JP2000264097A - Control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent undesired quick start of a vehicle when it is detected that rapid acceleration operation is conducted in the condition where an obstacle exists in a vehicle traveling direction. SOLUTION: This device is provided with an engine output adjusting means 6 to adjust engine output in accordance with acceleration operation of a driver, at least, a braking force adjusting means 7 to adjust braking fore applied to wheels, and an applied torque control means 9 to reduce applied torque to driving wheels by controlling the engine output adjusting means 6 and the braking force adjusting means 7 based on detection signals of an obstacle detection means 1, a car speed detection means 2, and an acceleration operation detection means 3 to indicate that a vehicle is in a traveling direction less than a reference car speed, that an obstacle exists in an advance direction of the vehicle, and that operation quantity to an accelerator pedal is greater than a reference operation quantity.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device for preventing a vehicle from suddenly starting due to an erroneous operation by a driver.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. 9-287488, for example, a speed detecting means for detecting a running speed of a vehicle, and an opening degree of a throttle valve of the vehicle corresponding to an amount of depression of an accelerator pedal. Opening adjustment means for adjusting;
When the vehicle is detected to be in a stopped state or a slow-moving state based on the speed of the vehicle detected by the vehicle speed detecting means, the first degree of opening of the throttle valve is suppressed to be smaller than the amount of depression of the corresponding accelerator pedal. There is known a throttle valve control device which is provided with the above-mentioned suppressing means, and which can prevent a sudden start by suppressing the operation of the throttle valve even when a rapid accelerator operation is performed.

[0003]

As described above, when a sudden accelerator operation is detected in a state where an obstacle is present in the running direction of the vehicle when the vehicle is stopped or when the vehicle is slowing down, In the configuration in which the operation of the slot valve is suppressed by the suppression means, the sudden start of the vehicle can be suppressed to some extent. However, since the throttle valve cannot be quickly controlled, the driver cannot use the accelerator. If the pedal is accidentally operated large, there is a problem that the effect of preventing sudden start of the vehicle cannot be sufficiently obtained.

[0004] In view of the above circumstances, the present invention is designed to counteract the driver's intention when it is detected that a rapid accelerator operation has been performed in the presence of an obstacle in the traveling direction of the vehicle. It is an object of the present invention to provide a vehicle control device capable of preventing a sudden start of a vehicle.

[0005]

The invention according to claim 1 is
Obstacle detection means for detecting the presence of an obstacle in the traveling direction of the vehicle, vehicle speed detection means for detecting the traveling speed of the vehicle, accelerator operation detection means for detecting the operation amount of the accelerator pedal, and at least Engine output adjusting means for adjusting the output of the engine in accordance with the accelerator operation, braking force adjusting means for adjusting the braking force acting on the wheels, and the obstacle detection means, the vehicle speed detection means and the detection signal of the accelerator operation detection means Accordingly, when it is confirmed that there is an obstacle in the traveling direction of the vehicle and that the operation amount of the accelerator pedal is equal to or more than the reference operation amount in a traveling state lower than the reference vehicle speed, the engine output adjusting means and the braking force And an applied torque control means for controlling the adjusting means to reduce the applied torque to the drive wheels from a value corresponding to the operation amount of the accelerator pedal.

According to the above configuration, when it is confirmed that there is an obstacle in the traveling direction of the vehicle and that the operation amount of the accelerator pedal is equal to or more than the reference operation amount while the vehicle is traveling at a speed lower than the reference vehicle speed. By controlling the engine output adjusting means and the braking force adjusting means by the applied torque control means, the applied torque to the drive wheels is reduced, and the sudden start of the vehicle is effectively suppressed.

According to a second aspect of the present invention, in the vehicle control apparatus according to the first aspect, the applied torque control means is controlled in accordance with an operation amount of an accelerator pedal detected by the accelerator operation detection means. The control ratio of the engine output adjusting means and the braking force adjusting means is changed.

According to the above configuration, when the applied torque control means controls both the engine output adjusting means and the braking force adjusting means to reduce the applied torque to the drive wheels, the applied torque corresponds to the operation amount of the accelerator pedal. Based on the set control ratio, the operating states of the engine output adjusting means and the braking force adjusting means are controlled.

According to a third aspect of the present invention, in the vehicle control device according to the first or second aspect, the operation amount of the accelerator pedal detected by the accelerator operation detection means is:
When it is confirmed that the torque is equal to or more than the first reference operation amount set in advance and less than the second reference operation amount, the torque applied to the drive wheels is reduced only by the engine output adjustment means,
When it is confirmed that the operation amount of the accelerator pedal is equal to or more than the second reference operation amount, the torque applied to the drive wheels is reduced by both the engine output adjusting means and the braking force adjusting means. It is composed.

