JP2016120896A - Travel control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel control device for a vehicle, for example, which can perform control further depending on situations of the vehicle.SOLUTION: A travel control device includes, for example, a manipulated variable calculation part that calculates a manipulated variable for controlling at least one of a driving mechanism and a braking mechanism of a vehicle so that a deviation between a target position and an actual position of the vehicle can be decreased, and a target position setting part that sets the target position at each time depending on a movement distance or a required period of time from a starting point position to a terminal position and a physical quantity associated with movement of the vehicle in at least one position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle travel control device.

  2. Description of the Related Art Conventionally, a vehicle positioning control device in which a vehicle trajectory is set as a function of time according to a target arrival time and a target distance is known (for example, Patent Document 1).

JP 2014-19405 A

  In the above prior art, although the vehicle trajectory is set according to the target arrival time and the target distance, for example, it is difficult to control according to the vehicle speed, acceleration, etc. at the start point position and end point position of the control section. There was a case. Then, one of the subjects of this invention is obtaining the traveling control apparatus of the vehicle which can perform control according to the condition of the vehicle more, for example.

  The vehicle travel control device of the present invention includes, for example, an operation amount calculation unit that calculates an operation amount for controlling at least one of a drive mechanism and a braking mechanism of a vehicle so as to reduce a deviation between a target position and an actual position of the vehicle. And a target position setting unit that sets a target position at each time in accordance with a movement distance or a required time from the start point position to the end point position and a physical quantity related to the movement of the vehicle at at least one position. .

  In the vehicle travel control device, for example, the target position setting unit sets the target position at each time by a function of time, and the coefficient of the function is set to the moving distance or the required time, the start position, and It is set according to the physical quantity related to the movement of the vehicle at least one of the end point positions.

  In the vehicle travel control device, for example, the function is a polynomial function.

  In the vehicle travel control apparatus, for example, the function is a seventh-order polynomial function, and the physical quantities are the position, speed, acceleration, and jerk of the vehicle.

FIG. 1 is an exemplary block diagram of a schematic configuration of a vehicle travel control apparatus according to an embodiment. FIG. 2 is a diagram illustrating an example of a change in the target position from the start point position to the end point position with time by the vehicle travel control device of the embodiment. FIG. 3 is an exemplary flowchart illustrating a function setting procedure performed by the vehicle travel control apparatus according to the embodiment. FIG. 4 is an exemplary flowchart illustrating a control procedure performed by the vehicle travel control apparatus according to the embodiment.

  Hereinafter, exemplary embodiments of the present invention are disclosed. The configuration of the embodiment shown below, and the operation and result (effect) brought about by the configuration are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments. According to the present invention, it is possible to obtain at least one of various effects (including derivative effects) obtained by the configuration.

  The control device 100 is configured as a part of a control system such as a parking assistance system for the vehicle 1, an inter-vehicle automatic control system, an automatic travel system, an automatic steering system, and the like. The control device 100 controls at least one of the driving mechanism 201 and the braking mechanism 202, that is, at least one of acceleration and deceleration in the control section.

  Here, the control section is a target section of control by the control system. The control section can be set according to the function of the control system. For example, in the parking assistance system, a section from a target position (target position) corresponding to the actual position (actual position) of the vehicle 1 to the target position corresponding to the parking position of the vehicle 1 is defined as a control section. In the automatic vehicle control system, a section from the target position corresponding to the actual position of the vehicle 1 to the target position of the vehicle 1 where a desired distance from the preceding vehicle is ensured is a control section. In the automatic traveling system, it can be set as a section from the target position corresponding to the current actual position of the vehicle 1 to the target position of the vehicle 1 after traveling for a predetermined time or after traveling a predetermined distance. . The control section may be uniquely set at the start of control by the control system, or may be updated during control by the control system. Hereinafter, the target position of the vehicle 1 at the start point of the control section is referred to as a start position, and the target position of the vehicle 1 at the end point of the control section is referred to as an end point position.

