Processing device, sensor device, control system and processing method

Abstract

Provided are a processing device, a sensor device, a control system, and a processing method that can suppress an increase in the number of sensors installed. A processing device 132 is for processing sensor signals output from sensors mounted in a vehicle, the processing device comprising: an acquisition unit 132a that acquires the sensor signals output from the sensors; a first processing unit 132b that generates first output signals via first filters F11, F12, F13, F14, F15, F16 that extract a first frequency band from the sensor signals acquired by the acquisition unit 132a; a second processing unit 132c that generates second output signals via second filters F21, F22, F23, F24, F25, F26 that extract a second frequency band, differing from the first frequency band, from the sensor signals acquired by the acquisition unit 132a; and an output unit 132d that outputs the first output signals and the second output signals simultaneously.

Description

[Technical Field]

[0001] The present invention relates to a processing device, a sensor device, a control system, and a processing method. [Background technology]

[0002] A vehicle is equipped with various sensors, and various controls are performed using the sensor signals output from the sensors. For example, Patent Document 1 discloses a motorcycle equipped with an inertial measurement unit (IMU) as a sensor. The signal output from the IMU may be used by multiple control devices, such as a control device that controls the engine and a control device that controls the hydraulic control unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-203655 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, the sensor signal output from the sensor may be used by multiple control devices. The frequency bands available for each control device may differ. Therefore, in order to use the sensor signal with multiple control devices, a sensor must be installed for each control device, which may increase the number of installed sensors.

[0005] In view of the above, an object of the present invention is to provide a processing device, a sensor device, a control system, and a processing method that can suppress an increase in the number of installed sensors. [Means for solving the problem]

[0006] In order to solve the above problem, a processing device is a processing device that processes a sensor signal output from a sensor mounted on a vehicle, and includes: an acquisition unit that acquires the sensor signal output from the sensor; a first processing unit that generates a first output signal by passing the sensor signal acquired by the acquisition unit through a first filter that extracts a first frequency band from the sensor signal; and a second processing unit that generates a second output signal by passing the sensor signal acquired by the acquisition unit through a second filter that extracts a second frequency band different from the first frequency band. The first processing unit and the second processing unit both independently perform processing using different filters, and the first output signal and the second output signal, which are different output signals, are generated at the same time, so that the first output signal and the second output signal are output at the same time. an output unit, The first output signal and the second output signal can be output at a time interval required by the control device, and even if the available frequency bands are different, each available output signal can be transmitted to the control device, thereby preventing an increase in the number of sensors installed on the control device.

[0007] In order to solve the above problem, a sensor device is a processing device that processes a sensor signal output from a sensor mounted on a vehicle, and includes: an acquisition unit that acquires the sensor signal output from the sensor; a first processing unit that generates a first output signal by passing the sensor signal acquired by the acquisition unit through a first filter that extracts a first frequency band from the sensor signal; and a second processing unit that generates a second output signal by passing the sensor signal acquired by the acquisition unit through a second filter that extracts a second frequency band different from the first frequency band. The first processing unit and the second processing unit both independently perform processing using different filters, and the first output signal and the second output signal, which are different output signals, are generated at the same time, so that the first output signal and the second output signal are output at the same time. an output unit, The output unit can output the first output signal and the second output signal at a time interval required by the control device, and even if the available frequency bands are different, the output unit can transmit available output signals to the control device, thereby suppressing an increase in the number of sensors installed on the control device. .

[0008] In order to solve the above problem, a control system includes a sensor device including a sensor mounted on a vehicle and a processing device that processes a sensor signal output from the sensor, and a plurality of control devices, wherein the processing device includes an acquisition unit that acquires the sensor signal output from the sensor, a first processing unit that generates a first output signal by passing the sensor signal acquired by the acquisition unit through a first filter that extracts a first frequency band, a second processing unit that generates a second output signal by passing the sensor signal acquired by the acquisition unit through a second filter that extracts a second frequency band different from the first frequency band, and an output unit that outputs the first output signal and the second output signal at the same time, and the plurality of control devices include a first control device that uses a signal limited to the first frequency band and a second control device that uses a signal limited to the second frequency band, and the output unit transmits the first output signal to the first control device and the second output signal to the second control device. At the same time, the first processing unit and the second processing unit both independently perform processing using different filters, and the first output signal and the second output signal, which are different output signals, are generated at the same timing. Furthermore, the first output signal and the second output signal can be output at a time interval required by the control device. Even if the available frequency bands are different, available output signals can be transmitted to the control device, thereby suppressing an increase in the number of sensors installed on the control device. .

