JP2008068797A - Control device for vehicle, control method, program for executing the control method by computer and recording medium recorded with program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control braking force while accurately reflecting a driver's intention. <P>SOLUTION: ECU executes a program including a step (S108) for controlling a motor connected to a brake pedal so as to retain stepping force when a stop lamp switch is ON, the state in which a vehicle speed is "0" is continued for a longer time than a threshold value T(0) (YES at S102), and the stepping force of the brake pedal is larger than force F(1) determined as the force required for stopping the vehicle (YES at S106); and a step (S110) for controlling the motor connected to an acceleration pedal so as to increase operation reaction force of the acceleration pedal. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle control technique, and more particularly, to a vehicle control technique including a braking mechanism that applies a braking force to a vehicle in accordance with an operation amount of a braking operation member operated by a driver.

  In general, a braking force is applied to a vehicle by a driver operating a brake pedal. Therefore, in order to stop the vehicle in a situation such as a traffic jam, the driver has to keep stepping on the brake pedal or setting the shift lever to P (parking position). In this case, the burden on the driver increases. Therefore, there is a technique for automatically applying a braking force for stopping the vehicle.

  Japanese Patent Laying-Open No. 9-142270 (Patent Document 1) discloses a braking force holding device for a vehicle that can release a foot from a brake pedal while the vehicle is stopped. The braking force holding device described in Patent Literature 1 includes a master cylinder that operates by operating a brake operation member, a wheel brake that brakes a wheel, and an on-off valve that is interposed in a pipeline that connects the master cylinder and the wheel brake. A braking force holding device for a vehicle, comprising: a valve control unit that controls closing of an on-off valve when the vehicle is stopped in a brake operation state. The braking force holding device includes a brake operation amount detection unit that detects an operation amount of the brake operation member. The valve control unit controls the on-off valve to close when the braking force determined from the operation amount exceeds the driving force output to the wheels via the automatic transmission. When the accelerator opening is equal to or greater than a predetermined value, the opening / closing valve is controlled to open.

  According to the braking force holding device described in this publication, the opening / closing operation is performed when the braking force determined from the operation amount of the brake operation member detected by the brake operation amount detection unit exceeds the driving force output to the wheels via the automatic transmission. The valve is controlled to close. Therefore, when the brake operation member is strongly operated to stop the vehicle, the on-off valve is closed and the braking force is maintained. When the brake operation member is operated weakly to make the vehicle travel at a slow speed by the creep function, the on-off valve is opened and the braking force is released. As a result, it is possible to remove the foot from the brake pedal while the vehicle is stopped, such as waiting for a signal, and the burden on the driver is reduced. Furthermore, the creep function can be exhibited without hindrance, and garage entry and slope starting can be easily performed.

  Japanese Patent Application Laid-Open No. 11-334550 (Patent Document 2) discloses a stop brake device that can eliminate an operation of waiting for a signal or stepping on a brake pedal in a congested road. A stopping brake device described in Patent Literature 2 includes a master cylinder connected to a booster that amplifies the pedaling force of a brake pedal, a wheel cylinder that converts a pressure supplied from the master cylinder into a braking force of a wheel, and a brake pedal. To control the pressure in the wheel cylinder independently of the operation of the brake pedal, the brake switch that detects the amount of depression of the accelerator, the accelerator switch that detects the amount of depression of the accelerator pedal, the vehicle speed sensor that detects the vehicle speed of the vehicle And a control device that drives and controls the pressure control unit in order to control the pressure in the wheel cylinder. In order to control the pressure in the wheel cylinder, the control device detects a stepping amount of the brake pedal based on the detection signal of the brake switch, and detects the amount of the accelerator pedal based on the detection signal of the accelerator switch. An accelerator depressing step for detecting the depressing amount, a stop determining step for determining a stop state of the vehicle based on a detection signal of the vehicle speed sensor, and a brake when at least the brake pedal is depressed and the vehicle is in a stop state. A holding condition establishing step for establishing a brake holding condition for holding the braking state of the vehicle, a holding condition releasing step for establishing a brake releasing condition for releasing the braking state of the brake at least when the accelerator pedal is depressed, Brake holding condition is satisfied and brake release condition is not satisfied A first holding command step for transmitting a pressure holding command to the pressure control unit and holding the pressure in the wheel cylinder until the brake release condition is satisfied, and the pressure control unit when the brake release condition is satisfied. A pressure reduction command step is transmitted to reduce the pressure in the wheel cylinder in order to release the brake. The brake holding condition is satisfied when at least the brake pedal is depressed, the vehicle is in a stopped state, and a state where the braking force is equal to or greater than a predetermined value continues for a predetermined time.

