JP2006218950A - Corner learning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suitably perform suspension control according to an actual corner shape by comparing corner information stored in a database with information acquired from a vehicle to carry out an erroneous control determination on the basis of inconsistent of both the information and to learn the result of the erroneous control determination. <P>SOLUTION: This corner learning system includes: a curvature radius acquisition device for acquiring the curvature radius of a load from a map data; a suspension controller for controlling the suspension of the vehicle on the basis of the curvature radius; a storing device for storing control prohibition information of the suspension; a vehicle behavior information acquisition device for acquiring the vehicle behavior information; a curvature radius calculating device for calculating the curvature radius of the load on which the vehicle is traveling on the basis of the vehicle behavior information; a comparator for comparing the curvature radius; a storage processing device for storing the control prohibition information in the storing device on the basis of comparison result by the comparison device. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a corner learning system.

2. Description of the Related Art Conventionally, there has been provided a vehicle suspension control device capable of performing suspension control in accordance with road condition data provided by the navigation device in a vehicle equipped with the navigation device (for example, Patent Document 1). reference.). In this case, roll control is performed to determine whether or not there is a corner on the road based on a database and to control the hardness of the suspension.
JP 2000-318634 A

  However, in the conventional suspension control device, even when the road shape is changed due to road repair work or the like, roll control is performed based on the road condition data provided by the navigation device. When driving in a place where the corner portion has been changed to a straight line due to, etc., the suspension's hardness may be changed, resulting in a deterioration in driving stability or an uncomfortable feeling to the driver or passenger of the vehicle. .

  The present invention solves the above-described conventional problems, compares corner information stored in a database with information acquired by a vehicle, makes an erroneous control determination based on a mismatch between the two, and determines the erroneous control determination. It is an object of the present invention to provide a corner learning system that can appropriately perform suspension control corresponding to an actual corner shape by learning the results of the above.

  Therefore, in the corner learning system of the present invention, a curvature radius acquisition unit that acquires the curvature radius of the road from the map data, and a suspension control unit that controls the suspension of the vehicle based on the curvature radius acquired by the curvature radius acquisition unit. Storage means for storing suspension control prohibition information, vehicle behavior information acquisition means for acquiring vehicle behavior information, and a road on which the vehicle is traveling based on vehicle behavior information acquired by the vehicle behavior information acquisition means A radius of curvature calculating means for calculating the radius of curvature, a comparing means for comparing the radius of curvature acquired by the radius of curvature acquisition means with the radius of curvature calculated by the radius of curvature calculation means, and based on a comparison result by the comparison means Storage control means for storing the control prohibition information in the storage means.

  According to the present invention, the corner information stored in the database is compared with the information acquired by the vehicle, the erroneous control determination is performed based on the mismatch between the two, and the result of the erroneous control determination is learned. ing. Therefore, suspension control can be appropriately performed according to the actual corner shape.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 2 is a block diagram showing the configuration of the corner learning system according to the embodiment of the present invention.

  As shown in the figure, the corner learning system in the present embodiment controls the navigation device 10 as a traveling environment information output unit that outputs the traveling environment information of the vehicle as road information, and the suspension (suspension device) of the vehicle. It has a suspension control device 20 as a control unit and a suspension unit 30 as a suspension. Here, the vehicle may be of any type as long as it can travel on a road such as a passenger car, a truck, a bus, or a two-wheeled vehicle. A case where the vehicle is provided with two wheels will be described. It is assumed that the suspension unit 30 is attached to each of the four wheels.

  Reference numeral 11 is a GPS (Global Positioning System) sensor, 12 is a gyro sensor that detects the rotational angular velocity of the vehicle, that is, a turning angle, 13 is a vehicle speed sensor that detects the vehicle speed, and 14 is a vehicle acceleration sensor. G sensor.

