| 摘要 |
PURPOSE: To ensure characteristic function of redundancy in respect of a sensor by estimating a controlled variable on the basis of the manipulated variable, the action quantity influenced by a vehicle driver and the measured quantity of a vehicle, and using the controlled variable, which has been estimated at the time of controlled variable abnormality or absence, as the proper controlled variable. CONSTITUTION: A reference quantity F and a controlled variable are compared by means of a difference former 4 to form a difference. The formed difference is inputted to a controller 2 and operating signals S are then outputted from the controller 2 to an operation member 1.3 of a vehicle 1. Further, control signals St from a vehicle driver are supplied to another operation member 1.4 of the vehicle 1. On the other hand, control signals R are returned to the difference former 4 from the vehicle 1. For instance, with a reference quantity being a set value of the yawing velocity, comparison is made by the difference former 4 between this reference quantity and the yawing velocity as the controlled variable measured by a sensor 1.1. A secondly measured quantity M is obtained by another sensor 1.2 and a corresponding quantity Rg is estimated by a state estimation device 3.1. A pertinent difference M-Rg is supplied to an error recognition block 3.2 to recognize the anomaly of the sensor 1.1. |