According to the stop brake device described in this publication, it is possible to easily start a vehicle on a slope without requiring a sudden changeover operation from a brake pedal to an accelerator pedal. In addition, it is possible to reduce the fatigue caused by the brake operation by eliminating the need to wait for a signal or to keep stepping on the brake pedal in a congested road. Further, when a predetermined brake release condition is satisfied, for example, when the accelerator pedal is depressed, the brake holding condition is released, so that the vehicle can be easily released from the stopped state without causing the driver to feel bothered. it can.
JP-A-9-142270 JP-A-11-334550

  However, in the braking force holding device described in JP-A-9-142270, when the braking force determined from the operation amount of the brake operating member exceeds the driving force output to the wheels via the automatic transmission, the braking force is increased. Retained. Therefore, even when the driver does not intend to stop, for example, when the braking force temporarily exceeds the driving force, the braking force can be maintained. In the stopping brake device described in Japanese Patent Application Laid-Open No. 11-334550, when at least the brake pedal is depressed, the vehicle is in a stopped state, and a state where the braking force is equal to or greater than a predetermined value continues for a predetermined time, The brake holding condition is satisfied. Therefore, for example, when a braking force larger than the braking force requested by the driver is generated due to a failure of the master cylinder, the brake holding condition can be satisfied even though the driver does not intend to stop. Further, in any of the braking force holding device described in JP-A-9-142270 and the stopping brake device described in JP-A-11-334550, holding of the braking force is released by an accelerator operation. . Therefore, the holding of the braking force is released even when the accelerator operation is performed due to an erroneous operation by the driver. Therefore, there is room for further improvement in order to perform control that accurately reflects the driver's intention.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle control device, a control method, and a control method thereof that can perform control that accurately reflects the driver's intention. A program to be executed by a computer and a recording medium on which the program is recorded are provided.

  A vehicle control device according to a first aspect of the present invention is a vehicle control device including a braking mechanism that applies a braking force to the vehicle in accordance with an operation amount of a braking operation member operated by a driver. The control device includes a means for detecting an operation force applied to the braking operation member by the driver, and an operation performed on the braking operation member by the driver for a longer time than a predetermined time when the vehicle is stopped. When the condition including the condition that the operation force to the braking operation member is larger than the force determined as the force necessary to stop the vehicle is satisfied, the vehicle is operated regardless of the operation amount of the braking operation member. Means for controlling the braking mechanism to generate a braking force to be stopped.

  According to the first invention, an operation force applied to the braking operation member by the driver is detected. When the vehicle is in a stopped state, the operation of the braking operation member by the driver lasts longer than a predetermined time, and the operation force to the braking operation member is determined as a force necessary to stop the vehicle When the condition including the condition that it is larger than the force is satisfied, the braking mechanism is controlled so as to generate a braking force for stopping the vehicle regardless of the operation amount of the braking operation member. As a result, in a state where the driver does not intend to stop, for example, when the operating force temporarily increases, the braking mechanism is not controlled so as to generate a braking force for stopping the vehicle. Can be. For example, when a braking force larger than the braking force requested by the driver is generated due to a failure of the master cylinder, the braking mechanism is set so as to generate a braking force that stops the vehicle if the operating force is small. It is possible not to perform control. As a result, it is possible to provide a vehicle control apparatus capable of performing control that accurately reflects the driver's intention.

  In addition to the configuration of the first invention, the vehicle control device according to the second invention is configured to apply the braking operation member to the braking operation member by the driver in a state where the braking mechanism is controlled to generate a braking force for stopping the vehicle. Means are further included for stopping controlling the braking mechanism to generate a braking force that stops the vehicle when the operating force is greater than a predetermined force.

  According to the second invention, in a state where the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, when the operating force applied to the braking operation member by the driver is greater than a predetermined force, the vehicle is Control of the braking mechanism is stopped so as to generate the braking force to be stopped. As a result, the control of the braking mechanism to generate the braking force for stopping the vehicle can be stopped in a state where the braking force is applied to the vehicle. Therefore, even if it is a case where control of a brake mechanism is stopped by generation | occurrence | production of the driver | operator's erroneous operation so that the braking force which stops a vehicle may be stopped, it suppresses starting a vehicle against a driver | operator's intention. be able to.

  In addition to the configuration of the first or second invention, the vehicle control device according to the third invention is configured to stop the vehicle when the braking mechanism is controlled to generate the braking force that stops the vehicle. Compared with the case where the braking mechanism is not controlled so as to generate the control means, the control means for controlling the operation force of the output operation member operated by the driver when controlling the output of the drive source is increased. In addition.

  According to the third invention, when the braking mechanism is controlled so as to generate the braking force for stopping the vehicle, the braking mechanism is not controlled so as to generate the braking force for stopping the vehicle. The operation reaction force of the output operation member operated by the driver when controlling the output of the drive source is increased. Accordingly, it is possible to prevent the driver from erroneously operating the output operation member in a state where the braking mechanism is controlled so as to generate a braking force that stops the vehicle. Therefore, it is possible to prevent the vehicle from starting against the driver's intention.

  According to a fourth aspect of the present invention, there is provided a vehicle control apparatus, in addition to the configuration of the third aspect, wherein the output operation member is operated while the braking mechanism is controlled so as to generate a braking force for stopping the vehicle. And means for notifying the driver that the braking mechanism is controlled to generate a braking force for stopping the vehicle.

  According to the fourth invention, in a state where the braking mechanism is controlled so as to generate the braking force for stopping the vehicle, when the output operation member is operated, the braking mechanism is generated so as to generate the braking force for stopping the vehicle. The driver is informed that the vehicle is being controlled. Accordingly, it is possible to make the driver recognize that an operation that is contrary to controlling the braking mechanism so as to generate a braking force for stopping the vehicle is performed. Therefore, the driver's erroneous operation can be suppressed.