[0009] In order to solve the above problem, a processing method is a method for processing a sensor signal output from a sensor mounted on a vehicle, and includes: a first step of acquiring the sensor signal output from the sensor; a second step of generating a first output signal through a first filter that extracts a first frequency band from the sensor signal acquired in the first step; a third step of generating a second output signal through a second filter that extracts a second frequency band different from the first frequency band from the sensor signal acquired in the first step; and a fourth step of outputting the first output signal and the second output signal at the same time, Processing using the first filter and the second filter is performed independently, and the first output signal and the second output signal, which are different output signals, are generated at the same time, so that the first output signal and the second output signal are output at once and can be output at the time interval required by the control device.In addition, even if the usable frequency bands are different, each usable output signal can be transmitted to the control device, which prevents an increase in the number of sensors installed. [Effects of the Invention]

[0010] According to the present invention, it is possible to suppress an increase in the number of installed sensors. [Brief explanation of the drawings]

[0011] [Figure 1]1 is a schematic diagram showing a general configuration of a vehicle equipped with a control system according to an embodiment of the present invention; [Figure 2] 1 is a block diagram illustrating an example of a functional configuration of a processing device according to an embodiment of the present invention. [Figure 3] 1 is a flowchart illustrating an example of a flow of processing performed by a processing device according to an embodiment of the present invention. [Figure 4] 1 is a block diagram showing a signal flow in a processing device according to an embodiment of the present invention and a detailed configuration of the processing device. DETAILED DESCRIPTION OF THE INVENTION

[0012] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Dimensions, materials, and other specific values ​​shown in the embodiments are merely examples for facilitating understanding of the invention and, unless otherwise specified, do not limit the present invention. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0013] Although the following describes a control system mounted on a two-wheeled motorcycle, the control system of the present invention may also be used in vehicles other than two-wheeled motorcycles (for example, four-wheeled automobiles). Furthermore, the following describes a control system for controlling an engine and a hydraulic control unit, but the devices controlled by the control system of the present invention are not limited to the following examples. For example, the devices controlled by the control system of the present invention do not have to include at least one of an engine and a hydraulic control unit, and may include devices other than an engine and a hydraulic control unit (for example, suspension). Furthermore, the following describes a control system that includes an inertial measurement unit as a sensor, but the sensor of the control system of the present invention may also be a sensor other than an inertial measurement unit (for example, an ambient environment sensor such as radar).

[0014] <Control system configuration> The configuration of a control system 100 according to an embodiment of the present invention will be described with reference to FIGS.

[0015] 1 is a schematic diagram showing the general configuration of a vehicle 1 equipped with a control system 100. The vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a vehicle according to the present invention. As shown in FIG. 1, the vehicle 1 includes an engine 11 and a hydraulic control unit 12.

[0016] The engine 11 corresponds to an example of a drive source of the vehicle 1 and is capable of outputting power for driving wheels. For example, the engine 11 is provided with one or more cylinders each having a combustion chamber formed therein, a fuel injection valve that injects fuel into the combustion chamber, and a spark plug. When fuel is injected from the fuel injection valve, a mixture containing air and fuel is formed in the combustion chamber, and the mixture is ignited by the spark plug and burns. This causes pistons provided in the cylinders to reciprocate, rotating the crankshaft. In addition, a throttle valve is provided in an intake pipe of the engine 11, and the amount of air taken into the combustion chamber changes depending on the throttle opening, which is the opening degree of the throttle valve. The drive source of the vehicle 1 may be, for example, an electric motor.

[0017] The hydraulic pressure control unit 12 is a unit that has the function of controlling the braking force acting on the wheels. For example, the hydraulic pressure control unit 12 is provided on an oil passage that connects the master cylinder and the wheel cylinders, and includes components (e.g., a control valve and a pump) for controlling the brake hydraulic pressure in the wheel cylinders. The braking force acting on the wheels is controlled by controlling the operation of the components of the hydraulic pressure control unit 12. The hydraulic pressure control unit 12 may control the braking force acting on both the front and rear wheels, or may control only the braking force acting on one of the front and rear wheels.

