JP4765652B2 - Vehicle control device - Google Patents

Description

  The present invention generally relates to a vehicle control apparatus that performs control to stabilize the behavior of the host vehicle in a vehicle, and in particular, collisions with surrounding objects of the host vehicle and deviations from outside the lane / outside of the road are appropriately avoided. The present invention relates to a vehicle control device.

  2. Description of the Related Art Conventionally, a vehicle control device that performs control to stabilize the behavior of the host vehicle in a vehicle is known (see, for example, Patent Document 1).

  Patent Document 1 discloses a device that stabilizes vehicle behavior by controlling a braking force so that a counter-turning moment is generated based on a rate of change of a yaw moment with respect to a vehicle body slip angle.

Such a vehicle control device that suppresses the side slip of the vehicle by controlling the braking force is generally known in the market under the name of VSC (registered trademark).
JP-A-9-58444

  The conventional device described in Patent Document 1 focuses only on the closed system of vehicle behavior, suppresses side slip, and restores the grip force of the tire so that the vehicle advances in the direction in which the driver operates the steering handle. It is.

  However, the vehicle state in which the grip force of the tire decreases and the vehicle slips (that is, a deviation between the direction of the vehicle and the traveling direction) and the vehicle does not travel in the steering direction is, from the viewpoint of driving operation. It is a critical situation, and it can be said that it is generally difficult for the driver to perform an appropriate driving operation calmly because the driving operation under such a vehicle condition is highly difficult.

  In such a driving operation situation, a driver who is in a state of skidding may unnecessarily operate the steering handle in a direction approaching a nearby obstacle or a direction in which the vehicle deviates from the outside of the lane / road. There is a possibility.

  Under such circumstances, when the side slip of the vehicle is suppressed by the conventional device described in Patent Document 1 and the gripping force of the tire is recovered, the vehicle approaches the obstacle simultaneously with the recovery of the gripping force or outside the lane / road The vehicle will travel in a direction deviating outside, and a collision / departure avoidance operation by the driver such as a brake operation may be required.

  In other words, depending on the environment / situation around the host vehicle, it may be considered that it may be preferable from the viewpoint of obstacle avoidance or lane departure avoidance to allow a certain degree of side slip within the range where no spinning is performed. Is done.

  SUMMARY OF THE INVENTION The present invention is intended to solve such a problem, and has as its main object to provide a vehicle control device that can appropriately avoid collisions with surrounding objects of the host vehicle and deviation from the outside of the lane / outside of the road. To do.

  One aspect of the present invention for achieving the above object is a vehicle control device that performs control to stabilize the behavior of the host vehicle in a vehicle, and monitors the vehicle state of the host vehicle and when a skid occurs. The skid control means for controlling the own vehicle so as to suppress the skid and the environment around the own vehicle are monitored, and the content of the vehicle control for the skid control by the skid control means is changed according to the surrounding environment. It is a vehicle control apparatus which has a control content change means.

  In the one aspect, the control content changing unit includes, for example, A) a first determination unit that detects an object existing around the host vehicle and determines a collision possibility between the host vehicle and the surrounding object, Based on the determination result by the first determination unit, when it is determined that the possibility of the collision is greater than before the side slip of the host vehicle is suppressed by the side slip suppression unit, the side slip suppression unit The content of the vehicle control for side slip suppression is changed, or B) The position in the travel lane of the own vehicle is detected, and the second judging means for judging the lane departure possibility of the own vehicle is provided, Based on the determination result by the second determination means, when it is determined that the possibility of departure from the lane is greater than when the side slip of the host vehicle is suppressed by the side slip suppression means, Changing the contents of the vehicle control for by sideslip suppression.

  Here, the content of the vehicle control for the side slip suppression by the side slip suppression means is, for example, the control amount of the vehicle control or the execution start timing of the vehicle control, and the control content change means is, for example, the collision The higher the possibility or the possibility of departure from the lane, the smaller the control amount or the execution start timing is delayed.

  According to the above aspect, the purpose of the control is not merely to suppress the side slip of the host vehicle, the environment around the host vehicle is considered, and the content of the vehicle control for suppressing the side slip is changed according to the surrounding environment. Therefore, for example, from the viewpoint of avoiding obstacles and avoiding lane departure, if skidding is suppressed, the possibility of collision with surrounding objects and the possibility of lane departure will increase. It is possible to realize safer vehicle behavior control that is more suitable for the surrounding environment, such as avoiding a collision or lane departure by reducing the degree or delaying the timing to suppress the side slip.