  A vehicle control device according to a fifth aspect of the invention is a vehicle control device including a braking mechanism that applies a braking force to the vehicle in accordance with an operation amount of a braking operation member operated by a driver. The control device is provided for controlling the braking mechanism so as to generate a braking force for stopping the vehicle regardless of an operation amount of the braking operation member when a condition including a condition that the vehicle is stopped is satisfied. And when the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, compared with the case where the braking mechanism is not controlled so as to generate the braking force for stopping the vehicle. Means for controlling the output reaction force of the output operation member operated by the driver when the output is controlled to be increased.

  According to the fifth invention, when the condition including the condition that the vehicle is stopped is satisfied, the braking mechanism is controlled to generate the braking force for stopping the vehicle regardless of the operation amount of the braking operation member. The When the braking mechanism is controlled to generate a braking force that stops the vehicle, the output of the drive source is controlled compared to when the braking mechanism is not controlled to generate a braking force that stops the vehicle. The operation reaction force of the output operation member that is operated by the driver is increased. Accordingly, it is possible to prevent the driver from erroneously operating the output operation member in a state where the braking mechanism is controlled so as to generate a braking force that stops the vehicle. Therefore, it is possible to prevent the vehicle from starting against the driver's intention. As a result, it is possible to provide a vehicle control method capable of performing control that accurately reflects the driver's intention.

  A vehicle control method according to a sixth aspect of the invention is a vehicle control method including a braking mechanism that applies a braking force to the vehicle in accordance with an operation amount of a braking operation member operated by a driver. The control method includes a step of detecting an operation force applied to the braking operation member by the driver, and an operation performed by the driver on the braking operation member when the vehicle is in a stopped state for longer than a predetermined time, and When the condition including the condition that the operation force to the braking operation member is larger than the force necessary to stop the vehicle is satisfied, the braking force to stop the vehicle is generated regardless of the operation amount of the braking operation member. And controlling the braking mechanism.

  According to the sixth aspect of the invention, the operation force applied to the braking operation member by the driver is detected. When the vehicle is in a stopped state, the operation of the braking operation member by the driver lasts longer than a predetermined time, and the operation force to the braking operation member is determined as a force necessary to stop the vehicle When the condition including the condition that it is larger than the force is satisfied, the braking mechanism is controlled so as to generate a braking force for stopping the vehicle regardless of the operation amount of the braking operation member. As a result, in a state where the driver does not intend to stop, for example, when the operating force temporarily increases, the braking mechanism is not controlled so as to generate a braking force for stopping the vehicle. Can be. For example, when a braking force larger than the braking force requested by the driver is generated due to a failure of the master cylinder, the braking mechanism is set so as to generate a braking force that stops the vehicle if the operating force is small. It is possible not to perform control. As a result, it is possible to provide a vehicle control apparatus capable of performing control that accurately reflects the driver's intention.

  According to a seventh aspect of the present invention, there is provided a vehicle control method, in addition to the configuration of the sixth aspect, in the state where the braking mechanism is controlled so as to generate a braking force for stopping the vehicle. The method further includes a step of stopping controlling the braking mechanism to generate a braking force that stops the vehicle when the operating force becomes greater than a predetermined force.

  According to the seventh invention, in a state where the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, when the operating force applied to the braking operation member by the driver is greater than a predetermined force, the vehicle is Control of the braking mechanism is stopped so as to generate the braking force to be stopped. As a result, the control of the braking mechanism to generate the braking force for stopping the vehicle can be stopped in a state where the braking force is applied to the vehicle. Therefore, even if it is a case where control of a brake mechanism is stopped by generation | occurrence | production of the driver | operator's erroneous operation so that the braking force which stops a vehicle may be stopped, it suppresses starting a vehicle against a driver | operator's intention. be able to.

  The vehicle control method according to the eighth aspect of the invention is the braking force for stopping the vehicle when the braking mechanism is controlled to generate the braking force for stopping the vehicle, in addition to the configuration of the sixth or seventh aspect of the invention. The method further includes a step of controlling so that an operation reaction force of the output operation member operated by the driver when controlling the output of the drive source is increased as compared with a case where the braking mechanism is not controlled so as to generate .

  According to the eighth invention, when the braking mechanism is controlled so as to generate the braking force for stopping the vehicle, the braking mechanism is not controlled so as to generate the braking force for stopping the vehicle. The operation reaction force of the output operation member operated by the driver when controlling the output of the drive source is increased. Accordingly, it is possible to prevent the driver from erroneously operating the output operation member in a state where the braking mechanism is controlled so as to generate a braking force that stops the vehicle. Therefore, it is possible to prevent the vehicle from starting against the driver's intention.

  According to a ninth aspect of the present invention, in the vehicle control method, in addition to the configuration of the eighth aspect, the output operation member is operated in a state where the braking mechanism is controlled so as to generate a braking force for stopping the vehicle. The method further includes a step of notifying the driver that the braking mechanism is controlled to generate a braking force for stopping the vehicle.

