality in the fuel injection unit 81 to the external device 70. This allows the administrator to determine that the speed control abnormality is caused by an abnormality in the injection unit.

[0072] [Effects of the Output System S of the Second Embodiment] As described above, the output system S of the second embodiment has the same effect as the output system S of the first embodiment, even if the power unit of the vehicle is the engine 80. In other words, the manager of the vehicle equipped with the engine 80 can easily identify the location where an abnormality has occurred by checking the first notification information or the second notification information.

[0073] [Output system S of the third embodiment] The output system S in the first and second embodiments described above has an accelerator pedal. However, the pedal that controls the speed by the driver's foot operation may be not only an accelerator pedal but also a brake pedal. The output system S in the third embodiment has a brake pedal. The brake pedal is a pedal for controlling the braking force of a brake control device, which is a control device that controls the vehicle speed. The first sensor and the second sensor detect the amount of depression of the brake pedal.

[0074] The vehicle control unit 30 of the third embodiment outputs an instruction value corresponding to the depression amount of the brake pedal to a brake control device that controls the vehicle's brakes (e.g., drum brakes). The brake control device causes the brakes to exert a braking force corresponding to the instruction value. Specifically, the brake control device causes the brakes to exert a braking force corresponding to the instruction value by pressing the brake linings against the drum of the drum brake with a pressure corresponding to the instruction value. The detection unit 50 of the third embodiment detects the braking force actually exerted by the brakes. The frictional force or heat generated when the brake linings are pressed against the brake drum is detected as the actual braking force.

[0075] The estimation unit 622 of the third embodiment estimates an estimated braking force of the brake corresponding to an instruction value based on the instruction value. Specifically, the estimation unit 622 determines an estimated braking force corresponding to the acquired instruction value by inputting the acquired instruction value into a braking force estimation function that outputs an estimated braking force corresponding to the input instruction value. The braking force estimation function is assumed to be obtained in advance through experiments or simulations and stored in the storage unit 610. The estimation unit 622 estimates an estimated vehicle speed after a predetermined time based on the vehicle speed and the estimated braking force. Specifically, the estimation unit 622 calculates the deceleration of the vehicle over a predetermined time period by multiplying the acceleration expressed as the ratio of the estimated braking force to the total weight (mass) of the vehicle by a predetermined time, and estimates the estimated vehicle speed after the predetermined time period by subtracting the deceleration from the current speed. Note that the acceleration expressed as the ratio of the estimated braking force to the total weight of the vehicle is in the direction opposite to the direction of travel of the vehicle.

[0076] The output unit 623 of the third embodiment estimates the estimated speed after a predetermined time and then determines whether the vehicle speed has decelerated in accordance with the amount of depression of the brake pedal. Specifically, if the vehicle speed after a predetermined time has elapsed since the estimated speed was estimated is greater than the estimated speed, the output unit 623 determines that the vehicle speed has not decelerated in accordance with the amount of depression of the brake pedal. If the vehicle speed has not decelerated in accordance with the amount of depression of the brake pedal, the output unit 623 outputs support information to the external device 70 indicating that an abnormality has occurred in the first sensor 21, the vehicle control unit 30, or the brake control device. This makes it easier for the vehicle manager to identify the location of the abnormality when the vehicle speed has not decelerated in accordance with the amount of depression of the brake pedal.

[0077] If the vehicle speed after a predetermined time has elapsed since the estimated speed was estimated is equal to or less than the estimated speed, the output unit 623 determines that the vehicle speed has decelerated in accordance with the amount of depression of the brake pedal. If the vehicle speed has decelerated in accordance with the amount of depression of the brake pedal, the output unit 623 does not output support information indicating that any of the first sensor 21, the vehicle control unit 30, and the brake control device is abnormal. If the vehicle speed has decelerated in accordance with the amount of depression of the brake pedal, the output unit 623 may output information indicating that the first sensor 21, the vehicle control unit 30, and the brake control device are normal to the external device 70. This allows the vehicle manager to know that the first sensor 21, the vehicle control unit 30, and the brake control device are normal.

