JP2010101860A - Failure diagnosis device of mechanism loaded on vehicle - Google Patents

Abstract

An object of the present invention is to improve the reliability of a vehicle by accurately diagnosing a failure of a mechanism mounted on the vehicle.
A first phase diagnosis for diagnosing whether or not the in-vehicle mechanism 12 is operating normally based on a detection result of a state detecting means 13 for detecting the state of the in-vehicle mechanism 12 mounted on a vehicle 10 is executed. The first phase diagnosis execution means 21 that performs the second phase diagnosis that further diagnoses whether or not the state detection means 13 is operating normally by comparing the actual behavior of the in-vehicle mechanism 12 and the behavior of the in-vehicle mechanism 12 model. The first phase diagnosis execution means 22 performs the first phase diagnosis with the second phase diagnosis execution means 22 and the third phase diagnosis that diagnoses the degree of failure of the in-vehicle mechanism 12 based on the detection result of the state detection means 13. Third phase diagnosis execution means 23 and 43 to be executed after being executed are configured.
[Selection] Figure 1

Description

  The present invention relates to a failure diagnosis apparatus for a mechanism mounted on a vehicle.

Conventionally, a technique for diagnosing a failure of a mechanism (for example, an engine or a transmission) mounted on a vehicle has been developed. An example of a document showing such a technique is Non-Patent Document 1 below.
Failure diagnosis technology based on knowledge-Detection and identification by comparison with model behavior-"Mitsubishi Motors Technical Review", Japan, Mitsubishi Motors Corporation, April 11, 2007, No. 19, pp. 33-39

Even with the technique disclosed in Non-Patent Document 1 described above, it is possible to diagnose a failure of a vehicle mechanism.
However, in recent years, it has been further demanded to further improve the reliability of vehicles by further improving the accuracy of failure diagnosis.
The present invention has been devised in view of such problems, and it is possible to improve the reliability of the vehicle by accurately performing the failure diagnosis of the mechanism mounted on the vehicle, and to diagnose the failure of the mechanism mounted on the vehicle. An object is to provide an apparatus.

  In order to achieve the above object, a failure diagnosis apparatus for a mechanism mounted on a vehicle according to the present invention (Claim 1) includes an on-vehicle mechanism mounted on the vehicle, a state detecting means for detecting the state of the on-vehicle mechanism, First phase diagnosis execution means for executing first phase diagnosis for diagnosing whether or not the state detection means is operating normally based on a detection result of the state detection means, actual behavior of the in-vehicle mechanism, and the in-vehicle mechanism The second phase diagnosis for further diagnosing whether or not the state detecting means is operating normally by comparing the behavior of the model of the in-vehicle mechanism showing the standard behavior of the vehicle with the first phase diagnosis executing means A second phase diagnosis executing means to be executed after the first phase diagnosis is executed, and a third phase for diagnosing the degree and / or location of the failure of the in-vehicle mechanism based on the detection result of the state detecting means Diagnosis It is characterized in that it comprises a third phase diagnosis execution means for executing after the first phase diagnosis is performed by a phase-diagnosis execution unit.

According to a second aspect of the present invention, there is provided a failure diagnosis apparatus for a mechanism mounted on a vehicle according to the first aspect of the present invention, wherein the third phase diagnosis execution means is the second phase diagnosis execution means by the second phase diagnosis execution means. The third phase diagnosis is executed in parallel with the execution of the phase diagnosis.
According to a third aspect of the present invention, there is provided a failure diagnosis apparatus for a mechanism mounted on a vehicle according to the first aspect of the present invention, wherein the third phase diagnosis execution means is the second phase diagnosis execution means by the second phase diagnosis execution means. The third phase diagnosis is executed after the phase diagnosis is executed.

According to a fourth aspect of the present invention, the failure diagnosis device for a mechanism mounted on a vehicle according to the present invention is the content of any one of the first to third aspects, wherein the third phase diagnosis execution means includes:
The third phase diagnosis is performed by extracting and analyzing a time-series signal waveform from the detection result of the state detection means.