  The vehicle control device according to the above aspect changes the control content of the vehicle control for the purpose of suppressing the side slip of the own vehicle according to the surrounding environment, and actively It does n’t skid).

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle control apparatus by which the collision with the surrounding object of the own vehicle and the deviation to the outside of a lane / road can be avoided appropriately.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. In addition, since the basic concept of VSC (Vehicle Stability Control) which suppresses the side slip of a vehicle by braking force control, main hardware constitutions, an operation principle, a basic control method, etc. are known to those skilled in the art, it is detailed. Description is omitted.

  Hereinafter, with reference to FIGS. 1-4, the vehicle control apparatus which concerns on one Example of this invention is demonstrated.

  FIG. 1 is a schematic configuration diagram of a vehicle control device 100 according to the present embodiment.

  The vehicle control device 100 includes a vehicle state detection unit 101 that detects the vehicle state of the host vehicle. In the present embodiment, the vehicle state detection unit 101 includes at least a known acceleration sensor and a yaw rate sensor, and measures lateral acceleration (lateral G), longitudinal acceleration (front and rear G), and yaw rate occurring in the host vehicle. It shall be. Various types of acceleration sensors and yaw rate sensors are known, but arbitrary ones can be used in this embodiment. It may be shared / shared with other in-vehicle systems.

  The vehicle control apparatus 100 further includes a steering angle detection unit 102 that detects the steering angle of the steering handle. In the present embodiment, the steering angle detection unit 102 includes, for example, a known steering angle sensor. Although various configurations and structures are known for the steering angle sensor, any one can be used in this embodiment. For example, it may be shared / shared with other in-vehicle systems such as electric power steering.

  The vehicle control device 100 further includes a vehicle speed detection unit 103 that detects the traveling speed of the host vehicle. In the present embodiment, the vehicle speed detection unit 103 includes a vehicle speed sensor such as a wheel side sensor. Various vehicle speed sensors having various configurations and structures are known, but any one can be used in this embodiment. It may be shared / shared with other in-vehicle systems.

  The vehicle control device 100 further includes a peripheral object detection unit 104 that detects an object (stationary object / moving object) existing around the host vehicle using, for example, a laser radar or a millimeter wave radar. In this embodiment, the surrounding object detection unit 104 further measures the distance and relative speed from the host vehicle to the surrounding object when the surrounding object is detected. Laser radars and millimeter wave radars having various configurations and structures are known, but any one can be used in this embodiment. For example, it may be shared / shared with other in-vehicle systems such as an inter-vehicle distance control system and a pre-crash safety system.

  The vehicle control device 100 further uses, for example, an imaging device such as a complementary metal-oxide semiconductor (CMOS) camera, at least a white line (or yellow line drawn on the road as a left-right boundary line of the lane in which the host vehicle is traveling). A white line detection unit 105 for detecting a line). In the present embodiment, the white line detection unit 105 detects white lines on both the left and right sides, and measures the distance from the vehicle position to the white line ahead of the host vehicle by image analysis.

  The vehicle control device 100 further includes a braking force control unit 106 configured to be able to control the braking force of each wheel independently of the brake pedal depression operation by the driver. In the present embodiment, the braking force control unit 106 controls, for example, the brake hydraulic pressure of each wheel independently.

  The vehicle control device 100 further includes a main control unit 107 that comprehensively controls each component of the vehicle control device 100. The vehicle control device 100 is, for example, an ECU (Electronic Control Unit).

  In the vehicle control device 100 having such a configuration, the main control unit 107 calculates, for example, the lateral vehicle speed obtained by time-integrating the lateral G detected by the vehicle state detection unit 101 by time-integrating the front and rear G. Braking force control to restore tire grip force by judging that skid has occurred when the vehicle slip angle obtained by dividing by the vehicle speed in the longitudinal direction is no longer linearly related to the cornering force (lateral force). It is comprised so that the braking force of each wheel may be controlled to instruct | indicate the part 106 and to cancel a skid.

  In the present embodiment, the main control unit 107 also determines the future of the host vehicle based on the lateral G, front-rear G, and yaw rate detected by the vehicle state detection unit 101 and the vehicle speed detected by the vehicle speed detection unit 103. Predict location. Then, the predicted own vehicle position is compared with the position of the surrounding object detected by the surrounding object detection unit 104 (if it exists) and the position of the white line that is the boundary line of the lane detected by the white line detection unit 105. The possibility of collision with surrounding objects of the vehicle and the possibility of lane departure are determined.