According to the above configuration, when controlling the applied torque to the drive wheels by the applied torque control means, the operation amount of the accelerator pedal is relatively small, and is equal to or more than the first reference operation amount and less than the second reference operation amount. When it is confirmed that the torque is within the range, the operation of the braking force adjusting means is prohibited, and control for reducing the applied torque to the drive wheels is executed only by the engine output adjusting means, and the accelerator pedal is operated. If it is confirmed that the operation amount is relatively larger than the second reference operation amount, control for reducing the torque applied to the drive wheels is executed by both the engine output adjustment unit and the braking force adjustment unit. Will be.

According to a fourth aspect of the present invention, in the vehicle control device according to the third aspect of the present invention, when it is confirmed that the running speed of the vehicle detected by the vehicle speed detecting means is relatively high, In this configuration, at least one of the first reference operation amount and the second reference operation amount is set to a smaller value than when the traveling speed is low.

According to the above configuration, when the applied torque to the drive wheels is controlled by the applied torque control means, when the running speed of the vehicle is relatively high, the above-described case is compared with the case where the running speed of the vehicle is low. At least one of the first reference operation amount and the second reference operation amount is set to a small value, and based on the first reference operation amount and the second reference operation amount set to the small values, the engine output adjusting means and the braking force are set. The control to reduce the torque applied to the drive wheels is performed by the adjusting means.

According to a fifth aspect of the present invention, in the vehicle control device according to the third or fourth aspect, there is provided a gradient detecting means for detecting a gradient of the traveling road, and the gradient of the traveling road detected by the gradient detecting means is provided. Is configured to change at least one of the first reference operation amount and the second reference operation amount.

According to the above construction, when the applied torque is controlled by the applied torque control means, when it is confirmed that the vehicle is traveling on a slope road, the vehicle is detected by the slope detection means. At least one of the first reference operation amount and the second reference operation amount is changed in accordance with the gradient of the traveled road, and the drive wheels to the drive wheels are changed based on the changed first reference operation amount and the second reference operation amount. Control for reducing the applied torque is executed.

According to a sixth aspect of the present invention, in the vehicle control apparatus according to the fifth aspect, when the gradient detecting means detects that the traveling road is uphill, the first reference operation amount and the first reference operation amount are determined. At least one of the second reference manipulated variables is set to a value larger than that of a flat road.

According to the above arrangement, when controlling the applied torque to the drive wheels by the applied torque control means, if it is confirmed that the vehicle is traveling on an uphill road,
At least one of the first reference operation amount and the second reference operation amount is set to a value larger than that of a flat road, and the drive wheel is set based on the first reference operation amount and the second reference operation amount set to the larger values. Is executed to reduce the applied torque to the vehicle.

According to a seventh aspect of the present invention, in the vehicle control apparatus according to the fifth aspect, when the gradient detecting means detects that the traveling road is downgraded, the first reference operation amount and the first reference manipulated variable are determined. At least one of the second reference manipulated variables is set to a value smaller than that of a flat road.

According to the above arrangement, when controlling the applied torque to the drive wheels by the applied torque control means, if it is confirmed that the vehicle is traveling on a downhill road,
At least one of the first reference operation amount and the second reference operation amount for determining whether to regulate the engine output is set to a value smaller than that of a flat road, and the first reference operation amount set to this small value is set. Based on the reference operation amount and the second reference operation amount, control for reducing the torque applied to the drive wheels is executed.

[0019]

FIG. 1 shows an embodiment of a vehicle control device according to the present invention. The control device includes an obstacle detecting means 1 for detecting the presence of an obstacle in the traveling direction of the vehicle, a shift range detecting means 2 for detecting a shift range of the automatic transmission, and a vehicle speed for detecting a traveling speed of the vehicle. A vehicle speed detecting means 3 comprising a sensor or the like, an accelerator operation detecting means 4 for detecting an operation amount of an accelerator pedal, a gradient detecting means 5 for detecting a gradient of a traveling road, and an engine corresponding to at least an accelerator pedal depression amount. An engine output adjusting means 6 for adjusting an output, a braking force adjusting means 7 for adjusting a braking force applied to wheels at least in accordance with a driver's braking operation, an information display means 8 for displaying predetermined information, A state in which the torque applied to the drive wheels should be controlled in accordance with the detection signals of the obstacle detection means 1, the shift range detection means 2, the vehicle speed detection means 3, and the accelerator operation detection means 4. If it is confirmed, and a grant torque control means 9 for outputting a control signal to said engine output adjusting means 6, the braking force adjusting means 7 and the information display unit 8.