[0018] A control system 100 is installed in the vehicle 1. The control system 100 is a system for controlling an engine 11 and a hydraulic control unit 12. As shown in Fig. 1, the control system 100 includes a first control device 110, a second control device 120, and a sensor device 130.

[0019] The first control device 110 controls the operation of the engine 11. The first control device 110 controls the output of the engine 11, thereby controlling the driving force generated in the vehicle 1.

[0020] The second control device 120 controls the operation of the hydraulic pressure control unit 12. The second control device 120 can control the braking force acting on the vehicle 1 by controlling the braking force acting on the wheels by the hydraulic pressure control unit 12.

[0021] As described above, the control system 100 includes a plurality of control devices. In the example of Fig. 1, the plurality of control devices in the control system 100 include a first control device 110 and a second control device 120. However, if the devices to be controlled by the control system 100 are different from those in the example of Fig. 1, the plurality of control devices in the control system 100 will also be different from those in the example of Fig. 1.

[0022] The sensor device 130 includes an inertial measurement unit (IMU) 131 and a processing device 132. The inertial measurement unit 131 corresponds to an example of a sensor according to the present invention. The inertial measurement unit 131 includes a triaxial acceleration sensor and a triaxial gyro sensor, and detects acceleration in three axial directions and angular velocity around three axes. The inertial measurement unit 131 is provided, for example, in the body of the vehicle 1. The processing device 132 processes the sensor signal output from the inertial measurement unit 131. The processing device 132 then transmits signals obtained by processing the sensor signal to the first control device 110 and the second control device 120. The first control device 110 and the second control device 120 use the signals received from the processing device 132 to control the engine 11 and the hydraulic control unit 12, respectively.

[0023] The processing device 132 includes a CPU (Central Processing Unit), which is an arithmetic processing device, a ROM (Read Only Memory), which is a memory element that stores programs and calculation parameters used by the CPU, and a RAM (Random Access Memory), which is a memory element that temporarily stores parameters that change appropriately during CPU execution.

[0024] Fig. 2 is a block diagram showing an example of the functional configuration of the processing device 132. As shown in Fig. 2, the processing device 132 includes, for example, an acquisition unit 132a, a first processing unit 132b, a second processing unit 132c, and an output unit 132d. The processing device 132 also communicates with each device of the vehicle 1.

[0025] The acquiring unit 132a acquires a sensor signal output from the inertial measurement device 131. The sensor signal acquired by the acquiring unit 132a is processed by the first processing unit 132b and the second processing unit 132c, respectively. As a result, a first output signal is generated by the first processing unit 132b, and a second output signal is generated by the second processing unit 132c. The generated output signals are output by the output unit 132d. Specifically, the output unit 132d transmits the first output signal (digital signal) to the first control device 110, and transmits the second output signal (digital signal) to the second control device 120. In the control system 100, by devising the processing performed by the processing device 132, it is possible to suppress an increase in the number of installed sensors. Details of the processing performed by the processing device 132 will be described later.

[0026] <Operation of the processing device> 3 and 4, the operation of the processing device 132 according to the embodiment of the present invention will be described.

[0027] Fig. 3 is a flowchart showing an example of the flow of processing performed by the processing device 132. Step S101 in Fig. 3 corresponds to the start of the control flow shown in Fig. 3. Fig. 4 is a block diagram showing the flow of signals in the processing device 132 and a detailed configuration of the processing device 132. The flowchart in Fig. 3 will be described below with reference to Fig. 4 as needed.

[0028] When the control flow shown in FIG. 3 starts, the acquiring unit 132a acquires a sensor signal output from the inertial measurement unit 131 in step S102.

[0029] 4, the acquisition unit 132a of the processing device 132 includes storage units M1, M2, M3, M4, M5, and M6. The storage units M1, M2, M3, M4, M5, and M6 are realized by, for example, storage areas of the RAM of the processing device 132.

[0030] Here, the sensor signals output from the inertial measurement unit 131 include signals Ax, Ay, and Az indicating the acceleration of the vehicle 1 in three axial directions, and signals Ωx, Ωy, and Ωz indicating the angular velocity around the three axes of the vehicle 1. The inertial measurement unit 131 is configured with a three-axis coordinate system having mutually orthogonal x-, y-, and z-axes, and fixed to the body of the vehicle 1. Note that the three-axis coordinate system configured in the inertial measurement unit 131 may be any coordinate system different from the coordinate system fixed to the body. In this case, the sensor signals are converted into the coordinate system fixed to the body after detection. The signals Ax, Ay, and Az indicate the acceleration in the x-, y-, and z-axes, respectively. The signals Ωx, Ωy, and Ωz indicate the angular velocity around the x-, y-, and z-axes, respectively. The signals Ax, Ay, Az, Ωx, Ωy, and Ωz output from the inertial measurement unit 131 are stored as digital values ​​in storage units M1, M2, M3, M4, M5, and M6, respectively.