  According to the ninth aspect of the present invention, in a state where the braking mechanism is controlled so as to generate a braking force that stops the vehicle, when the output operation member is operated, the braking mechanism that generates the braking force that stops the vehicle. The driver is informed that the vehicle is being controlled. Accordingly, it is possible to make the driver recognize that an operation that is contrary to controlling the braking mechanism so as to generate a braking force for stopping the vehicle is performed. Therefore, the driver's erroneous operation can be suppressed.

  A vehicle control method according to a tenth aspect of the invention is a vehicle control method including a braking mechanism that applies a braking force to the vehicle in accordance with an operation amount of a braking operation member operated by a driver. The control method includes a step of controlling the braking mechanism so as to generate a braking force for stopping the vehicle regardless of an operation amount of the braking operation member when a condition including a condition that the vehicle is stopped is satisfied. When the braking mechanism is controlled so as to generate a braking force that stops the vehicle, the output of the drive source is reduced compared to when the braking mechanism is not controlled so as to generate the braking force that stops the vehicle. And controlling to increase the operation reaction force of the output operation member operated by the driver when controlling.

  According to the tenth invention, when the condition including the condition that the vehicle is stopped is satisfied, the braking mechanism is controlled to generate the braking force for stopping the vehicle regardless of the operation amount of the braking operation member. The When the braking mechanism is controlled to generate a braking force that stops the vehicle, the output of the drive source is controlled compared to when the braking mechanism is not controlled to generate a braking force that stops the vehicle. The operation reaction force of the output operation member that is operated by the driver is increased. Accordingly, it is possible to prevent the driver from erroneously operating the output operation member in a state where the braking mechanism is controlled so as to generate a braking force that stops the vehicle. Therefore, it is possible to prevent the vehicle from starting against the driver's intention. As a result, it is possible to provide a vehicle control method capable of performing control that accurately reflects the driver's intention.

  A program according to an eleventh invention is a program for causing a computer to execute the vehicle control method according to any of the sixth to tenth inventions.

  According to the eleventh aspect, it is possible to provide a program that causes a computer to execute a vehicle control method capable of performing control that accurately reflects the driver's intention.

  A vehicle control method according to a twelfth aspect of the invention is a computer-readable recording medium that records the program of the eleventh aspect of the invention.

  According to the twelfth invention, it is possible to provide a recording medium on which a program for causing a computer to execute a vehicle control method capable of performing a control that accurately reflects the driver's intention is recorded.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

<First Embodiment>
A vehicle equipped with a control device according to a first embodiment of the present invention will be described with reference to FIG. This vehicle is an FR (Front engine Rear drive) vehicle. A vehicle other than FR may be used.

  The vehicle includes an engine 1000, an automatic transmission 2000, a torque converter 2100, a planetary gear unit 3000 that forms part of the automatic transmission 2000, a hydraulic circuit 4000 that forms part of the automatic transmission 2000, a propeller shaft 5000, A differential gear 6000, a rear wheel 7000, and an ECU (Electronic Control Unit) 8000 are included. The control device according to the present embodiment is realized by executing a program recorded in a ROM (Read Only Memory) 8002 of ECU 8000, for example.

  Engine 1000 is an internal combustion engine that burns a mixture of fuel and air injected from an injector (not shown) in a combustion chamber of a cylinder. The piston in the cylinder is pushed down by the combustion, and the crankshaft is rotated. The auxiliary power 1004 such as an alternator and an air conditioner is driven by the driving force of the engine 1000. A motor may be used as a power source instead of or in addition to engine 1000.

  Automatic transmission 2000 is connected to engine 1000 via torque converter 2100. Automatic transmission 2000 changes the rotational speed of the crankshaft to a desired rotational speed by forming a desired gear stage.

  The driving force output from automatic transmission 2000 is transmitted to left and right rear wheels 7000 via propeller shaft 5000 and differential gear 6000.

  Instead of automatic transmission 2000, MT (Manual Transmission) or CVT (Continuously Variable Transmission) may be used.

  The ECU 8000 includes a position switch 8006 for the shift lever 8004, an accelerator opening sensor 8010 for the accelerator pedal 8008, a pedaling force sensor 8014 for the brake pedal 8012, a throttle opening sensor 8018 for the electronic throttle valve 8016, and an engine speed sensor 8020. An input shaft speed sensor 8022, an output shaft speed sensor 8024, an oil temperature sensor 8026, and a stop lamp switch (brake pedal switch) 8028 are connected via a harness or the like.

  The position (position) of shift lever 8004 is detected by position switch 8006, and a signal representing the detection result is transmitted to ECU 8000. Corresponding to the position of the shift lever 8004, the gear stage of the automatic transmission 2000 is automatically formed. Further, a manual shift mode in which the driver can select an arbitrary gear stage may be selected according to the driver's operation.

  Accelerator opening sensor 8010 detects the opening of accelerator pedal 8008 and transmits a signal representing the detection result to ECU 8000. The operation reaction force of the accelerator pedal 8008 (the force required to operate the accelerator pedal 8008) can be set to an arbitrary value by the motor 8030.

  The pedaling force sensor 8014 detects the pedaling force of the brake pedal 8012 (operation force of the brake pedal 8012 by the driver), and transmits a signal representing the detection result to the ECU 8000. The pedaling force of the brake pedal 8012 can be held by the motor 8032 with an arbitrary pedaling force.