The obstacle detecting means 1 includes an ultrasonic sensor,
In accordance with output data from an infrared sensor or a video camera, etc., it is detected whether or not there is an obstacle such as another vehicle or a fixed object on the front side and the rear side of the vehicle. It is configured to output.

That is, according to the detection signal of the shift range detecting means 2, the obstacle detecting means 1 shifts to a forward state in which the shift lever is operated to a drive range position or the like or a reverse state in which the shift lever is operated to a reverse position. It is configured to determine whether there is. Then, when it is confirmed that the vehicle is in the forward state, it is detected whether or not there is an obstacle in front of the vehicle. It is detected whether or not an obstacle is present on the side of the vehicle.
Is output to The traveling direction of the vehicle is predicted according to the steering wheel operation amount detected by a steering angle sensor (not shown), and the obstacle detecting means 1 detects whether an obstacle exists in the predicted direction. It is desirable to configure.

The shift range detecting means 2 comprises shift lever position detecting means such as an inhibitor switch provided in the automatic transmission. The shift range detecting means 2 transmits a shift range detection signal corresponding to the operating position of the shift lever to the obstacle. It is configured to output to the detection means 1 and the applied torque control means 9 and the like.

The accelerator operation detecting means 4 comprises an idle switch for detecting that the accelerator pedal is depressed, a stroke switch for detecting the amount of depression of the accelerator pedal, and the like, and detects the amount of depression of the accelerator pedal depressed by the driver. It is configured to detect and output this detection signal to the applied torque control means 9.

The gradient detecting means 5 detects whether the traveling road has an upward gradient or a downward gradient, detects the inclination angle of the traveling road, and outputs this detection signal to the applied torque. It comprises a gyroscope and the like for outputting to the control means 9. In addition, detection means for detecting the gradient of the traveling road based on the traveling position of the vehicle detected by the navigation device and map information or the like stored in the storage means, or application to drive wheels detected by the torque detection means The gradient detecting means 5 may be constituted by calculating means for calculating the gradient of the traveling road based on the torque and the acceleration of the vehicle detected by the acceleration detecting means.

The engine output adjusting means 6 comprises a throttle actuator, such as an electric throttle, for adjusting the engine output by changing the opening of the throttle valve in accordance with the amount of depression of the accelerator pedal during normal operation.
The driving torque transmitted from the engine to the driving wheels is controlled. The engine output control means may be constituted by an injection timing control means for retarding the fuel injection timing or an injection quantity control means for controlling the fuel injection quantity, instead of the throttle actuator.

As shown in FIG. 2, the braking force adjusting means 7 includes a brake pedal 11 which is depressed by the driver and a master cylinder pressure through a booster 12 by depressing the brake pedal 11. And a brake device 17 composed of a disc rotor 15 and a caliper 16 provided on each wheel 14, and operate the brake device 17 when the master cylinder pressure is supplied via a brake system 18. And a wheel cylinder 19 for applying a braking force to the wheels 14.

The booster 12 is, as shown in FIG.
The inside of the case 21 is divided into a negative pressure chamber 22 and an atmospheric pressure chamber 23 by the diaphragm 20, and the brake pedal 11
The piston 26 of the master cylinder 13 is configured to be pressed by the push rod 24 connected to the diaphragm 20 and the second push rod 25 attached to the diaphragm 20.

Normally, a boost pressure (negative pressure) is introduced from the engine into both the negative pressure chamber 22 and the atmospheric pressure chamber 23 so that the diaphragm 20 and the pressure on both sides of the diaphragm 20 are balanced. While holding,
When the brake pedal 11 is depressed, the first
The valve body 27 provided on the push rod 24 is
By separating from the valve seat 28 on the side, the atmospheric pressure is introduced into the atmospheric pressure chamber 23, and a force in the direction in which the brake pedal 11 is depressed acts on the diaphragm 20. This force is applied to the depressing force applied to the brake pedal 11. To the piston 24 of the master cylinder 13.

As shown in FIG. 2, the control device incorporates an anti-skid brake system (hereinafter, referred to as ABS) and a brake assist system (hereinafter, referred to as BAS). The components of these systems include the master cylinder 13 of the brake system 18.
A cut valve 29 arranged on the side of the brake system 18 to open or shut off the brake system 18, a pressure increasing valve 30 arranged on the downstream side (wheel cylinder 19 side) of opening or shutting off the brake system 18, and further downstream thereof A pressure reducing valve 32 that is arranged on a pressure reducing line 31 that is branched from an oil pan 48 and that opens or shuts off the pressure reducing line 31.
Are provided.