  Here, the navigation device 10 includes a calculation means such as a CPU and an MPU, a storage means such as a semiconductor memory and a magnetic disk, a CRT, a liquid crystal display, an LED (Light Emitting Diode) display, a display means such as a laser hologram, a touch panel, a remote A controller, input means such as a push button switch, a communication interface and the like are provided. In addition to the GPS sensor 11, the gyro sensor 12, the vehicle speed sensor 13, and the G sensor 14, the navigation device 10 includes a steering sensor that detects the steering angle of the vehicle operated by the driver, A winker sensor that detects the operation of the winker as a direction indicator, an accelerator sensor that detects an accelerator opening operated by the driver, a brake sensor that detects movement of a brake pedal of the vehicle operated by the driver, and weight information of the vehicle You may provide the vehicle weight sensor, geomagnetic sensor, distance sensor, beacon sensor, altimeter, etc. which are acquired. In this case, the GPS sensor 11 detects the current position on the earth by receiving radio waves transmitted from a GPS satellite (not shown), and the geomagnetic sensor detects the direction in which the vehicle is facing by measuring the geomagnetism. The distance sensor detects a distance between predetermined positions on the road. The beacon sensor receives position information from beacons arranged along the road and detects a current position. Then, the navigation device 10 is based on signals from the GPS sensor 11, the gyro sensor 12, the vehicle speed sensor 13, the G sensor 14, etc., the current position of the vehicle, the heading direction of the vehicle, the speed of the vehicle, The moving distance is detected.

  The storage means of the navigation device 10 includes a map data file, an intersection data file, a node data file, a road data file, and a facility information data file in which information on facilities such as hotels and gas stations in each region is stored. A map database unit 15 for storing the map data. Further, the storage means includes information related to steps on the road detected by the suspension control device 20, that is, step information and data for searching for a route, along the searched route on the screen of the display means. A storage media unit 19 for storing various data for displaying a guide map, displaying a distance to the next intersection, a traveling direction at the next intersection, and other guidance information is provided. The storage media unit 19 also stores various data for outputting predetermined information as audio. The storage means includes all forms of storage media such as magnetic tape, magnetic disk, magnetic drum, flash memory, CD-ROM, MD, DVD-ROM, optical disk, MO, IC card, optical card, and memory card. It is also possible to use a removable external storage medium.

  The intersection data file stores intersection data, the node data file stores node data, and the road data file stores road data. The road data is displayed by the intersection data, node data, and road data. Displayed on the screen. The intersection data includes the type of intersection, that is, whether the intersection is a traffic signal lamp or an intersection where a traffic signal lamp is not installed. The node data constitutes at least the position and shape of the road in the map data recorded in the map data file, and includes actual road branch points (including intersections, T-junctions, etc.), node points And data indicating a link connecting the node points. Further, the node point indicates at least the position of a road bending point.

  The road data includes the width, gradient, cant, altitude, bank, road surface condition, number of road lanes, points where the number of lanes decreases, points where the width becomes narrower, etc. Contains data. In the case of an expressway or a main road, each lane in the opposite direction is stored as separate road data and processed as a double road. For example, in the case of a main road having two or more lanes on one side, it is processed as a two-way road, and the upward lane and the downward lane are stored in the road data as independent roads. The corner includes data such as a radius of curvature, an intersection, a T-junction, and a corner entrance. Further, the road attributes include data such as railroad crossings, expressway entrance rampways, expressway toll gates, downhill roads, uphill roads, road types (national roads, major local roads, general roads, highways, etc.).

  Further, the communication interface of the navigation device 10 communicates with the suspension control device 20 and transmits / receives various data to / from the FM transmitter, telephone line network, Internet, mobile phone network, and the like. For example, various data such as road information such as traffic jams, traffic accident information, and D-GPS information for detecting a detection error of the GPS sensor 11 received by an information sensor (not shown) is received.

  Then, the navigation device 10 stores in the storage media unit 19 information related to erroneous control based on information related to erroneous control detected by the current position detection unit 16 and suspension control device 20 that detects the current position of the vehicle. And an erroneous control information notification processing unit 18 for notifying the suspension control device 20 of information relating to the occurrence of erroneous control that has already been learned. Furthermore, the navigation device 10 has an erroneous control detection information counter (not shown) as a counter that counts the number of erroneous control detection information transmitted at the same point. The navigation device 10 performs basic processing such as search for a route to a destination, travel guidance in the route, determination of a specific section, search for points, facilities, and the like, in the same manner as a normal vehicle navigation device. The map is displayed on the screen of the display means, and the current position of the vehicle, the route from the current position to the destination, guidance information along the route, etc. are displayed on the map. The guidance information may be output as a sound by a sound generation means. The navigation device 10 functions as current position specifying means for specifying the current position of the vehicle. Further, the navigation device 10 determines the shape of a corner or the like (including an intersection, a T-junction, a highway entrance / exit rampway, etc.) located in front of the vehicle in the travel route of the vehicle, a recommended approach speed to the corner, etc. Recognize the driving environment including. Then, the traveling environment information is transmitted to the suspension control device 20.

