JP2014113929A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure desired controllability and reliability of vehicle control.SOLUTION: A vehicle control device 10 includes: a travel plan generating part 25 which generates a travel plan of an own vehicle on the basis of information used for control of the own vehicle; a vehicle control part 29 which controls the own vehicle according to the travel plan obtained by the travel plan generating part 25; and a controlled variable regulating part 27 which regulates a controlled variable at the time when the own vehicle is controlled by the vehicle control part 29, according to the travel plan. The vehicle control part 29 regulates at least one of the magnitude of a controlled variable and change speed of at least either of a steering actuator 16, a brake actuator 15, and a throttle actuator 14.

Description

  The present invention relates to a vehicle control device.

Conventionally, driving assistance that sets the control amount of the steering actuator based on the front image of the vehicle, and limits the limit value to limit the time change of this control amount at the start of driving assistance control and when it stops and when it continues An apparatus is known (see, for example, Patent Document 1).
Further, conventionally, the command current value of the follow-up steering control is calculated based on the target yaw rate in the high speed travel region, and is calculated based on the target steering angle in the low speed travel region, and the limit value of the command current value is calculated based on the vehicle speed and the travel radius. There is known a driving support device that is variably set according to any one of the road surface friction coefficients (for example, see Patent Document 2).

Japanese Patent No. 4211865 JP 2006-298209 A

By the way, according to the driving support device according to the above-described prior art, the same value is set for a plurality of steering controls executed for different purposes only by variably setting the limit value of the control amount of the steering control according to the control timing. Therefore, there is a problem that an appropriate limit value cannot be obtained for each steering control.
Also, if the limit value of the control amount of steering control is variably set according to information acquired by various sensors, cameras, etc. (that is, information used for vehicle control), it is appropriate when the accuracy of information is low. There arises a problem that the limit value cannot be obtained.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle control device capable of ensuring desired controllability and reliability of vehicle control.

  In order to solve the above problems and achieve the object, a vehicle control apparatus according to a first invention of the present invention is an information acquisition means for acquiring information used for vehicle control (for example, the outside world in the embodiment). Sensor 11, vehicle state sensor 12, object recognition unit 21, current position detection unit 22, road information acquisition unit 23, and map data storage unit 24), and at least based on the information acquired by the information acquisition unit, Travel plan acquisition means for acquiring a travel plan for the vehicle (for example, travel plan generation unit 25 in the embodiment) and control means for controlling the vehicle according to the travel plan acquired by the travel plan acquisition means (For example, the vehicle control unit 29 in the embodiment) and a control amount regulating means (example) that regulates a control amount when the vehicle is controlled by the control means according to the travel plan. If provided with a control amount restricting portion 27) in the embodiment.

  Furthermore, the vehicle control device according to a second aspect of the present invention includes parameter generation means (for example, parameter generation unit 26 in the embodiment) for generating a parameter related to the travel plan, wherein the control amount restriction means is The control amount is regulated according to the parameter generated by the parameter generation means.

  Furthermore, in the vehicle control device according to the third aspect of the present invention, the control amount restriction means restricts the control amount according to the travel plan and the speed of the vehicle.

  Furthermore, a vehicle control apparatus according to a fourth aspect of the present invention includes a steering actuator that performs steering of the vehicle (for example, the steering actuator 16 in the embodiment) and a braking actuator that performs braking of the vehicle (for example, implementation). And a drive actuator (for example, a throttle actuator 14 in the embodiment) for driving the vehicle, and the control means includes the steering actuator, the brake actuator, and the drive. The control amount of at least one of the actuators is set.

  Furthermore, in the vehicle control apparatus according to the fifth aspect of the present invention, the control amount regulating means includes a magnitude and a changing speed of at least one of the control amount among the steering actuator, the braking actuator, and the drive actuator. Of these, at least one of them is regulated.