Further, between the cut valve 29 and the pressure increasing valve 30 in the brake system 18, a pressure increasing line 3 is provided.
3 and a pump 35 driven by a motor 34 for supplying brake fluid from the oil pan 48 to the brake system 18 is provided on the pressure increasing line 33, and a pump 35 is provided on the discharge side thereof. An orifice switching valve 36 is provided for switching between a state in which the pressure increasing line 33 is throttled by the orifice 39 and a state in which it is not throttled. The master cylinder 13 is provided with a reservoir tank 37, and the reservoir tank 37 is
A brake fluid collection pipe 38 communicating with the brake fluid 8 is provided.

The braking force adjusting means 7 includes AB
A controller 40 for controlling S and BAS is provided,
A signal from a wheel speed sensor 41 for detecting the rotation speed (wheel speed) of each wheel 14, a signal from a brake switch 42 for detecting depression of the brake pedal 11, and an accelerator pedal (not shown) ) Is inputted from the idle switch 43 for detecting the depression of the master cylinder 13 and a master cylinder for detecting the master cylinder pressure generated by the master cylinder 13 for controlling the start of the operation of the BAS. A pressure sensor 44 is provided, and a signal from the master cylinder pressure sensor 44 is also input to the controller 40.

Here, the operation of the ABS will be briefly described.
When it is detected that there is a wheel whose wheel speed is unnaturally reduced with respect to the vehicle speed, the pressure reducing valve 32 is opened for the wheel to reduce the brake fluid in the wheel cylinder 19. Draining through the line 31 reduces the braking force. This eliminates or avoids the skid state, and if the wheel speed of the wheel increases due to a decrease in braking force, the pressure reducing valve 32 is closed and the pressure increasing valve 30 is opened to increase the pressure from the pump 35. By supplying the brake fluid to the wheel cylinder 19 via the line 33, the braking force is increased. Then, by repeating the above control in accordance with the wheel speed, control is performed such that a required braking force is obtained while preventing the skid state of the wheel.

In this embodiment, the above-described A
By closing the cut valve 29 at the time of the BS operation, the pulsation of the braking force generated on the wheel cylinder 17 side is transmitted to the brake pedal 11 to prevent the driver from feeling uncomfortable. Also, during ABS operation,
The orifice switching valve 36 on the pressure increasing line 33 is kept in a state where the pressure increasing line 33 is not throttled.

On the basis of the signal from the master cylinder pressure sensor 44, when the controller 40 determines that the BAS should be activated, or when the applied torque control means 9 activates the braking force adjusting means 7, When a control signal for applying a braking force to each wheel 14 is output, the pressure increasing valve 30 is opened for each wheel 14,
By operating the pump 35 with the pressure reducing valve 32 closed, the oil pan 23
And by simultaneously supplying the brake pressure to the wheel cylinder 19 of each wheel 14 via the brake system 18,
In an emergency, control is performed so that a required braking force is obtained for the entire vehicle.

In this case, the cut valve 29 on the brake system 18 is kept open, and the assist pressure supplied from the pump 35 is added to the braking pressure from the brake pedal 11 or the master cylinder 13. But,
During brake assist, the cut valve 21 may be kept closed.

The orifice switching valve 36 normally adjusts the assist pressure supply speed by setting the pressure-intensifying line 33 narrowed by the orifice 39, while determining that it is an emergency. Despite being
When it is determined that the driver does not depress the brake pedal 11 at a sufficient speed, the orifice 39 is removed to increase the assist pressure.

If it is determined that the amount of depression of the brake pedal 11 by the driver is not sufficient even though it is determined that an emergency has occurred, the rotational speed of the pump drive motor 34 is increased. The control for increasing the braking force is performed.

As shown in FIG. 2, the information display section 8
It consists of a liquid crystal display or a CRT display disposed on the driver side in the meter unit 46 located at the upper center of the installation panel 45, etc., according to a control signal output from the applied torque control means 9 as described later. When executing control to reduce the applied torque to the drive wheels, character information or symbol information for notifying that the vehicle is in this control state, for example, "Caution! Engine output is decreasing" or "Caution! Apply braking force Information such as "medium" is displayed on the screen. Further, a shift range display section 47 for displaying the shift range of the automatic transmission selected by the shift lever is provided in the meter unit 46.

According to the detection signals from the obstacle detecting means 1, the vehicle speed detecting means 3 and the accelerator operation detecting means 4, the applied torque controlling means 9 determines that the vehicle is running at a speed lower than the reference speed and the obstacle is detected in the traveling direction. When it is confirmed that the operation amount of the accelerator pedal is equal to or more than the reference operation amount,
By outputting control signals to the engine output adjusting means 6 and the braking force adjusting means 7 to reduce the driving torque transmitted from the engine to the driving wheels, and by applying a braking force to each wheel, at least the driving wheels It is configured to reduce the applied torque to the motor.