According to the failure diagnosis apparatus for a mechanism mounted on a vehicle of the present invention, the reliability of the vehicle can be improved by accurately performing a failure diagnosis of the mechanism mounted on the vehicle. That is, it is possible to accurately diagnose a failure of the in-vehicle mechanism itself while taking into account the accuracy of detecting the state of the in-vehicle mechanism. (Claim 1)
Further, by capturing the state of the in-vehicle mechanism as a waveform, it is possible to diagnose a failure of the in-vehicle mechanism simply and quickly. (Claim 2)
In addition, since the third phase diagnosis is executed after the first phase diagnosis and the second phase diagnosis are executed, the control load is prevented from being concentrated at the same time, and the reliability of the failure diagnosis is improved. Can be increased. (Claim 3)
In addition, since the third phase diagnosis is executed in parallel with the second phase diagnosis, the speed of failure diagnosis can be improved. (Claim 4)

Hereinafter, a failure diagnosis apparatus for a mechanism mounted on a vehicle according to a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic block diagram showing the overall configuration, FIG. 2 is a schematic diagram showing a technical concept of model-based failure diagnosis, and FIG. 3 is a schematic flowchart showing the control contents.
As shown in FIG. 1, an engine 11 and a transmission (on-vehicle equipment) 12 are mounted on the vehicle 10.

These engine 11 and transmission 12 are fixed by bolts (not shown). An oil passage (not shown) is formed inside the transmission 12 so that lubricating oil (not shown) pressurized by an oil pump (not shown) can circulate in the oil passage.
The transmission 12 is provided with an oil temperature sensor (state detection means) 13 for detecting the temperature of the lubricating oil. The detection result Toil of the oil temperature sensor 13 is read into an ECU (Electronic Control Unit) 20.

The oil temperature sensor 13 is connected to the ECU 20 via a cable (not shown), and is operated when electric power of DC 5V is supplied from the ECU 20. The oil temperature sensor 13 outputs a high voltage to the ECU 20 as the temperature of the lubricating oil circulating in the transmission 12 rises.
As described above, the oil temperature sensor 13 receives DC 5V power from the ECU 20, and the voltage output from the oil temperature sensor 13 to the ECU 20 does not normally exceed 5V. In other words, the lower limit value of the output voltage of the oil temperature sensor 13 is 0V, and the upper limit value is 5V.

  The ECU 20 is an electronic control unit that includes a memory and a CPU (Central Processing Unit) (not shown). Also, in this memory, the first phase diagnosis execution unit (first phase diagnosis execution means) 21, the second phase diagnosis execution unit (second phase diagnosis execution means) 22 and the third phase diagnosis execution are all performed as software. Section (third phase diagnosis execution means) 23 is provided.

  Further, a diagnosis history recording area 24 and a model recording area 25 are set in the memory of the ECU 20. The diagnosis history recording area 24 is an area where a failure diagnosis history of the oil temperature sensor 13 and a failure diagnosis history of the transmission 12 are recorded. The model recording area 25 is an area in which a transmission 12 modeled by a computer (transmission model) is recorded. The transmission model will be described again when the second phase diagnosis execution unit 22 is described.

Of the software described above, the first phase diagnosis execution unit 21 performs a first phase diagnosis (1st Layer) for diagnosing whether or not the oil temperature sensor 13 is operating normally based on the detection result Toil of the oil temperature sensor 13. Diagnosis).
Specifically, the first phase diagnosis execution unit 21 executes “upper / lower limit value check” and “event status check” as the first phase diagnosis.

  Among these, the upper and lower limit values check whether or not the voltage value actually output from the oil temperature sensor 13 is larger than the upper limit value (5 V) of the voltage value that the oil temperature sensor 13 can inherently output. This is a technique for determining whether or not the voltage value actually output from the oil temperature sensor 13 is smaller than the lower limit value (0 V) of the voltage value that can be inherently output by the oil temperature sensor 13.

This method will be described in a little more detail.
As described above, the lower limit value of the voltage output from the oil temperature sensor 13 is 0V, and the upper limit value is 5V. That is, the normal output range of the oil temperature sensor 13 is 0 to 5V. Therefore, the first phase diagnosis execution unit 21 determines whether or not the voltage actually output from the oil temperature sensor 13 is larger than 5V and whether it is smaller than 0V or not in this upper / lower limit value check. It comes to judge.

  Here, the fact that the voltage actually output from the oil temperature sensor 13 is larger than 5V or smaller than 0V means that the oil temperature sensor 13 outputs a voltage that would otherwise not be output. That is. In this case, the first phase diagnosis execution unit 21 estimates that some failure has occurred in the oil temperature sensor 13 itself, and the oil temperature sensor 13 has failed in the diagnosis history recording area 24 set in the memory (not shown) of the ECU 20. A flag indicating that the error has occurred is recorded as an error log.

