JP3601106B2 - Vehicle control device - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a vehicle control device that controls a vehicle traveling device involved in traveling of a vehicle according to a route from a departure place to a destination.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been proposed an automatic transmission control device that changes a gear position of an automatic transmission using road data of a vehicle navigation device (Japanese Patent Application Laid-Open No. 62-292947).
According to this control device, the shift pattern of the automatic transmission is changed in accordance with road information around the current position of the vehicle, for example, uphill, traveling on a road surface with a low friction coefficient, and traveling on a curve.
[0003]
[Problems to be solved by the invention]
However, the vehicle is moving with a certain purpose at a certain speed, and the road information around the current time is not always the same as the road information ahead several seconds. For example, if the road 50 m ahead is a three-junction, the surrounding road conditions change depending on whether the vehicle turns right, turns left, or goes straight.
In that case, when you reach a three-forked road, turn right, drive 10m (meter), then turn left, turn left, run 100m (meter), stop, or go straight 10km (km). Vehicle behavior should change.
From this, after the road condition around the vehicle changes, it may be conceivable that an appropriate shift speed cannot be set even if the shift pattern is changed.
[0004]
The present invention has been devised in view of the above circumstances, and performs appropriate vehicle control by predicting a route on which a vehicle travels.
[0005]
[Means for Solving the Problems]
In order to solve the above object, the present invention has the following configuration. That is, a vehicle control device according to a first aspect of the present invention includes a destination input device for inputting a destination, a control device for an automatic transmission, a current position detection device, and a memory for storing data of a road connecting intersections. Means, a route search means for searching for a route from the departure point to the destination based on the stored road data, and a distance corresponding to a section defined by the intersection based on the road data in the searched route. Determining means for determining a shift diagram of the automatic transmission in the section; and a control device for the automatic transmission based on the shift diagram determined by the determiner based on a current position of the vehicle. And a path control device to be controlled.
According to a second aspect of the present invention, there is provided a vehicle control apparatus according to the first aspect, further including a sensor for detecting a road condition.
A vehicle control device according to a third aspect is characterized in that the determining means of the vehicle control device according to the first aspect determines the shift diagram corresponding to the speed limit of the section.
A vehicle control device according to a fourth aspect is characterized in that the determining means of the vehicle control device according to the first aspect defines a non-signal intersection and a straight-ahead intersection as having no intersection.
[0006]
[Action]
According to the present invention, the shift diagram of the control device of the automatic transmission in the section is determined according to the distance of the section defined by the intersection based on the road data on the searched route.
[0007]
Therefore, according to the present invention, the shift diagram of the automatic transmission in the section defined by the intersection can be determined in advance, so that the prediction control can be executed reliably.
[0008]
【Example】
Hereinafter, a vehicle control device according to an embodiment of the present invention will be described.
FIG. 1 is a system configuration diagram of the vehicle control device according to the present embodiment.
[0009]
The vehicle control device according to the present embodiment is a case where the automatic transmission is a vehicle traveling device.
Examples of other vehicle traveling devices include an engine, a motor (in the case of an electric vehicle), a suspension, a power steering, a four-wheel drive control device, and a cruise controller. As shown in FIG. 1, the vehicle control device mainly includes a control device 1 for a navigation device and a control device 2 for an automatic transmission.
[0010]
An input port of the control device 1 of the navigation device includes a map information storage device 10 including a CD-ROM (Compact Disc Read Only Memory), a GPS receiver 12 for detecting current position information, and a vibration gyro used for detecting a bearing. 14 are connected. A monitor 33 composed of a liquid crystal display element and an external speaker 31 are connected to the output port. An input switch is provided around the monitor 33, and a transparent conductive film for inputting on the screen is provided on the screen. These input signals are input to input ports of the control device 1 of the navigation device.
[0011]
Further, the control device 1 of the navigation device and the control device 2 of the automatic transmission are connected by a communication line, and perform appropriate communication.