  Furthermore, in this embodiment, when the main control unit 107 determines that a skid has occurred, the steering angle detected by the steering angle detection unit 102, the vehicle speed detected by the vehicle speed detection unit 103, and the surrounding object detection unit Based on the position of the surrounding object detected by the 104 (if present) and the position of the white line that is the boundary line of the lane detected by the white line detection unit 105, the tire grip is controlled by normal braking force control that suppresses skid. Judgment is made on the possibility of collision with surrounding objects and the possibility of departure from the lane when the power is restored and the host vehicle advances in the direction of the steering angle. When it is determined that the possibility of collision or the possibility of lane departure increases when the side slip is suppressed, the main control unit 107 instructs the braking force control unit 106 to control the braking force for suppressing the side slip. Change the control contents.

  Hereinafter, with reference to the flowchart of FIG. 2, braking force control for side slip suppression by the vehicle control device 100 whose control content is changed in accordance with the possibility of collision with surrounding objects and the possibility of lane departure (in the drawing) Now, the flow of “VSC” will be described.

  First, the main control unit 107 determines whether or not a side slip that triggers the start of VSC has occurred in the host vehicle (S201).

  If no skidding has occurred and it is determined that it is not necessary to start VSC (“NO” in S201), one routine of this flow is terminated without performing any special processing.

  On the other hand, when the occurrence of skidding is detected and it is determined that VSC should be started (“YES” in S201), the main control unit 107 detects the presence of the surrounding object and the surrounding object by the surrounding object detection unit 104. Based on the position detection result, the possibility of collision with the surrounding object at the time before starting the VSC is compared with the possibility of collision with the surrounding object when the side slip is suppressed by operating the VSC normally. When VSC is started as usual and the side slip is suppressed, it is determined whether or not the possibility of collision with a surrounding object is higher than the state before the VSC operation (that is, the state where the host vehicle is still slipping). (S202).

  In other words, in S202, the case where the host vehicle travels while skidding, the case where the skidding is suppressed and the gripping force of the tire is restored, and the host vehicle proceeds in the direction of the steering angle according to the driver's steering wheel operation. Thus, it is determined which case is closer to the surrounding object.

  For example, when a driver who is in a hurry when a side slip occurs in the own vehicle steers the steering handle in a direction approaching the surrounding object, the case where the side slip is suppressed by the normal operation of the VSC is more When it is determined that the possibility of collision increases (“YES” in S202), the main control unit 107 corrects / changes the control content of the VSC (S203).

  A modification example of the VSC control content in S203 is shown in FIG. In the present embodiment, for example, as shown in FIG. 3A, the VSC control amount is reduced as the possibility of collision with a peripheral object predicted when the VSC is operated as usual and the side slip is suppressed is higher. . Alternatively, for example, as shown in FIG. 3B, the timing at which the VSC control is started is increased as the possibility of collision with a surrounding object predicted when the side slip is suppressed by operating the VSC normally. Delay than the control case.

  As described above, in this embodiment, when it is determined that the possibility of collision with a surrounding object is increased when the side slip is suppressed (“YES” in S202), the predicted collision probability is higher. Decreasing the VSC control amount (for example, the amount of increase in brake hydraulic pressure), reducing the extent to which side slip is suppressed, deliberately allowing a certain amount of side slip (FIG. 3 (a)), and / or a predicted collision. The higher the possibility, the later the timing for starting the VSC execution, the time when the side-slip suppression is realized is delayed, and the occurrence of the side-slip is intentionally allowed for a certain period of time (FIG. 3 (b)). This avoids an excessive increase in the possibility of collision with surrounding objects trying to suppress side slip.

  On the other hand, if the normal VSC operation does not increase the possibility of a collision with a surrounding object, or if there is no surrounding object that has a possibility of a collision with the host vehicle ("NO" in S202), the main control unit 107 The control contents of the VSC are not corrected or changed for the point (S203 is skipped).

  Next, based on the detection result of the white line position by the white line detection unit 105, the main control unit 107 determines whether the host vehicle may deviate from the lane beyond the white line at the time before starting the VSC, and the VSC. Is compared with the possibility of lane departure when side slip is suppressed, and VSC is started as usual, and when side slip is suppressed, the possibility of lane departure is the state before VSC operation (i.e. It is determined whether or not the vehicle increases more than the state in which the vehicle remains skidding (S204).