For example, when the vehicle speed is lower than a reference vehicle speed set at about 10 km / h and an obstacle such as another vehicle is present in the traveling direction of the vehicle, the operation amount of the accelerator pedal is set in advance. When it is confirmed that the operation amount is equal to or more than one reference operation amount, the engine output adjustment means 6 is operated to perform control for reducing the torque applied to the drive wheels, and the operation amount of the accelerator pedal is controlled to the first reference operation amount. When it is confirmed that the torque is equal to or more than the second reference manipulated variable set to a value larger than the amount, both the engine output adjusting means 6 and the braking force adjusting means 7 are operated to reduce the applied torque to the drive wheels. The control to reduce is executed.

Further, the applied torque control means 9 is provided as shown in FIG.
The first reference manipulated variable A corresponding to the running speed V of the vehicle detected by the vehicle speed detecting means 3 based on the graph shown in FIG.
By reading and setting the O1 and the second reference manipulated variable AO2, when it is confirmed that the running speed of the vehicle is high, the first reference value of the accelerator pedal is lower than when the running speed V of the vehicle is low. The operation amount AO1 and the second reference operation amount AO2 are configured to be small values.

Further, the applied torque control means 9 reads a correction value K corresponding to the gradient of the traveling road detected by the gradient detection means 5 based on the graph shown in FIG. The first reference operation amount AO1 and the second reference operation amount AO2 of the accelerator pedal are changed.

That is, when the gradient detecting means 4 detects that the traveling road is uphill, FIG.
A correction value K larger than 1 is read out from the graph shown in FIG. 3, and this correction value K is used as the first reference operation amount AO1 and the second reference operation amount AO2 set corresponding to the traveling speed V of the vehicle. , The reference operation amounts AO1 and AO2 are corrected so as to increase, respectively, as compared with a flat road having a gradient of 0, and the reference operation amounts AO1 and AO2 are set to larger values as the ascending gradient increases. It is supposed to.

When the gradient detecting means 4 detects that the traveling road has a downward gradient, a correction value K smaller than 1 is read from the graph shown in FIG. K is a first reference operation amount AO1 and a second reference operation amount A set in accordance with the traveling speed V of the vehicle.
By multiplying by O2, the reference manipulated variables AO1 and AO2 are corrected so as to decrease respectively as compared with a flat road having a slope of 0, and the reference manipulated variables AO1 and AO2 are reduced to smaller values as the descending gradient increases. To be set.

The control operation executed by the above-described vehicle control device will be described with reference to the flowchart shown in FIG. When the control operation is started, first, detection data of each of the detection means 1 to 3 is input (step S1),
It is determined whether or not the automatic transmission is in the traveling range according to the detection signal of the shift range detecting means 2 (step S).
2). If NO is determined in this step S2 and it is confirmed that the automatic transmission is in the neutral range or the parking range, the process returns as it is.

If YES is determined in the above step S2 and it is confirmed that the shift lever is operated to the drive range position or the reverse range position and the shift range of the automatic transmission is set to the traveling range, The vehicle speed V detected by the vehicle speed detection means 3 is 10 km /
It is determined whether the vehicle speed is lower than a reference vehicle speed R set to about h (step S3). If NO is determined in this step S3 and it is confirmed that the vehicle is running at a speed equal to or higher than the predetermined speed, the process returns as it is.

If the result of the determination in step S3 is YES and it is confirmed that the vehicle is running at a low speed lower than the reference vehicle speed R, the graph of FIG. The first reference operation amount AO1 and the second reference operation amount AO2 are read, and a correction value K corresponding to the gradient of the traveling road is read from the graph shown in FIG. By correcting the second reference operation amount AO2, the first operation of the accelerator pedal corresponding to the traveling speed and the traveling gradient of the vehicle is performed.
The reference operation amount AO1 and the second reference operation amount AO2 are set (step S4).

Next, it is determined whether an obstacle is present in the traveling direction of the vehicle in accordance with the detection signal of the obstacle detection means 1 (step S5). If NO is determined, the process returns. If YES is determined, it is determined whether or not the accelerator operation amount AO detected by the accelerator operation detection means 3 is equal to or larger than the first reference operation amount AO1 set in step S4 (step S6). ).

If YES is determined in step S6 and it is confirmed that the accelerator operation amount AO is equal to or larger than the first reference operation amount AO1, the accelerator operation amount AO is determined.
Is the second reference manipulated variable AO2 set in step S4.
It is determined whether or not this is the case (step S7).

If it is determined NO in step S7, and the accelerator operation amount AO is equal to or greater than the first reference operation amount AO1, the second
When it is confirmed that the torque is less than the reference operation amount AO2, the first applied torque control for reducing the applied torque to the drive wheels is executed only by the engine output adjusting means 6 (step S8), and the first applied torque control is performed. Information indicating that the vehicle is in the applied torque control state, for example, information such as "Caution! Engine output is being reduced" is displayed on the information display means 8 (step S9).