[0031] 3, in step S103, the first processing unit 132b generates a first output signal from the sensor signal acquired by the acquisition unit 132a. In step S104, after step S103, the second processing unit 132c generates a second output signal from the sensor signal acquired by the acquisition unit 132a. Note that step S104 may be executed before step S103 or may be executed in parallel with step S103.

[0032] However, the available frequency bands may differ among the multiple control devices in the control system 100. Specifically, the available frequency bands differ between the first control device 110 and the second control device 120. The first control device 110 uses signals limited to a first frequency band. On the other hand, the second control device 120 uses signals limited to a second frequency band different from the first frequency band. For example, the first frequency band and the second frequency band are both frequency bands ranging from 0 Hz to an upper limit frequency, and the upper limit frequencies of the first frequency band and the second frequency band are different. The upper limit frequency differs depending on the type of control device and can take various values ​​between 10 Hz and 70 Hz, for example. The lower limit frequencies of the first frequency band and the second frequency band do not have to be 0 Hz.

[0033] Here, the first processing unit 132b generates a first output signal by passing the sensor signal acquired by the acquisition unit 132a through a first filter, which is a digital filter that extracts a first frequency band. Therefore, the first output signal limited to the first frequency band is transmitted to the first control device 110 as described above, so that the first control device 110 can appropriately use the signal received from the processing device 132 to control the engine 11.

[0034] On the other hand, the second processing unit 132c generates a second output signal by passing the sensor signal acquired by the acquisition unit 132a through a second filter, which is a digital filter that extracts a second frequency band. Therefore, the second output signal limited to the second frequency band is transmitted to the second control device 120 as described above, so that the second control device 120 can appropriately use the signal received from the processing device 132 to control the hydraulic control unit 12.

[0035] 4, the first processing unit 132b of the processing device 132 includes relay units C11, C12, C13, C14, C15, and C16 and first filters F11, F12, F13, F14, F15, and F16. The relay units C11, C12, C13, C14, C15, and C16 and the first filters F11, F12, F13, F14, F15, and F16 operate by, for example, executing a program stored in a ROM of the processing device 132.

[0036] The relay units C11, C12, C13, C14, C15, and C16 read out information stored in the memories M1, M2, M3, M4, M5, and M6 and transmit the information to the first filters F11, F12, F13, F14, F15, and F16. The first filters F11, F12, F13, F14, F15, and F16 are filters that extract a first frequency band. The first filters F11, F12, F13, F14, F15, and F16 are, for example, low-pass filters. However, if the lower limit frequency of the first frequency band is not 0 Hz, the first filters F11, F12, F13, F14, F15, and F16 are band-pass filters.

[0037] Signal Ax stored as a digital value in memory unit M1 is read by relay unit C11, and a first output signal corresponding to signal Ax is generated by first filter F11. Signal Ay stored as a digital value in memory unit M2 is read by relay unit C12, and a first output signal corresponding to signal Ay is generated by first filter F12. Signal Az stored as a digital value in memory unit M3 is read by relay unit C13, and a first output signal corresponding to signal Az is generated by first filter F13.

[0038] The signal Ωx stored as a digital value in memory unit M4 is read out by relay unit C14, and a first output signal corresponding to signal Ωx is generated by first filter F14. The signal Ωy stored as a digital value in memory unit M5 is read out by relay unit C15, and a first output signal corresponding to signal Ωy is generated by first filter F15. The signal Ωz stored as a digital value in memory unit M6 is read out by relay unit C16, and a first output signal corresponding to signal Ωz is generated by first filter F16.

[0039] 4, the second processing unit 132c of the processing device 132 includes relay units C21, C22, C23, C24, C25, and C26 and second filters F21, F22, F23, F24, F25, and F26. The relay units C21, C22, C23, C24, C25, and C26 and the second filters F21, F22, F23, F24, F25, and F26 operate by, for example, executing a program stored in a ROM of the processing device 132.