  The suspension control device 20 includes arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory and a magnetic disk, a communication interface, and the like. The suspension control device 20 is communicably connected to the navigation device 10 via a communication network such as an in-vehicle LAN (Local Area Network) as a body communication network disposed in the vehicle. The suspension control device 20 includes an erroneous control determination unit 21 that transmits information regarding the occurrence of erroneous control to the navigation device 10, and a damping force control unit as a suspension characteristic control unit that controls the characteristics of the suspension unit 30. 25.

  The erroneous control determination unit 21 acquires vehicle behavior information from detection signals from the yaw rate sensor 22, the vehicle speed sensor 26, the steering sensor 27, etc., calculates a corner radius based on the vehicle behavior information, and performs corner control. Determine whether it is necessary. Here, the vehicle behavior information is information indicating vehicle movement such as vehicle speed, acceleration, lateral turning acceleration, and vertical acceleration, that is, behavior information, and can be acquired by detection signals of various sensors included in the vehicle.

  The damping force control unit 25 includes a vehicle speed sensor 26 that detects the speed of the vehicle, a detection signal from the steering sensor 27 that detects the steering angle of the steering of the vehicle operated by the driver, and a corner acquired from the navigation device 10. Based on the information and the erroneous control information, the characteristics of each suspension unit 30 are controlled. Note that the vehicle speed sensor 13 and the steering sensor of the navigation device 10 can also be used as the vehicle speed sensor 26 and the steering sensor 27. Further, the damping force control unit 25 may control any characteristic of the suspension unit 30. For example, the damping force control unit 25 may control the value of the spring rate (spring constant or spring rate) of the spring member. A case where the damping force as a characteristic of the suspension unit 30 is controlled will be described. The damping force may be controlled by any method, but here, by driving an actuator built in the hydraulic damper 34 of each suspension unit 30 and rotating the orifice switching type damping variable valve, It is assumed that the diameter of the orifice in the oil flow path is changed.

  Here, the suspension unit 30 has one end rotatably attached to the vehicle body, the other end attached to a hub member or the like that supports the axle, a wheel support device such as an upper arm 31 and a lower arm 32, and a coil spring 33. And a shock absorber comprising a damper such as a hydraulic damper 34. The wheel support device and the shock absorber shown in the figure are merely examples, and the suspension unit 30 may have any type of wheel support device and shock absorber. The hydraulic damper 34 shown in the figure is a damping force variable damper with a built-in actuator. The suspension unit 30 transmits control status information to the suspension control device 20. In the example shown in the figure, the suspension control device 20 has an independent configuration, but the functions of the suspension control device 20 can be attached to the suspension unit 30.

  The suspension control device 20 executes corner control when the vehicle travels around a corner. Here, roll suppression control is performed as corner control. Since the yaw moment acts on the vehicle body when the vehicle is turning around the corner, a force that reduces the stroke acts on the suspension unit 30 outside the vehicle body with respect to the turning center, and the suspension inside the vehicle body with respect to the turning center. A force that increases the stroke acts on the unit 30. Therefore, the suspension control device 20 performs control so as to increase the damping force on the contraction side of the suspension unit 30 outside the vehicle body relative to the turning center so as not to reduce the stroke, and to extend the suspension unit 30 inside the vehicle body relative to the turning center. The damping force is increased so as not to increase the stroke. When the vehicle speed is constant, the greater the curvature of the corner, that is, the harder the corner is bent, the greater the yaw moment and the greater the force acting on the suspension unit 30, so the damping force of the suspension unit 30 is reduced. Control to increase. When the corner curvature is constant, the yaw moment increases as the vehicle speed increases, and the force acting on the suspension unit 30 increases. Therefore, the damping force of the suspension unit 30 is controlled to be increased.

  In the present embodiment, the corner learning system includes a curvature radius acquisition unit, a suspension control unit, a storage unit, a vehicle behavior information acquisition unit, a curvature radius calculation unit, a comparison unit, and a storage processing unit from the viewpoint of function. The curvature radius acquisition means acquires the curvature radius of the road from the map data, and includes functions such as an erroneous control determination unit 21 and a damping force control unit 25. The suspension control means controls the vehicle suspension based on the curvature radius acquired by the curvature radius acquisition means, and includes functions such as a damping force control unit 25 and the like. Further, the storage means stores suspension control prohibition information, and includes functions of the storage media unit 19 and the like. Furthermore, the vehicle behavior information acquisition means acquires vehicle behavior information, and includes functions such as an erroneous control determination unit 21. Further, the curvature radius calculation means calculates the curvature radius of the road, and includes functions such as an erroneous control determination unit 21. Further, the comparison means compares the curvature radius acquired by the curvature radius acquisition means with the curvature radius calculated by the curvature radius calculation means, and includes a function of the erroneous control determination unit 21 and the like. Further, the storage processing means stores control prohibition information in the storage means based on the comparison result by the comparison means, and includes functions such as a current position detection unit 16 and an erroneous control determination storage processing unit 17.