On the other hand, if it is determined YES in step S7 and it is confirmed that the accelerator operation amount AO is equal to or larger than the second reference operation amount AO2, the engine output adjusting means 6 and the braking force adjusting means 7 , The second applied torque control for reducing the applied torque to the drive wheels is executed (step S9), and information indicating that the vehicle is in the second applied torque control state, for example, "Caution! Braking force is being applied." Is displayed on the information display means 8 (step S11).

As described above, the obstacle detecting means 1 for detecting the presence of an obstacle in the traveling direction of the vehicle, the vehicle speed detecting means 3 for detecting the running speed of the vehicle, and the accelerator for detecting the operation amount of the accelerator pedal Operation detecting means 4, engine output adjusting means 6 for adjusting the output of the engine according to at least the driver's accelerator operation, braking force adjusting means 7 for adjusting the braking force applied to the wheels, and the obstacle detecting means 1. When the vehicle is traveling at a speed lower than the reference vehicle speed according to the detection signals of the vehicle speed detection means 3 and the accelerator operation detection means 4, an obstacle exists in the traveling direction of the vehicle, and the operation amount of the accelerator pedal is equal to or more than the reference operation amount If it is confirmed, the engine output adjusting means 6 and the braking force adjusting means 7 are controlled to reduce the applied torque to the drive wheels from a value corresponding to the operation amount of the accelerator pedal. Due to the provision of a grant torque control unit 9 that, despite the traveling direction of the vehicle obstacle is present, the vehicle can be effectively prevent a situation that abrupt starting.

For example, when the vehicle is traveling at a low speed on a congested road or the like and an obstacle is present in the traveling direction of the vehicle, the driver may erroneously release the accelerator due to the horn being sounded by a following vehicle. When the pedal is suddenly operated, control for reducing the torque applied to the drive wheels is executed by the engine output adjusting means 6 and the braking force adjusting means 7, so that an obstacle exists in the traveling direction of the vehicle. In this state, it is possible to effectively prevent a situation in which the vehicle suddenly starts.

In particular, in the above embodiment, when the control for reducing the applied torque by the engine output adjusting means 6 and the braking force adjusting means 7 is executed, the information indicating that this control state is being displayed on the information display section 8. Therefore, even when the driver depresses the accelerator pedal, the driver can effectively recognize that the intended acceleration feeling cannot be obtained by the information display.
Therefore, it is possible to effectively prevent an erroneous operation such as a sense of incongruity due to the driver's inability to obtain the intended acceleration feeling or further depression of the accelerator pedal.

In the above embodiment, the operation amount AO of the accelerator pedal detected by the accelerator operation detection means 4 is equal to or more than the first reference operation amount AO1 and less than the second reference operation amount AO2. Is confirmed, the control for reducing the torque applied to the drive wheels is executed only by the engine output adjusting means 6, and the operation amount AO of the accelerator pedal is equal to or more than the second reference operation amount AO2. When it is confirmed, the torque applied to the drive wheels is reduced by both the engine output adjusting means 6 and the braking force adjusting means 7, so that the applied torque control to the drive wheels adapted to the depressed state of the accelerator pedal is performed. Can be performed.

That is, when the depression amount of the accelerator pedal is relatively small, the execution of the control for reducing the applied torque by the braking force adjusting means 7 is prohibited, and the control for reducing the applied torque is performed only by the engine output adjusting means 6. , The sudden start of the vehicle can be effectively prevented without giving the driver a feeling of strangeness. On the other hand, when the depression amount of the accelerator pedal is large, there is a possibility that the sudden start of the vehicle cannot be effectively prevented only by the engine output adjusting means 6. By actuating both to reduce the torque applied to the drive wheels, a sudden start of the vehicle can be effectively prevented.

As described above, the two types of reference manipulated variables A
O1 and AO2 are provided.
The engine output adjusting means 6 and the braking force adjusting means 7 based on the accelerator pedal operation amount detected by
The engine output adjusting means that contributes to reducing the torque applied to the drive wheels based on a control ratio set according to the operation amount of the accelerator pedal, instead of the embodiment configured to perform on / off control respectively. 6 and the contribution ratio of the braking force adjusting means 7 may be changed.

