JP2008213699A - Driving control device and driving control method for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving control device and method for a vehicle for instantaneously responding to the sudden change in the driving operation of a driver for the fluctuation of a driving environment affecting vehicle traveling. <P>SOLUTION: This driving control device of a vehicle is provided with: an environmental state detection part 32 for detecting the state of a driving environment affecting the traveling of the own vehicle; a pattern selection part 33 for predicting the change of the driving operation of a driver for the fluctuation of the driving environment as a predicted driving pattern based on the detection information of the environmental state detection part 32; and a control part 34 for controlling the driving state of the own vehicle to a driving state suitable for the change of the driving operation of the driver prior to the change based on the predicted driving pattern. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle driving control device and a driving control method, and more particularly to a vehicle driving control device and a method for performing control for improving fuel efficiency and reducing a burden on a driver (driver).

  In vehicles such as automobiles in recent years, there are an increasing number of vehicles that selectively execute various controls for improving fuel consumption and reducing driver's load. For example, in order to improve fuel economy, neutral control that releases the starting clutch when the vehicle stops with the forward travel range of the automatic transmission selected, or when the vehicle stops temporarily exceeds several seconds. The engine is stopped and idle stop control is performed to suppress fuel consumption and exhaust emission. In order to reduce the burden on the driver, for example, if the vehicle is set to a predetermined set speed, the vehicle speed can be automatically controlled to the set speed without having to step on the accelerator pedal during driving, There are inter-vehicle distance control for controlling the inter-vehicle distance to a predetermined distance by decelerating the host vehicle when approaching, lane keeping assist control for assisting the steering force for steering the lane (operation force of the steering wheel), and the like.

  As a conventional driving control device and method for this type of vehicle, for example, a traction mode in which a driver of a leading vehicle among two or more vehicles can automatically drive not only the leading vehicle but also the following vehicle is set, and the following operation is performed. A vehicle that automatically controls driving based on relative position information with respect to the leading vehicle and operation information of the leading vehicle (see, for example, Patent Document 1), an inter-vehicle distance between the preceding and following vehicles in order to improve control delay, and By performing the deceleration control based on the difference (deviation) of the relative acceleration and executing the determination process that also uses the future value (predicted value) of the relative acceleration deviation, the deceleration control can be started early when necessary. (For example, refer to Patent Document 2).

  In addition, acceleration for inter-vehicle distance control is performed within a speed range that can maintain the lane in order to prevent the auxiliary steering torque from being insufficient due to acceleration for inter-vehicle distance control and a decrease in the lane maintaining function. A thing (for example, refer patent document 3) is known.

Furthermore, the measurement information of the preceding vehicle is accumulated to associate each road surface position information with information representing the road surface state, and the road surface condition (road surface unevenness, gradient, friction coefficient, etc.) of the control target vehicle is controlled. To control the shift timing of the automatic transmission, the spring constant of the shock absorber, etc. (see, for example, Patent Document 4), and the deceleration data from the preceding vehicle is received on the succeeding vehicle side, and the deceleration data is received. Based on the above, there is also known one in which the deceleration of the own vehicle is made to coincide with the preceding vehicle (see, for example, Patent Document 5).
Japanese Patent Application Laid-Open No. 07-200991 JP 2001-310649 A JP 2003-48450 A JP 2004-151910 A JP 2005-297612 A

  However, in the conventional vehicle operation control apparatus and method as described above, for example, during neutral control, the starting clutch is substantially half-engaged (half-clutch state) to ensure acceleration response at the time of starting. It is difficult to obtain the maximum fuel efficiency improvement effect. Compared to starting without neutral control, acceleration response is not only worsened, but the driver's acceleration demand (accelerator pedal depression amount) is likely to increase, and frictional engagement elements such as clutches and brakes. The shift shock at the time of neutral control cancellation due to the engagement becomes large, and a great adaptation adjustment process with other control for suppressing it is necessary.

  Furthermore, even if gear control is performed by determining an appropriate gear stage based on the current vehicle status, the response of the shift control may be required when a new gear stage needs to be selected due to a sudden change in the driver's operation. There has also been a problem that drivability deteriorates due to delay in the gear stage formation due to the delay or a so-called shift busy state. In other words, the control of the engagement elements such as clutches and brakes in the automatic transmission cannot be completed instantaneously, resulting in a delay. Therefore, the instruction value output from the electronic control unit in response to the driver's sudden operation When is suddenly changed, the state switching of the engagement element cannot follow the change, and there is a problem that a large delay is likely to occur particularly when a plurality of instruction values are changed.

  Also, in certain driving control modes such as cruise control and inter-vehicle distance control, even if driving assistance can improve fuel efficiency and reduce the burden on the driver to some extent, the mode is canceled and the driver's operation is mainly performed. In the normal driving control state, it is difficult to execute accurate and quick control with respect to the sudden operation by the driver as described above.

  The present invention has been made in view of the above-described unsolved problems of the prior art, and realizes an operation control method capable of executing various types of control at an appropriate timing when necessary. An object of the present invention is to provide a vehicle driving control device that can execute accurate and quick driving control with respect to a sudden operation by a driver while reducing the burden.

  In order to achieve the above object, a vehicle driving control apparatus according to the present invention includes (1) environmental state detection means for detecting the state of a driving environment that affects driving of the host vehicle, and detection information of the environmental state detection means. Based on the driving operation prediction means for predicting a change in the driving operation of the driver with respect to a change in the driving environment, and based on the prediction result of the driving operation prediction means, the host vehicle is suitable for the change prior to the change in the driving operation. And a control means for controlling the operating state.