[0040] The relay units C21, C22, C23, C24, C25, and C26 read out information stored in the memories M1, M2, M3, M4, M5, and M6 and transmit the information to the second filters F21, F22, F23, F24, F25, and F26. The second filters F21, F22, F23, F24, F25, and F26 are filters that extract a second frequency band. The second filters F21, F22, F23, F24, F25, and F26 are, for example, low-pass filters. However, if the lower limit frequency of the second frequency band is not 0 Hz, the second filters F21, F22, F23, F24, F25, and F26 are band-pass filters.

[0041] Signal Ax stored as a digital value in memory unit M1 is read out by relay unit C21, and a second output signal corresponding to signal Ax is generated by second filter F21. Signal Ay stored as a digital value in memory unit M2 is read out by relay unit C22, and a second output signal corresponding to signal Ay is generated by second filter F22. Signal Az stored as a digital value in memory unit M3 is read out by relay unit C23, and a second output signal corresponding to signal Az is generated by second filter F23.

[0042] The signal Ωx stored as a digital value in memory unit M4 is read out by relay unit C24, and a second output signal corresponding to signal Ωx is generated by second filter F24. The signal Ωy stored as a digital value in memory unit M5 is read out by relay unit C25, and a second output signal corresponding to signal Ωy is generated by second filter F25. The signal Ωz stored as a digital value in memory unit M6 is read out by relay unit C26, and a second output signal corresponding to signal Ωz is generated by second filter F26.

[0043] As described above, in the processing device 132, the sensor signal (e.g., signal Ax) output from the inertial measurement device 131 and stored in a common memory unit (e.g., memory unit M1) is processed independently using different filters (e.g., first filter F11 and second filter F21), and different output signals, the first output signal and the second output signal, are generated at the same time.

[0044] In the above example, relay units C11, C12, C13, C14, C15, and C16 and relay units C21, C22, C23, C24, C25, and C26 read and transmit information. However, each relay unit may read information stored in a corresponding memory unit and copy and store the information in a RAM memory area. In this case, the information copied and stored by each relay unit is processed using each filter to generate a first output signal and a second output signal. In this case, a sensor signal (e.g., signal Ax) output from the inertial measurement unit 131 is processed independently using different filters (e.g., first filter F11 and second filter F21), and different output signals, the first output signal and the second output signal, are generated simultaneously.

[0045] 3, in step S105, the output unit 132d outputs the first output signal and the second output signal, which are digital signals, at a time interval required by the control device (i.e., outputs the first output signal and the second output signal at the same time), and then returns to step S102. Specifically, the output unit 132d transmits the first output signal to the first control device 110 and the second output signal to the second control device 120. Note that outputting the first output signal and the second output signal at the same time may be performed within a predetermined time so that processing in the first control device 110 and processing in the second control device 120 can be performed in parallel. For example, outputting the first output signal and the second output signal at the same time may be performed by simultaneously outputting the first output signal and the second output signal from different output ports, or may be performed by alternately outputting the first output signal and the second output signal from the same output port in a time-division manner.

[0046] 4, the output unit 132d of the processing device 132 includes a selection unit E1. The selection unit E1 operates by executing a program stored in the ROM of the processing device 132, for example.

[0047] As described above, the sensor signals output from the inertial measurement unit 131 include multiple types of signals, and the first processing unit 132b and the second processing unit 132c generate multiple types of first output signals and multiple types of second output signals, respectively.

[0048] The selection unit E1 selects a signal of the type required by the first control device 110 from the multiple types of first output signals generated by the first processing unit 132b, and transmits the selected signal to the first control device 110. In the example of Fig. 4, the selection unit E1 selects the signal of the type required by the first control device 110 from the first output signals corresponding to the signals Ax, Ay, Az, Ωx, Ωy, and Ωz generated by the first filters F11, F12, F13, F14, F15, and F16, respectively.

[0049] For example, if the first control device 110 requests only an acceleration signal, the selector E1 selects first output signals corresponding to the signals Ax, Ay, and Az generated by the first filters F11, F12, and F13, respectively, and transmits them to the first control device 110. Also, if the first control device 110 requests only an angular velocity signal, the selector E1 selects first output signals corresponding to the signals Ωx, Ωy, and Ωz generated by the first filters F14, F15, and F16, respectively, and transmits them to the first control device 110. Note that if the first control device 110 requests both an acceleration signal and an angular velocity signal, the selector E1 transmits all of the first output signals corresponding to the signals Ax, Ay, Az, Ωx, Ωy, and Ωz generated by the first filters F11, F12, F13, F14, F15, and F16, respectively, to the first control device 110.