  The throttle opening sensor 8018 detects the opening of the electronic throttle valve 8016 whose opening is adjusted by the actuator, and transmits a signal representing the detection result to the ECU 8000. Electronic throttle valve 8016 adjusts the amount of air taken into engine 1000 (output of engine 1000).

  Instead of or in addition to the electronic throttle valve 8016, the amount of air drawn into the engine 1000 can be reduced by changing the lift amount of the intake valve (not shown) or the exhaust valve (not shown) and the opening / closing phase. You may make it adjust.

  Engine rotation speed sensor 8020 detects the rotation speed of the output shaft (crankshaft) of engine 1000 and transmits a signal representing the detection result to ECU 8000. Input shaft rotational speed sensor 8022 detects input shaft rotational speed NI of automatic transmission 2000 (turbine rotational speed NT of torque converter 2100), and transmits a signal representing the detection result to ECU 8000. Output shaft rotational speed sensor 8024 detects output shaft rotational speed NO of automatic transmission 2000 and transmits a signal representing the detection result to ECU 8000.

  Oil temperature sensor 8026 detects the temperature (oil temperature) of oil (ATF: Automatic Transmission Fluid) used for the operation and lubrication of automatic transmission 2000, and transmits a signal indicating the detection result to ECU 8000.

  The stop lamp switch 8028 is turned on when the brake operation amount is equal to or greater than the threshold value, and is turned off when the brake operation amount is less than the threshold value. For example, when the brake operation amount is maximum, the stop lamp switch 8028 is turned on. Stop lamp switch 8028 transmits a signal representing on or off to ECU 8000.

  The ECU 8000 includes a position switch 8006, an accelerator opening sensor 8010, a pedal effort sensor 8014, a throttle opening sensor 8018, an engine speed sensor 8020, an input shaft speed sensor 8022, an output shaft speed sensor 8024, an oil temperature sensor 8026, a stop lamp. On the basis of a signal sent from the switch 8028 or the like, a map stored in the ROM 8002, and a program, the devices are controlled so that the vehicle is in a desired running state.

  In the present embodiment, ECU 8000 has the forward 1st to 8th gears when the shift lever 8004 is in the D (drive) position and the D (drive) range is selected as the shift range of automatic transmission 2000. Automatic transmission 2000 is controlled so that one of these gears is formed. The automatic transmission 2000 can transmit a driving force to the rear wheel 7000 by forming any one of the first to eighth forward gears. In the D range, it may be possible to form a higher gear than the eighth gear. The gear stage to be formed is determined based on a shift diagram created in advance by experiments or the like using the vehicle speed and the accelerator opening as parameters.

  In the present embodiment, ECU 8000 continues the stop lamp switch 8028 being on longer than threshold value T (0) when the vehicle stops (the vehicle speed is “0”), and the brake pedal When the condition that the pedaling force of 8012 is larger than the force F (1) determined as the force necessary to stop the vehicle is satisfied, the motor 8032 is controlled so as to maintain the pedaling force at the time when the condition is satisfied. .

  Further, ECU 8000 controls motor 8030 such that the operating reaction force of accelerator pedal 8008 increases in a state where motor 8032 is controlled so as to maintain the pedal effort.

  Further, ECU 8000 controls speaker 8034 to sound an alarm sound when an accelerator operation is performed in a state where motor 8032 is controlled so as to maintain the pedal effort.

  A brake system 9000 that applies a braking force to the vehicle will be described with reference to FIG. The brake pedal 8012 is connected to the master cylinder 9002. When the brake pedal 8012 is operated, a hydraulic pressure corresponding to the brake operation amount is generated in the master cylinder 9002.

  The hydraulic pressure generated in the master cylinder 9002 is supplied to calipers 9011 to 9014. By supplying hydraulic pressure to each of the calipers 9011 to 9014, a braking force is applied to the vehicle. A caliper that operates with electric power may be provided instead of the caliper that operates with hydraulic pressure.

  The ECU 8000 will be further described with reference to FIG. The functions of ECU 8000 described below may be realized by hardware or may be realized by software.

  ECU 8000 includes a vehicle speed detection unit 8100, a pedal effort holding unit 8102, a holding release unit 8104, an operation reaction force increasing unit 8106, and a notification unit 8108.

  The vehicle speed detector 8100 calculates (detects) the vehicle speed from the output shaft rotational speed NO of the automatic transmission 2000.

  The pedal force holding unit 8102 maintains that the stop lamp switch 8028 is on longer than the threshold value T (0) when the vehicle is stopped (the vehicle speed is “0”), and the pedal force of the brake pedal 8012 is When the condition that it is larger than the force F (1) determined as the force necessary to stop the vehicle is satisfied, the motor 8032 is controlled so as to hold the pedaling force at the time when the condition is satisfied. That is, the brake system 9000 is controlled to generate a braking force that stops the vehicle. Note that, instead of the pedal effort, the hydraulic pressure may be held to hold the braking force applied to the vehicle by the brake system 9000.

  In the state where the motor 8032 is controlled so as to hold the pedal force, that is, the brake system 9000 is controlled so as to generate a braking force that stops the vehicle, the holding release unit 8104 When the force exceeds a predetermined force F (2) (for example, F (2)> F (1)), the motor 8032 is controlled so as to release the holding of the pedaling force. That is, the brake system 9000 is stopped from being controlled to generate a braking force that stops the vehicle.