  With this configuration, when the driver's driving operation changes due to changes in the driving environment that affect driving, the change is predicted, and the driving state of the host vehicle is suitable for the change prior to the driver's driving operation change. Is controlled. Therefore, even if the driver makes a sudden operation with respect to changes in the driving environment, the necessary driving control can be executed at appropriate timing, and accurate and quick driving control can be executed. Note that the fluctuation of the driving environment referred to in the present invention is mainly fluctuation information of the driving environment that can be recognized visually or auditorily by the driver, but may be fluctuation information that can be experienced as the behavior of the vehicle. May be road surface information that is not noticed unless attention is paid, information on the operation of another vehicle that is obtained through communication but is still unrecognizable to the driver, and the like.

  In the vehicle driving control apparatus having the above configuration, (2) a predicted driving pattern storage in which the driving operation prediction means stores a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment. And a pattern for selecting one of the plurality of predicted driving patterns as a predicted driving pattern within a predetermined time of the host vehicle when a change in the driving environment is detected based on detection information of the environmental state detecting means And selecting means.

  With this configuration, a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment are stored in advance, and any one of the plurality of predicted driving patterns is automatically determined based on the detection information of the driving environment state. The vehicle is selected as a predicted driving pattern for every predetermined time of the vehicle, and based on the selected predicted driving pattern, the driving state of the host vehicle is controlled to be suitable for the change prior to the change of the driving operation of the driver. Therefore, it is possible to accurately and promptly determine the operation control necessary for an emergency operation by the driver, and to execute accurate and quick operation control. The predicted driving pattern storage means may store a driving pattern predicted as a driving operation of the driver when the driving environment does not change, in addition to a plurality of predicted driving patterns for the driving environment change. The pattern selection means may select the driving pattern predicted at that time when the driving environment does not change.

  In the vehicle operation control device having the configuration of (2) above, (3) the plurality of predicted driving patterns may be set as driving patterns in which the traveling speed changes in different patterns.

  With this configuration, it is possible to easily and accurately pattern a driver's operation performed in response to changes in the driving environment as a plurality of travel speed change patterns required thereby. It is possible to obtain a predicted operation pattern that can respond accurately.

  Further, in the vehicle operation control apparatus having the configuration of (3) above, (4) the plurality of predicted operation patterns include travel stop by deceleration, acceleration immediately after deceleration, deceleration immediately after acceleration, stop state of the host vehicle. It may be set so as to represent any driving state among starting from, stopping immediately after starting, and immediately before starting.

  In this case, even if the driver suddenly operates in response to a change in the driving environment, the predicted driving pattern predicted for the change in the driving environment is such that the vehicle stops traveling due to deceleration, acceleration immediately after deceleration, and immediately after acceleration. Therefore, it is possible to reliably predict whether the vehicle is decelerating, starting from a stopped state, stopping immediately after starting, or immediately before starting, and it is possible to perform driving state control that can accurately respond to a driver's sudden operation. In addition, when the driving pattern predicted when the driving environment does not change is also stored in the predicted driving pattern storage unit, the acceleration of the host vehicle and the continuation of the stop as the predicted driving pattern Can be included.

  In the vehicle operation control device having any one of the configurations (2) to (4), (5) the control means performs neutral control and idle for the predicted operation pattern selected by the pattern selection means. It is desirable to determine whether or not any of the stops needs to be controlled, and prohibit the control determined to be unnecessary.

  With this configuration, for example, the neutral control can be prohibited and returned to the normal control immediately before the start is made with respect to the change in the driving environment, or the engine can be restarted by releasing the idle stop. It is possible to prevent a delay in response to the starting operation.

  In the vehicle operation control device having any one of the configurations (2) to (5), (6) the control means performs neutral control with respect to the predicted operation pattern selected by the pattern selection means. It is determined whether any one of idle stop, automatic transmission shift timing control, and hydraulic control in the automatic transmission is necessary, and the control determined to be necessary is preceded by a change in the driving operation of the driver. It is good to start.

  In this case, when a deceleration stop operation is performed in response to a change in the operating environment, a transition to neutral control is performed before the stop, or an early downshift is performed in the case of this deceleration stop operation or an acceleration operation immediately after deceleration. It is possible to perform hydraulic control such as reducing the clutch gap on the downshift side to make it possible, and further, immediately before decelerating operation immediately after acceleration and immediately before decelerating stop operation By prohibiting the shift, the deceleration can be secured, and the so-called shift busy state can be prevented. In addition, when the stop continues, the start clutch related to the neutral control can be completely released or the idling stop can be executed, and it is possible to shift to the return from the neutral control or the engine restart immediately before the start. it can.

  In the driving control apparatus for a vehicle having any one of the above configurations (1) to (6), (7) the environmental state detection means detects information on fluctuations in the driving environment that affects the traveling speed of the host vehicle. It is preferable to do this.

  With this configuration, it is easy to perform a sudden operation that requires deceleration or acceleration in response to a change in the driving environment, but it is possible to perform an accurate and quick operation control for such a sudden operation.

  In the driving control apparatus for a vehicle having any one of the above configurations (1) to (7), (8) the environmental state detecting means reduces the inter-vehicle distance with another vehicle traveling around the host vehicle. Detecting any one of a deceleration operation of a preceding vehicle preceding the own vehicle, a change in a display state of a traffic light, a change in a road surface state in a front area of the own vehicle, and an approach of an object to the front area of the own vehicle. May be.

  In this case, it is possible to accurately detect changes in the driving environment that are likely to lead to a sudden operation by the driver.

  In order to achieve the above object, the vehicle driving control method according to the present invention includes (9) an environmental state detection stage for detecting the state of the driving environment that affects the traveling of the host vehicle, and detection information in the environmental state detection stage. Based on the driving operation prediction stage for predicting the change of the driving operation of the driver immediately after the change of the driving environment is detected, and based on the prediction result of the driving operation prediction means, prior to the change of the driving operation And a control step for controlling the driving state of the host vehicle so as to be suitable for the change.

  In this method, when a driver's driving operation changes due to changes in the driving environment that affect driving, a driving pattern accompanied by the change is predicted so that the driver's driving operation changes before the driver's driving operation changes. Control the driving state of the vehicle. Therefore, it is possible to execute the operation control necessary for an emergency operation by the driver at an appropriate timing, and to execute an accurate and quick operation control.