[0050] Furthermore, the selection unit E1 selects a signal of the type required by the second control device 120 from the multiple types of second output signals generated by the second processing unit 132c, and transmits the selected signal to the second control device 120. In the example of Fig. 4, the selection unit E1 selects the signal of the type required by the second control device 120 from the second output signals corresponding to the signals Ax, Ay, Az, Ωx, Ωy, and Ωz generated by the second filters F21, F22, F23, F24, F25, and F26, respectively.

[0051] For example, if the second control device 120 requires only an acceleration signal, the selector E1 selects second output signals corresponding to the signals Ax, Ay, and Az generated by the second filters F21, F22, and F23, respectively, and transmits them to the second control device 120. Also, if the second control device 120 requires only an angular velocity signal, the selector E1 selects second output signals corresponding to the signals Ωx, Ωy, and Ωz generated by the second filters F24, F25, and F26, respectively, and transmits them to the second control device 120. Note that if the second control device 120 requires both an acceleration signal and an angular velocity signal, the selector E1 transmits all of the second output signals corresponding to the signals Ax, Ay, Az, Ωx, Ωy, and Ωz generated by the second filters F21, F22, F23, F24, F25, and F26, respectively, to the second control device 120.

[0052] As described above, in the processing device 132, the first processing unit 132b generates a first output signal by passing the sensor signal acquired by the acquisition unit 132a through a first filter that extracts a first frequency band. The second processing unit 132c generates a second output signal by passing the sensor signal acquired by the acquisition unit 132a through a second filter that extracts a second frequency band. In this way, the common sensor signal output from the inertial measurement unit 131 is independently processed using different filters, and the first and second output signals, which are different output signals, are generated at the same time. This allows the output unit 132d to output the first and second output signals at a time interval required by the control device (i.e., to output the first and second output signals at the same time).

[0053] Here, unlike the present embodiment, if only one of the first processing unit 132b or the second processing unit 132c is provided as a processing unit, it is conceivable to switch between a state in which the first output signal can be transmitted to the first control unit 110 and a state in which the second output signal can be transmitted to the second control unit 120 by rewriting each filter to change the extracted frequency band. However, in this case, a time difference occurs between the transmission of the first output signal to the first control unit 110 and the transmission of the second output signal to the second control unit 120, and the processing in the first control unit 110 and the processing in the second control unit 120 cannot be performed in parallel.

[0054] On the other hand, in this embodiment, as described above, both the first processing unit 132b and the second processing unit 132c are provided as processing units, and therefore the output unit 132d can output the first output signal and the second output signal at the same time. Therefore, even if the available frequency bands differ between the multiple control devices in the control system 100 (for example, between the first control device 110 and the second control device 120), one sensor device 130 can transmit available output signals to each of the multiple control devices. This eliminates the need to provide a sensor (inertial measurement unit 131 in the above example) for each control device, thereby suppressing an increase in the number of installed sensors.

[0055] In the above, an example has been described in which the control system 100 has two control devices with different available frequency bands. However, the control system 100 may have three or more control devices with different available frequency bands. In this case, the processing device 132 further includes, in addition to the first processing device 132b and the second processing device 132c, one or more processing devices that generate an output signal by passing the sensor signal acquired by the acquisition device 132a through a filter that extracts a frequency band different from both the first frequency band and the second frequency band. In other words, the processing device 132 only needs to include multiple processing devices that generate an output signal by using filters that extract different frequency bands from a common sensor signal.

[0056] <Effects of the treatment device> The effects of the processing device 132 according to the embodiment of the present invention will be described.

[0057] In the processing device 132, the acquisition unit 132a acquires a sensor signal output from a sensor (inertial measurement unit 131 in the above example). The first processing unit 132b generates a first output signal by passing the sensor signal acquired by the acquisition unit 132a through a first filter (F11, F12, F13, F14, F15, and F16 in the above example) that extracts a first frequency band from the sensor signal. The second processing unit 132c generates a second output signal by passing the sensor signal acquired by the acquisition unit 132a through a second filter (F21, F22, F23, F24, F25, and F26 in the above example) that extracts a second frequency band different from the first frequency band. The output unit 132d outputs the first output signal and the second output signal at the same time. This allows a single sensor device 130 to transmit usable output signals to multiple control devices. This eliminates the need to provide a sensor for each control device, thereby suppressing an increase in the number of installed sensors.

