JP2006168497A - Traveling controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling controller for a vehicle which can obtain a single pedal drive system improved in the operability of a driver. <P>SOLUTION: This traveling controller mounted in the vehicle for controlling the acceleration/deceleration of a present vehicle according to manipulated variables of the single operation pedal is provided with an acceleration/deceleration control means for controlling traveling so that the larger the pedal manipulated variables are made, the larger acceleration can be made in a first area(acceleration area) where the manipulated variables of the operation panel are larger than a predetermined value, and that the smaller the pedal manipulated variables are made, the smaller deceleration can be made in a second area(deceleration area) where the pedal manipulated variables are smaller than the predetermined value and a pedal reaction force control means for controlling the operation reaction force of the operation pedal according to the speed of its own vehicle. The pedal reaction force control means extends the second area by making the operation pedal generate the larger operation reaction force according as the speed is made higher, and/or reduces the second area by making the operation pedal generate the larger negative operation reaction force according as the speed is made lower when the pedal manipulated variables are present in the second area. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention generally relates to a vehicular travel control apparatus that realizes acceleration / deceleration control only by operating a single pedal, and more particularly to a vehicular travel control apparatus with improved driver operability.

  Conventionally, an acceleration / deceleration control system that controls the acceleration / deceleration of a vehicle only by operating one pedal (for example, an accelerator pedal) is known (see, for example, Patent Documents 1 and 2).

  Such a system is also called a one-pedal drive system. In a one-pedal drive system, usually, in a region where the pedal stroke angle is larger (deeper) than a certain reference angle, a driving force is generated according to the pedal depression amount from the reference angle, and the pedal stroke angle is smaller than the reference angle. In the (shallow) region, the throttle valve opening and the brake system are controlled so as to generate a braking force according to the amount of pedal return from the reference angle.

  This will be described with reference to FIGS. Here, it is assumed that it is a one-pedal drive system using an accelerator pedal. FIG. 1 shows, for comparison, the stroke state of a normal accelerator pedal that is not a one-pedal drive system. The entire pedal movable region α is an acceleration region for generating a driving force, and the pedal depression amount increases. As a result, the acceleration G generated increases accordingly.

  FIG. 2 shows an accelerator pedal stroke in a one-pedal drive system. The pedal movable region α is divided into an acceleration region and a deceleration region with a reference switching angle as a boundary. In the acceleration region where the pedal stroke angle is larger (deep) than the switching angle, acceleration G corresponding to the amount of pedal depression from the switching angle is generated, and in the deceleration region where the pedal stroke angle is smaller (shallow) than the switching angle, the switching is performed. Deceleration G corresponding to the amount of pedal return operation from the corner occurs.

  According to such a one-pedal drive system, it is not necessary for the driver to change the pedal when shifting from acceleration to deceleration or from deceleration to acceleration, and seamless acceleration / deceleration is realized. In particular, when shifting from acceleration to deceleration, deceleration without a free running distance is realized.

Furthermore, Patent Document 2 discloses a normal mode in which the driving force is controlled according to the operation amount of the accelerator pedal and the braking force is controlled according to the operation amount of the brake pedal, and a deep operation range of the accelerator pedal (or the brake pedal). There is disclosed an apparatus that can control a driving force in a shallow operation range) and switch between an operation reduction mode in which a braking force is controlled in a shallow operation range of an accelerator pedal (or a deep operation range of a brake pedal).
JP 2000-205015 A JP 2003-146117 A

  However, in the conventional one-pedal drive system, the pedal movable region (particularly, the deceleration region for generating the deceleration G) during vehicle operation is fixed within a predetermined pedal stroke angle range.

  Thus, in order to perform smooth deceleration when the pedal movable region (especially the deceleration region) is fixed, the deceleration characteristic (the pedal return operation amount from the switching angle and the amount of pedal return) depends on the vehicle running state (especially the vehicle speed). It is considered necessary to change the correspondence relationship with the generated deceleration G). This is because the higher the vehicle speed, the greater the deceleration required. If the pedal stroke angle range used for deceleration control is fixed, the vehicle speed must be changed without changing the magnitude of the deceleration generated per unit pedal stroke angle. This is because it is considered that an appropriate deceleration according to the condition cannot be obtained.