  In other words, in S204, the case where the host vehicle travels while skidding, the case where the skidding is suppressed and tire gripping force is restored, and the host vehicle proceeds in the steering angle direction according to the driver's steering wheel operation. Thus, it is determined which of the cases is closer to the white line that is the boundary line of the lane.

  For example, when a driver who is in a hurry when a side slip occurs in the host vehicle steers the steering handle in a direction that deviates from the lane, the lane departure may occur when the VSC operates normally and the side slip is suppressed. If it is determined that the increase of the VSC (“YES” in S204), the main control unit 107 corrects / changes the VSC control content (S205).

  A modification example of the VSC control content in S205 is shown in FIG. In this embodiment, for example, as shown in FIG. 4A, the VSC control amount is decreased as the possibility of lane departure predicted when the VSC is operated as usual and the side slip is suppressed is higher. Alternatively, for example, as shown in FIG. 4B, when the VSC is normally operated and the side slip is suppressed and the predicted lane departure is likely to be higher, the timing at which the VSC control is started is the normal control. Than later.

  As described above, in this embodiment, if it is determined that the possibility of lane departure is rather enhanced when the side slip is suppressed (“YES” in S204), the higher the predicted lane departure probability is, the higher the VSC control is. Decrease the amount (for example, increase in brake hydraulic pressure), reduce the extent to which side slip is suppressed, allow a certain amount of side slip (FIG. 4 (a)), and / or deviate from the predicted lane The higher the performance, the later the timing to start executing the VSC, the time when the side-slip suppression is realized is delayed, and the occurrence of side-slip is intentionally allowed for a certain period of time (FIG. 4 (b)). This avoids an increase in the possibility that the host vehicle will deviate from the lane too much in order to suppress the skidding.

  On the other hand, if the possibility of lane departure does not increase due to the normal VSC operation (“NO” in S204), the main control unit 107 does not modify or change the control content of the VSC in this regard (S205 is skipped).

  In this way, the main control unit 107 takes into consideration the possibility of collision with surrounding objects and the possibility of lane departure when a side slip occurs in the host vehicle and the side slip is suppressed by operating the VSC as usual. (S202 and S204) After the VSC operation, the VSC control details are modified and changed as necessary so that the possibility of collision with surrounding objects and the possibility of departure from the lane are not increased (S203 and S205). VSC for suppression or reduction is executed (S206).

  After the VSC operation, the main control unit 107 determines whether or not the side slip is settled and the gripping force of the tire is restored (S207).

  When it is determined that the side slip has settled and the gripping force of the tire has been recovered (“YES” in S207), the main control unit 107 ends one routine of this flow. If skidding occurs again, the processing of this flow is repeated again.

  On the other hand, when it is determined that the side slip has not been settled and the grip force of the tire has not yet been recovered ("NO" in S207), that is, the side slip is not completely suppressed, and a certain amount of side slip is allowed. If it is determined that the vehicle is in the state, the main control unit 107 continues to monitor the possibility of collision with surrounding objects and the possibility of lane departure, and dynamically corrects / changes the control content of the VSC.

  In other words, for example, in the case of the possibility of collision, when the target object that the host vehicle has a collision possibility is a moving body such as a preceding vehicle, the possibility that the host vehicle may collide with the moving body also by the movement of the moving body. Can change from moment to moment. In such a case, according to the present embodiment, the control content of the VSC can be dynamically changed as the target mobile body moves. That is, a control situation in which skidding is repeatedly suppressed or allowed may occur.

  In any case, the vehicle control apparatus 100 according to the present embodiment is a control that focuses on how to suppress or reduce the already generated side slip, and the possibility of collision with a surrounding object or the possibility of lane departure is determined. In order to reduce the vehicle, the vehicle is not actively slid from the device side (more than it occurs during traveling).

  As described above, according to this embodiment, when a side slip occurs in the host vehicle, the side slip is not simply suppressed, and the driver is prevented by suppressing the side slip in consideration of the environment / situation around the host vehicle. If the possibility of collision with surrounding objects or the possibility of departure from the lane is increased by advancing the host vehicle in the steering direction by the operation, a certain amount of skidding is allowed to avoid collision or departure from the lane. For example, when it is not always preferable to restore the tire grip force and advance the vehicle in the steering handle steering direction, for example, when the driver who is struggling with the skidding is steering the steering handle in an unexpected direction. Therefore, it is appropriately avoided that the possibility of collision with a surrounding object and the possibility of departure from the lane increase so much that importance is placed on restraining the vehicle.