  Next, the operation of the corner learning system having the above configuration will be described.

  FIG. 1 is a diagram showing an operation of erroneous control determination in the embodiment of the present invention.

  When the vehicle travels around a corner, the running stability can be improved by controlling the characteristics of the suspension unit 30 as described above. However, even if the characteristics of the suspension unit 30 are changed after it is detected that the vehicle is traveling in the corner, it is not in time, so that a sufficient effect cannot be obtained. Therefore, in order to obtain a sufficient effect, it is necessary to start corner control in advance and change the characteristics of the suspension unit 30 in advance. Therefore, in order to change the characteristics of the suspension unit 30 in advance, map data including corner information that is information such as the radius of the corner as the curvature radius of the road is stored in the map database unit 15 of the navigation device 10 in advance. Based on the corner information and the current position of the vehicle, it is conceivable to determine that there is a corner within a predetermined distance range ahead of the traveling direction of the vehicle. However, the road shape may be changed by road renovation work and the corner may become a straight line. In such a case, if corner control is executed according to the corner information stored in advance in the map database unit 15, the characteristics of the suspension unit 30 are inappropriately changed, the running stability is deteriorated, the vehicle driver or passenger May give an uncomfortable feeling.

  Therefore, it is conceivable that corner control is appropriately executed in response to a change in the road shape by learning the road shape when the vehicle travels. And, as a means for learning the road shape, it has been studied to record the vehicle trajectory and determine the road shape based on the travel trajectory, but the road shape is accurately calculated based on the travel trajectory. That is expensive and not put into practical use.

  Therefore, in the present embodiment, when the vehicle travels around the corner, the suspension control device 20 acquires the vehicle behavior information, calculates the corner radius as the curvature radius of the road, and receives the corner received from the navigation device 10. The comparison result is fed back to the navigation device 10 in comparison with the corner radius as the curvature radius of the road included in the information, and the navigation device 10 learns by storing the error of the corner information in the storage media unit 19. Yes. As a result, it is possible to learn that the road shape has been changed, so that corner control can be prohibited when the vehicle travels in a place where the corner becomes a straight line thereafter. Therefore, as described above, the cost does not increase, and it is possible to prevent the running stability from deteriorating and the vehicle driver and passengers from feeling uncomfortable.

FIG. 1 shows a navigation radius line 41 that is a curve indicating a radius of a corner included in corner information stored in the map database unit 15 of the navigation device 10 and a suspension control device 20 that acquires and calculates vehicle behavior information. An example of an actually measured radius line 42 which is a curve indicating the radius of the corner is shown. An arrow 43 indicates the difference between the minimum value of the navigation radius line 41 and the minimum value of the measured radius line 42. In FIG. 1, the vertical axis represents the road radius and turning determination as the corner radius, and the horizontal axis represents the traveling direction. Here, the suspension control device 20 acquires vehicle behavior information from detection signals from the yaw rate sensor 22, the vehicle speed sensor 26, the steering sensor 27, etc., calculates the radius of the corner based on the vehicle behavior information, and measures the measured radius line 42. Specifically, the radius is calculated by the following equation (1) from the yaw rate and the vehicle speed as the vehicle behavior information.
R = v / ω Formula (1)
However, R is a radius [m], v is a vehicle speed [m / sec], and ω is a yaw rate [rad / sec].

  In FIG. 1, 44 is a navigation corner section that is a corner section included in the corner information stored in the map database unit 15 of the navigation device 10, and 45 is determined by the suspension control device 20 based on the vehicle behavior information. This is an actual corner section that is a corner section.

  Then, the suspension control device 20 compares the navigation radius line 41 and the measured radius line 42, compares the navigation corner section 44 and the measured corner section 45, and executes corner control for the corresponding corner. When it is not necessary to perform corner control, it is fed back to the navigation device 10 with erroneous control detection information. In this case, since the suspension control device 20 that is the control target device determines the necessity of corner control execution, more accurate information can be acquired. In addition, the control target devices other than the suspension unit 30 can be individually determined as to necessity of control, and thus have excellent expandability.