  In the state where the motor 8032 is controlled so as to maintain the pedaling force, that is, the brake system 9000 is controlled so as to generate the braking force that stops the vehicle, the operation reaction force increasing unit 8106 is The motor 8030 is controlled so that the operation reaction force increases. That is, when the brake system 9000 is controlled so as to generate a braking force for stopping the vehicle, the accelerator pedal is compared with a case where the brake system 9000 is not controlled so as to generate a braking force for stopping the vehicle. The operation reaction force of 8008 is increased.

  In the state where the motor 8032 is controlled so as to hold the pedaling force, that is, in the state where the brake system 9000 is controlled so as to generate the braking force that stops the vehicle, the notification unit 8108, when the accelerator operation is performed, By sounding an alarm sound, the driver is informed that the brake system 9000 is controlled to generate a braking force that stops the vehicle. In addition, you may make it alert | report using a vibration or light instead of an alarm sound.

  With reference to FIG. 4, a control structure of a program executed by ECU 8000 which is the control device according to the present embodiment will be described. Note that the program described below is repeatedly executed at a predetermined cycle.

  In step (hereinafter abbreviated as S) 100, ECU 8000 determines whether stop lamp switch 8028 is on and vehicle speed is “0” or not. If stop lamp switch 8028 is on and the vehicle speed is “0” (YES in S100), the process proceeds to S102. Otherwise (NO in S100), this process ends.

  In S102, ECU 8000 determines whether or not stop lamp switch 8028 is on and the vehicle speed is "0" for longer than threshold value T (0). If stop lamp switch 8028 is on and the vehicle speed is “0” for longer than threshold value T (0) (YES in S102), the process proceeds to S104. If not in phase (NO in S104), the process returns to S100.

  In S104, ECU 8000 detects the pedaling force of brake pedal 8012 based on the signal transmitted from pedaling force sensor 8014.

  In S106, ECU 8000 determines whether or not the depressing force of brake pedal 8012 is greater than force F (1) determined as a force necessary to stop the vehicle. If the depressing force of brake pedal 8012 is greater than force F (1) determined as the force necessary to stop the vehicle (YES in S106), the process proceeds to S108. If not (NO in S106), the process returns to S100.

  In S108, ECU 8000 controls motor 8032 connected to brake pedal 8012 so as to maintain the pedal effort. In S110, ECU 8000 controls motor 8030 connected to accelerator pedal 8008 so as to increase the operating reaction force of accelerator pedal 8008.

  In step S112, the ECU 8000 notifies the driver that the depression force of the brake pedal 8012 is maintained and the operation reaction force of the accelerator pedal 8008 is increased. The driver is informed by voice or drawing that the pedal effort of the brake pedal 8012 is maintained and the operational reaction force of the accelerator pedal 8008 is increased.

  In S114, ECU 8000 detects the pedaling force of brake pedal 8012 based on the signal transmitted from pedaling force sensor 8014.

  In S116, ECU 8000 determines whether or not the depression force of brake pedal 8012 is greater than a predetermined force F (2). If the depression force of brake pedal 8012 is greater than a predetermined force F (2) (YES in S116), the process proceeds to S118. If not (NO in S116), the process proceeds to S120.

  In step S118, the ECU 8000 releases the holding force of the brake pedal 8012 by the motor 8032 and releases the increase of the operation reaction force of the accelerator pedal 8008 by the motor 8030.

  In S120, ECU 8000 detects the accelerator opening based on the signal transmitted from accelerator opening sensor 8010. In S122, ECU 8000 determines whether or not the driver has performed an accelerator operation, that is, whether or not the accelerator opening is greater than "0". If the accelerator operation is performed (YES in S122), the process proceeds to S124. If not (NO in S122), the process returns to S108. In S124, ECU 8000 sounds an alarm sound. Thereafter, the process returns to S108.

  The operation of ECU 8000 serving as the control device according to the present embodiment based on the structure and flowchart as described above will be described.

  If stop lamp switch 8028 is on and the vehicle speed is “0” (YES in S100), the state where stop lamp switch 8028 is on and the vehicle speed is “0” is threshold value T. It is determined whether or not the duration is longer than (0) (S102).

  If stop lamp switch 8028 is on and the vehicle speed is “0” for longer than threshold value T (0) (YES in S102), the vehicle stops for a long time due to the brake operation. It can be said that.

  In this case, the depression force of the brake pedal 8012 is detected based on the signal transmitted from the depression force sensor 8014 (S104). If the depressing force of brake pedal 8012 is greater than force F (1) determined as the force required to stop the vehicle (YES in S106), it can be said that the driver has an intention to stop the vehicle.

  Therefore, the motor 8032 connected to the brake pedal 8012 is controlled so as to maintain the pedaling force (S108). Thereby, even if the driver removes his / her foot from the brake pedal, the stopped state can be maintained. Therefore, the burden on the driver when maintaining the stop state can be reduced.