  In the above-described embodiment, the side slip is suppressed by the braking force control. However, the present invention is not limited to this, and for example, the engine output control is performed as necessary in addition to the braking force control. It is good also as what suppresses.

  INDUSTRIAL APPLICABILITY The present invention can be used for an apparatus that stabilizes the behavior of a vehicle by suppressing the side slip of the vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

It is a schematic block diagram of the vehicle control apparatus which concerns on one Example of this invention. It is a flowchart which shows the flow of VSC control by the vehicle control apparatus which concerns on one Example of this invention. It is a graph which shows the modification example of VSC control based on the possibility of collision by the vehicle control device concerning one example of the present invention. It is a graph which shows the modification example of VSC control based on the possibility of deviation by the vehicle control device concerning one example of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Vehicle control apparatus 101 Vehicle state detection part 102 Steering angle detection part 103 Vehicle speed detection part 104 Surrounding object detection part 105 White line detection part 106 Braking force control part 107 Main control part

Claims (4)

In a vehicle, a vehicle control device that performs control to stabilize the behavior of the host vehicle,
A skid suppression means for monitoring the vehicle state of the host vehicle and controlling the host vehicle so that the skid is suppressed when a skid occurs;
Control content changing means for monitoring the environment around the host vehicle and changing the content of vehicle control for side slip suppression by the side slip suppression means according to the surrounding environment ,
The control content changing unit includes a determination unit that detects an object existing around the host vehicle and determines the possibility of collision between the host vehicle and the peripheral object, and suppresses the skid based on a determination result by the determination unit. When it is determined that the possibility of collision increases when the side slip of the host vehicle is suppressed by the means, the control amount of the vehicle control becomes smaller as the collision possibility is higher. The control amount of vehicle control is continuously changed ,
Vehicle control device. In a vehicle, a vehicle control device that performs control to stabilize the behavior of the host vehicle,
A skid suppression means for monitoring the vehicle state of the host vehicle and controlling the host vehicle so that the skid is suppressed when a skid occurs;
Control content changing means for monitoring the environment around the host vehicle and changing the content of vehicle control for side slip suppression by the side slip suppression means according to the surrounding environment,
The control content changing unit includes a determination unit that detects an object existing around the host vehicle and determines the possibility of collision between the host vehicle and the peripheral object, and suppresses the skid based on a determination result by the determination unit. When it is determined that the possibility of collision increases when the side slip of the host vehicle is suppressed by the means, the execution start timing is delayed as the collision possibility increases. The execution start timing is continuously changed.
Vehicle control device. In a vehicle, a vehicle control device that performs control to stabilize the behavior of the host vehicle,
A skid suppression means for monitoring the vehicle state of the host vehicle and controlling the host vehicle so that the skid is suppressed when a skid occurs;
Control content changing means for monitoring the environment around the host vehicle and changing the content of vehicle control for side slip suppression by the side slip suppression means according to the surrounding environment,
The control content changing unit includes a determination unit that detects a position of the host vehicle in the travel lane and determines the possibility of departure from the lane of the host vehicle, and based on a determination result by the determination unit, the skid suppression unit When it is determined that the possibility of departure from the lane is increased when the side slip of the host vehicle is suppressed by the above, the control amount of the vehicle control becomes smaller as the possibility of departure from the lane increases. The control amount of vehicle control is continuously changed,
Vehicle control device. In a vehicle, a vehicle control device that performs control to stabilize the behavior of the host vehicle,
A skid suppression means for monitoring the vehicle state of the host vehicle and controlling the host vehicle so that the skid is suppressed when a skid occurs;
Control content changing means for monitoring the environment around the host vehicle and changing the content of vehicle control for side slip suppression by the side slip suppression means according to the surrounding environment,
The control content changing unit includes a determination unit that detects a position of the host vehicle in the travel lane and determines the possibility of departure from the lane of the host vehicle, and based on a determination result by the determination unit, the skid suppression unit When it is determined that the possibility of departure from the lane is greater than before the vehicle is suppressed when the side slip of the host vehicle is suppressed, the execution start timing of the vehicle control is delayed so as to increase the possibility of departure from the lane. The execution start timing is continuously changed.
Vehicle control device.

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