A control device 2 for an automatic transmission controls a multi-stage automatic transmission. This automatic transmission includes a planetary gear, a wet friction engagement element that engages and disengages these elements, an oil pump, and the like. And actuators 22 and 24 and sensors 26 and 28 for controlling them. Among these, the shift solenoid 22 forms a shift speed of the automatic transmission by its operation.
[0012]
FIG. 2 is a flowchart showing an outline of control of the control device 1 of the navigation device. FIG. 3 is a schematic diagram showing the input mode of the monitor screen.
As shown in FIG. 2, starting with the ignition on, first, initialization is performed (S1).
Next, when there is an input of a destination (S2), it is determined whether or not a mode input described later shown in FIG. 3 has been made (S3). When there is an input, a route search corresponding to the mode is performed. And an optimal route is set (S4). Thereafter, a simulation display is performed (S5). When a re-search is instructed, a re-search is performed (S6).
[0013]
Next, in S7, a command signal to the vehicle traveling device (in the present embodiment, the automatic transmission) is created for each intersection section of the set route, and stored in a memory (storage device) (not shown). Thereafter, route guidance is performed via the monitor 33 and the external speaker 31 corresponding to the current position (S8). Thereafter, other processing is executed and the process returns (S9). In other processes, the command signal created in step S6 is output to the control device 2 of the automatic transmission by communication.
[0014]
(Description of map database)
The map information storage device 10 stores road network data including intersection data, node data, and road data stored in each of an intersection data file, a node data file, and a road data file.
[0015]
FIG. 4 illustrates an example of a road network. As shown in this figure, each file will be described using a road network including intersection numbers I to IV and road numbers 1 to 8 as an example.
FIG. 5 shows the contents of the intersection data file for the road network of FIG. As shown in FIG. 4, the intersection data file includes, for each of the intersection numbers I to IV, the name of the intersection, the latitude and longitude of the intersection, and the first number among the roads starting from the intersection. The road number with the smallest number, the road number with the smallest number among the roads ending at the intersection, and the presence or absence of a signal are stored as the intersection data.
[0016]
FIG. 6 shows the contents of the road data file for the road network. As shown in FIG. 6, the road data file includes, for each of road numbers 1 to 8, the intersection number of the starting point, the intersection number of the ending point, and the roads having the same starting point, Among the roads having the end points, the next number, the thickness of the road, the prohibition information, the guidance unnecessary information, the speed limit, the number of nodes, the head address of the node string data, and the length of the road are stored.
[0017]
FIG. 7 shows the contents of the node data file. As shown in FIG. 7, the node data file stores node data including information on pedestrian crossings, tunnels, and the like that can be detected by a sensor or the like at characteristic points on the course. The node data file includes east longitude, north latitude, attributes, and the like. As is clear from the road data, the unit of the road number includes a plurality of nodes. That is, the node data is data relating to one point on the road, and when a connection between nodes is called an arc, a road is represented by connecting an arc between each of a plurality of node arrays. For example, regarding the road number 1, since the number of nodes is 15 and the head address of the node data is 100 from the road data shown in FIG. 6, the road number 1 is composed of node data of addresses from 100 to 114. Will be done.
[0018]
According to these road network data, for example, when attention is paid to the intersection number 1, in the course starting from this point, first, the road number 1 is obtained from the start point information of the intersection data, and then the "same starting point" of the road data relating to this road number 1 The road number 7 is retrieved from "the road having the next number is next." Then, in the same information in the road number 7, since the road number is 1 on the contrary, it can be determined that there is no other road number as the surrounding road. This is the same for the end point. In addition, since the road number 6 is prohibited in the road number 5 in the road data, the road numbers 5 to 6 cannot be entered from the road numbers 5 to 6 at the intersection number IV of the network shown in FIG. The only road that can be entered is road number 8. Therefore, there is no need to enter the road number 8 for guidance.
[0019]
(Explanation of route search)
A route search is performed based on the intersection data, node data, and road data. The details thereof are known and will not be described (see JP-A-1-173297 and JP-A-1-173298).