  Further, the vehicle control device according to a sixth aspect of the present invention is an economic travel plan acquisition unit (for example, an implementation) that acquires an economic travel plan of the vehicle based on at least the information acquired by the information acquisition unit. In the form of an economic travel plan generation unit 28), and the control means includes the economic travel plan acquired by the economic travel plan acquisition means within a range of the control amount restricted by the control amount restriction means. In response, the vehicle is controlled.

  Furthermore, in the vehicle control apparatus according to the seventh aspect of the present invention, the economic travel plan acquisition means acquires a speed plan as the economic travel plan.

  According to the vehicle control device of the first aspect of the present invention, since the control amount is regulated according to the vehicle travel plan corresponding to various purposes, the accuracy of information used for vehicle control is low. However, desired controllability and reliability can be ensured for each of a plurality of vehicle controls having different purposes.

  According to the vehicle control device of the second aspect of the present invention, the control amount can be easily regulated according to the parameter related to the travel plan.

  According to the vehicle control device of the third aspect of the present invention, the control amount can be appropriately regulated according to the combination of the travel plan and the speed.

  According to the vehicle control device of the fourth or fifth aspect of the present invention, the control amount of at least one of the steering, braking, and driving of the vehicle is set according to the travel plan of the vehicle corresponding to various purposes. It can be regulated properly.

  According to the vehicle control device of the sixth or seventh aspect of the present invention, it is possible to further improve the economics of vehicle control while ensuring desired controllability and reliability.

It is a lineblock diagram of the vehicle control device concerning an embodiment of the invention. Correspondence relationship between control values (maximum steering assist force, maximum brake pressure) and speed and various purposes (parking, passing through, lane keeping, stopping, following) of the vehicle control device according to the embodiment of the present invention It is a figure which shows an example.

Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, the vehicle control device 10 according to the present embodiment includes an external sensor 11, a vehicle state sensor 12, a processing device 13, a throttle actuator 14, a brake actuator 15, a steering actuator 16, and a notification. And a device 17.

The external sensor 11 includes, for example, a radar device and an imaging device that detect the external environment of the host vehicle.
The radar device divides a detection target region set in the external environment of the host vehicle into a plurality of angle regions, and transmits an electromagnetic wave transmission signal so as to scan each angle region. And each reflected signal receives the reflected signal of the reflected wave which arose by being reflected by the object (for example, a preceding vehicle, a pedestrian, etc.) outside the own vehicle. Then, a detection signal corresponding to the transmission signal and the reflection signal, for example, a detection signal related to the distance from the radar apparatus to an external object, is generated, and this detection signal is output.
The imaging device captures an imaging region set in the external environment of the host vehicle with a camera, performs image processing on an image obtained by imaging, and outputs image data (for example, a moving image or a plurality of time-series intermittent still images) And the like, and output the image data to the processing device 13.

The vehicle state sensor 12 outputs a detection result signal of various vehicle information of the host vehicle.
The vehicle state sensor 12 includes, for example, a wheel speed sensor that detects the rotational speed (wheel speed) of the driving wheel of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, and a gyro that detects the posture and traveling direction of the vehicle body. A sensor, and a yaw rate sensor that detects a yaw rate of the vehicle body (a rotational angular velocity around the vertical axis of the center of gravity of the vehicle).
The vehicle state sensor 12 is, for example, a state quantity related to a driver's driving operation (for example, an accelerator pedal depression operation amount, a brake pedal depression operation amount, a steering wheel steering angle, a steered wheel turning angle, a shift position, Each sensor or each switch for detecting whether or not a direction indicator lamp is operated, whether or not an automatic running execution instruction is present, and the like are provided.

  For example, the processing device 13 includes an object recognition unit 21, a current position detection unit 22, a road information acquisition unit 23, a map data storage unit 24, a travel plan generation unit 25, a parameter generation unit 26, and a control amount restriction. Unit 27, economic travel plan generation unit 28, and vehicle control unit 29.