  By the way, if corner control based on corner information stored in the map database unit 15 by one erroneous control detection information is prohibited, appropriate suspension control may not be performed. For example, when traveling on a road with two or more lanes where a plurality of corners are continuous, depending on the driver, the vehicle may be traveled so as to cross the lane and draw a linear travel locus as much as possible. You may be driving. At this time, the suspension control device 20 determines that it is not necessary to execute corner control, and transmits erroneous control detection information to the navigation device 10, so that corner control in the section is prohibited. However, if the corner control is not performed when traveling in the same section after the next time, if another vehicle is traveling in the adjacent lane and the vehicle cannot travel across the lane, one lane Since the vehicle travels so as to draw a travel locus along the shape of the corner, traveling stability is deteriorated, and the driver and passengers of the vehicle are uncomfortable. .

  Therefore, in the present embodiment, the navigation device 10 includes an erroneous control determination counter as a counter, and counts the number of erroneous control determinations transmitted for each corner section stored in the map database unit 15. It has become. If the count value of the erroneous control determination counter is less than the threshold value, the output of erroneous control information as control prohibition information for prohibiting corner control is prohibited, and the navigation device in the corresponding corner section Corner control based on corner information from 10 is performed. In this case, the threshold for determining whether or not to transmit erroneous control information can be changed as the geographical attribute of the corresponding corner section according to the area. For example, as described above, driving a vehicle so as to cross a lane and drawing a linear trajectory as much as possible is often performed in mountainous areas, suburbs, etc., which are areas with relatively little traffic. It can be seen. On the other hand, in an urban area, since there is a relatively large amount of traffic, it is considered that the vehicle is traveled so as to straddle a lane and is driven so as to draw a linear travel locus as much as possible. Therefore, when the point where the erroneous control determination is transmitted is an urban area, the threshold is set to be low, for example, the error control information is set to be transmitted at 1 or more, and the point where the erroneous control determination is transmitted is other than the urban area In this case, the threshold value is set high, for example, set to transmit erroneous control information at 3 or more.

  Next, processing executed by the corner learning system will be described.

  FIG. 3 is a flowchart showing a procedure of processing executed by the corner learning system according to the embodiment of the present invention.

  First, the suspension control device 20 executes an erroneous control determination process. Here, in the erroneous control determination process, the erroneous control determination unit 21 of the suspension control device 20 calculates the corner radius based on the vehicle behavior information, and the calculated radius value is converted into the corner information acquired from the navigation device 10. This is processing for determining whether or not corner control needs to be executed in comparison with the radius value of the included corner. Then, when there is no need to execute corner control, erroneous control detection information is transmitted to the navigation device 10.

  Subsequently, the navigation device 10 executes an erroneous control determination storage process. Here, the erroneous control determination storage process is a process of learning an erroneous control corner based on the erroneous control detection information received from the suspension control device 20. In this case, the count value of the miscontrol determination counter for the corner that has received the miscontrol detection information is increased by 1, that is, incremented, and when the count value is equal to or greater than the threshold value, the corresponding corner is determined to be the miscontrol corner. Then, the erroneous control information as the control prohibition information is stored in the storage media unit 19 to learn that the corner is not subjected to corner control. Note that the threshold value is changed depending on whether or not an area with a corner is an urban area. Further, the count value of the erroneous control determination counter for the corner that does not receive the erroneous control detection information is cleared to zero. Note that the count value of the erroneous control determination counter for a corner that does not receive erroneous control detection information may be decreased by 1, that is, decremented.

  Subsequently, the navigation device 10 executes an erroneous control information notification process. Here, the erroneous control information notification processing includes the current position of the vehicle acquired by the erroneous control information notification processing unit 18 of the navigation device 10 from the current position detection unit 16, the corner information acquired from the map database unit 15, and the storage media unit. 19 is a process of transmitting, to the suspension control device 20, erroneous control information regarding an erroneous control corner within a predetermined range in the forward direction of the vehicle based on the erroneous control information stored in the vehicle.

  Subsequently, the suspension control device 20 executes a damping force control process. Here, in the damping force control process, the damping force control unit 25 of the suspension control device 20 controls the damping force of the suspension unit 30 as corner control based on the corner information received from the navigation device 10 to roll the vehicle. The roll suppression control is performed. Note that the corner control that has received erroneous control information from the navigation device 10 is prohibited from corner control, so the damping force of the suspension unit 30 is not changed.