In such a route search, a basic route search condition is a distance between intersections. In the present embodiment, when evaluating the distance between intersections, the weight is changed depending on the input route search mode. . This weighting is executed by changing a coefficient to be multiplied by the distance of the road, and finally, the one with the shortest distance of the entire route is set as the optimal route.
[0020]
(Explanation of the optimal route data according to the input mode)
(Normal mode)
In the normal mode shown in FIG. 3, the thickness of the road is converted into a length coefficient, and a route having a short distance from the departure point to the destination is set as the optimum route. That is, the coefficient is set so that the distance becomes shorter as the thickness of the road becomes thicker.
[0021]
(Economy mode)
The economy mode shown in FIG. 3 is a mode in which a route determined by the actual distance of the road to the destination and the number of intersections is searched. In this case, the actual distance is a distance that is not weighted, and the distance is added according to the number of intersections.
[0022]
(Fast mode)
The fast mode shown in FIG. 3 is a mode for searching for a route determined by the actual distance of the road to the destination and the speed limit of the road. It is considered that the higher the speed limit of the road, the shorter the arrival time. Therefore, when the speed limit of the road is high, the coefficient to be multiplied by the distance of the road is reduced.
As described above, the route from the departure place (current location) to the destination is searched, and the shortest distance is set as the optimum route.
[0023]
FIG. 8 shows the contents of a search route data file generated as a result of the route search. This search route data file stores intersection column data (FIG. 8A) and node column data (FIG. 8B).
The intersection string data includes information such as an intersection name, an intersection number, a turning angle, a distance, and the like, and the node string data includes east longitude, north latitude, intersection number, and attribute representing the node position as shown in FIG. , Angle, distance, and the like. The roads to be driven can be specified by sequentially calling and listing the road numbers constituting the route from the intersection sequence data. In this case, the node string data may be data of only intersections requiring guidance, excluding intersections requiring no guidance.
Therefore, the control device 1 of the navigation device sequentially reads and outputs the road number corresponding to the predetermined position where the vehicle is currently traveling (S8).
[0024]
On the other hand, when the simulation mode (arrival time display mode, fuel consumption display mode) is designated, the fuel consumption and the arrival time from the current location to the destination are virtually calculated.
[0025]
In the simulation mode, after the route from the current position to the destination is set, the fuel consumption is calculated from the actual distance, the speed limit, and the set shift diagram. In this case, if it is clear that the current fuel cannot reach the destination, a warning is displayed. Displays whether there is a gas station in the route.
[0026]
The arrival time is calculated from the actual distance, the speed limit, and the set shift diagram after the route from the current position to the destination is set.
[0027]
Next, the contents of the step of calculating a command signal to be given to the vehicle traveling device (step S7 in FIG. 2) will be described. In the present embodiment, a description will be given of the shift speed control when a route is set. This control is based on the premise that more fuel-efficient traveling is possible by changing the shift diagram in accordance with the distance from when the vehicle is stopped to when it travels and stops and the speed limit therebetween. .
In this embodiment, the case where the vehicle does not stop basically between intersections is handled. When stopping, another control is performed, but the description is omitted here. In this embodiment, the slip control of the lock-up clutch is performed so that the slip of the torque converter of the automatic transmission does not become too large.
[0028]
FIG. 9 is a flowchart for giving a control amount to the automatic transmission, and constitutes a part of step S7 in FIG.
As described above, the route is expressed by listing the road numbers. As shown in FIG. 9, first, it is determined whether or not the end intersection of the next road number is a signal intersection (S20). In the case of a signalized intersection, it often stops, so it is assumed that it stops. If not stopped, another control is performed, but the description is omitted here.
[0029]
Next, it is determined whether the end intersection of the next road number is a straight-ahead intersection (S22). When turning right or left, it often stops, so it is treated as stopping.
Further, it is determined whether or not the next road number and the road with the next road number have substantially the same speed limit (S24). If they are not substantially the same, they often stop, so they are treated as stopping.
