JP2017087835A - Vehicle control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform control with the intention of a driver reflected.SOLUTION: A vehicle control apparatus 100 includes a vehicular speed control part 14 for performing deceleration control for decelerating a vehicle M in the case of a speed of the vehicle M being higher than a curve travel target speed, and performing acceleration control for accelerating the vehicle M in the case of a turn signal switch being in operation, with the speed of the vehicle M lower than a predetermined speed. In the case of a speed of the vehicle M being higher than the curve travel target speed and in the case of the turn signal switch being in operation, with a speed of the vehicle M lower than a predetermined speed, the vehicular speed control part 14 performs acceleration control.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device.

  2. Description of the Related Art Conventionally, there is a vehicle control device that performs cruise control for driving a vehicle at a preset speed. This vehicle control device performs acceleration control to increase the speed of the vehicle when the winker lever is operated and the winker is activated during cruise control. Further, the vehicle control device calculates a curve travel target vehicle speed based on the radius of the curve, and performs deceleration control for decelerating the vehicle when the vehicle speed is faster than the curve travel target vehicle speed. Such a vehicle control device is described in Patent Documents 1 and 2, for example.

JP 2008-120305 A JP 2010-052727 A

  In the vehicle control device, a condition for performing acceleration control when cruise control is being performed and a condition for performing deceleration control for decelerating the speed of the vehicle on a curve may be satisfied at the same time. In this case, when deceleration control is performed, the vehicle moves against the driver's intention to execute acceleration control and overtake the vehicle ahead.

  Therefore, an object of one aspect of the present invention is to provide a vehicle control device that performs control reflecting the driver's intention.

  A vehicle control device according to one aspect of the present invention provides a curve radius acquisition unit that acquires a curve radius of a travel lane of a vehicle, and a vehicle when the vehicle passes a curve based on the curve radius acquired by the curve radius acquisition unit. A target vehicle speed calculation unit that calculates a curve travel target vehicle speed, a winker operation detection unit that detects whether or not the winker is in operation, and a deceleration control that decelerates the vehicle when the vehicle speed is higher than the curve travel target vehicle speed And a vehicle speed control unit that performs acceleration control for accelerating the vehicle when the blinker is in an operating state and the vehicle speed is slower than a predetermined speed, and the vehicle speed control unit is more than the curve travel target vehicle speed. When the speed of the vehicle is high, and when the blinker is in an operating state and the speed of the vehicle is slower than a predetermined speed, acceleration control is performed.

  In this vehicle control device, acceleration control is performed when the vehicle speed is higher than the curve travel target vehicle speed, and when the blinker is in an operating state and the vehicle speed is slower than a predetermined speed. In other words, the vehicle control device performs acceleration control when a condition for performing acceleration control and a condition for performing deceleration control are satisfied at the same time. Here, the acceleration control is executed by the driver operating the winker lever. That is, the acceleration control is executed based on the driver's intention. As described above, the vehicle control device can perform the control reflecting the driver's intention by performing the acceleration control when the conditions for performing the acceleration control and the conditions for performing the deceleration control are satisfied at the same time.

  According to one aspect of the present invention, control reflecting the driver's intention can be performed.

It is a block diagram which shows schematic structure of the vehicle control apparatus which concerns on embodiment. It is a top view which shows a mode that a vehicle drive | works a curve. It is a flowchart which shows the flow of the process which calculates a curve travel target vehicle speed and the acceleration for curves. 3 is a map showing a relationship between a curve radius and a lateral G. It is a flowchart which shows the flow of the process which controls the speed of the vehicle when execution instruction | command of both cruise control and curve driving control is performed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a block diagram showing a vehicle control device 100 according to the present embodiment. A vehicle control device 100 shown in FIG. 1 is mounted on a vehicle M such as a passenger car. As shown in FIG. 1, the vehicle control device 100 includes a vehicle speed sensor 1, a blinker switch 2, a GPS receiver 3, a navigation system 4, a radar 5, an ECU [Electronic Control Unit] 6, and an actuator 7.

  The vehicle speed sensor 1 is a detector that detects the speed of the vehicle M. As the vehicle speed sensor 1, for example, a wheel speed sensor that is provided for a wheel of the vehicle M or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel is used. The vehicle speed sensor 1 transmits the detected vehicle speed information to the ECU 6.

  The turn signal switch 2 is provided, for example, with respect to the turn signal lever of the vehicle M, and detects the operation of the turn signal lever by the driver. The turn signal switch 2 detects whether the operation of the turn signal lever by the driver is the operation of the right turn signal or the left turn signal. The turn signal switch 2 transmits the detected turn signal information to the ECU 6.

  The GPS receiving unit 3 measures the position of the vehicle M (for example, the latitude and longitude of the vehicle M) by receiving signals from three or more GPS satellites. The GPS receiver 3 transmits the measured position information of the vehicle M to the ECU 6.