  On the other hand, if the deceleration characteristic is changed according to the vehicle speed in this way, the feeling of deceleration obtained even with the same pedal return operation amount depends on the vehicle speed. May give the driver the impression that vehicle controllability is not good.

  The present invention has been made to solve such problems, and it is a main object of the present invention to provide a vehicular travel control apparatus that realizes a one-pedal drive system with improved driver operability.

  In order to achieve the above object, a first aspect of the present invention is a vehicle travel control device that is mounted on a vehicle and controls acceleration / deceleration of the host vehicle in accordance with an operation amount of one operation pedal. In the first region (or acceleration region) where the pedal operation amount is larger than the predetermined value, traveling control is performed so that the acceleration increases as the pedal operation amount increases, and the operation amount of the operation pedal is smaller than the predetermined value. In the second region (or the deceleration region), acceleration / deceleration control means for controlling traveling so that the deceleration increases as the pedal operation amount decreases, and a pedal for controlling the operation reaction force of the operation pedal according to the vehicle speed of the host vehicle Reaction force control means, and when the operation amount of the operation pedal is within the second region, the pedal reaction force control means generates a larger operation reaction force on the operation pedal as the vehicle speed increases. By expanding the second region in a direction where the operation amount of the operating pedal is small, a travel control device for a vehicle.

  According to the first aspect, the second region (deceleration region) for generating deceleration increases as the vehicle speed increases, and the second region decreases as the vehicle speed decreases. Smooth deceleration can be realized without changing the speed characteristics (the relationship between the pedal operation amount and the generated deceleration).

  In order to achieve the above object, a second aspect of the present invention is a vehicle travel control device that is mounted on a vehicle and controls acceleration / deceleration of the host vehicle according to an operation amount of one operation pedal. In the first region (or acceleration region) where the pedal operation amount is larger than the predetermined value, traveling control is performed so that the acceleration increases as the pedal operation amount increases, and the operation amount of the operation pedal is smaller than the predetermined value. In the second region (or the deceleration region), acceleration / deceleration control means for controlling traveling so that the deceleration increases as the pedal operation amount decreases, and a pedal for controlling the operation reaction force of the operation pedal according to the vehicle speed of the host vehicle Reaction force control means, and when the operation amount of the operation pedal is in the second region, the pedal reaction force control means generates a negative operation reaction force that is larger as the vehicle speed is lower. By generating reducing the second region in a direction where the operation amount of the operating pedal is increased, a travel control device for a vehicle.

  According to the second aspect, the second region (deceleration region) for generating deceleration increases as the vehicle speed increases, and the second region decreases as the vehicle speed decreases, so that the second region decreases according to the vehicle speed. Smooth deceleration can be realized without changing the speed characteristics (the relationship between the pedal operation amount and the generated deceleration).

  ADVANTAGE OF THE INVENTION According to this invention, the driving control apparatus for vehicles which implement | achieves the 1 pedal drive system which the driver | operator's operativity improved can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. The basic concept, main hardware configuration, operating principle, basic control method, and the like of the one-pedal drive system are already known to those skilled in the art, and thus detailed description thereof is omitted.

  A vehicle travel control apparatus according to one embodiment (first embodiment) of the present invention will be described with reference to FIGS. The vehicle travel control apparatus 300 according to this embodiment has a constant deceleration characteristic regardless of the vehicle speed by dynamically increasing / decreasing the pedal stroke angle range as a deceleration region according to the vehicle speed in the one-pedal drive system. It is what.

  In this embodiment, as an example, a case where acceleration / deceleration control is realized only by operating the accelerator pedal will be described.

  FIG. 3 shows a schematic configuration of the vehicle travel control apparatus 300 according to the present embodiment.