  The drive mechanism 201 is, for example, an internal combustion engine, a motor, or the like, and includes those ECUs. The braking mechanism 202 is, for example, an ABS (antilock brake system) and includes an ECU (electronic control unit). In the following example, the control device 100 does not control the steering, but may control it. Hereinafter, the drive mechanism 201 or the brake mechanism 202 may be simply referred to as a control target.

  The control device 100 controls the control object by control including feedback control of the position of the vehicle 1. The feedback control is control for reducing the deviation between the target value (target position) and the actual value (actual position).

  As illustrated in FIG. 1, the control device 100 includes a target value setting unit 10, a control unit 20, a determination unit 30, an addition amount calculation unit 40, an actual value acquisition unit 50, a threshold setting unit 60, a storage unit 70, and the like. Have The control unit 20 includes an operation amount calculation unit 21, a command value calculation unit 22, and the like.

  In the control device 100, for example, as illustrated in FIG. 2, the speed gradually increases in the vicinity of the start position Ps of the control section, and the change in speed is relatively small at the intermediate position of the control section. In the vicinity of the position Pe, a target position of the vehicle 1 that changes with time is set such that the speed gradually decreases. In the graph in which the horizontal axis is time t and the vertical axis is position x, the time change of the target position draws a substantially S-shaped curve as shown in FIG. The target value setting unit 10 controls each parameter at each control timing, that is, at each time so that a change in the position of the vehicle 1 with time as shown in FIG. 2 can be obtained in the control section from the start position to the end position. (Physical quantity) target value is set as a function of time.

ここに、ｃ_０〜ｃ_７は、係数（定数）である。 Specifically, the target value setting unit 10 determines the position x (distance) of the vehicle 1, the speed v of the vehicle 1, the acceleration a of the vehicle 1, and the jerk of the vehicle 1 as parameters (physical quantities) related to the movement of the vehicle 1. Let j (jumpiness, jerk) be a function of time t (X (t), V (t), A (t), J (t)), respectively. The target value setting unit 10 sets the function X (t) at the position x as a seventh-order polynomial function at time t. The speed v is a first-order derivative of the position x with respect to the time t, the acceleration a is a second-order derivative of the position x with respect to the time t, and the jerk j is a third-order derivative of the position x with respect to the time t. Therefore, the functions (X (t), V (t), A (t), J (t)) can be expressed as the following equations (1) to (4).

_Here, c 0 to c ₇ are coefficients (constants).

ここで、位置Ｘ（ｔ_ｓ），Ｘ（ｔ_ｅ）、速度Ｖ（ｔ_ｓ），Ｖ（ｔ_ｅ）、加速度Ａ（ｔ_ｓ），Ａ（ｔ_ｅ）、ジャークＪ（ｔ_ｓ），Ｊ（ｔ_ｅ）、および時刻ｔ_ｓ，ｔ_ｅは、既知の値かあるいは設定された値である。よって、式（５）の未定の係数ｃ_０〜ｃ_７は、逆行列を用いた演算により、求めることができる。これにより、位置ｘの時間ｔの関数Ｘ（ｔ）は、次の式（６）となる。