  In the vehicle driving control method according to the present invention, (10) a predicted driving pattern in which the driving operation prediction stage stores, as a plurality of predicted driving patterns, a pattern predicted as a driving operation of the driver with respect to a change in the driving environment. Based on detection information in the storage stage and the environmental state detection stage, when a change in the driving environment is detected, one of the plurality of predicted driving patterns is selected as a predicted driving pattern within a predetermined time of the host vehicle Preferably includes a pattern selection step.

  In this case, a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment are stored in advance, the state of the driving environment is detected, and a plurality of predicted driving patterns are detected based on the detection information. Is selected as a predicted driving pattern for each predetermined time of the host vehicle. Based on the selected predicted driving pattern, the driving state of the host vehicle is controlled to be suitable for the change prior to the change of the driving operation of the driver. Therefore, it is possible to accurately and quickly determine the operation control necessary for a sudden operation by the driver, and to execute the accurate and quick operation control.

  According to the vehicle driving control device of the present invention, when the driving operation of the driver changes with respect to the change of the driving environment that affects the driving, the driving pattern accompanying the change is predicted, and the change of the driving operation of the driver Because the driving state of the host vehicle is controlled prior to the change, the necessary driving control can be executed at an appropriate timing even if the driver suddenly operates in response to changes in the driving environment. While improving and reducing the burden on the driver, it is possible to execute an accurate and quick operation control for a sudden operation by the driver.

  In addition, a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment are stored in advance, and any one of the plurality of predicted driving patterns based on the detection information of the state of the driving environment is If it is selected as the predicted driving pattern for every predetermined time, it is possible to accurately and quickly determine the driving control necessary for the sudden operation by the driver, and to execute the accurate and quick driving control.

  According to the vehicle driving control method of the present invention, the driving pattern when the driving operation of the driver changes with respect to the fluctuation of the driving environment affecting the traveling of the host vehicle is predicted, and the driving operation of the driver is changed. Since the driving state of the host vehicle is controlled in advance so as to be suitable for the change, it is possible to execute the driving control necessary for the driver's sudden operation at an appropriate timing, and to execute the accurate and quick driving control. be able to.

  Further, a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment are stored in advance, the state of the driving environment is detected, and among the plurality of predicted driving patterns based on the detection information If one of them is selected as a predicted driving pattern for each predetermined time of the host vehicle, it is possible to more accurately and promptly determine the driving control required for a driver's sudden operation, and it is accurate and quick. Operation control can be executed.

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

(First embodiment)
FIG. 1 to FIG. 5 are diagrams showing an embodiment of a vehicle operation control apparatus according to the present invention.

  First, the configuration will be described. As shown in FIG. 1, the vehicle of the present embodiment (automobile not shown) includes an engine 11 that is a prime mover and wheels (running) that are not shown in the figure. The automatic transmission 12 is transmitted to the output unit) side. The automatic transmission 12 includes a torque converter 14, a gear transmission mechanism 15, and a hydraulic control unit 16.

  Although not shown in detail, the engine 11 has a combustion chamber partitioned by a piston in each cylinder, as in a known multi-cylinder internal combustion engine, and the intake valve and the exhaust valve open and close at a predetermined timing. The spark plug is disposed so as to be exposed to the combustion chamber. A throttle valve is provided upstream of the intake passage formed by the intake manifold, and an injector (fuel injection device) for injecting fuel is provided between the intake passage and the combustion chamber of each cylinder.

  The torque converter 14 is connected to the pump impeller 14a (input side member) connected to the output shaft 11a of the engine 11 via the shell cover 14s, the pump impeller 14a and the transmission input shaft 61 of the gear transmission mechanism 15. A turbine runner 14b (output side member) connected, a stator 14c positioned between the pump impeller 14a and the turbine runner 14b, and hydraulic oil (not shown) accommodated in the shell cover 14s. When the hydraulic oil flow is generated by the rotation of the input-side pump impeller 14a driven by the output shaft 11a of the engine 11, the turbine runner 14b receives the inertia force of the flow and the gear transmission mechanism 15 (gear train) The transmission input shaft 61 is rotated. Further, by rectifying the flow of hydraulic oil returning from the turbine runner 14b to the pump impeller 14a by the stator 14c, a torque amplifying action due to the reaction force of the stator 14c is generated. The torque converter 14 is also provided with a lock-up clutch 14d that can selectively restrain the input-side pump impeller 14a and shell cover 14s and the output-side turbine runner 14b to each other. By doing so, the torque transmission efficiency can be increased. Further, the stator 14c is supported on the gear transmission mechanism 15 side via the one-way clutch 14e and receives the reaction force.

  The gear transmission mechanism 15 is composed of, for example, a planetary gear type gear train whose upper half portion is shown by a skeleton in FIG. 2, and includes a transmission input shaft 61 for inputting rotation from the turbine runner 14b, a forward clutch, and the like. A first rotating shaft 62 that is selectively connected to the transmission input shaft 61 via the one-way clutch f4 by C1 (starting clutch), and that is connected to the transmission input shaft 61 during engine braking by the forward clutch C4; A first planetary gear 51, a second planetary gear 52, and a third planetary gear 53 are provided so as to be adjacent to each other in the axial direction of the first rotating shaft 62.

  The first planetary gear 51 is locked to the transmission case 15h by engagement of the sun gear S1 fixed to the cylindrical third rotating shaft 64 surrounding the transmission input shaft 61 and the brake B2, and rotates when the brake B2 is released. The ring gear R1 that is enabled, the double pinions P1a and P1b meshing with the sun gear S1 and the ring gear R1, and the one-way clutch f1 are rotatably supported by the transmission case 15h and the double pinions P1a and P1b are rotatable. And the carrier Cr1 that is locked to the transmission case 15h by the engagement of the brake B3.