  Here, the state in which the stop lamp switch 8028 is on and the vehicle speed is “0” continues for longer than the threshold value T (0), and the depression force of the brake pedal 8012 is greater than the force F (1). Thus, for example, when the pedaling force temporarily increases, the pedaling force can be prevented from being held. Further, for example, even when a braking force larger than the braking force requested by the driver is generated due to a failure of the master cylinder 9002, the pedaling force can be prevented from being maintained if the pedaling force is small. Therefore, it is possible to perform control that accurately reflects the driver's intention.

  After the pedaling force is maintained, the motor 8030 connected to the accelerator pedal 8008 is controlled so as to increase the operation reaction force in order to suppress an erroneous accelerator operation by the driver (S110). Thereby, it is possible to suppress an increase in the driving force in a state where the pedaling force is held, that is, in a state where a braking force for stopping the vehicle is applied to the vehicle.

  Therefore, it is possible to prevent the vehicle from starting against the driver's intention. As a result, it is possible to perform control that accurately reflects the driver's intention.

  Thereafter, the driver is notified by voice or drawing that the pedaling force of the brake pedal 8012 is maintained and the operation reaction force of the accelerator pedal 8008 is increased (S112). Further, the depression force of the brake pedal 8012 is detected based on the signal transmitted from the depression force sensor 8014 (S114).

  For example, when the driver performs a brake operation again to prepare for starting, if the pedaling force of brake pedal 8012 becomes greater than a predetermined force F (2) (YES in S116), motor 8032 causes brake pedal 8012 to be The holding of the pedaling force is released, and the increase in the operation reaction force of the accelerator pedal 8008 by the motor 8030 is released. (S118).

  Accordingly, the holding of the pedaling force can be released in a state where the braking force is applied to the vehicle. Therefore, even when the pedaling force is released due to an erroneous operation by the driver, it is possible to suppress the vehicle from starting against the driver's intention.

  On the other hand, when the depression force of brake pedal 8012 is equal to or smaller than predetermined force F (2) (NO in S116), the accelerator opening is detected (S120), and it is determined that the accelerator operation is performed (S122). And YES), a warning sound is sounded (S124). Accordingly, it is possible to notify the driver that an erroneous operation has been performed. Therefore, erroneous operation by the driver can be suppressed.

  As described above, according to ECU 8000 serving as the control device according to the present embodiment, the state where the stop lamp switch is on and the vehicle speed is “0” continues for longer than threshold value T (0). When the pedal effort of the brake pedal is greater than a force F (1) determined as a force required to stop the vehicle, the motor connected to the brake pedal is controlled so as to hold the pedal effort. That is, the brake system is controlled so as to generate a braking force that stops the vehicle. Thus, for example, when the pedal effort is temporarily increased in a state where the driver does not intend to stop the vehicle, the pedal effort can be prevented from being maintained. Further, for example, when a braking force larger than the braking force requested by the driver is generated due to a failure of the master cylinder, the pedaling force can be prevented from being held if the pedaling force is small. Therefore, it is possible to perform control that accurately reflects the driver's intention.

  Further, after the pedaling force is held, the motor connected to the accelerator pedal is controlled so as to increase the operation reaction force. Thereby, it is possible to suppress an increase in the driving force in a state where the pedaling force is held, that is, in a state where a braking force for stopping the vehicle is applied to the vehicle. Therefore, it is possible to prevent the vehicle from starting against the driver's intention. As a result, it is possible to perform control that accurately reflects the driver's intention.

<Second Embodiment>
Hereinafter, a second embodiment of the present invention will be described. The present embodiment is different from the first embodiment described above in that it is determined whether or not the pedal force is held in consideration of the environment around the vehicle.

  As shown in FIG. 5, a navigation system 9100, a camera 9102, and a radar 9104 are connected to ECU 8000 which is a control device according to the present embodiment.

  As shown in FIG. 6, the pedal force holding unit 8102 of the ECU 8000 serving as the control device according to the present embodiment receives a distance between the traffic light and the host vehicle instead of the pedal force. In the pedal effort holding unit 8102, the stop lamp switch 8028 is on for a longer time than the threshold value T (0) when the vehicle is stopped, and the distance between the traffic light and the host vehicle is greater than the threshold value L (1). When the short condition is satisfied, the motor 8032 is controlled so as to maintain the pedaling force at the time when the condition is satisfied.

  In addition, instead of the condition that the distance between the traffic light and the own vehicle is shorter than the threshold value L (1), the condition that the distance between the parking lot and the own vehicle is shorter than the threshold value L (2), forward A condition that there is a vehicle in the vehicle, a condition that there is a vehicle ahead in a traffic jam, and the like may be used.

  With reference to FIG. 7, a control structure of a program executed by ECU 8000 serving as the control device according to the present embodiment will be described. Note that the program described below is repeatedly executed at a predetermined cycle. The same step numbers are assigned to the same processes as those in the first embodiment. Therefore, detailed description thereof will not be repeated here.

  In S204, ECU 8000 detects the distance between the traffic light and the host vehicle based on signals transmitted from navigation system 9100, camera 9102, and radar 9104.