  The navigation system 4 is a device that guides the driver of the vehicle M to the destination set by the driver of the vehicle M. The navigation system 4 includes a map storage unit 41 that stores map information. The navigation system 4 calculates the route on which the vehicle M travels based on the position information of the vehicle M measured by the GPS receiver 3 and the map information stored in the map storage unit 41. For example, the navigation system 4 calculates a target route from the position of the vehicle M to the destination, and notifies the driver of the target route by displaying on the display unit and outputting sound from the sound output unit.

  Here, the map information stored in the map storage unit 41 includes a road curve radius and a road cant (gradient in the lane width direction) in addition to information such as a road for performing guidance to the destination. Yes.

  The radar 5 detects surrounding vehicles that travel around the vehicle M. Specifically, the radar 5 detects surrounding vehicles around the vehicle M using radio waves (for example, millimeter waves). The radar 5 detects surrounding vehicles by transmitting radio waves around the vehicle M and receiving radio waves reflected by the surrounding vehicles. The radar 5 transmits the detection result to the ECU 6.

  The actuator 7 is a device that executes traveling control of the vehicle M. The actuator 7 includes at least an engine actuator and a brake actuator. The engine actuator controls the driving force of the vehicle by changing the amount of air supplied to the engine (for example, changing the throttle opening) according to a control signal from the ECU 6. The engine actuator controls the driving force of a motor as a power source when the vehicle is a hybrid vehicle or an electric vehicle.

  The brake actuator controls the brake system in accordance with a control signal from the ECU 6, and controls the braking force applied to the wheels of the vehicle. As the brake system, for example, a hydraulic brake system can be used. Note that the brake actuator may control both the hydraulic brake system and the regenerative brake system when the vehicle includes a regenerative brake system.

  Next, the ECU 6 will be described. The ECU 6 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 6 executes various controls by loading a program stored in the ROM into the RAM and executing it by the CPU. The ECU 6 may be composed of a plurality of electronic control units.

  Functionally, the ECU 6 includes a curve radius acquisition unit 11, a target vehicle speed calculation unit 12, a winker operation detection unit 13, and a vehicle speed control unit 14.

  As shown in FIG. 2, the curve radius acquisition unit 11 acquires the curve radius of the curve R in front of the vehicle M in the travel lane L1 of the vehicle M. The curve radius acquisition unit 11 acquires the curve radius ahead of the vehicle M based on the position information acquired by the GPS reception unit 3 and the map information stored in the map storage unit 41.

  The target vehicle speed calculation unit 12 calculates a curve travel target vehicle speed when the vehicle M passes the curve based on the curve radius acquired by the curve radius acquisition unit 11. The curve travel target vehicle speed is, for example, a speed at which the vehicle M can travel without departing from the lane when traveling on the curve R.

  Here, an example of the process of calculating the curve travel target vehicle speed performed by the ECU 6 will be described with reference to FIGS. 3 and 4. Note that the processing shown in FIG. 3 is executed by the ECU 6 when an instruction to execute curve traveling control is given by the driver of the vehicle M. When the process of the flowchart reaches the end, the ECU 6 repeats the process from the start again. ECU6 complete | finishes the process shown in FIG. 3, when execution of curve driving control is canceled by the driver of the vehicle M. FIG.

  As shown in FIG. 3, the curve radius acquisition unit 11 acquires a curve radius (S11). The curve radius here is the curve radius of the curve R existing within a predetermined distance from the current position of the vehicle M. When the curve R does not exist within a predetermined distance from the current position of the vehicle M, the ECU 6 repeats the process from the start again.

  The target vehicle speed calculation unit 12 acquires the lateral G applied to the vehicle M when passing the curve R. Specifically, the target vehicle speed calculation unit 12 acquires the lateral G corresponding to the curve radius acquired by the curve radius acquisition unit 11 based on the map shown in FIG. The map shown in FIG. 4 is predetermined. In this map, the value of the lateral G decreases as the curve radius increases. The map shown in FIG. 4 is stored in a storage unit (not shown).

The target vehicle speed calculation unit 12 calculates a curve travel target vehicle speed when traveling on the curve R in front of the vehicle M using the curve radius and the lateral G. Specifically, the target vehicle speed calculation unit 12 calculates the curve travel target vehicle speed based on the following equation (1).
Curve driving target vehicle speed [km / h] =
√ {(lateral G + cant [%] / 100) × gravity acceleration [m / s ² ] × curve radius [m]} × 3.6
... (1)
Here, the target vehicle speed calculation unit 12 acquires a cant from the map storage unit 41.

  Further, the target vehicle speed calculation unit 12 calculates a curve acceleration that is an acceleration for controlling the speed of the vehicle M so that the vehicle M can travel the curve R at the calculated curve travel target vehicle speed. Specifically, the target vehicle speed calculation unit 12 determines whether or not the calculated curve travel target vehicle speed is slower than the current speed of the vehicle M (S14). The target vehicle speed calculation unit 12 acquires the current speed of the vehicle M from the vehicle speed information of the vehicle speed sensor 1.