On the other hand, the event status check is a method for determining whether the voltage value output by the oil temperature sensor 13 indicates a theoretically possible situation.
This method will be explained in a little more detail.
In general, since oil has a property that it is difficult to be heated and cooled, the temperature Toil of the lubricating oil cannot be assumed to change greatly in a short period of time. For example, a decrease or increase of about 10 ° C. per second is usually not possible. Therefore, the first phase diagnosis execution unit 21 converts the output voltage of the oil temperature sensor 13 into the oil temperature, and when this oil temperature drops or rises by 10 ° C. or more per second, there is some failure in the oil temperature sensor 13 itself. It is supposed to have occurred. When the first phase diagnosis execution unit 21 estimates that the oil temperature sensor 13 has failed, the first phase diagnosis execution unit 21 indicates that the failure has occurred in the oil temperature sensor 13 in the diagnosis history recording area 24 set in the memory. The indicated flag is recorded as an error log.

Further, the second phase diagnosis execution unit 22 further diagnoses whether or not the oil temperature sensor 13 is operating normally using a method called model-based failure diagnosis. The second phase diagnosis execution unit 22 performs failure diagnosis substantially based on the contents described in Non-Patent Document 1 listed above.
As shown in FIG. 2, this model-based failure diagnosis compares the actual behavior of various sensors of the vehicle 10 including the transmission 12 with the behavior of a model 13M (see FIG. 2) showing standard behaviors of these various sensors. Thus, here, it is further diagnosed whether or not the oil temperature sensor 13 is operating normally.

  That is, as shown in FIG. 2, this model-based fault diagnosis is performed for an actual machine (here, actual machines of various sensors) and a model recorded in the model recording area 25 (here, models of various sensors). The same information correlated with the transmission 12 (for example, the rotational speed of the input shaft of the transmission 12) is input. Then, the second phase diagnosis execution unit 22 compares information indicating the actual behavior of various sensors with information indicating the behavior of the sensor model. Then, the second phase diagnosis execution unit 22 detects whether or not a failure has occurred in the oil temperature sensor 13 by applying a residual method, which will be described later, based on the comparison result, and the failure Separation (separation) is performed to identify what kind of failure has occurred in the oil temperature sensor 13.

  The third phase diagnosis execution unit 23 executes a third phase diagnosis for diagnosing the degree of failure of the transmission 12 using an output waveform diagnosis method based on the waveform of the detection result Toil of the oil temperature sensor 13. . The third phase diagnosis execution unit 23 performs the third phase diagnosis after the first phase diagnosis is performed by the first phase diagnosis execution unit 21 and after the second phase diagnosis execution unit 22 performs the above process. The second phase diagnosis is executed in parallel with the execution of the second phase diagnosis.

  Further, in the third phase diagnosis, the third phase diagnosis execution unit 23 extracts the detection result Toil by the oil temperature sensor 13 as a time-series signal waveform. Then, the third phase diagnosis execution unit 23 removes noise of the extracted signal waveform, and then selects the most approximate one from a plurality of sample signal waveforms recorded in advance in a memory (not shown) of the ECU 20. It is supposed to be.

Then, the third phase diagnosis execution unit 23 analyzes what kind of failure the approximated sample signal waveform is generated, and as a result, what kind of failure occurs in the transmission 12 It is supposed to estimate how much has occurred.
Since the failure diagnosis apparatus for a mechanism mounted on a vehicle according to the first embodiment of the present invention is configured as described above, the following operations and effects are achieved.

As shown in the flowchart of FIG. 3, first, the ECU 20 reads the detection result Toil of the oil temperature sensor 13 (step S11).
Thereafter, as the first phase diagnosis, the first phase diagnosis execution unit 21 performs a check as to whether or not the detection result Toil by the oil temperature sensor 13 is within a normal range, that is, an upper / lower limit value check (step S12). .

At the same time, as the first phase diagnosis, the first phase diagnosis execution unit 21 executes a check as to whether or not the detection result Toil by the oil temperature sensor 13 indicates a theoretically possible situation, that is, an event situation check ( Step S13).
When it is diagnosed that one of these steps S12 and S13 has failed in the oil temperature sensor 13 (No route in step S14), the second phase diagnosis execution unit 22 and the third phase diagnosis execution unit 23 does not operate.

On the other hand, in any of these steps S12 and S13, when it is diagnosed that no failure has occurred in the oil temperature sensor 13 (Yes route in step S14), the second phase diagnosis execution unit 22 and the third phase diagnosis execution The unit 23 operates and the second phase diagnosis and the third phase diagnosis are executed.
That is, the second phase diagnosis execution unit 22 further diagnoses whether the oil temperature sensor 13 is operating normally by the model-based failure diagnosis method as the second phase diagnosis (step S15).