[0078] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by functionally or physically distributing or integrating any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments. [Explanation of symbols]

[0079] S Output System 10 Motor 20 Accelerator pedal 21 First sensor 22 Second sensor 24 shaft 30 Vehicle control unit 40 BMS 41 Power supply 50 Detector 70 External device 80 Engine 81 Fuel injection part 82 Engine control unit 600 Information output device 610 Storage section 620 Control Unit 621 Acquisition Department 622 Estimation Department 623 Output section

Claims

1. a first sensor that detects an operation amount of an operation unit for controlling the speed of the vehicle; a second sensor that detects the operation amount using a method different from that of the first sensor; a vehicle control unit that outputs an instruction value for controlling a speed of the vehicle to a control device that controls the speed, in accordance with a first operation amount that is the operation amount detected by the first sensor; an output unit that outputs first notification information to an external device when a first difference between the first operation amount acquired via the vehicle control unit and a second operation amount, which is the operation amount acquired from the second sensor, is equal to or greater than a first threshold; An output system having:

2. the operation unit is a pedal for controlling the speed by operation of the driver's foot, the first sensor detects, as the first operation amount, a depression amount of the pedal corresponding to a voltage of a current flowing through a variable resistor that operates in conjunction with the pedal; the second sensor is an optical sensor that detects a distance between the pedal and the second sensor, and detects the depression amount corresponding to the detected distance as the second operation amount. The output system of claim 1 .

3. a detection unit that detects an output value that the control device actually outputs in response to the instruction value; an estimation unit that estimates an output value of the control device corresponding to the instruction value based on the instruction value; Furthermore, the output unit outputs second notification information different from the first notification information to the external device when a second difference between the output value and the estimated value is equal to or greater than a second threshold.

3. The output system according to claim 1 or 2.

4. the first notification information is information indicating that the first operation amount acquired via the vehicle control unit and the second operation amount acquired from the second sensor are different, The second notification information is information indicating that the output value and the estimated value are different. The output system of claim 3 .

5. the detection unit detects, as the output value, a current value of a current actually output by the control device to the motor of the vehicle in response to the instruction value; The output system of claim 4 .

6. the detection unit detects, as the output value, an amount of fuel actually supplied by the control device to the engine of the vehicle in response to the instruction value; The output system of claim 4 .

7. the output unit outputs third notification information indicating that the first sensor is abnormal to the external device when the speed of the vehicle is not a speed corresponding to the operation amount and a third difference between the first operation amount and the second operation amount directly acquired from the first sensor is equal to or greater than the first threshold value. The output system of claim 1 .

8. When the third difference is less than the first threshold value and the first difference is equal to or greater than the first threshold value, the output unit outputs the first notification information including information indicating that the vehicle control unit is abnormal to the external device. The output system of claim 7 .

9. a detection unit that detects an output value that the control device actually outputs in response to the instruction value; an estimation unit that estimates an output value of the control device corresponding to the instruction value based on the instruction value; The output unit outputting second notification information different from the first notification information to the external device when a second difference between the output value and the estimated value is equal to or greater than a second threshold value; When the first difference and the third difference are less than the first threshold value and the second difference is equal to or greater than the second threshold value, information indicating that the control device is abnormal is output to the external device.

9. The output system of claim 8.

10. When the first difference and the third difference are less than the first threshold value and the second difference is less than the second threshold value, the output unit outputs information indicating that a power unit that generates power to drive the vehicle is abnormal to the external device.

10. The output system of claim 9.

11. The pedal is an accelerator pedal for controlling the output of the power unit which is the control device. The output system of claim 2 .

12. The pedal is a brake pedal for controlling the braking force of the brake, which is the control device. The output system of claim 2 .

13. a detection unit that detects the braking force actually exerted by the brake relative to the instruction value; an estimation unit that estimates an estimated value of the braking force of the brake with respect to the instruction value based on the instruction value; Furthermore, the output unit outputs second notification information different from the first notification information to the external device when a second difference between the braking force and the estimated value is equal to or greater than a second threshold. The output system of claim 12.

14. the estimation unit determines the estimated value corresponding to the instruction value acquired from the vehicle control unit by inputting the instruction value acquired from the vehicle control unit into a function that outputs an estimated value corresponding to the input instruction value, or by identifying the estimated value corresponding to the instruction value acquired from the vehicle control unit from a data table that associates estimated values ​​with instruction values. The output system of claim 3 .

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