  The second planetary gear 52 is fixed to the sun gear S2 fixed to the transmission input shaft 61 and the ring gear R1 of the first planetary gear 51, and is locked to the transmission case 15h when the brake B2 is engaged. The ring gear R2 that can rotate when released, the pinion P2 that meshes with the sun gear S2 and the ring gear R2, and the one-way clutch f3 are supported by the transmission case 15h so as to be rotatable in one direction, and the pinion P2 is rotatably held. The carrier Cr2 is engaged with the transmission case 15h by the engagement of the brake B4. The carrier Cr2 is fixed to a second rotating shaft 63 that is selectively connected to the transmission input shaft 61 via the clutch C2, and rotates integrally with the second rotating shaft 63.

  The third planetary gear 53 is fixed to the sun gear S3 fixed to the transmission input shaft 61 and the carrier Cr2 of the second planetary gear 52, and is locked to the transmission case 15h when the brake B4 is engaged. A ring gear R3 that can rotate when released, a pinion P3 that meshes with the sun gear S3 and the ring gear R3, and a carrier Cr3 that rotatably holds the pinion P3 and rotates with the revolving motion of the pinion P3. Further, the carrier Cr3 is fixed to the transmission output shaft 65, and rotates together with the transmission output shaft 65.

  Here, the clutches C1, C2, C3, and C4 and the brakes B1, B2, B3, and B4 are engaged and disengaged by the hydraulic control unit 16 according to the shift speed to be formed by the gear transmission mechanism 15, respectively. And can be switched. Further, the gear position is determined by a TCC (transmission control computer) 30 according to a shift pattern mainly using vehicle speed and throttle opening as parameters. The rotation of the transmission output shaft 65 of the gear transmission mechanism 15 is transmitted to the wheel side via a differential gear (not shown).

  Although not shown in detail, the hydraulic control unit 16 operates the forward clutch C1 in accordance with, for example, a plurality of solenoid valves 86, 87 and 88 and an output pressure of the solenoid valve 86 which is a linear solenoid valve (electromagnetic proportional valve). A clutch pressure control circuit 81 for controlling the hydraulic pressure, and a clutch release control circuit 82 for adjusting the hydraulic pressure that is hydraulically operated by the solenoid valve 87 that is excited in conjunction with the start switch being turned on to release the clutch C4; The brake pressure control circuit 83 is configured to control the hydraulic pressure of the B2 brake B2 according to the output pressure of the (electromagnetic proportional valve) by the linear solenoid valve 88.

  Here, the solenoid valves 86 to 88 and other solenoid valves for controlling the hydraulically operated frictional engagement elements (hereinafter referred to as solenoid valves 86 to 88, etc.) are energized and driven in a predetermined combination corresponding to the required shift stage. By controlling the drive current to the solenoid valves 86 to 88 and the like by the TCC 30, the clutches C1 to C4 and the brakes B1 to B4 in the gear transmission mechanism 15 are optimally shifted according to a predetermined shift pattern. Controlled to form a step.

  On the other hand, as shown in FIG. 1, the engine 11 includes an accelerator opening sensor 21 that detects the amount of depression of an accelerator pedal (not shown), a throttle opening sensor 22 that detects a throttle valve opening TVO (not shown), an engine 11 includes a water temperature sensor 23 for detecting the temperature of the cooling water 11, an intake air amount sensor 24 such as an air flow meter, and an engine speed sensor 25 including a crank angle sensor capable of detecting crank rotation at every predetermined angle. Yes.

  Further, on the vehicle body side (not shown), a brake pedal sensor 26 that detects the amount of depression of the brake pedal or a pedaling force applied to the brake pedal, and a shift position sensor 27 that detects an up / down operation of a shift lever provided in the passenger compartment. And are attached.

  A turbine rotation speed sensor 28 for detecting a rotation speed Nt corresponding to the rotation speed of the turbine runner 14 b is provided on the output side of the torque converter 14, and the transmission output shaft 65 rotates on the output side of the gear transmission mechanism 15. A vehicle speed sensor 29 for detecting the speed is provided.

  Further, the vehicle according to the present embodiment includes a gradient sensor 41 that detects the inclination of the vehicle body from the horizontal posture in the front-rear direction, an acceleration sensor 42 that detects vehicle acceleration, a radar sensor 43, and a front camera 44. Is provided. Here, the front camera 44 is of a known stereo camera type in which cameras are arranged on the left and right of the front side of the vehicle body, for example, and image data obtained by capturing the front of the vehicle with each camera is processed by a predetermined image processing program, Changes such as pedestrians and road surface irregularities can be grasped as a three-dimensional image. In addition to imaging of the driver's field of view, imaging of the area outside (left and right sides, road surface side, upper side, rear side) of the driver's field of view prior to visual recognition of changes in the driving environment by the driver The resolution and arrangement are set so that (for example, a change in signal, an object entering the vehicle front area) can be detected.

  The detection information of these sensor groups 21 to 29 and 41 to 44 is taken into a TCC 30 that is configured integrally with an engine control computer (hereinafter referred to as ECC). The TCC 30 is further provided with a communication port that captures external information such as traffic information. In this communication port, for example, deceleration operation information that is driving operation information of a preceding vehicle started from a preceding vehicle, traffic regulation, and the like. Detected by the start information of the traffic signal switching to be applied, the vehicle signal emitted from the vehicle etc. trying to enter in front of the host vehicle from the left and right, the position information of the front area (eg GPS (Global Positioning System); global positioning system) As the information corresponding to the vehicle's position within a certain range on the traveling direction side, caution information such as road surface fluctuation positions and traffic regulation signal installation positions that can be input from the outside are captured. .