  The vehicle travel control device 300 includes a throttle valve opening control unit 301 that controls the engine output by adjusting the valve opening of the throttle valve of the engine.

  The vehicle travel control device 300 further includes a braking force control unit 302 that generates a braking force and controls the magnitude of the braking force to cause the vehicle to decelerate.

  The vehicle travel control device 300 further includes an accelerator pedal reaction force control unit 303 that generates an operation reaction force on the accelerator pedal using an actuator, for example, and controls the magnitude thereof.

  Various proposals have already been made regarding the specific structure and mechanism by which the accelerator pedal reaction force control unit 303 generates an operation reaction force on the accelerator pedal, and the description thereof will be omitted because it is known to those skilled in the art. In this embodiment, any structure / mechanism can be adopted.

  The vehicle travel control device 300 further includes a control unit 304 that controls a throttle valve opening control unit 301, a braking force control unit 302, and an accelerator pedal reaction force control unit 303. In the present embodiment, the control unit 304 is, for example, an ECU (Electronic Control Unit).

  The vehicle travel control device 300 further includes a vehicle speed detection unit 305. In the present embodiment, the vehicle speed detection unit 305 is, for example, a wheel speed sensor.

  The vehicle travel control device 300 further includes a pedal stroke angle detector 306 that detects the stroke angle of the accelerator pedal. In the present embodiment, the pedal stroke angle detection unit 306 is, for example, a pedal stroke sensor.

  Next, the operation of the vehicle travel control apparatus 300 having such a configuration will be described with reference to FIG.

  The control unit 304 of the vehicle travel control device 300 controls the throttle valve opening control unit 301 and the braking force control unit 302 according to the stroke angle of the accelerator pedal detected by the pedal stroke angle detection unit 306 during vehicle travel. To do.

  More specifically, in the acceleration region where the pedal stroke angle is larger (deeper) than the switching angle serving as a reference (boundary) that separates the acceleration region and the deceleration region set in the accelerator pedal movable region α, The throttle valve opening control unit 301 is controlled so that acceleration G corresponding to the pedal depression amount is generated, and in a deceleration region where the pedal stroke angle is smaller (shallow) than the switching angle, the pedal return operation amount from the switching angle is determined. The braking force control unit 302 is controlled so that the deceleration G is generated.

  Furthermore, the control unit 304 monitors the vehicle speed of the host vehicle detected by the vehicle speed detection unit 305, and changes the pedal stroke range in the deceleration region according to the vehicle speed.

4, the minimum pedal stroke angle when the narrowest deceleration range is realized at an angle A _1, the minimum pedal stroke angle when widest deceleration range is realized at an angle B _1, is shown respectively. Range of the pedal stroke angle A ₁ .about.B ₁ is a variable region minimum pedal stroke angle (pedal stroke angle can generate maximum deceleration G) can vary, as the vehicle speed increases from the pedal stroke angle A ₁ to B ₁ Get closer.

  Further, as shown in FIG. 4, the variable region according to the present embodiment is a region that is expanded before the pedal pedal movable region α (to the side where the pedal stroke angle is small). In such a variable region, the control unit 304 controls the accelerator pedal reaction force control unit 303 so that an operation reaction force with such a strength that the accelerator pedal is returned to the front side of the original pedal movable region α is applied to the accelerator pedal. Produced by generating.

That is, in this embodiment, the upper limit of the deceleration region (pedal stroke angle minimum, deceleration maximum) gradually accelerator pedal in accordance with the most elevated from the pedal stroke angle is small angle A ₁ of the vehicle speed at the beginning of the pedal movable area α It is extended in accordance with the vehicle speed until the pedal stroke angle B ₁ by going to increase the reaction force. Conversely, when the vehicle speed is lowered is reduced accelerator pedal reaction force gradually, it is gradually reduced to the pedal stroke angle A _1.