Next, a flowchart will be described.
Step S1: The suspension control device 20 executes an erroneous control determination process.
Step S2 The navigation device 10 executes an erroneous control determination storage process.
Step S3 The navigation device 10 executes an erroneous control information notification process.
Step S4: The suspension control device 20 executes a damping force control process.

  Next, a subroutine for the erroneous control determination process in step S1 will be described.

  FIG. 4 is a flowchart showing a subroutine of erroneous control determination processing in the embodiment of the present invention.

  First, the suspension control device 20 acquires corner information of the navigation device 10. The corner information is information received from the navigation device 10 by the damping force control unit 25 in order to execute the damping force control process. Subsequently, the suspension control device 20 acquires vehicle behavior information from detection signals from the yaw rate sensor 22, the vehicle speed sensor 26, the steering sensor 27, etc., and performs radius calculation. That is, the corner radius is calculated based on vehicle behavior information such as vehicle speed and yaw rate.

  Subsequently, the suspension control device 20 determines whether or not the radius calculated in the corner section based on the corner information is equal to or less than the threshold value. In this case, whether the value of the corner radius calculated based on the vehicle behavior information acquired when the vehicle travels in the corner section specified by the corner information of the navigation device 10 is equal to or less than a preset threshold value. Judge whether or not. When the vehicle travels in the corner section, corner control by the damping force control unit 25 is executed based on corner information of the navigation device 10. Further, the calculated corner radius value can be compared with the corner radius value included in the corner information.

  If it is not less than or equal to the threshold value, the suspension control device 20 determines that there is actually no corner, transmits erroneous control detection information to the navigation device 10, and ends the process. In other words, when cornering is performed by the damping force control unit 25 when the vehicle travels in the corner section, the corner is not actually present, and thus erroneous control is performed. As a result, erroneous control detection information is transmitted.

  Further, it is determined whether or not the calculated radius is equal to or smaller than the threshold value. If the calculated radius is equal to or smaller than the threshold value, the suspension control device 20 determines that the corner actually exists, and the navigation device 10 has no erroneous control detection information. To finish the process. That is, when the vehicle travels in the corner section where the cornering control by the damping force control unit 25 is executed, the presence of the corner has been confirmed, so that the erroneous control is detected as not being erroneously controlled. No information is sent.

Next, a flowchart will be described.
Step S1-1: Corner information of the navigation device 10 is acquired.
Step S1-2: Vehicle behavior information is acquired and radius calculation is performed.
Step S1-3: It is determined whether or not the radius calculated in the corner section based on the corner information is equal to or less than a threshold value. If the radius calculated in the corner section based on the corner information is not less than or equal to the threshold value, the process proceeds to step S1-4. If the radius calculated in the corner section based on the corner information is equal to or less than the threshold value, the process proceeds to step S1-5.
Step S1-4: The erroneous control detection information is transmitted to the navigation device 10 and the process is terminated.
Step S1-5: No error control detection information is transmitted to the navigation device 10, and the process is terminated.

  Next, the subroutine of the erroneous control determination storage process in step S2 will be described.

  FIG. 5 is a flowchart showing a subroutine of erroneous control determination storage processing in the embodiment of the present invention.

  First, the navigation device 10 determines whether there is erroneous control detection information, that is, whether the signal received from the erroneous control determination unit 21 is erroneous control detection information or no erroneous control detection information. If there is erroneous control detection information, whether or not the corresponding corner information can be determined, that is, the corner information related to the corner corresponding to the erroneous control detection information is identified from the corner information stored in the map database unit 15. Determine if you can. If the corresponding corner information cannot be determined, the processing is terminated as it is.

  If the corresponding corner information can be determined, the navigation apparatus 10 increments the corresponding corner erroneous control determination counter. That is, the count value of the erroneous control determination counter for the corner that has received the erroneous control detection information is incremented. Subsequently, the navigation device 10 determines whether or not the erroneous control area is an urban area. In this case, it is determined whether or not the area where the corner that has received the erroneous control detection information exists is an urban area.

  When the area is an urban area, the navigation device 10 determines whether the erroneous control determination counter is equal to or greater than a predetermined value 1 as the first predetermined value. Here, the predetermined value 1 is a threshold value for storing the corner corresponding to the erroneous control detection information in the storage media unit 19 as the erroneous control corner when the area is an urban area, for example, 1. It can be set arbitrarily. If the count value of the erroneous control determination counter is not equal to or greater than the predetermined value 2, the process is terminated as it is. If the count value of the erroneous control determination counter is equal to or greater than the predetermined value 2, the erroneous control corner is learned and the process is terminated. In this case, the corner corresponding to the erroneous control detection information is learned by storing the erroneous control information as the control prohibition information in the storage media unit 19.