  Although the specific hardware configuration is not shown, the TCC 30 includes a CPU, a ROM, a RAM, a B-RAM (backup RAM), an A / D converter, a constant voltage power supply, a communication IC, and the like. A signal from a control computer of another electronic control system is taken in. The TCC 30 controls the valve switching positions of the plurality of solenoid valves 86 to 88 and the like in the hydraulic pressure control unit 16, so that the gear speed change mechanism 15 depends on the shift position, the vehicle speed, the throttle opening degree, and the running state of the vehicle. Automatic shift point control, lockup control of the torque converter 14, flex lockup control that causes a slight slip in the lockup clutch 14d, etc. Twelve line oil pressure controls are executed. The control itself for these automatic shifts is the same as that known in the art.

  The TCC 30 is an environment that detects the state of the driving environment that affects the traveling of the host vehicle based on sensor information and communication information in cooperation with the sensor groups 21 to 29 and 41 to 44 as a plurality of new functional units. A predicted driving pattern storage unit 31 (prediction) that includes a state detection unit 32 (environmental state detection means), a ROM, an EEPROM, and the like, and stores a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment. Driving pattern storage means), and selecting one of a plurality of predicted driving patterns as a predicted driving pattern for each predetermined time of the host vehicle based on the detection information in the environmental state detection unit 32, the driver immediately after the current time A pattern selection unit 33 (pattern selection means, driving state prediction means) for predicting a driving operation, and a prediction selected by the pattern selection means. A control unit (control means) that controls the driving state of the host vehicle so as to adapt to the change of the driving operation of the driver based on the driving pattern before the driving operation of the driver changes. Yes.

  Specifically, the environmental state detection unit 32 of the TCC 30 determines whether or not there is a change in the driving environment that affects the traveling speed of the host vehicle based on the information from the sensor groups 21 to 29 and 41 to 44, and therefore. For example, a reduction in the inter-vehicle distance from other vehicles traveling around the host vehicle, a deceleration operation of a preceding vehicle preceding the host vehicle, a traffic light (including a crossing breaker, etc.) ) Display state change, road surface condition of the front area of the vehicle (road surface unevenness, wet road surface, appearance of road surfaces with different friction coefficients such as snowy roads, etc.), some object to the front area of the host vehicle Any of the ingresses (which may be humans or animals) can be detected.

  The plurality of predicted driving patterns stored and stored in the predicted driving pattern storage unit 31 of the TCC 30 are set as driving patterns in which the vehicle traveling speed changes in different patterns. For example, as shown in FIG. As indicated by the arrow, the travel stop pattern (1) due to deceleration of the host vehicle, the acceleration pattern (2) immediately after deceleration of the host vehicle, the deceleration pattern (3) immediately after acceleration of the host vehicle, and the deceleration / stop of the host vehicle. So as to represent one of the following driving states: start pattern (4), stop pattern immediately after start (5), acceleration continuation pattern (6), stop state continuation pattern (7), and start pattern (8). Is set.

  Further, the control unit 34 of the TCC 30 determines whether or not neutral control or idle stop is necessary for the predicted operation pattern selected by the pattern selection unit 33, and prohibits the control determined to be unnecessary. It is supposed to be.

  In addition, the control unit 34 of the TCC 30 performs any one of neutral control, idle stop, shift timing control of the automatic transmission, and hydraulic control in the automatic transmission with respect to the predicted operation pattern selected by the pattern selection unit 33. Whether or not it is necessary is determined, and the control program is configured so that the control determined to be necessary is started early before the change of the driving operation by the driver.

  More specifically, for example, as shown in FIGS. 4A and 4B, the control contents in the control unit 34 at that time are associated with the above-described predicted operation patterns (1) to (8). The control rule is stored in a ROM or the like that constitutes a part of the pattern selection unit 33, and the CPU that constitutes the control unit 34 of the TCC 30 executes this.

  The neutral control, the idle stop, the shift timing control of the automatic transmission, and the hydraulic control in the automatic transmission are all the same as the known control, and will not be described in detail. The vehicle is operated under predetermined conditions (for example, when the forward travel range (D) of the automatic transmission is selected by controlling the 12 forward clutches C1 and C4 to be released or in a predetermined slip state to be close to neutral. , Accelerator off, brake on, brake master cylinder pressure is greater than a predetermined value and vehicle speed is less than a predetermined value). In the idle stop control, the engine 11 is automatically stopped by fuel cut or the like regardless of the driver's operation when a predetermined stop condition is satisfied during vehicle operation, and the predetermined return condition is set during the automatic stop of the engine 11. When established, the engine 11 is automatically started. For example, when the vehicle is temporarily stopped, the engine is stopped when the stop time exceeds several seconds, and fuel consumption and exhaust gas emission are suppressed.

  The shift timing control of the automatic transmission 12 is such that, for example, in cruise control, when a predetermined set speed is set, the vehicle speed is automatically controlled to the set speed without stepping on the accelerator pedal during driving. In the embodiment, not only in a specific driving mode such as cruise control, but in a normal driving state, a shift that is predicted only for a short time based on a predicted driving pattern corresponding to a change in driving environment is preceded. This is the timing control. For example, the shift control is such that an upshift or a downshift precedes a driver's operation in response to a change in the driving environment that requires shifting or starting.

  Further, the shift control of the automatic transmission 12 is performed by the clutches C1 to C4 and the brakes B1 to B4 that are a plurality of friction engagement elements inside the automatic transmission 12, and in each clutch and brake, a hydraulic multi-plate clutch is used. The piston is displaced against the urging force of the return spring within a predetermined stroke range according to the supply hydraulic pressure, and a plurality of friction plates supported by one element in a spline connection state and the other element in a spline connection state. A plurality of supported friction plates are clamped together to be in a fastened / engaged state. Further, when the piston of the hydraulic multi-plate clutch is pushed back by the urging force of the return spring as the supply hydraulic pressure is reduced or released, a plurality of friction plates supported by one rotation element and a plurality of friction plates supported by the other rotation element The released state is achieved by releasing the pinching state with the friction plate.