  The deceleration region may be set in a plurality of stages (for example, three stages “for low speed”, “for medium speed”, and “for high speed”) depending on the vehicle speed, but more closely to the vehicle speed. In order to correspond, it is preferable to change linearly according to the vehicle speed.

  As a result, when the vehicle speed is low, a deceleration area with a narrow angle range is set, and when the vehicle speed is high, a deceleration area with a wide angle range is set. Therefore, the deceleration characteristics (the pedal return operation amount from the switching angle and The correspondence relationship with the generated deceleration G) can always be made constant.

  In other words, a large pedal stroke angle range in the deceleration area is secured at high speeds where a large deceleration is required under a constant deceleration characteristic, and a pedal stroke angle range in the deceleration area is maintained at low speeds where a large deceleration is not required. It is made smaller.

  Thus, according to the present embodiment, smooth deceleration can be realized by making the pedal stroke angle range of the deceleration region in the one-pedal drive system variable according to the vehicle speed using the accelerator pedal reaction force control. Thus, the driver can always obtain the same feeling of deceleration for the same pedal operation amount.

  Next, a vehicle travel control apparatus according to another embodiment (embodiment 2) of the present invention will be described with reference to FIG. Since the present embodiment is similar to the first embodiment in the basic part, the overlapping description is omitted below. In particular, since the schematic configuration of the vehicular travel control apparatus according to the present embodiment is the same as that of the first embodiment shown in FIG. 3, the description thereof is omitted and the reference numerals used in FIG. Also used in the explanation.

  The difference between the present embodiment and the first embodiment is that, in the first embodiment, the variable area of the deceleration area is created outside the original pedal movable area α, so that the entire pedal movable area is conventional when the deceleration area is minimum. In contrast to the system (FIG. 2), in the present embodiment, the variable range of the deceleration region is created inside the original pedal movable region α, so that the angle range of the entire pedal movable region is set to the conventional system (FIG. 2). It is in the point which is not changed from 2).

  The operation of the vehicle travel control apparatus according to this embodiment will be described with reference to FIG.

  As in the case of the first embodiment, the control unit 304 controls the throttle valve opening control unit 301 and the braking force control unit according to the stroke angle of the accelerator pedal detected by the pedal stroke angle detection unit 306 while the vehicle is running. 302 is controlled.

  More specifically, in the acceleration region where the pedal stroke angle is larger (deeper) than the switching angle serving as a reference (boundary) that separates the acceleration region and the deceleration region set in the accelerator pedal movable region α, The throttle valve opening control unit 301 is controlled so that acceleration G corresponding to the pedal depression amount is generated, and in a deceleration region where the pedal stroke angle is smaller (shallow) than the switching angle, the pedal return operation amount from the switching angle is determined. The braking force control unit 302 is controlled so that the deceleration G is generated.

  Furthermore, the control unit 304 monitors the vehicle speed of the host vehicle detected by the vehicle speed detection unit 305, and changes the pedal stroke range in the deceleration region according to the vehicle speed.

5, the minimum pedal stroke angle when the narrowest deceleration range is realized at an angle A _2, the minimum pedal stroke angle when widest deceleration range is realized at an angle B _2, respectively show. Range of the pedal stroke angle A ₂ .about.B ₂ is a variable region minimum pedal stroke angle (pedal stroke angle can generate maximum deceleration G) can vary, as the vehicle speed increases from the pedal stroke angle A ₂ to B ₂ Get closer.

  As shown in FIG. 5, the variable region according to the present embodiment is a region set inside the original pedal movable region α. In such a variable region, the control unit 304 controls the accelerator pedal reaction force control unit 303 to perform a negative (minus) operation with such a strength that the accelerator pedal is drawn deeper than the original pedal movable region α. Produced by generating a reaction force on the accelerator pedal.