ここに、ｘ_ｓ＝Ｘ（ｔ_ｓ）、ｘ_ｅ＝Ｘ（ｔ_ｅ）、ｖ_ｓ＝Ｖ（ｔ_ｓ）、ｖ_ｅ＝Ｖ（ｔ_ｅ）、ａ_ｓ＝Ａ（ｔ_ｓ）、ａ_ｅ＝Ａ（ｔ_ｅ）、ｊ_ｓ＝Ｊ（ｔ_ｓ）、ｊ_ｅ＝Ｊ（ｔ_ｅ）である。式（６）より、位置ｘの時間ｔの関数Ｘ（ｔ）の係数ｃ_０〜ｃ_７の全てを、既知の値かあるいは設定された値によって表すことができ、関数Ｘ（ｔ）が設定されたことが理解できよう。また、速度ｖ、加速度ａ、およびジャークｊの時間ｔの関数（Ｖ（ｔ）、Ａ（ｔ）、Ｊ（ｔ））は、位置ｘの時間ｔの関数Ｘ（ｔ）から導出される。すなわち、速度ｖの時間ｔの関数Ｖ（ｔ）は、式（６）の関数Ｘ（ｔ）の時間ｔに関する１階微分であり、加速度ａの時間ｔの関数Ａ（ｔ）は、式（６）の関数Ｘ（ｔ）の時間ｔに関する２階微分であり、ジャークｊの時間ｔの関数Ｊ（ｔ）は、式（６）の関数Ｘ（ｔ）の時間ｔに関する３階微分である。よって、これら関数（Ｖ（ｔ）、Ａ（ｔ）、Ｊ（ｔ））のここでの表記は割愛する。 In the equations (1) to (4), each equation is a seventh-order or less polynomial function with respect to the time t, and these equations include eight coefficients c _{0 to} c ₇ . Therefore, the coefficients c _{0 to} c ₇ can be obtained by giving eight different constraint conditions (boundary conditions) according to the equations (1) to (4). (X (t), V (t), A (t), J (t)) can be set. As a constraint condition, values of parameters are used at two different positions, for example, the start position xs and the end position xe. Position X at the starting time _{t s (t} s) (starting position), velocity V _(t s) at the start time _{t s,} the acceleration A _(t s) at the start time _{t s,} jerk at starting time _{t s} J _(t s), position X at the end time _{t e (t e) (end} position), velocity V _(t e) at the end time _{t e,} the acceleration a _(t e) at the end time _{t e,} and When the eight expressions related to the jerk J (t _e ) at the end time t _e are represented by determinants, the following expression (5) is obtained.

Here, the position X (t _s ), X (t _e ), velocity V (t _s ), V (t _e ), acceleration A (t _s ), A (t _e ), jerk J (t _s ), J (T _e ) and times t _s and t _e are known values or set values. Therefore, the undetermined coefficients c _{0 to} c ₇ in Equation (5) can be obtained by calculation using an inverse matrix. Thereby, the function X (t) of the time t at the position x is expressed by the following equation (6).

_{Here, x s = X (t s} ), x e = X (t e), v s = V (t s), v e = V (t e), a s = A (t s), a e = A (t _e ), j _s = J (t _s ), and j _e = J (t _e ). From the equation (6), all the coefficients c _{0 to} c ₇ of the function X (t) of the time t at the position x can be expressed by known values or set values, and the function X (t) is set. You can understand what was done. Further, the function (V (t), A (t), J (t)) of the speed v, the acceleration a, and the jerk j is derived from the function X (t) of the time t at the position x. That is, the function V (t) of the time t of the velocity v is a first-order derivative with respect to the time t of the function X (t) of the equation (6), and the function A (t) of the acceleration t with the time t 6) is the second derivative of the function X (t) with respect to the time t, and the function J (t) of the jerk j with respect to the time t is the third derivative with respect to the time t of the function X (t) of the equation (6). . Therefore, description of these functions (V (t), A (t), J (t)) is omitted here.

Further, in the calculation of the above-described parameter functions (X (t), V (t), A (t), J (t)), the end time t _e , that is, from the start time t _s to the end time t _e . time is set according to the moving distance L from the start position x _s to the end position x _e. The larger the movement distance L is, the time from the start time t _s to the end time t _e becomes longer. Target value setting unit 10, the end time t _e corresponding to the moving distance L, by using the function or by referring to a map (table) can be obtained. Note that the coefficients of the parameter functions (X (t), V (t), A (t), and J (t)) described above may be set based on the moving distance instead of the end time. Further, the distance from at least one of the start point position and the end point position of the control section may be set as the position of the vehicle 1. In the present embodiment, the target value setting unit 10 is an example of a target position setting unit.