For example, when executing the control for reducing the applied torque to the drive wheels by the applied torque control means 9, it is confirmed that the depression amount of the accelerator pedal is relatively small and the possibility that the vehicle starts suddenly is low. If so,
By reducing the control ratio of the braking force adjusting means 7, it is possible to prevent a situation in which a large braking force is applied in spite of a relatively small depression amount of the accelerator pedal, and the driver feels uncomfortable. And the engine output adjusting means 6
As a result, the torque applied to the drive wheels can be reduced, and the sudden start of the vehicle can be prevented. On the other hand, when it is confirmed that the depression amount is relatively large and the possibility that the vehicle starts suddenly is high, the control ratio of the braking force adjusting means 7 is increased to apply a large braking force to each wheel. By doing
The sudden start of the vehicle can be effectively prevented.

In the above embodiment, the vehicle speed detecting means 3
When it is confirmed that the traveling speed of the vehicle is relatively high according to the detection signal, the first reference operation amount AO1 and the second reference operation amount AO2 are compared with the case where the traveling speed of the vehicle is low. When the vehicle speed V is relatively high in a running state lower than the reference vehicle speed R and there is a high demand for suppressing sudden start of the vehicle, the first reference operation amount AO1 set to a small value is set. The control of the engine output adjusting means 6 and the braking force adjusting means 7 is executed based on the second reference operation amount AO2. Therefore, when the vehicle speed V is relatively high as described above, the engine output adjusting means 6 and the braking force adjusting means 7 can be quickly operated to quickly prevent a sudden start of the vehicle.

On the other hand, when the traveling speed of the vehicle is lower than the reference vehicle speed R and the vehicle speed V is relatively low and there is a low demand for suppressing the sudden start of the vehicle, the first reference operation amount AO1 set to a large value. The control of the engine output adjusting means 6 and the braking force adjusting means 7 is performed based on the second reference operation amount AO2 and the engine output adjusting means 6 and the braking force adjusting means 7 are frequently activated. And it is possible to effectively prevent the occupant from feeling uncomfortable due to the sudden stop of the vehicle.

It is to be noted that the first reference manipulated variable A is always required in accordance with the vehicle speed detected by the vehicle speed detecting means 3 as described above.
It is not necessary to change both O1 and the second reference operation amount AO2, and only one of the two reference operation amounts AO1 and AO2 may be changed according to the vehicle speed.

In the above embodiment, the gradient detecting means 4 for detecting the gradient of the traveling road is provided, and the first reference operation amount AO1 and the second reference operation amount AO1 are set in accordance with the gradient of the traveling road detected by the gradient detecting means 4. Since the reference operation amount AO2 is configured to be changed, when the vehicle is traveling on a sloping road,
By appropriately controlling the engine output adjusting means 6 and the braking force adjusting means 7, the sudden start of the vehicle can be prevented without giving the occupant a sense of discomfort.

That is, when the gradient detecting means 4 detects that the traveling road is uphill, as described above, the first reference operation amount AO1 and the second reference operation amount AO
By setting 2 to a value larger than that on a flat road, the engine output is frequently regulated or braking force is frequently applied when the vehicle is traveling on an uphill where the possibility of sudden acceleration is low. And the occupant can be prevented from feeling uncomfortable. When the accelerator pedal is depressed beyond the reference operation amounts AO1 and AO2 set to a large value as described above, the engine output adjusting means 6 and the braking force adjusting means 7 are operated to apply the applied torque. By executing the reduction control, the sudden start of the vehicle can be suppressed.

When the gradient detecting means 4 detects that the traveling road has a downward gradient, the first reference operation amount AO1 and the second reference operation amount AO2 are compared with the flat road as described above. By setting the value to a small value, the reference operation amounts AO1 and AO2 set to the small value as described above when the vehicle is traveling on a down slope where there is a high possibility that the vehicle is suddenly accelerated.
When the vehicle speed exceeds the limit, the engine output adjusting means 6 and the braking force adjusting means 7 can be operated to quickly reduce the torque applied to the drive wheels, so that the sudden start of the vehicle can be quickly and effectively regulated. Can be.

In particular, in the above-described embodiment, when the traveling road has an upward slope, the two reference operation amounts AO1 and AO2 are gradually increased in proportion to the increase of the upward gradient, and the traveling road is inclined downward. , The two reference operation amounts AO1 and AO2 are proportionally increased as the descending gradient increases.
Is gradually reduced to a smaller value, so that there is an advantage that the control of the applied torque to the drive wheels during traveling on a gradient road can be performed more appropriately.

Note that it is not always necessary to change both the first reference operation amount AO1 and the second reference operation amount AO2 in accordance with the gradient of the traveling road detected by the gradient detecting means 4 as described above. No, both reference operation amounts AO1,
A configuration may be adopted in which only one of AO2 is changed according to the gradient of the traveling road.