That is, in this embodiment, the upper limit (the pedal stroke angle minimum, maximum deceleration) of the deceleration region, gradually negative depending on the highest pedal stroke angle from a small angle B ₂ of the vehicle speed falling at the beginning of the pedal movable area α It is reduced in accordance with the vehicle speed until the pedal stroke angle a ₂ by gradually increasing the accelerator pedal reaction force. Conversely, when the vehicle speed is increased, a negative accelerator pedal reaction force is gradually reduced, it is extended gradually to the pedal stroke angle B _2.

  Also in this embodiment, the deceleration area may be set in a plurality of stages (for example, three stages of “for low speed”, “for medium speed”, and “for high speed”) according to the vehicle speed. In order to correspond more closely to the vehicle speed, it is preferable to change linearly according to the vehicle speed.

  As a result, when the vehicle speed is low, a deceleration area with a narrow angle range is set, and when the vehicle speed is high, a deceleration area with a wide angle range is set. Therefore, the deceleration characteristics (the pedal return operation amount from the switching angle and The correspondence relationship with the generated deceleration G) can always be made constant.

  In other words, a large pedal stroke angle range in the deceleration area is secured at high speeds where a large deceleration is required under a constant deceleration characteristic, and a pedal stroke angle range in the deceleration area is maintained at low speeds where a large deceleration is not required. It is made smaller.

  Thus, according to the present embodiment, smooth deceleration can be realized by making the pedal stroke angle range of the deceleration region in the one-pedal drive system variable according to the vehicle speed using the accelerator pedal reaction force control. Thus, the driver can always obtain the same feeling of deceleration for the same pedal operation amount.

  In the foregoing, two embodiments of the present invention have been described. As described above, the first embodiment has a feature that the pedal movement area α is the same as that of the conventional system (FIG. 2) when the deceleration area is minimum by creating the deceleration area outside the original pedal movement area α. The second embodiment is characterized in that the angle range of the entire pedal movable region is not changed from that of the conventional system (FIG. 2) by creating the deceleration region inside the original pedal movable region α.

  Therefore, if the switching angle in the first embodiment is set to the same angle as that of the conventional system (FIG. 2), the one-pedal drive system according to the first embodiment is adopted from the vehicle adopting the conventional system (FIG. 2). When changing to a vehicle, since the setting of the acceleration region is the same, there is no sense of incongruity in the operability of the acceleration region. Further, when the vehicle adopting the conventional system (FIG. 2) is switched to the vehicle adopting the one-pedal drive system according to the second embodiment, the entire movable region in which the accelerator pedal can move is the same angular range. Since it is α, there is no sense of incongruity about the lower limit of the pedal stroke angle (the closest position).

  As will be apparent to those skilled in the art, it is naturally possible to combine the first and second embodiments. In this case, the accelerator pedal reaction force control unit 303 generates both positive and negative accelerator pedal reaction forces and changes the deceleration region according to the vehicle speed.

  As will be apparent to those skilled in the art, both the first and second embodiments can be switched between the normal mode and the operation reduction mode as in the above-mentioned Patent Document 2 (Japanese Patent Laid-Open No. 2003-146117). It is also applicable to.

Further, in any of the first and second embodiments, the minimum pedal stroke angle (A ₁ , A ₂ ) when the deceleration region is minimum, and the minimum pedal stroke angle (maximum when the deceleration region is maximum ( B ₁ , B ₂ ), the pedal stroke angle (switching angle) at which the acceleration region and the deceleration region are switched, and the deceleration characteristics that are constant regardless of the vehicle speed can be arbitrarily set by the driver. And

  For this reason, it is preferable that the vehicle travel control apparatus according to the present invention includes, for example, a user input unit and a user identification unit (not shown).

  Here, the user input unit refers to, for example, a setting dial that is provided in a vehicle interior such as an instrument panel and is operated by turning, or a number or selection item displayed on a display (for example, shared with a navigation system). Includes a touch panel that allows you to select and input by touching directly. In addition to or instead of this, a communication function may be provided in the user input unit so that user input can be performed from a communication terminal (for example, a mobile phone) outside the vehicle using wireless communication.