[0058] Preferably, in the processing device 132, the output unit 132d transmits a first output signal to the first control device 110 using a signal limited to a first frequency band, and transmits a second output signal to the second control device 120 using a signal limited to a second frequency band. This allows usable output signals to be transmitted to the first control device 110 and the second control device 120, respectively. Therefore, the first control device 110 and the second control device 120 can appropriately use the signal received from the processing device 132.

[0059] Preferably, in the processing device 132, the sensor signal includes multiple types of signals, the first processing unit 132b generates multiple types of first output signals, the second processing unit 132c generates multiple types of second output signals, and the output unit 132d selects a type of signal requested by the first control device 110 from the multiple types of first output signals generated by the first processing unit 132b and transmits it to the first control device 110, and selects a type of signal requested by the second control device 120 from the multiple types of second output signals generated by the second processing unit 132c and transmits it to the second control device 120. This makes it possible to transmit only the types of output signals requested by each control device to the first control device 110 and the second control device 120. Therefore, transmission of unnecessary signals can be suppressed, thereby reducing the processing load.

[0060] Preferably, in processing device 132, the sensor is an inertial measurement unit 131 that detects acceleration in three axial directions and angular velocity about three axes, and the sensor signal includes a signal indicating acceleration in the three axial directions and a signal indicating angular velocity about three axes. This eliminates the need to provide an inertial measurement unit 131 for each control device, thereby preventing an increase in the number of inertial measurement units 131 installed.

[0061] The above describes a preferred embodiment of the present invention with reference to the accompanying drawings. However, it goes without saying that the present invention is not limited to the above-described embodiment, and various modified or altered examples within the scope of the claims also fall within the technical scope of the present invention.

[0062] For example, the processes described herein using flowcharts do not necessarily have to be performed in the order shown in the flowcharts, some process steps may be performed in parallel, additional process steps may be employed, and some process steps may be omitted.

[0063] Furthermore, for example, the series of control processes performed by the processing device 132 described above may be realized using software, hardware, or a combination of software and hardware. The programs constituting the software are stored in advance in, for example, a storage medium provided inside or outside the information processing device. [Explanation of symbols]

[0064] 1 vehicle 11 Engine 12 Hydraulic control unit 100 Control System 110 First control device 120 Second control device 130 Sensor Device 131 Inertial Measurement Unit (Sensor) 132 Processing equipment 132a Acquisition Department 132b First processing section 132c Second processing section 132d Output section C11 Relay section C12 relay section C13 Relay section C14 Relay section C15 relay section C16 Relay section C21 relay section C22 relay section C23 relay section C24 relay section C25 relay section C26 relay section E1 Selection section F11 1st filter F12 1st filter F13 1st filter F14 1st filter F15 1st filter F16 1st filter F21 2nd filter F22 2nd filter F23 2nd filter F24 2nd filter F25 2nd filter F26 2nd Furuika M1 Memory Section M2 Memory Unit M3 Memory Section M4 Memory Unit M5 Memory Section M6 Memory Section

Claims

1. A processing device (132) for processing a sensor signal output from a sensor (131) mounted on a vehicle (1), an acquisition unit (132a) that acquires the sensor signal output from the sensor (131); a first processing unit (132b) that generates a first output signal through first filters (F11, F12, F13, F14, F15, F16) that extract a first frequency band from the sensor signal acquired by the acquisition unit (132a); a second processing unit (132c) that generates a second output signal through second filters (F21, F22, F23, F24, F25, F26) that extract a second frequency band different from the first frequency band from the sensor signal acquired by the acquisition unit (132a); an output unit (132d) that outputs the first output signal and the second output signal at the same time by having the first processing unit (132b) and the second processing unit (132c) both independently perform processing using different filters and generate the first output signal and the second output signal, which are different output signals, at the same timing; The first output signal and the second output signal can be output at a time interval required by the control device, and even if the available frequency bands are different, available output signals can be transmitted to the control device, thereby suppressing an increase in the number of sensors (131) installed for the control device. Processing equipment.