[0067]

As described above, the present invention provides an obstacle detecting means for detecting the presence of an obstacle in the traveling direction of a vehicle, a vehicle speed detecting means for detecting a running speed of the vehicle, and an accelerator pedal. Accelerator operation detecting means for detecting the operation amount, engine output adjusting means for adjusting the output of the engine at least according to the accelerator operation by the driver, braking force adjusting means for adjusting the braking force applied to the wheels, According to the detection signals of the object detecting means, the vehicle speed detecting means and the accelerator operation detecting means, when the vehicle is running at a speed lower than the reference vehicle speed, an obstacle exists in the traveling direction of the vehicle, and the operation amount of the accelerator pedal is equal to or more than the reference operation amount. If it is verified that
By controlling the engine output adjusting means and the braking force adjusting means to provide an applied torque control means for reducing the applied torque to the drive wheels below a value corresponding to the operation amount of the accelerator pedal, a congested road or the like is provided. In a state where the vehicle is traveling at a low speed, for example, when an obstacle is present in the traveling direction of the vehicle, such as when a horn is sounded by a following vehicle, even when the driver accidentally operates the accelerator pedal accidentally, There is an advantage that it is possible to effectively prevent a situation in which the vehicle suddenly starts in a state where an obstacle is present in the traveling direction of the vehicle.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an embodiment of a vehicle control device according to the present invention.

FIG. 2 is an explanatory diagram showing a specific configuration of a braking force adjusting unit.

FIG. 3 is an explanatory diagram showing a specific structure of a booster.

FIG. 4 is an explanatory diagram showing an example of installation of an information display unit.

FIG. 5 is a graph showing a correspondence relationship between a vehicle speed and a reference operation amount of an accelerator pedal.

FIG. 6 is a graph showing a correspondence relationship between a gradient of a traveling road and a correction value of a reference operation amount.

FIG. 7 is a flowchart showing a control operation of the control device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 obstacle detecting means 3 vehicle speed detecting means 4 accelerator operation detecting means 5 gradient detecting means 6 engine output adjusting means 7 braking force adjusting means 9 applied torque control means

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Claims (7)

[Claims] 1. An obstacle detecting means for detecting the presence of an obstacle in the traveling direction of a vehicle, a vehicle speed detecting means for detecting a running speed of the vehicle, and an accelerator operation detecting means for detecting an operation amount of an accelerator pedal. Engine output adjusting means for adjusting the output of the engine at least according to the accelerator operation of the driver, braking force adjusting means for adjusting the braking force acting on the wheels, the obstacle detecting means, vehicle speed detecting means, and accelerator operation detecting When the vehicle is running at a speed lower than the reference vehicle speed according to the detection signal of the means, and it is confirmed that an obstacle exists in the traveling direction of the vehicle and that the operation amount of the accelerator pedal is equal to or more than the reference operation amount, Controlling the engine output adjusting means and the braking force adjusting means to reduce the applied torque to the drive wheels from a value corresponding to the operation amount of the accelerator pedal. A control device for a vehicle, comprising: a control unit. 2. The vehicle control apparatus according to claim 1, wherein the engine output adjusting means and the braking force are controlled by the applied torque control means in accordance with an operation amount of an accelerator pedal detected by the accelerator operation detection means. A control device for a vehicle, wherein the control ratio of the adjusting means is changed. 3. The control device for a vehicle according to claim 1, wherein the operation amount of the accelerator pedal detected by the accelerator operation detection means is equal to or more than a first reference operation amount set in advance and the second reference operation amount. If it is confirmed that the torque is less than the second reference manipulated variable, the torque applied to the drive wheels is reduced only by the engine output adjusting means, and the operation amount of the accelerator pedal is confirmed to be equal to or greater than the second reference operation amount. A control device for the vehicle, wherein both the engine output adjusting means and the braking force adjusting means reduce the torque applied to the drive wheels. 4. The vehicle control device according to claim 3, wherein when the traveling speed of the vehicle detected by the vehicle speed detecting means is confirmed to be relatively high, the traveling speed of the vehicle is low. A control device for a vehicle, wherein at least one of the first reference operation amount and the second reference operation amount is set to a smaller value. 5. The control device for a vehicle according to claim 3, further comprising: a gradient detecting unit configured to detect a gradient of the traveling road.
A control device for a vehicle, wherein at least one of the first reference operation amount and the second reference operation amount is changed in accordance with the gradient of the traveling road detected by the gradient detection means. 6. The control device for a vehicle according to claim 5, wherein when the gradient detecting means detects that the traveling road is an upward gradient, at least one of the first reference operation amount and the second reference operation amount. A control device for a vehicle, characterized in that one of them is set to a value larger than that of a flat road. 7. The vehicle control device according to claim 5, wherein when the gradient detecting means detects that the traveling path is downgraded, at least one of the first reference operation amount and the second reference operation amount. A control device for a vehicle, characterized in that one of them is set to a value smaller than that of a flat road.