  In addition, the user identification unit has, for example, buttons that are assigned and registered in advance for each user, and is operated (pressed), or a key such as a smart key (registered trademark) or various biometric authentications. The driver is identified and specified by

In this case, the control unit (304) of the vehicle travel control device has a minimum pedal stroke angle (A ₁ , A ₂ ) when the deceleration region input through the user input unit is minimum, and a maximum deceleration region. So that the minimum pedal stroke angle (B ₁ , B ₂ ), the pedal stroke angle (switching angle) at which the acceleration region and the deceleration region are switched, and / or the deceleration characteristics that are constant regardless of the vehicle speed are realized. The throttle valve opening control unit 301, the braking force control unit 302, and the accelerator pedal reaction force control unit 303 are controlled, and the input set angle is associated with the user identified and specified by the user identification unit to turn off the IG. Remember also. When the driver is identified at the next boarding, the previous set value is restored.

  In this case, as will be apparent to those skilled in the art, the user identification unit as described above is more preferably shared with the driving position memory function. When the two are linked, the setting items according to the present invention as described above are as follows: seat position (front and rear, up and down, reclining angle, etc.), steering wheel position (by tilt mechanism / telescopic mechanism), and mirror angle (door mirror, It can be set as one item adjusted for each user by the driving position memory function together with the room mirror, etc., and the convenience is improved.

  INDUSTRIAL APPLICABILITY The present invention can be used for a vehicle travel control device that realizes a one-pedal drive system in a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

It is a figure which shows the mode of the stroke of the normal accelerator pedal which is not 1 pedal drive systems. It is a figure which shows the mode of the stroke of the accelerator pedal in 1 pedal drive system. 1 is a schematic configuration diagram of a vehicle travel control apparatus according to an embodiment of the present invention. It is a figure which shows an example of the mode of the stroke of the accelerator pedal by the vehicle travel control apparatus which concerns on one Example of this invention. It is a graph which shows another example of the mode of the stroke of the accelerator pedal by the vehicle travel control apparatus which concerns on one Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 300 Vehicle travel control apparatus 301 Throttle valve opening degree control part 302 Braking force control part 303 Accelerator pedal reaction force control part 304 Control part 305 Vehicle speed detection part 306 Pedal stroke angle detection part

Claims (2)

A vehicle travel control device that is mounted on a vehicle and controls acceleration / deceleration of the host vehicle according to an operation amount of one operation pedal,
In the first region where the operation amount of the operation pedal is larger than a predetermined value, the travel control is performed so that the acceleration increases as the pedal operation amount increases, and the second region where the operation amount of the operation pedal is smaller than the predetermined value Acceleration / deceleration control means for controlling the traveling so that the deceleration increases as the pedal operation amount decreases,
Pedal reaction force control means for controlling the operation reaction force of the operation pedal according to the vehicle speed of the host vehicle,
When the operation amount of the operation pedal is in the second region, the pedal reaction force control means causes the operation pedal to generate a larger operation reaction force as the vehicle speed increases, thereby causing the operation pedal to move to the operation pedal. The vehicle travel control device is characterized in that it is expanded in a direction in which the operation amount of the vehicle becomes smaller. A vehicle travel control device that is mounted on a vehicle and controls acceleration / deceleration of the host vehicle according to an operation amount of one operation pedal,
In the first region where the operation amount of the operation pedal is larger than a predetermined value, the travel control is performed so that the acceleration increases as the pedal operation amount increases, and the second region where the operation amount of the operation pedal is smaller than the predetermined value Acceleration / deceleration control means for controlling the traveling so that the deceleration increases as the pedal operation amount decreases,
Pedal reaction force control means for controlling the operation reaction force of the operation pedal according to the vehicle speed of the host vehicle,
When the operation amount of the operation pedal is in the second region, the pedal reaction force control means causes the operation pedal to generate a negative operation reaction force that is larger as the vehicle speed is lower. A travel control device for a vehicle, wherein the travel control device is reduced in a direction in which an operation amount of an operation pedal is increased.

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