In the hydraulic control in the automatic transmission 12 according to the present embodiment, a proportional electromagnetic solenoid valve is used to change the operating hydraulic pressure supplied to the clutch or the brake, thereby enabling the sliding between the friction plates. Between the fully released state in which the above substantial gap occurs and the fastening / engaged state in which there is no gap between the friction plates and no substantial slip (relative rotation) occurs between the one and the other elements, A semi-engagement state in which a gap between the friction plates is less than the predetermined value and a constant slip (relative rotation) is obtained between one and the other elements can be set. Further, during the period from the fully released state to the half-engaged state, for example, the operating oil pressure of the clutch or brake is controlled within a range corresponding to the dead zone of the solenoid valve that controls the operating oil pressure of the clutch or brake. As a result, it is possible to execute control (hereinafter referred to as clutch pack packing) for closing the gap from a fully released state of the clutch or brake to a slip state close to a half-engaged state.

  Next, an embodiment of the operation and the vehicle operation control method of the present invention will be described.

  In the operation control apparatus of the present embodiment configured as described above, a control program as shown in the schematic flow in FIG. 5 is stored in the ROM of the TCC 30, and according to this program, during operation of the vehicle, the following is performed. Control is executed.

  First, based on the information from the sensor groups 21 to 29 and 41 to 44, it is determined whether or not there is a change in the driving environment that affects the traveling of the host vehicle, and calculation processing therefor is performed. The presence / absence of variation information is checked in the TCC 30 every predetermined time shorter than the time required for situation determination and operation. When the driving environment fluctuates during driving of the vehicle, prior to the driving operation of the driver with respect to the fluctuation, the fluctuation of the driving environment that affects the driving of the host vehicle is detected in the TCC 30 as the environmental state detecting means. It is detected (step S11; fluctuation information detection stage).

  Next, it is determined whether or not the predicted driving pattern of the host vehicle is obtained every predetermined time based on the detection information of the state of the driving environment, and a plurality of predicted driving patterns (1) to (8) as the vehicle driving state immediately after the current time. Any one of the predicted driving patterns is selected (step S12; predicted driving pattern selection stage; driving operation prediction stage), and based on the selected predicted driving pattern, a short period of time prior to the change of the driving operation by the driver is sufficient. In the meantime, a control signal is generated and output so that unnecessary control is prohibited and early execution of necessary control is performed so as to suit the change (step S13; control stage). That is, a sudden change in the driving operation of the driver with respect to a change in the driving environment in the form of selection of the predicted driving pattern is accurately estimated, and the control that is excellent in responsiveness while being fuel-efficient is executed.

  Specifically, control associated with the predicted operation patterns (1) to (8) according to the control rules shown in FIGS. 4 (a) and 4 (b) is executed.

  For example, if the preceding vehicle traveling ahead stops, the traffic light changes to a stop signal (for example, a red light) within a predetermined distance range, or if a pedestrian crosses the front road surface, the vehicle stops decelerating. The pattern (1) is determined, and as shown in FIG. 4 (a), the clutch pack packing is applied to any of the clutches C1 to C4 and the brakes B1 to B4 required for the downshift from the current gear stage. Control is performed so that an immediate response can be made when a downshift request is made by the driver, and a deceleration is ensured by downshifting early when the downshift is requested by the driver. In addition, neutral control (also referred to as N control for convenience in the figure) is started before stopping, power transmission to the drive wheel side is limited, and further downshifting to the low gear side after stopping by the braking operation by the driver This prevents the shift busy state.

  For example, when traveling with a certain distance between vehicles, the preceding vehicle accelerates and the host vehicle is not accelerated, or the traffic signal ahead advances from a signal display that requires stopping or deceleration. When it changes to an acceptable signal display, or when a pedestrian who has crossed the road surface ahead has finished crossing, it is determined as an acceleration pattern (2) which is a driving pattern that accelerates immediately. The clutch pack stuffing is executed for any one of the clutches C1 to C4 and the brakes B1 to B4 required for the downshift from the current gear stage, and the accelerator pedal is depressed by the driver to request acceleration. Sometimes, control is performed to allow immediate down-shifting in response to the operation. As a result, acceleration response is improved.

  In addition, when traveling with a certain distance between the vehicles, the preceding vehicle performs a deceleration operation (whether the brake lamp is displayed or a braking operation signal is output from the preceding vehicle), or between the preceding vehicle When the distance between vehicles is shortened, or when a pedestrian or some object jumps out on the road ahead, it is judged as the deceleration pattern (3), which is a driving pattern that immediately decelerates, and upshifting is prohibited As a result, the deceleration is secured, and the situation where the shift becomes busy immediately after deceleration is prevented.

  In addition, when the preceding vehicle starts or accelerates immediately after the vehicle is decelerating immediately before stopping or immediately after it stops, or when the traffic light switches to a signal display that allows the vehicle to travel, the driving pattern starts immediately even if the vehicle stops. A start pattern (4) is determined, and neutral control is prohibited and idle stop is prohibited. Thereby, the responsiveness at the time of start request | requirement operation improves.

  Immediately after the host vehicle starts and accelerates, if the preceding vehicle stops, the traffic light switches to a stop signal, or the pedestrian crosses the road ahead, this is a driving pattern that immediately decelerates and stops. It is determined as pattern (5). At this time, the deceleration is ensured by prohibiting the upshift, and the situation where the shift becomes busy due to the deceleration immediately after the acceleration is prevented in advance.

  If the vehicle is in a state where the preceding vehicle is accelerating immediately after the host vehicle is started, or in a state where the signal is accelerating with the signal display indicating that the vehicle can proceed (for example, a green signal), the driving continues to accelerate. The acceleration continuation pattern (6), which is a pattern, is determined. In this case, the same control as that during normal acceleration is performed.

  On the other hand, the stop signal of the traffic signal continues, the preceding vehicle is stopped, the pedestrian is crossing the front road surface, the level crossing is blocked, etc. If necessary, as shown in FIG. 4B, it is determined as a stop continuation pattern (7) that is an operation pattern in which the stop continues. At this time, the forward clutches C1 and C4, which are starting clutches, are completely released, and a fuel cut or the like for idling stop is executed. Therefore, fuel consumption can be improved.