  The actual value acquisition unit 50 acquires the actual value of the parameter. In the present embodiment, the actual value acquisition unit 50 acquires actual values of the position of the vehicle 1 and the speed of the vehicle 1, for example. The actual value is a value obtained according to the operation of the controlled object, and is a detected value or a value derived from the detected value. For example, actual values of position and speed can be calculated from detection values of a wheel speed sensor as the sensor 203. Note that the sensor 203 is a sensor that detects physical quantities such as a position, posture, and state when the vehicle 1 is stopped or running, and may be other than a wheel speed sensor. In addition, the actual value acquisition unit 50 can acquire detection results from the plurality of sensors 203.

  The operation amount calculation unit 21 of the control unit 20 calculates the operation amount for the control target. The manipulated variable is set so as to increase as the deviation between the target value and actual value of each parameter increases and reflect the degree of influence of each parameter. In the present embodiment, the operation amount is set to a force dimension or an acceleration dimension. In any case, since the mass is constant, the manipulated variable is a parameter proportional to the acceleration. In the present embodiment, the operation amount is set so that the vehicle 1 is accelerated if the operation amount is increased, and the control target is controlled to accelerate the vehicle 1 by a positive operation amount, and is controlled by a negative operation amount. The vehicle 1 is controlled to decelerate. The operation amount can also be referred to as an input value.

  The parameter (physical quantity) to be compared between the target value and the actual value in the operation amount calculation unit 21 is, for example, the position and speed of the vehicle 1. The operation amount calculation unit 21 adds the second-order differential value based on the position deviation time and the first-order differential value based on the speed deviation time after multiplying by coefficients set according to the respective degrees of influence. Thus, the operation amount is calculated. In the present embodiment, acceleration and jerk are not subject to feedback control.

  The command value calculation unit 22 of the control unit 20 calculates a command value to be controlled corresponding to the operation amount calculated by the operation amount calculation unit 21. For example, when the operation amount is a positive value, the command value calculation unit 22 provides a rotational torque command as a drive command value to the drive mechanism 201 so that acceleration corresponding to the magnitude of the operation amount is obtained. Calculate the value. For example, when the operation amount is a negative value, the command value calculation unit 22 provides a braking command value to the braking mechanism 202 so as to obtain a deceleration corresponding to the amount of the operation amount, that is, a negative acceleration. As a braking torque command value. In addition, the command value calculation unit 22 may be in a state where the vehicle 1 is accelerated by the drive mechanism 201 while being braked by the brake mechanism 202 or the vehicle 1 is being propelled by the drive mechanism 201 according to the traveling state of the vehicle 1 or the like. Torque distribution between the drive mechanism 201 and the brake mechanism 202 can be determined so that a state where the brake mechanism 202 decelerates is obtained. In that case, the command value calculation unit 22 calculates command values for both the drive mechanism 201 and the brake mechanism 202 according to the distribution of the drive torque and the brake torque. Note that the command value calculation unit 22 instructs the control target corresponding to the operation amount to which the addition amount is added even when the addition amount calculated by the addition amount calculation unit 40 is added to the operation amount. Calculate the value.

  The determination unit 30 determines whether or not the actual value follows the target value. In the control device 100, a condition for determining whether or not follow-up is possible is set. The determination unit 30 determines whether the actual value follows the target value by comparing the value of the predetermined parameter with the condition set for the parameter. The operation amount before the correction amount is added by the adder 23 is input to the determination unit 30.

  The determination unit 30 can determine that the actual value does not follow the target value, for example, when the operation amount is equal to or greater than the preset first threshold value. As described above, the operation amount increases as the deviation between the target value and the actual value increases. Therefore, in a state where the actual value does not follow the target value, the operation amount is relatively large. Therefore, by comparing the operation amount with the first threshold value, it can be determined whether or not the actual value follows the target value. Note that the operation amount used for determination by the determination unit 30 is an operation amount before correction and without an addition amount being added.