  On the other hand, when the area is not an urban area, the navigation device 10 determines whether or not the erroneous control determination counter is equal to or greater than a predetermined value 2 as the second predetermined value. Here, the predetermined value 2 is a threshold value for storing the corner corresponding to the erroneous control detection information in the storage media unit 19 as an erroneous control corner when the area is not a city area. Can be set to If the count value of the erroneous control determination counter is not equal to or greater than the predetermined value 2, the process is terminated as it is. If the count value of the erroneous control determination counter is equal to or greater than the predetermined value 2, the erroneous control corner is learned and the process is terminated.

  Further, when there is no erroneous control detection information by determining whether there is erroneous control detection information, that is, when the signal received from the erroneous control determination unit 21 is no erroneous control detection information, the navigation device 10 responds. It is determined whether or not corner information to be determined can be determined, that is, whether or not corner information related to the corresponding corner without erroneous control detection information can be identified from the corner information stored in the map database unit 15. . If the corresponding corner information cannot be determined, the processing is terminated as it is. When the corresponding corner information can be determined, the navigation device 10 clears the erroneous control determination counter for the corresponding corner and ends the process. In this case, the count value of the erroneous control determination counter for the corner that has received no erroneous control detection information is set to zero. Note that the count value of the erroneous control determination counter may be decremented.

Next, a flowchart will be described.
Step S2-1: Determine whether there is erroneous control detection information. If there is erroneous control detection information, the process proceeds to step S2-2. If there is no erroneous control detection information, the process proceeds to step S2-8.
Step S2-2: Determine whether the corresponding corner information can be determined. If the corresponding corner information can be determined, the process proceeds to step S2-3. If the corresponding corner information cannot be determined, the process ends.
Step S2-3: Increment the corresponding corner erroneous control determination counter.
Step S2-4: It is determined whether or not the erroneous control area is an urban area. If the erroneous control area is an urban area, the process proceeds to step S2-5. If the erroneous control area is not an urban area, the process proceeds to step S2-6.
Step S2-5: It is determined whether or not the erroneous control determination counter is a predetermined value 1 or more. If the erroneous control determination counter is equal to or greater than the predetermined value 1, the process proceeds to step S2-7. If the erroneous control determination counter is not equal to or greater than the predetermined value 1, the process ends.
Step S2-6: It is determined whether or not the erroneous control determination counter is a predetermined value 2 or more. If the erroneous control determination counter is equal to or greater than the predetermined value 2, the process proceeds to step S2-7. If the erroneous control determination counter is not equal to or greater than the predetermined value 2, the process ends.
Step S2-7: The erroneous control corner is learned and the process is terminated.
Step S2-8: It is determined whether or not corresponding corner information can be determined. If the corresponding corner information can be determined, the process proceeds to step S2-9. If the corresponding corner information cannot be determined, the process ends.
Step S2-9: The erroneous control determination counter at the corresponding corner is cleared and the process is terminated.

  Next, the subroutine of the erroneous control information notification process in step S3 will be described.

  FIG. 6 is a flowchart showing a subroutine of erroneous control information notification processing in the embodiment of the present invention.

  First, the navigation device 10 reads the erroneous control corner of the road ahead of the current position from the storage media unit 19. In this case, based on the current position of the vehicle acquired from the current position detection unit 16, information about the learned erroneous control corner on the road ahead in the traveling direction of the vehicle is acquired from the storage media unit 19. Subsequently, it is determined whether there is an erroneous control corner ahead. In this case, it is determined whether there is an erroneous control corner learned within a predetermined range in front of the vehicle in the traveling direction.

  If there is no erroneous control corner ahead, the process is terminated. If there is an erroneous control corner ahead, the navigation device 10 transmits erroneous control information to the suspension control device 20 and ends the process. In this case, erroneous control information about an erroneous control corner within a predetermined range in the forward direction of the vehicle is transmitted.

Next, a flowchart will be described.
Step S3-1: Read out the erroneous control corner of the road ahead of the current position from the storage media unit 19.
Step S3-2: It is determined whether there is an erroneous control corner ahead. If there is an erroneous control corner ahead, the process proceeds to step S3-3, and if there is no erroneous control corner ahead, the process ends.
Step S3-3: The erroneous control information is transmitted to the suspension control device 20, and the process is terminated.