  In addition, when the start clutch is released or the idle stop is made in the stop state, the traffic light changes from a stop signal to a signal allowing passage, or the pedestrian crosses the front road surface and the preceding vehicle starts. When it is unnecessary to continue the stop of the host vehicle, it is determined as the pattern immediately before starting (8), which is the driving pattern immediately before starting. At this time, the idle stop state is released and the engine 11 is restarted, and the forward clutches C1 and C4, which are the starting clutches, are returned from the neutral control state in the fully released state. Therefore, when the driver starts the start operation by operating the accelerator pedal, etc., the driver can respond immediately, improving the responsiveness and improving the responsiveness compared to the conventional method in which the engine is restarted when the pedal is operated. The accelerator pedal operation does not increase due to the badness, and the shock of the automatic transmission 12 at the time of start is effectively suppressed.

  As described above, in the present embodiment, the pattern predicted as the driving operation of the driver with respect to the fluctuation of the driving environment that affects the traveling of the host vehicle is the plurality of predicted driving patterns (1) to (8), and the ROM of the TCC 30 or the like. Based on the predicted driving pattern storage stage stored in the vehicle, the environmental state detection stage for detecting the state of the driving environment based on the information from the sensor groups 21 to 29 and 41 to 44, and the detection information in the environmental state detection stage. Based on the pattern selection stage for selecting any one of the plurality of predicted driving patterns (1) to (8) as the predicted driving pattern for each predetermined time of the host vehicle, and the predicted driving pattern selected in the pattern selection stage, A vehicle driving control method including a control step for controlling the driving state of the host vehicle so as to be suitable for the change prior to the change of the driving operation of the driver. , The process of estimating the driving pattern with change of the driver's driving operation immediately after changes in working environment pattern selection steps are performed.

  Therefore, in this method, based on the predicted driving pattern selected corresponding to the change in the driving environment, the change in the driving operation of the driver immediately after the change in the driving environment is accurately grasped and prior to the change in the driving operation of the driver. By controlling the driving state of the vehicle so that it can be adapted to the change, it is possible to execute the driving control necessary for the driver's sudden operation at an appropriate timing, and to execute the driving operation accurately and quickly. Can do.

  That is, in the vehicle operation control apparatus of the present embodiment using this method, the predicted operation pattern is determined based on the fluctuation of the operation environment, and the operation control necessary for it is executed in advance at an accurate timing. Even if the driver suddenly operates in response to changes in the driving environment, accurate and quick driving control can be executed. In addition, a sudden operation that requires deceleration or acceleration is easily performed in response to a change in the driving environment. However, even for such a sudden operation, accurate and quick operation control can be performed as described above.

  Moreover, the predicted driving pattern is a driving pattern that is predicted after a short time of about 1 second, for example, and it is possible to accurately detect changes in the driving environment that are likely to lead to a sudden operation by the driver based on various sensor information and communication information. Therefore, accurate control can be performed.

  In addition, because the driver's operation performed in response to changes in the driving environment is patterned as a change pattern of a plurality of traveling speeds required thereby, a predicted driving pattern that can accurately respond to a driver's sudden operation and can do.

  In particular, as predicted driving patterns predicted for changes in the driving environment, a travel stop pattern (1) due to deceleration of the host vehicle, an acceleration pattern (2) immediately after deceleration of the host vehicle, and a deceleration pattern immediately after acceleration of the host vehicle ( 3) Among the start pattern (4) from the stop state of the host vehicle, the stop pattern (5) immediately after the start, the acceleration continuation pattern (6), the continuation pattern (7) in the stop state, and the pattern immediately before starting (8) As a result, it is possible to predict reliably, it is possible to respond accurately to a driver's sudden operation, and it is possible to execute a preferable driving state control from the viewpoint of fuel consumption for other operation states.

  In addition, it is possible to prevent a delay in response to the driver's start operation by executing a return from neutral control or canceling the idle stop immediately before the start is made in response to changes in the driving environment. Can be prevented. In addition, when a deceleration stop operation is performed in response to changes in the driving environment, a transition to neutral control is performed before the stop, or an early downshift is performed in the case of the deceleration stop operation or an acceleration operation immediately after deceleration. In addition, responsiveness can be improved by performing hydraulic control such as reducing the clutch gap on the downshift side (tightening allowance for dead band, etc.) so as to make it possible.

  Further, by prohibiting the upshift immediately before the deceleration operation immediately before the acceleration or immediately before the deceleration stop operation, the deceleration can be secured, and the so-called shift busy state can be prevented. In addition, when the stop continues, the start clutch related to the neutral control can be completely released or the idling stop can be executed, and immediately before the start is made, the control shifts to the return from the neutral control or the engine restart. Therefore, it is possible to improve the response at the time of starting and reduce the shock at the time of engaging the starting clutch.

  In the above-described embodiment, most of the information from the outside is grasped from the image data of the front camera. However, for example, when the sound wave of the horn from the preceding vehicle or the crossing vehicle is detected by the sensor, the deceleration is stopped. It is also possible to determine the pattern (1) and select a predicted operation pattern. Also, as communication information, information on display switching of traffic lights under passage restrictions is imported, or each point information or road surface state information accumulated in an external information source in association with each point where GPS detection is possible, traffic signals and blocking It is also conceivable to carry out predictions that are not limited to predictions of short-time operation states within a few seconds from the current time by capturing more operation information of laying equipment such as machines. For example, predict fluctuations in the driving environment, such as road surface conditions at points where the driving environment is expected to change suddenly, such as the entrance of a tunnel or large underground parking lot, based on weather information, time information, and other communication information. It is also conceivable to correct the prediction pattern by reflecting it in the prediction of the driving operation of the driver that is predicted when the point is reached.