2. The output unit (132d) transmitting the first output signal to a first control device (110) using a signal limited to the first frequency band; transmitting the second output signal to a second control device (120) using a signal restricted to the second frequency band; The processing device of claim 1 .

3. the sensor signal includes a plurality of types of signals, the first processing unit (132b) generates a plurality of types of the first output signals, the second processing unit (132c) generates a plurality of types of the second output signals, The output unit (132d) selecting a type of signal required by the first control device (110) from the plurality of types of first output signals generated by the first processing unit (132b) and transmitting the selected type of signal to the first control device (110); a signal of a type required by the second control device (120) is selected from the plurality of types of second output signals generated by the second processing unit (132c) and transmitted to the second control device (120); The processing device of claim 2 .

4. The sensor is an inertial measurement unit (131) that detects acceleration in three axes and angular velocity around three axes; the sensor signals include signals indicating accelerations in the three-axis directions and signals indicating angular velocities around the three axes; The processing device according to any one of claims 1 to 3.

5. A processing device (132) for processing a sensor signal output from a sensor (131) mounted on a vehicle (1), an acquisition unit (132a) that acquires the sensor signal output from the sensor (131); a first processing unit (132b) that generates a first output signal through first filters (F11, F12, F13, F14, F15, F16) that extract a first frequency band from the sensor signal acquired by the acquisition unit (132a); a second processing unit (132c) that generates a second output signal through second filters (F21, F22, F23, F24, F25, F26) that extract a second frequency band different from the first frequency band from the sensor signal acquired by the acquisition unit (132a); an output unit (132d) that outputs the first output signal and the second output signal at the same time by having the first processing unit (132b) and the second processing unit (132c) both independently perform processing using different filters and generate the first output signal and the second output signal, which are different output signals, at the same timing; The output unit (132d) can output the first output signal and the second output signal at a time interval required by the control device, and can transmit available output signals to the control device even if the available frequency bands are different, thereby suppressing an increase in the number of sensors (131) installed on the control device. Sensor device.

6. a sensor device (130) including a sensor (131) mounted on a vehicle and a processing device (132) that processes a sensor signal output from the sensor (131); A plurality of control devices (110, 120); A control system (100) comprising: The processing device (132) an acquisition unit (132a) that acquires the sensor signal output from the sensor (131); a first processing unit (132b) that generates a first output signal through first filters (F11, F12, F13, F14, F15, F16) that extract a first frequency band from the sensor signal acquired by the acquisition unit (132a); a second processing unit (132c) that generates a second output signal through second filters (F21, F22, F23, F24, F25, F26) that extract a second frequency band different from the first frequency band from the sensor signal acquired by the acquisition unit (132a); an output section (132d) that outputs the first output signal and the second output signal at the same time; Equipped with The plurality of control devices (110, 120) a first control device (110) using signals restricted to said first frequency band; a second control device (120) using signals restricted to said second frequency band; Including, The output unit (132d) Sending the first output signal to the first control device (110); Sending the second output signal to the second control device (120); The first processing unit (132b) and the second processing unit (132c) independently perform processing using different filters, and generate the first output signal and the second output signal, which are different output signals, at the same timing; Furthermore, the first output signal and the second output signal can be output at a time interval required by the control device (110, 120), and even if the available frequency bands are different, available output signals can be transmitted to the control devices (110, 120), thereby suppressing an increase in the number of sensors (131) installed relative to the control devices (110, 120). Control system.

7. A method for processing a sensor signal output from a sensor (131) mounted on a vehicle (1), comprising: a first step of acquiring the sensor signal output from the sensor (131); a second step of generating a first output signal through first filters (F11, F12, F13, F14, F15, F16) that extract a first frequency band from the sensor signal acquired in the first step; a third step of generating a second output signal through second filters (F21, F22, F23, F24, F25, F26) that extract a second frequency band different from the first frequency band from the sensor signal acquired in the first step; a fourth step of outputting the first output signal and the second output signal at the same time; Including, Processing using the first filters (F11, F12, F13, F14, F15, F16) and the second filters (F21, F22, F23, F24, F25, F26) is performed independently, and the first output signal and the second output signal, which are different output signals, are generated at the same timing, so that the first output signal and the second output signal are output at once, and the first output signal and the second output signal can be output at a time interval required by the control device side, and even if the usable frequency bands are different, each usable output signal can be transmitted to the control device, thereby suppressing an increase in the number of sensors (131) installed. Processing method.

Images