In parallel with the execution of the second phase diagnosis, the third phase diagnosis execution unit 23 performs the output waveform diagnosis method based on the waveform of the oil temperature Toil output from the oil temperature sensor 13 as the third phase diagnosis. The degree of failure of the transmission 12 is diagnosed (step S16).
Thus, according to the failure diagnosis apparatus for a mechanism mounted on a vehicle according to the first embodiment of the present invention, a failure diagnosis of the transmission 12 mounted on the vehicle 10 can be accurately performed. That is, while checking the detection accuracy of the oil temperature sensor 13 that detects the temperature of the lubricating oil circulating in the transmission 12, the third phase diagnosis execution unit 23 accurately diagnoses the failure of the transmission 12, thereby 10 reliability can be improved.

Further, the third phase diagnosis execution unit 23 can diagnose the failure of the transmission 12 simply and quickly by capturing the state of the transmission 12 as a waveform.
In parallel with the execution of the second phase diagnosis, the third phase diagnosis execution unit 23 executes the third phase diagnosis. Therefore, the failure diagnosis of the oil temperature sensor 13 and the transmission 12 are performed. Both fault diagnosis and quick diagnosis can be performed.

  Next, a failure diagnosis apparatus for a mechanism mounted on a vehicle according to a second embodiment of the present invention will be described mainly with reference to FIGS. 4 and 5 with reference to the drawings. Note that the same components as those in the first embodiment described above are denoted by the same reference numerals, description thereof will be omitted, and description will be given here with an emphasis on differences from the first embodiment. In some cases, the diagram used to describe the first embodiment is used.

The difference between the first embodiment described with reference to FIG. 1 and the second embodiment shown in FIG. 4 is a software difference in the ECU 20.
That is, instead of the third phase diagnosis execution unit 23 in the first embodiment described with reference to FIG. 1, a third phase diagnosis execution unit 43 is provided in the second embodiment. Other than this difference, there is no structural difference between the first embodiment and the second embodiment.

The third phase diagnosis execution unit 43 in the second embodiment is the same as the third phase diagnosis execution unit 23 in the first embodiment in that the third phase diagnosis execution unit 43 executes the third phase diagnosis. The timing for executing the diagnosis is different.
That is, as shown in FIG. 3, the third phase diagnosis execution unit 23 in the first embodiment executes the third phase diagnosis in parallel with the execution of the second phase diagnosis by the second phase diagnosis execution unit 22. It has become.

In contrast, the third phase diagnosis execution unit 43 in the second embodiment performs the third phase diagnosis after the second phase diagnosis is executed by the second phase diagnosis execution unit 22 as shown in step S21 in FIG. It is supposed to run.
Thus, since the failure diagnosis apparatus for a mechanism mounted on a vehicle according to the second embodiment of the present invention is configured as described above, the following operations and effects are achieved.

  As in the first embodiment described above, failure diagnosis of the transmission 12 mounted on the vehicle 10 can be performed with high accuracy. That is, the third phase diagnosis execution unit 43 accurately diagnoses the failure of the transmission 12 while checking the detection accuracy of the oil temperature sensor 13 that detects the temperature of the lubricating oil circulating in the transmission 12. Can improve the reliability.

Further, the third phase diagnosis execution unit 43 can diagnose the failure of the transmission 12 simply and quickly by capturing the state of the transmission 12 as a waveform.
As a specific action and effect in the second embodiment, after the first phase diagnosis is executed and the second phase diagnosis is executed, the third phase diagnosis executing unit 43 executes the third phase diagnosis. Therefore, there is an advantage that the control load can be prevented from being concentrated and the reliability of the failure diagnosis of the oil temperature sensor 13 and the transmission 12 can be improved.

As mentioned above, although the failure diagnosis apparatus of the mechanism mounted in the vehicle which concerns on 1st and 2nd embodiment of this invention was demonstrated, this invention is not limited to this embodiment, and does not deviate from the meaning of this invention. Various modifications can be made within the range. Some examples are shown below.
In the above-described embodiment, the case where the upper limit value of the voltage output from the oil temperature sensor 13 is 5V and the lower limit value is 0V has been described as an example, but the present invention is not limited to this. Depending on the specification of the oil temperature sensor, the upper and lower limit values may be set appropriately.