  The object recognition unit 21 recognizes an object existing in the outside of the host vehicle based on the detection signal output from the radar device of the external sensor 11 and the image data output from the imaging device.

  The current position detection unit 22 receives a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the host vehicle using an artificial satellite via the antenna 22a, and based on the positioning signal. The current position of the host vehicle is detected. Further, the current position detection unit 22 can further detect the current position of the host vehicle by using a calculation process of autonomous navigation based on the speed and yaw rate of the host vehicle.

The road information acquisition unit 23 refers to the map data stored in the map data storage unit 24 or the map data received from time to time from a server device outside the vehicle, etc. Classification, shape, and the presence / absence of intersections, branch points, curves, etc.).
In addition, the road information acquisition unit 23 receives, for example, FM multiplex broadcasting, optical signals or radio signals transmitted from beacon devices arranged on the road, wireless communication signals transmitted from other vehicles or base stations, and the like. , Received via the antenna 23a, information on the traveling path of the vehicle (type and shape of the traveling path, presence / absence of intersections, branching points, curves, etc., road traffic information, construction and regulation of the traveling path) Etc., the condition of the road surface, weather information around the road, and the like.

The map data storage unit 24 stores map data acquired from the outside in advance, or stores map data acquired as needed from a server device outside the vehicle.
Note that the map data storage unit 24 is wired or wirelessly connected to a storage medium such as a memory, a storage device such as a hard disk, or a processing device 13 that is built in or removably connected to the processing device 13 in advance. It may be a storage medium or a storage device provided in a device (such as a portable terminal) capable of communication connection.

The travel plan generation unit 25 generates a travel plan for the host vehicle based on various types of information used for controlling the host vehicle.
Various types of information used for controlling the host vehicle include, for example, the recognition result of the object output from the object recognition unit 21, the current position of the host vehicle detected by the current position detection unit 22, and the road information acquisition unit 23. It is the information of the acquired travel route of the own vehicle, and the map data memorize | stored in the map data storage part 24.
Various information used for controlling the host vehicle includes, for example, route guidance information output from a device having a navigation function (such as a navigation device mounted on the vehicle or a portable terminal that can be connected to the vehicle), and processing. The timing information of the control operation output from the device 13 or other equipment, the information derived from various purposes, and the like.

The travel plan is, for example, a plan for executing a series of travel operations for achieving various purposes, and includes a travel track, a speed plan, and the like.
Various purposes include, for example, turning right or left at intersections and junctions, passing through obstacles on narrow roads, changing lanes, automatically maintaining lanes, automatically following or tracking, parking, starting, Stop, etc.

The parameter generation unit 26 generates parameters related to the travel plan generated by the travel plan generation unit 25.
The parameter is, for example, the magnitude of the operation amount and the change speed of the operation amount in various actuators related to the vehicle behavior such as the throttle actuator 14, the brake actuator 15, and the steering actuator 16.

  The control amount restriction unit 27 is a control amount when the vehicle is controlled according to the detection results of various vehicle information of the host vehicle output from the vehicle state sensor 12 and the parameters generated by the parameter generation unit 26. To regulate.

For example, as shown in FIG. 2A, the steering assist force by the steering actuator 16 is set as a parameter for a travel plan for achieving the purposes of parking, passing through, and lane keeping travel.
The control amount regulating unit 27 sets a maximum value (maximum steering assist force) for regulating the steering assist force by the steering actuator 16 for each travel plan so as to change according to the speed of the host vehicle. To do.

  For example, for a travel plan intended for parking, the control amount regulating unit 27 changes the maximum steering assist force in a decreasing trend at a large change speed as the speed increases in a low speed region of the speed of the host vehicle. The maximum steering assist force is set to zero in the medium to high speed range.