  Next, the subroutine of the damping force control process in step S4 will be described.

  FIG. 7 is a flowchart showing a subroutine of damping force control processing in the embodiment of the present invention.

  First, the suspension control device 20 receives front corner information from the navigation device 10. That is, the corner information stored in the map database unit 15 is received for corners within a predetermined range in front of the traveling direction of the vehicle. Then, the suspension control device 20 determines whether or not there is a corner ahead. In this case, it is determined whether or not there is a corner in which corner information is stored in the map database unit 15 within a predetermined range in the forward direction of the vehicle. If there is no corner ahead, the process is terminated as it is. If there is a corner in front, the suspension control device 20 increases the damping force of the suspension unit 30 to improve the running stability and ends the processing. In this case, the cornering control is executed by increasing the damping force on the contraction side of the suspension unit 30 outside the vehicle body with respect to the turning center and performing the roll suppression control, thereby improving the running stability of the vehicle. When erroneous control information is received from the navigation device 10 for the corresponding corner, the suspension control device 20 does not execute corner control.

Next, a flowchart will be described.
Step S4-1: The front corner information is received from the navigation device 10.
Step S4-2: It is determined whether or not there is a corner ahead. If there is a corner ahead, the process proceeds to step S4-3. If there is no corner ahead, the process ends.
Step S4-3: The damping force of the suspension unit 30 is increased to improve running stability, and the process is terminated.

  As described above, in the present embodiment, the suspension control device 20 calculates the radius of the corner based on the vehicle behavior information acquired when traveling in the corner where corner control is being executed, and executes corner control. It is determined whether or not it is necessary, and if not necessary, erroneous control detection information is transmitted to the navigation device 10. Then, the navigation device 10 learns that it is an erroneous control corner that prohibits corner control. Therefore, even when the road shape is changed by road repair work or the like, suspension control can be appropriately performed according to the actual corner shape.

  In addition, the navigation device 10 includes an erroneous control determination counter that counts the number of erroneous control detection information transmitted for the same corner. When the count value of the erroneous control determination counter is greater than or equal to a threshold value, the erroneous control information is suspended. This is transmitted to the control device 20, and suspension control is prohibited. Therefore, suspension control can be appropriately performed even for a corner that can be driven so as to draw a linear traveling locus by traveling the vehicle across a lane.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a figure which shows the operation | movement of the miscontrol determination in embodiment of this invention. It is a block diagram which shows the structure of the corner learning system in embodiment of this invention. It is a flowchart which shows the procedure of the process which the corner learning system in embodiment of this invention performs. It is a flowchart which shows the subroutine of the erroneous control determination process in embodiment of this invention. It is a flowchart which shows the subroutine of the erroneous control determination memory | storage process in embodiment of this invention. It is a flowchart which shows the subroutine of the erroneous control information notification process in embodiment of this invention. It is a flowchart which shows the subroutine of the damping force control process in embodiment of this invention.

Explanation of symbols

16 current position detection unit 17 erroneous control determination storage processing unit 19 storage media unit 21 erroneous control determination unit 25 damping force control unit 30 suspension unit

Claims (4)

(A) a curvature radius acquisition means for acquiring a curvature radius of a road from map data;
(B) suspension control means for controlling the suspension of the vehicle based on the curvature radius acquired by the curvature radius acquisition means;
(C) storage means for storing the suspension control prohibition information;
(D) vehicle behavior information acquisition means for acquiring vehicle behavior information;
(E) a curvature radius calculation means for calculating a curvature radius of a road on which the vehicle is traveling based on the vehicle behavior information acquired by the vehicle behavior information acquisition means;
(F) comparison means for comparing the curvature radius acquired by the curvature radius acquisition means with the curvature radius calculated by the curvature radius calculation means;
(G) A corner learning system comprising storage processing means for storing the control prohibition information in the storage means based on a comparison result by the comparison means. 2. The corner learning system according to claim 1, wherein the storage processing unit causes the storage unit to store the control prohibition information for a corner whose curvature radius calculated by the curvature radius calculation unit is equal to or less than a threshold value. The corner learning system according to claim 2, wherein the storage processing unit includes a counter, and increments a count value for the corner when the curvature radius calculated by the curvature radius calculation unit is equal to or less than a threshold value. The corner learning system according to claim 3, wherein the storage processing unit stores the control prohibition information for the corner in the storage unit when the count value is equal to or greater than a predetermined value.

Images