In the above-described embodiment, the case where the transmission 12 is noted as the mechanism mounted on the vehicle 10 (that is, the in-vehicle mechanism) has been described, but the present invention is not limited to this. For example, the engine 10 and any mechanism mounted on the vehicle 10 such as a suspension, an intake system, an exhaust system, and a steering system (not shown) may be used.
In the above-described embodiment, the case where the oil temperature sensor 13 is used as the state detection unit that detects the state of the transmission 12 has been described as an example. However, the present invention is not limited to this.

For example, instead of the oil temperature sensor 13 or in addition to the oil temperature sensor 13, any of the following sensors (not shown) may be used as the state detection means.
-Clutch motor angle sensor of the transmission 12-Clutch force sensor of the transmission 12-Input shaft rotation speed sensor of the transmission 12-Clutch temperature sensor of the transmission 12-Engine rotation speed sensor In the above-described embodiment, Although not particularly mentioned, for example, when a dual clutch transmission is used as the transmission 12, the following sensors may be used as the state detection means.

The position sensor of the gear shift actuator of the transmission 12 The force sensor of the gear shift actuator of the transmission 12 In the above embodiment, the model-based failure diagnosis by the second phase diagnosis execution unit 22 has been described. Alternatively, a residual method, a direct residual method, a fuzzy logic method, or the like may be used.

Here, an example of failure diagnosis using the residual method will be briefly described.
As shown in FIG. 6, a residual matrix is used in which a failure type fj (j = 1 to 4) corresponding to a diagnosis target is a row and a residual ri (i = 1 to 4) is a column.
In the residual matrix shown in FIG. 6, when the residual r1 occurs, it is considered that either the fault f2 or f4 has occurred. However, by monitoring only the presence or absence of the residual r1, any fault f2 or f4 is detected. It is impossible to determine which of the two occurred.

Therefore, when the presence or absence of the residual r2 is further monitored, it is possible to specify that the fault f2 has occurred when the residual r2 occurs, and the fault f4 has occurred when the residual r2 does not occur. Can be specified.
By the way, when applying the residual method to the failure diagnosis of the transmission 12 described in the above-described embodiment, it is necessary to consider the following points.

  That is, the operation of each component (such as the oil temperature sensor 13 in the above-described embodiment) that correlates with data serving as a reference for diagnosis using the residual method has a respective time scale. For example, the time constant of the oil temperature sensor 13 for detecting the lubricating oil temperature is very large (for example, about 100 times) compared to the time constant of the position sensor or force sensor of the gear shift actuator (not shown). For this reason, if a single sampling time (that is, the cycle in which the ECU 20 reads the detection result Toil of the oil temperature sensor 13 in the above-described embodiment) is set for all the components, There is a risk that sufficient accuracy cannot be secured.

For this reason, the ECU 20 described above may be configured as a multiple sampling rate system using the residual matrix shown in FIG.
In the residual matrix shown in FIG. 7, the faults θ, i, n, and T of each sensor of the transmission 12 to be subjected to fault diagnosis are defined as rows, and the residual ri (i = 1 to 14) is defined as a column. It prescribes. Each sensor used in FIG. 7 is defined as follows.

θ _clutch1 : Odd clutch motor angle sensor θ _clutch2 : Even clutch motor angle sensor θ _select : Selected motor position sensor f _clutch1 : Odd clutch force sensor f _clutch2 : Odd clutch force sensor f _select : Selected actuator force sensor
n _e : Engine speed sensor
n _odd : Odd input shaft speed sensor
n _even : Even input shaft speed sensor
n _final : Final input shaft speed sensor T _clutch1 : Odd clutch temperature sensor T _clutch2 : Even clutch temperature sensor T _oil : Lubricating oil temperature sensor Further, residual ri (i = The definitions of 1 to 14) are as shown in Table 1 below.

また、図７に示す残差行列においては、各センサの時定数に応じて、第１ブロック（残差ｒ１〜ｒ６）がサンプリング時間０．５ｍｓで設定され、第２ブロック（残差ｒ７〜ｒ９）がサンプリング時間１ｍｓで設定され、第３ブロック（残余ｒ１０〜ｒ１４）がサンプリング時間１００ｍｓで設定されている。そして、第１〜第３ブロックは、対角線方向へ並ぶようにソートされている。

In the residual matrix shown in FIG. 7, the first block (residuals r1 to r6) is set with a sampling time of 0.5 ms in accordance with the time constant of each sensor, and the second block (residuals r7 to r9). ) Is set at a sampling time of 1 ms, and the third block (residuals r10 to r14) is set at a sampling time of 100 ms. The first to third blocks are sorted so as to be aligned in the diagonal direction.