  In addition, for example, for a travel plan for the purpose of passing through, the control amount regulating unit 27 is configured to change the maximum steering assist force at a medium change speed as the speed increases in the medium speed region of the own vehicle speed. It is set to change in a decreasing tendency, and the maximum steering assist force is made constant regardless of the speed of the host vehicle in the low speed region and the high speed region.

  In addition, for example, for a travel plan intended for lane keeping travel, the control amount restriction unit 27 increases the maximum steering assist force as the speed increases from a low speed region to a high speed region of the host vehicle. Set so that the rate of change gradually decreases at a small rate of change.

For example, as shown in FIG. 2 (B), the brake pressure by the brake actuator 15 is set as a parameter for a travel plan for achieving the objectives of stop and follow-up travel.
The control amount restriction unit 27 sets the maximum value (maximum brake pressure) for restricting the brake pressure by the brake actuator 15 for each travel plan so as to change according to the speed of the host vehicle.

  For example, for a travel plan intended to stop, the control amount regulating unit 27 decreases the maximum brake pressure at a large change speed as the speed increases from a low speed area to a high speed area of the speed of the host vehicle. Set to change to a trend.

  For example, for a travel plan for the purpose of tracking, the control amount regulating unit 27 has a maximum brake pressure that is smaller than the travel plan for the purpose of stopping from the low speed region to the high speed region of the speed of the host vehicle. Is set so that the maximum brake pressure changes in a decreasing trend at a small change speed as the speed increases.

  The economic travel plan generation unit 28 is based on the travel plan generated by the travel plan generation unit 25 based on various information used for controlling the host vehicle, and is within the range of the control amount regulated by the control amount regulation unit 27. , A travel plan for economic travel (for example, a speed plan) is generated.

For example, in a travel plan intended for parking by putting in a garage, the travel plan generation unit 25, as a series of travel operations, lays on the garage, advances by full steering in a direction away from the garage, and in the reverse direction. Plan to run backwards with full steering. Then, for this travel plan, the control amount restriction unit 27 restricts the steering assist force by the steering actuator 16 as shown in FIG. 2A, and the vehicle speed and adjustment of the throttle actuator 14 and the brake actuator 15. Set speed restrictions.
Based on the travel plan generated by the travel plan generation unit 25, the economic travel plan generation unit 28 sets the vehicle speed to be higher, for example, as an economic travel to improve fuel efficiency, within the limits of the control amount regulation unit 27. The generated travel plan is generated.

Further, for example, in a travel plan for the purpose of following the preceding vehicle, the travel plan generating unit 25 plans to execute an operation that maintains a constant inter-vehicle distance from the preceding vehicle. Then, for this travel plan, the control amount restriction unit 27 performs the restriction of the brake pressure by the brake actuator 15 and the restriction of the control amounts related to the throttle actuator 14 and the steering actuator 16 as shown in FIG. Set.
Based on the travel plan generated by the travel plan generation unit 25, the economic travel plan generation unit 28 performs frequent acceleration / deceleration of the preceding vehicle, for example, as an economic travel to improve fuel efficiency within the limits of the control amount regulation unit 27. A travel plan with a low sensitivity to is generated.

The vehicle control unit 29, within the range of the control amount regulated by the control amount regulation unit 27, according to the travel plan (for example, speed plan) generated by the economic travel plan generation unit 28, To control.
The vehicle control unit 29 outputs, for example, a control signal for controlling the driving force of the travel drive source by the throttle actuator 14, a control signal for controlling deceleration by the brake actuator 15, and a control signal for controlling turning by the steering actuator 16. To do.
Moreover, the vehicle control part 29 outputs the control signal which controls the alerting | reporting apparatus 17, when notifying the passenger | crew of the own vehicle various information.

  The notification device 17 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.