  In addition, the determination unit 30 can determine that the actual value does not follow the target value when the vehicle 1 is in a state where the vehicle 1 is inclined due to gravity, for example. When the control device 100 starts control or during control, the vehicle 1 is tilted regardless of thrust or against thrust, and the vehicle 1 is tilted by gravity and the actual value does not follow the target value. It can be regarded as a state. For example, the determination unit 30 can detect that the vehicle 1 is tilted down due to gravity from the detection value of the wheel speed sensor or the acceleration sensor as the sensor 203 or the actual value based on the detection value. The acceleration sensor can detect, for example, the acceleration in the front-rear direction of the vehicle 1. In this case, for example, when a value equal to or greater than a predetermined threshold is detected by the wheel speed sensor and a downward value equal to or greater than another predetermined threshold is detected by the acceleration sensor, the determination unit 30 determines that the vehicle 1 is tilted. It can be determined that the state falls below. In addition, when the moving direction of the vehicle 1 can be detected by the signal of the wheel speed sensor, it may be possible to determine the state in which the vehicle 1 is inclined only from the detection result of the wheel speed sensor.

  The determination unit 30 may determine whether or not the actual value follows the target value based on the magnitude of the deviation between the target value and the actual value. In this case, for example, the determination unit 30 can determine that the actual value does not follow the target value when the positional deviation is equal to or greater than the predetermined threshold value.

  Further, after determining that the actual value does not follow the target value, the determination unit 30 performs the actual operation when the amount of decrease in the operation amount after the determined time is equal to or greater than the second threshold value. It can be determined that the value has started to follow the target value. The operation amount when the actual value follows the target value is smaller than the operation amount when the actual value does not follow the target value. Therefore, when the actual value changes from a state where the actual value does not follow the target value to a state where the actual value follows the target value, the operation amount decreases. Therefore, it is possible to determine whether or not the actual value follows the target value by comparing the amount of decrease (the magnitude) of the operation amount with the second threshold value.

  By determining whether the actual value follows the target value by the determination unit 30, the control device 100 can change the control state. In the present embodiment, the target value setting unit 10 and the addition amount calculation unit 40 execute processing according to the determination result by the determination unit 30.

  The target value setting unit 10 can set target values in a plurality of modes. In the present embodiment, for example, a first mode for setting a target value that changes with the passage of time and a second mode for setting a constant target value that does not change even after the passage of time are set. Yes. When the determination unit 30 determines that the actual value follows the target value, the target value setting unit 10 sets the target value in the first mode. On the other hand, the target value setting unit 10 sets the target value in the second mode when the determination unit 30 determines that the actual value does not follow the target value. If the target value further changes in a state where the actual value does not follow the target value, the deviation further increases, and it may be difficult to eliminate the state that does not follow the target value. In this regard, according to the present embodiment, since the change in the target value is suppressed at the time when it is determined that the actual value does not follow the target value, the actual value is smaller than the case where the target value further changes. In some cases, the state of not following the target value is likely to be resolved. The first mode may be referred to as a normal mode, and the second mode may be referred to as a restriction mode or a suppression mode. In the second mode, it is only necessary that the amount of change in the target value over time is smaller than in the first mode, and it is not essential that the target value is constant. Moreover, the method of calculating the target value can be set in various ways.

  When the determination unit 30 determines that the actual value does not follow the target value, the addition amount calculation unit 40 adds to the operation amount in order to increase the operation amount (the magnitude) as necessary. The amount is calculated. The addition amount calculated by the addition amount calculation unit 40 is added to the operation amount by the adder 23. The state where the actual value does not follow the target value can be said to be a state where the operation amount (the magnitude) is insufficient. Therefore, by adding the addition amount calculated by the addition amount calculation unit 40 to the operation amount calculated by the operation amount calculation unit 21, the state where the actual value does not follow the target value may be easily resolved. is there. In addition, since the amount of operation can be adjusted or set more appropriately by adjusting the amount of addition by the amount of addition calculation unit 40, the state where the actual value does not follow the target value is further eliminated. In some cases, it becomes easier, or an inconvenient event is less likely to occur. The addition amount calculation unit 40 maintains the value of the addition amount even after the state where the actual value does not follow the target value is resolved. Therefore, it is suppressed that the actual value does not follow the target value due to the absence of the addition amount when the actual value follows the target value. Note that various ways of increasing the operation amount can be set. The operation amount to which the addition amount is added can also be referred to as an input value. It can also be said that the addition amount is a part of the input value or the operation amount.