By using such a residual matrix, the failure diagnosis accuracy can be further improved, and the responsiveness at the time of failure diagnosis can be improved.
In the above-described embodiment, a method for incorporating the first phase diagnosis execution unit 21, the second phase diagnosis execution unit 22, and the third phase diagnosis execution unit 23 into the memory (not shown) of the ECU 20 is not particularly described. However, for example, the automatic code may be generated by a modeling process from a formal specification (expansion table) to be mounted on the ECU 20.

  In this case, the sensors and actuators to be diagnosed may be selected based on diagnostic requirements OBD (On Board Diagnosis) requirements, FMEA (Failure Mode and Effects Analysis) requirements, FTA (Fault Tree Analysis) requirements, and the like. An example of the expansion table is shown in FIG. 8, and a block diagram corresponding to the expansion table shown in FIG. 8 is shown in FIG.

It is a typical block diagram which shows the whole structure of the failure diagnostic apparatus of the mechanism mounted in the vehicle which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the outline | summary of the 2nd phase diagnosis in the failure diagnostic apparatus of the mechanism mounted in the vehicle which concerns on 1st and 2nd embodiment of this invention. It is a typical flowchart which shows operation | movement of the failure diagnostic apparatus of the mechanism mounted in the vehicle which concerns on 1st Embodiment of this invention. It is a typical block diagram which shows the whole structure of the failure diagnostic apparatus of the mechanism mounted in the vehicle which concerns on 2nd Embodiment of this invention. It is a typical flowchart which shows operation | movement of the failure diagnosis apparatus of the mechanism mounted in the vehicle which concerns on 2nd Embodiment of this invention. 2 shows an example of a residual number sequence that can be applied to a failure diagnosis apparatus for a mechanism mounted on a vehicle according to first and second embodiments of the present invention. 2 shows an example of a residual number sequence that can be applied to a failure diagnosis apparatus for a mechanism mounted on a vehicle according to first and second embodiments of the present invention. 2 shows an example of a development table used in a software implementation method that can be applied to a failure diagnosis apparatus for a mechanism mounted on a vehicle according to first and second embodiments of the present invention. 1 is a block diagram illustrating an example of a software implementation method that can be applied to a failure diagnosis apparatus for a mechanism mounted on a vehicle according to first and second embodiments of the present invention.

Explanation of symbols

10 Vehicle 11 Engine (In-vehicle mechanism)
12 Transmission (in-vehicle mechanism)
13 Oil temperature sensor (state detection means)
21 1st phase diagnosis execution part (1st phase diagnosis execution means)
22 2nd phase diagnosis execution part (2nd phase diagnosis execution means)
23, 43 Third phase diagnosis execution unit (third phase diagnosis execution means)

Claims (4)

An in-vehicle mechanism mounted on the vehicle;
State detection means for detecting the state of the in-vehicle mechanism;
First phase diagnosis execution means for executing a first phase diagnosis for diagnosing whether or not the state detection means is operating normally based on a detection result of the state detection means;
A second diagnosis is further made as to whether or not the state detecting means is operating normally by comparing the actual behavior of the in-vehicle mechanism with the behavior of the model of the in-vehicle mechanism indicating the standard behavior of the in-vehicle mechanism. Second phase diagnosis execution means for executing phase diagnosis after the first phase diagnosis is executed by the first phase diagnosis execution means;
After the first phase diagnosis is executed by the first phase diagnosis execution means, the third phase diagnosis for diagnosing the degree of failure and / or the location of the failure of the in-vehicle mechanism based on the detection result of the state detection means is performed. A failure diagnosis apparatus for a mechanism mounted on a vehicle, comprising: third phase diagnosis execution means for execution. The third phase diagnosis execution means includes:
The failure diagnosis of a mechanism mounted on a vehicle according to claim 1, wherein the third phase diagnosis is executed in parallel with the execution of the second phase diagnosis by the second phase diagnosis execution means. apparatus. The third phase diagnosis execution means includes:
2. The failure diagnosis apparatus for a mechanism mounted on a vehicle according to claim 1, wherein the third phase diagnosis is executed after the second phase diagnosis is executed by the second phase diagnosis execution means. The third phase diagnosis execution means includes:
The vehicle according to any one of claims 1 to 3, wherein the third phase diagnosis is executed by extracting and analyzing a time-series signal waveform from a detection result by the state detection means. Fault diagnosis device for installed mechanism.

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