The tactile transmission device is a seat belt device, a steering control device, or the like. For example, a predetermined tension is generated on the seat belt in response to a control signal output from the vehicle control unit 29 so that the passenger of the own vehicle is tactile. A perceivable tightening force is applied to the steering wheel, or vibration (steering vibration) that can be perceived tactilely by the driver of the host vehicle is generated on the steering wheel, for example.
The visual transmission device is a display device or the like, and displays predetermined information on a display device or blinks a predetermined lamp according to a control signal output from the vehicle control unit 29, for example.
The auditory transmission device is a speaker or the like, and outputs a predetermined sound or voice according to a control signal output from the vehicle control unit 29.

  As described above, according to the vehicle control device 10 according to the present embodiment, since the control amount is regulated according to the travel plan of the vehicle corresponding to various purposes, the accuracy of information used for vehicle control is low. Even so, desired controllability and reliability can be ensured for each of a plurality of vehicle controls having different purposes.

Furthermore, the control amount can be easily regulated according to the parameters related to the travel plan.
Furthermore, the control amount can be appropriately regulated according to the combination of the travel plan and the speed.
Further, the control amount of at least one of steering, braking, and driving of the vehicle can be appropriately regulated according to the travel plan of the vehicle corresponding to various purposes.
Furthermore, the economics of vehicle control can be further improved while ensuring the desired controllability and reliability.

In the above-described embodiment, the economic travel plan generation unit 28 may be omitted.
In this case, the vehicle control unit 29 controls the host vehicle within the range of the control amount restricted by the control amount restriction unit 27 in accordance with the travel plan generated by the travel plan generation unit 25.

  It should be noted that the technical scope of the present invention is not limited to the above-described embodiment, and includes various modifications made to the above-described embodiment without departing from the spirit of the present invention. That is, the above-described embodiment is merely an example, and can be changed as appropriate.

10 vehicle control device 11 external sensor (information acquisition means)
12 Vehicle state sensor (information acquisition means)
14 Throttle actuator (drive actuator)
15 Brake actuator (braking actuator)
16 Steering actuator (steering actuator)
21 Object recognition unit (information acquisition means)
22 Current position detector (information acquisition means)
23 Road information acquisition unit (information acquisition means)
24 Map data storage (information acquisition means)
25 Travel plan generation unit (travel plan acquisition means)
26 Parameter generator (parameter generator)
27 Control amount regulating part (control amount regulating means)
28 Economic travel plan generator (Economic travel plan acquisition means)
29 Vehicle control unit (control means)

Claims (7)

Information acquisition means for acquiring information used for vehicle control;
Travel plan acquisition means for acquiring a travel plan of the vehicle based on at least the information acquired by the information acquisition means;
Control means for controlling the vehicle according to the travel plan acquired by the travel plan acquisition means;
Control amount restriction means for restricting a control amount when the vehicle is controlled by the control means according to the travel plan;
A vehicle control device comprising: Comprising parameter generation means for generating parameters relating to the travel plan;
The control amount restricting means restricts the control amount according to the parameter generated by the parameter generating means;
The vehicle control device according to claim 1. The control amount restriction means restricts the control amount according to the travel plan and the speed of the vehicle.
The vehicle control device according to claim 1, wherein the vehicle control device is a vehicle control device. A steering actuator for steering the vehicle;
A braking actuator for braking the vehicle;
A drive actuator for driving the vehicle,
The control means sets the control amount of at least one of the steering actuator, the brake actuator, and the drive actuator;
The vehicle control device according to any one of claims 1 to 3, wherein The control amount restricting means restricts at least one of a magnitude and a changing speed of at least one of the control amount among the steering actuator, the brake actuator, and the drive actuator;
The vehicle control device according to claim 4. Based on at least the information acquired by the information acquisition means, comprising an economic travel plan acquisition means for acquiring an economic travel plan of the vehicle,
The control means controls the vehicle according to the economic travel plan acquired by the economic travel plan acquisition means within the range of the control amount restricted by the control amount restriction means.
The vehicle control device according to any one of claims 1 to 5, wherein The economic travel plan acquisition means acquires a speed plan as the economic travel plan.
The vehicle control device according to claim 6.

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