  The threshold setting unit 60 acquires obstacle data. The obstacle data is data indicating the height of the obstacle, for example, acquired by a sonar that can detect the obstacle. The obstacle is, for example, a stone on a road or a step. The threshold setting unit 60 can set or change the first threshold used by the determination unit 30 based on the acquired obstacle data. As the height of the obstacle increases, the state where the actual value does not follow the target value continues for a long time, and the operation amount increases until a wheel (not shown) gets over the obstacle. That is, the operation amount increases as the height of the obstacle increases. Further, as described above, in the present embodiment, when the operation amount is equal to or exceeds the first threshold value, the mode of the target value setting unit 10 is switched to the second mode. Therefore, for example, by setting the first threshold value according to the height of the obstacle by the threshold value setting unit 60, the target value setting unit 10 promptly uses the second mode after the wheel has overcome the obstacle. Can be switched to. In this case, since the feedback control is performed immediately after the vehicle 1 gets over the obstacle so that the actual value approaches the target value in which the change is suppressed, compared with the case where the feedback control is performed on the target value having a larger change. Thus, the state where the actual value does not follow the target value is easily resolved more quickly. In addition, since the vehicle 1 can get over the obstacle without adding an addition amount to the operation amount, a situation in which an excessively large operation amount is given to the control target before and after overcoming can be suppressed.

The storage unit 70 stores data used in arithmetic processing of each unit of the control device 100, data as a result of the arithmetic processing, and the like. In the present embodiment, the coefficients c _{0 to} c ₇ calculated by the target value setting unit 10 are stored in the storage unit 70 and used when the target value is calculated by the target value setting unit 10.

  The control device 100 is an ECU, for example. The control device 100 may be incorporated in the ECU of any system mounted on the vehicle 1 or may be an independent ECU. The control device 100 can include a central processing unit (CPU), a controller, a random access memory (RAM), a read only memory (ROM), a flash memory, and the like (not shown). The control device 100 can execute processing in accordance with the installed and loaded program to realize each function. That is, by executing processing according to the program, the control device 100 causes the target value setting unit 10, the control unit 20, the operation amount calculation unit 21, the command value calculation unit 22, the determination unit 30, and the addition amount calculation unit 40. The actual value acquisition unit 50, the threshold setting unit 60, and the like can function. In that case, the program can be stored in the storage unit 70. Note that at least some of the functions of the above-described units may be realized by hardware. Further, in the control by the control device 100, other control such as feedforward control may be incorporated in addition to the feedback control. In that case, for example, the operation amount calculation unit 21 may add the addition amount by the feedforward control to the operation amount.

  Here, with reference to FIG. 3, an example of a function setting procedure by the target value setting unit 10 of the control device 100 will be described. The procedure illustrated in FIG. 3 can be executed before the start of control by the control device 100 illustrated in FIG. 4 or in the target value setting (S22) during the control illustrated in FIG.