[0030]
As described above, when it is considered that the vehicle stops, the control amount is determined based on the distance of the road and the speed limit of the road with the road number. Then, the amount of change and the direction of change in the shift diagram are derived and output to the control device 2 of the automatic transmission (S26, S28).
On the other hand, if it is not a signalized intersection but a straight-ahead intersection and the speed limit is similar, it is treated as one road (S30), and similarly, the amount of change in the shift diagram is calculated from the road distance and the speed limit. And guide the direction of change.
[0031]
FIG. 10 is a table showing the amount of change and the direction of change in the shift diagram. As shown in FIG. 10, the control amount is such that the longer the distance between the intersections and the higher the speed limit of the road between the intersections, the more the shift point shifts to the higher vehicle speed side.
The shift diagram in FIG. 11 is changed based on FIG. 10, and the shift is controlled by the control device 2 of the automatic transmission based on the shift diagram.
[0032]
(Effects of the embodiment)
As described above, a section having high similarity is integrally grasped as a road, a standard control amount is determined, and a stable and reliable predictive control is performed by changing a shift diagram with the control amount. be able to.
For example, when the intersection section is short and the vehicle travels a short distance after starting and then stops, large acceleration is not required.Therefore, by setting the speed at which the shift speed changes from the low speed to the high speed to a lower speed, the overall speed is reduced. As a result, the vehicle travels at a high gear in the section, and the fuel consumption can be reduced.
[0033]
Also, for example, when traveling on a highway, the section distance is long, and when traveling for a long distance and stopping, the gear speed is lower than when traveling for a short distance and stopping. Since the speed of switching from the high-speed stage to the high-speed stage is higher, acceleration performance is not sacrificed.
[0034]
In addition, since the standard control amount is determined with the intersection sections having similarities in the route as an integrated control target, control can be easily and quickly performed without complicating or becoming unstable. it can.
[0035]
【The invention's effect】
As described above, according to the vehicle control device of the present invention, the shift diagram of the automatic transmission in the section can be determined according to the section distance defined by the intersection. For this reason, according to the present invention, the shift of the automatic transmission can be performed with the most stable and suitable shift diagram for traveling in that section.
[0036]
[Brief description of the drawings]
FIG. 1 is a system configuration diagram of a vehicle control device according to an embodiment.
FIG. 2 is a flowchart showing an outline of control of a control device 1 of the navigation device.
FIG. 3 is a schematic diagram showing an input mode of a monitor screen.
FIG. 4 is a diagram illustrating an example of a road network.
FIG. 5 is a diagram showing the contents of an intersection data file for a road network.
FIG. 6 is a diagram showing the contents of a road data file for a road network.
FIG. 7 is a diagram showing the contents of a node data file.
FIG. 8 is a diagram showing the contents of a search route data file generated as a result of the route search.
FIG. 9 is a flowchart for giving a control amount to the automatic transmission.
FIG. 10 is a table showing a change amount and a change direction of a shift diagram.
FIG. 11 shows an example of a shift diagram.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 vehicle control device 2 automatic transmission control device 10 map information storage device 22 shift solenoid

Claims (4)

Destination input means for inputting a destination,
A control device for the automatic transmission ,
Means for detecting the current position;
Storage means for storing data of roads connecting the intersections;
Route search means for searching for a route from the departure place to the destination based on the stored road data;
Determining means for determining a shift diagram of the automatic transmission in the section corresponding to the distance of the section defined by the intersection based on the road data in the searched route,
A path control device that controls the control device of the automatic transmission based on a shift diagram determined by the determination unit based on a current position of the vehicle ;
A vehicle control device comprising: The vehicle control device according to claim 1, further comprising a sensor for detecting a road condition. The vehicle control device according to claim 1, wherein the determining unit determines the shift diagram in accordance with a speed limit of the section. The vehicle control device according to claim 1, wherein the determining unit partitions the non-signal intersection and the straight-ahead intersection as having no intersection.

Images