  As described above, the vehicle driving control apparatus and method according to the present invention stores in advance a plurality of predicted driving patterns that are predicted as changes in the driving operation of the driver with respect to changes in the driving environment. Based on the detected information on the state of the vehicle, one of the plurality of predicted driving patterns is selected as a predicted driving pattern for each predetermined time of the host vehicle, and the driving operation of the driver is changed based on the selected predicted driving pattern. Since the driving state of the vehicle is controlled in advance so as to be suitable for the change, it is possible to execute the driving control necessary for the driver's sudden operation at an appropriate timing, and to drive the driver accurately and quickly. The control can be executed, and the vehicle can be economically and safely operated. Useful for general operation control device and operation control method for a vehicle that performs control for reducing the burden.

1 is a schematic block diagram showing a vehicle operation control apparatus according to an embodiment of the present invention. It is a schematic block diagram of the automatic transmission and its hydraulic control apparatus in one Embodiment. It is explanatory drawing explaining the some prediction driving | operation pattern in one Embodiment. It is a figure explaining the outline | summary of the several prediction driving | operation pattern in one Embodiment, and the control corresponding to it in a table format. It is a flowchart of the operation control program in one Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Engine 11a Output shaft 12 Automatic transmission 14 Torque converter 14a Pump impeller 14b Turbine runner 14c Stator 14d Lock-up clutch 14e One-way clutch 14s Shell cover 15 Gear transmission mechanism 15h Transmission case 16 Hydraulic control part 21 Accelerator opening sensor 22 Throttle opening Degree sensor 23 Water temperature sensor 24 Intake air amount sensor 25 Engine speed sensor 26 Brake pedal sensor 27 Shift position sensor 28 Turbine speed sensor 29 Vehicle speed sensor 30 TCC
31 Predicted driving pattern storage unit (predicted driving pattern storage means, driving operation prediction means)
32 Environmental condition detection unit (environmental condition detection means)
33 pattern selection unit (pattern selection means, driving operation prediction means)
34 Control unit (control means)
41 Gradient sensor 42 Acceleration sensor 43 Radar sensor 44 Front camera (stereo camera)
51 First planetary gear 52 Second planetary gear 53 Third planetary gear 61 Transmission input shaft 62 First rotation shaft 63 Second rotation shaft 64 Third rotation shaft 65 Transmission output shaft 81 Clutch pressure control circuit 82 Clutch release control circuit 83 Brake pressure Control circuit 86, 87, 88 Solenoid valve B1, B2, B3, B4 Brake (friction engagement element)
C1 forward clutch (starting clutch; friction engagement element)
C2, C3 clutch (friction engagement element)
C4 Forward clutch (friction engagement element)
Cr1, Cr2, Cr3 Carriers f1, f2, f3, f4 One-way clutch P1a, P1b Double pinion R1, R2, R3 Ring gear S1, S2, S3 Sun gear

Claims (10)

Environmental state detection means for detecting the state of the driving environment affecting the traveling of the host vehicle;
Based on detection information of the environmental state detection means, a driving operation prediction means for predicting a change in the driving operation of the driver with respect to a change in the driving environment;
A vehicle driving control device comprising: control means for controlling the driving state of the host vehicle so as to be suitable for the change prior to the change of the driving operation based on the prediction result of the driving operation prediction means. The driving operation prediction means is
Predicted driving pattern storage means for storing a plurality of predicted driving patterns predicted as changes in the driving operation of the driver with respect to changes in the driving environment;
Pattern selecting means for selecting one of the plurality of predicted driving patterns as a predicted driving pattern within a predetermined time of the host vehicle when a change in the driving environment is detected based on detection information of the environmental state detecting means; The vehicle operation control device according to claim 1, comprising:   The driving control device for a vehicle according to claim 2, wherein the plurality of predicted driving patterns are set as driving patterns in which traveling speed changes in different patterns.   The plurality of predicted driving patterns are: driving stop due to deceleration of the own vehicle, acceleration immediately after deceleration, deceleration immediately after acceleration, starting from a stopped state, stopping immediately after starting, and driving state immediately before starting The vehicle operation control device according to claim 2, wherein the vehicle operation control device is set to express.   The control means determines whether or not neutral control or idle stop is necessary for the predicted operation pattern selected by the pattern selection means, and prohibits the control determined to be unnecessary. The vehicle operation control device according to any one of claims 2 to 4, wherein the vehicle operation control device is characterized in that:   Whether the control means requires any one of neutral control, idle stop, shift timing control of the automatic transmission, and hydraulic control in the automatic transmission with respect to the predicted operation pattern selected by the pattern selection means. 6. The vehicle driving control apparatus according to claim 2, wherein the control that is determined and determined to be necessary is started early prior to a change in the driving operation of the driver.   The vehicle operation control device according to any one of claims 1 to 6, wherein the environmental state detection means detects information on fluctuations in the driving environment that affects the traveling speed of the host vehicle.   The environmental state detection means reduces the inter-vehicle distance with other vehicles traveling around the host vehicle, decelerates the preceding vehicle preceding the host vehicle, changes in the display state of the traffic light, the road surface in the front area of the host vehicle The vehicle operation control device according to any one of claims 1 to 7, wherein any one of a change in state and an approach of an object to a front area of the host vehicle is detected. An environmental state detection stage for detecting the state of the driving environment affecting the driving of the host vehicle;
Based on the detection information in the environmental state detection stage, when a change in the driving environment is detected, a driving operation prediction stage that predicts a change in the driving operation of the driver immediately after that,
And a control step of controlling the driving state of the host vehicle so as to be suitable for the change prior to the change of the driving operation based on the prediction result of the driving operation predicting means. The driving operation prediction step includes:
A predicted driving pattern storage stage that stores a pattern predicted as a driving operation of the driver with respect to a change in the driving environment as a plurality of predicted driving patterns;
A pattern selection stage that selects one of the plurality of predicted driving patterns as a predicted driving pattern within a predetermined time of the host vehicle when a change in the driving environment is detected based on detection information in the environmental state detection stage. The vehicle operation control method according to claim 9, further comprising:

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