  First, the target value setting unit 10 acquires data indicating the end point position (S11). Next, the target value setting unit 10 calculates a movement distance from the start point position to the end point position based on the acquired end point position (S12). Next, the target value setting unit 10 acquires a required time (set time) required for the vehicle 1 to move the moving distance (S13). In S13, the required time is a time from the start time to the end time of the control, and is set in advance corresponding to the moving distance. The required time is set to increase as the moving distance increases. When a map or table indicating the correlation between the moving distance and the required time is stored in the storage unit 70 or the like, the target value setting unit 10 determines the required time corresponding to the moving distance based on the map or table. Can be obtained. When a mathematical expression (function) indicating the correlation between the movement distance and the required time is set, the target value setting unit 10 sets the movement distance by the mathematical expression, for example, the mathematical expression described in the program. The corresponding required time can be calculated. Note that the section in which the speed gradually increases immediately after the start of control and the section in which the speed gradually decreases immediately before the end of control are set so that the required time per moving distance is longer than that in the intermediate section between the sections.

  Next, the target value setting unit 10 acquires a total of eight parameters at two different positions in order to set a function of the four parameters (position, velocity, acceleration, and jerk) as the physical quantities described above, or Set (S14). In S14, for example, in the case of control from the state in which the vehicle 1 is stopped at the start point position to the state in which the vehicle 1 is stopped at the end point position, both the start point position and the end point position as two different positions are used. Set speed, acceleration, and jerk to 0 (zero). Also, the start point position is set to 0 “zero”, and the end point position is set to the movement distance (> 0). As another example, when the vehicle 1 is moving at the time of S14, the target value setting unit 10 changes the parameter of the starting point position to the actual value obtained from the actual value obtaining unit 50 or the calculated actual value, for example. Can be set based on. As yet another example, when the control device 100 performs control so that the moving speed at the end point position is not 0 “zero”, that is, the vehicle 1 is moving at the end point position, the target value setting unit 10 The parameter of the end point position can be set to a value indicating the state of the vehicle 1 at the end point position.

  Next, the target value setting unit 10 calculates the coefficient of the time function of each parameter from the parameters acquired in S14, that is, sets the function of each parameter (S15).

  Next, an example of a control procedure performed by the control device 100 will be described with reference to FIG. The procedure illustrated in FIG. 4 is executed at each control timing.

  First, the actual value acquisition unit 50 acquires the detection value of the sensor 203 and the actual value based on the detection value (S21). In S21, the actual value acquisition unit 50 acquires, for example, actual values of position and speed, detected acceleration values, and the like.

  Next, the target value setting unit 10 sets a target value (S22), the operation amount calculation unit 21 calculates an operation amount (S23), and the addition amount calculation unit 40 calculates an addition amount (S24). .

  In S22 and S24, the target value and the addition amount can be changed according to the control state of the vehicle. The change of the target value and the addition amount is performed based on the determination by the determination unit 30. The determination unit 30 can determine whether the actual value follows the target value based on the detected value and the actual value. The determination unit 30 is in a state in which the vehicle is not following, for example, in a state where the vehicle is moving due to gravity on a hill or the like, or in a state where movement of the vehicle is suppressed by an obstacle such as a step. Can be judged. In addition, for example, the determination unit 30 is in a state of following, for example, in a normal state in which there is no failure or the like, in addition to executing a control to escape from a state that is not following, It can be determined that the state has started following. In S <b> 22, the target value setting unit 10 can set the target value to a constant value (invariable) with time, for example, when the target value is not being followed. In S24, the addition amount calculation unit 40 changes the addition amount in various patterns, for example, to 0 (zero), to change stepwise over time, or to change to ramp shape. be able to.

  In S23, the operation amount calculation unit 21 calculates the operation amount based on the target value set by the target value setting unit 10 in S22 and the actual value acquired by the actual value acquisition unit 50 in S21. .

  After S24, an operation amount obtained by adding the addition amount from the addition amount calculation unit 40 in S24 to the operation amount calculated by the operation amount calculation unit 21 in S23 is input to the command value calculation unit 22 (S25). . Next, the command value calculation unit 22 calculates a command value for at least one of the drive mechanism 201 and the braking mechanism 202 based on the input operation amount (S26). Next, the command value calculation unit 22 outputs the calculated command value to at least one of the drive mechanism 201 and the braking mechanism 202, thereby controlling at least one of acceleration and deceleration of the vehicle 1. (S27).