  In S206, ECU 8000 determines whether or not the distance between the traffic light and the host vehicle is shorter than threshold value L (1). If the distance between the traffic signal and the vehicle is shorter than threshold value L (1) (YES in S206), the process proceeds to S108. If not (NO in S106), the process returns to S100. In this way, the operation burden on the driver for maintaining the pedal effort can be reduced.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a schematic block diagram which shows the vehicle carrying ECU which is a control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows a brake system. It is a functional block diagram of ECU which is a control device concerning a 1st embodiment of the present invention. It is a flowchart which shows the control structure of the program which ECU which is a control apparatus which concerns on the 1st Embodiment of this invention performs. It is a schematic block diagram which shows the vehicle carrying ECU which is a control apparatus which concerns on the 2nd Embodiment of this invention. It is a functional block diagram of ECU which is a control apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the control structure of the program which ECU which is a control apparatus which concerns on the 2nd Embodiment of this invention performs.

Explanation of symbols

  1000 engine, 2000 automatic transmission, 8008 accelerator pedal, 8010 accelerator opening sensor, 8012 brake pedal, 8014 pedal force sensor, 8028 stop lamp switch, 8030, 8032 motor, 8034 speaker, 8000 ECU, 8100 vehicle speed detection unit, 8102 pedal force holding unit , 8104 Holding release unit, 8106 Operation reaction force increasing unit, 8108 Notification unit, 9000 Brake system, 9002 Master cylinder, 9011, 9012, 9013, 9014 Caliper, 9100 Navigation system, 9102 Camera, 9104 Radar.

Claims (12)

A vehicle control device including a braking mechanism that applies a braking force to a vehicle according to an operation amount of a braking operation member operated by a driver,
Means for detecting an operating force applied to the braking operation member by a driver;
When the vehicle is in a stopped state, the operation of the braking operation member by the driver continues for a predetermined time and the operation force on the braking operation member is determined as a force necessary to stop the vehicle. Means for controlling the braking mechanism to generate a braking force for stopping the vehicle regardless of the amount of operation of the braking operation member when a condition including a condition of greater than the applied force is satisfied. A vehicle control apparatus including:   In the state where the control device is controlling the braking mechanism to generate a braking force for stopping the vehicle, the control device, when an operating force applied to the braking operation member by a driver is greater than a predetermined force, The vehicle control device according to claim 1, further comprising means for stopping controlling the braking mechanism to generate a braking force for stopping the vehicle.   When the control device controls the braking mechanism to generate a braking force that stops the vehicle, the control device does not control the braking mechanism to generate a braking force that stops the vehicle. 3. The vehicle control according to claim 1, further comprising means for controlling the output reaction force of the output operation member operated by the driver to increase when controlling the output of the drive source. apparatus.   The control device generates a braking force for stopping the vehicle when the output operation member is operated in a state where the braking mechanism is controlled so as to generate a braking force for stopping the vehicle. The vehicle control device according to claim 3, further comprising means for notifying a driver that the braking mechanism is being controlled. A vehicle control device including a braking mechanism that applies a braking force to a vehicle according to an operation amount of a braking operation member operated by a driver,
Means for controlling the braking mechanism to generate a braking force for stopping the vehicle regardless of the amount of operation of the braking operation member when a condition including a condition that the vehicle is stopped is satisfied; ,
When the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, the driving source is compared with a case where the braking mechanism is not controlled so as to generate a braking force for stopping the vehicle. And a means for controlling the operation force of the output operation member operated by the driver to increase when controlling the output of the vehicle. A vehicle control method including a braking mechanism for applying a braking force to a vehicle according to an operation amount of a braking operation member operated by a driver,
Detecting an operation force applied to the braking operation member by a driver;
When the vehicle is in a stopped state, the driver's operation on the braking operation member continues for a longer time than a predetermined time, and the operation force on the braking operation member is greater than the force necessary to stop the vehicle Controlling the braking mechanism to generate a braking force to stop the vehicle regardless of the amount of operation of the braking operation member when a condition including a condition of large is satisfied. .   In the state where the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, the control method is configured such that when an operation force applied to the braking operation member by a driver is greater than a predetermined force, The vehicle control method according to claim 6, further comprising a step of stopping controlling the braking mechanism to generate a braking force that stops the vehicle.   In the control method, when the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, the braking mechanism is not controlled so as to generate a braking force for stopping the vehicle. 8. The vehicle control method according to claim 6, further comprising a step of controlling so that an operation reaction force of an output operation member operated by a driver when controlling an output of a drive source is increased.   The control method generates a braking force for stopping the vehicle when the output operation member is operated in a state where the braking mechanism is controlled to generate the braking force for stopping the vehicle. The vehicle control method according to claim 8, further comprising a step of notifying a driver that the braking mechanism is being controlled. A vehicle control method including a braking mechanism for applying a braking force to a vehicle according to an operation amount of a braking operation member operated by a driver,
Controlling the braking mechanism to generate a braking force for stopping the vehicle regardless of the amount of operation of the braking operation member when a condition including a condition that the vehicle is in a stopped state is satisfied;
When the braking mechanism is controlled so as to generate a braking force for stopping the vehicle, the driving source is compared with a case where the braking mechanism is not controlled so as to generate a braking force for stopping the vehicle. And a step of controlling so as to increase an operation reaction force of the output operation member operated by the driver when controlling the output of the vehicle.   The program for making a computer perform the control method of the vehicle in any one of Claims 6-10.   The computer-readable recording medium which recorded the program of Claim 11.

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