  In the present embodiment, for example, when the determination unit 30 determines that the actual value does not follow the target value in S22, the target value setting unit 10 can reset the target value. In this case, the target value setting unit 10 can set a time function of each parameter according to the procedure illustrated in FIG.

  As described above, in the control device 100 of the present embodiment, for example, the target value setting unit 10 (target position setting unit) changes the target position at each time from the start point position to the end point position, and different. It can be set according to parameters (physical quantities) relating to the movement of the vehicle 1 at two positions. Therefore, for example, not only the situation where the vehicle 1 is stopped at the start point position and the end point position, but also the situation where the vehicle 1 is moving at the start point position or the state where the vehicle 1 is moving at the end point position. Corresponding to the situation to be controlled, a target position at each time can be set, and the traveling of the vehicle 1 can be controlled based on the target position. Therefore, for example, the traveling control of the vehicle 1 can be realized more easily or more appropriately in response to more situations.

  Moreover, in the control apparatus 100 of this embodiment, the target value setting part 10 sets the parameter (physical quantity) of the target value in each time with the function of time, for example. Therefore, for example, since the storage unit 70 only needs to store the coefficient of the function, the storage unit 70 stores the target value map (table) at each time as compared to the case where the storage unit 70 stores the target value. Capacity can be reduced. Further, for example, the target value setting unit 10 can more easily or more quickly perform the calculation for setting the target position at each time.

  Moreover, in the control apparatus 100 of this embodiment, the function by time of each parameter (physical quantity) is a polynomial function of time, for example. Therefore, for example, the coefficient and the target value can be set or calculated more easily or more quickly by relatively simple four arithmetic operations.

  In the control device 100 of the present embodiment, for example, the function is a seventh-order polynomial function, and the parameters (physical quantities) are the position, speed, acceleration, and jerk of the vehicle. Therefore, a seventh-order polynomial function having eight coefficients can be set based on the constraint conditions of four parameters (vehicle 1 position, speed, acceleration, and jerk) at two different positions. In addition, by taking into account jerk, for example, ride comfort is easily improved.

  The function is not limited to a seventh-order polynomial function. Further, when the order of the function is set lower than the seventh order, the coefficient of the function is based on a parameter (physical quantity) relating to the movement of the vehicle 1 at only one of the start point position and the end point position. It may be set, or may be set based on the parameter at at least one position other than the start point position and the end point position.

  As mentioned above, although embodiment of this invention was illustrated, the said embodiment is an example and is not intending limiting the range of invention. The above embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. Further, the specifications (structure, type, number, etc.) of each configuration, shape, etc. can be changed as appropriate. For example, a target value based on the same technical idea as the target value obtained by the function may be obtained from a map or a table.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Target value setting part (target position setting part), 21 ... Operation amount calculation part, 100 ... Control apparatus (travel control apparatus of a vehicle), 201 ... Drive mechanism, 202 ... Braking mechanism, L ... Moving distance .

Claims (4)

An operation amount calculator that calculates an operation amount for controlling at least one of the drive mechanism and the brake mechanism of the vehicle so as to reduce the deviation between the target position and the actual position of the vehicle;
A target position setting unit that sets a target position at each time according to a movement distance or a required time from a start point position to an end point position, and a physical quantity related to movement of the vehicle at at least one position;
A vehicle travel control device comprising:   The target position setting unit sets a target position at each time by a function of time, and the coefficient of the function relates to the movement of the vehicle at least one of the moving distance or the required time, the start position and the end position. The vehicle travel control device according to claim 1, wherein the vehicle travel control device is set according to a physical quantity.   The vehicle travel control apparatus according to claim 2, wherein the function is a polynomial function.   4. The vehicle travel control device according to claim 2, wherein the function is a seventh-order polynomial function, and the physical quantities are vehicle position, speed, acceleration, and jerk. 5.

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