  When the curve travel target vehicle speed is slower than the current speed of the vehicle M (S14: YES), the target vehicle speed calculation unit 12 calculates an acceleration (deceleration request) for decelerating the vehicle M as the curve acceleration (S15). . On the other hand, when the curve travel target vehicle speed is not slower than the current speed of the vehicle M (S14: NO), the target vehicle speed calculation unit 12 calculates an acceleration (acceleration request) for accelerating the vehicle M as a curve acceleration. (S16). For example, the control of the speed of the vehicle M based on the curve acceleration is started when the vehicle M reaches a point K before the curve R shown in FIG. 2, for example, according to the curve travel target vehicle speed and the curve acceleration. .

  The winker operation detection unit 13 detects whether or not the winker provided in the vehicle M is in an operating state based on the winker information detected by the winker switch 2. Further, the winker operation detection unit 13 detects whether the operation of the winker lever of the driver is the operation of the right winker or the left winker based on the winker information.

  The vehicle speed control unit 14 controls the speed of the vehicle M by transmitting a control signal to the actuator 7. Specifically, the vehicle speed control unit 14 performs deceleration control for decelerating the vehicle M when the speed of the vehicle M is higher than the curve travel target vehicle speed, and the speed of the vehicle M is the cruise vehicle speed ( Acceleration control for accelerating the vehicle M is performed when it is slower than a predetermined speed. The vehicle speed control unit 14 performs acceleration control when the speed of the vehicle M is higher than the curve travel target vehicle speed, and when the turn signal is operating and the speed of the vehicle M is slower than the cruise vehicle speed.

  More specifically, the vehicle speed control unit 14 includes a cruise control unit 21, a curve travel control unit 22, and a control selection unit 23. The cruise control unit 21 controls the speed of the vehicle M by transmitting a control signal to the actuator 7 so that the cruise control is executed when the driver of the vehicle M instructs to start the cruise control. .

  As the cruise control, the cruise control unit 21 controls the speed of the vehicle M so that the vehicle M travels at the cruise vehicle speed. The cruise vehicle speed is a predetermined vehicle speed. The cruise vehicle speed may be changed by the driver. The cruise control unit 21 performs cruise control by comparing the speed of the vehicle M acquired by the vehicle speed sensor 1 with the vehicle speed for cruise. Specifically, the cruise control unit 21 calculates the acceleration for cruise so that the vehicle M travels at the cruise vehicle speed.

  As shown in FIG. 2, when the preceding vehicle A is present in front of the vehicle M, the cruise control unit 21 determines that the preceding vehicle A and the preceding vehicle A are used as cruise control when the speed of the preceding vehicle A is slower than the cruise vehicle speed. The speed of the vehicle M is controlled so as to travel at the same speed. The cruise control unit 21 uses the detection result of the preceding vehicle A by the radar 5 so that the vehicle M travels at the same speed as the preceding vehicle A (that is, the distance between the preceding vehicle A and the vehicle M is the same). To control the speed. Specifically, the cruise control unit 21 calculates the cruise acceleration so as to travel at the same speed as the preceding vehicle A.

  Further, the cruise control unit 21 controls the speed of the vehicle M so that the vehicle M travels at the cruise vehicle speed when the speed of the vehicle M is slower than the cruise vehicle speed and when the winker lever is operated. . The case where the winker lever is operated is a case where the winker lever is operated so as to change the lane from the traveling lane L1 to the passing lane L2 as shown in FIG. 2 (when the right winker is operated). In other words, the cruise control unit 21 performs control (acceleration control) for accelerating the vehicle M when the speed of the vehicle M is slower than the cruise vehicle speed and when the winker lever is operated. Specifically, the cruise control unit 21 determines the winker-linked acceleration so that the vehicle M is accelerated to the cruise vehicle speed when the speed of the vehicle M is slower than the cruise vehicle speed and the winker lever is operated. Is calculated. The cruise control unit 21 determines that the winker lever is operated so as to change the lane from the travel lane L1 to the overtaking lane L2 based on the detection result of the winker operation detection unit 13.

  The curve traveling control unit 22 transmits a control signal to the actuator 7 so that the curve traveling control is executed when the driver of the vehicle M instructs to start the curve traveling control. To control. The curve travel control unit 22 controls the speed of the vehicle M according to the radius of the curve R in front of the vehicle M as curve travel control. Specifically, the curve travel control unit 22 causes the vehicle M to travel along the curve R at the curve travel target vehicle speed based on the curve travel target vehicle speed and the curve acceleration calculated by the target vehicle speed calculation unit 12. To control the speed.

  The curve travel control unit 22 performs control (deceleration control) to decelerate the vehicle M based on the curve acceleration when the speed of the vehicle M is faster than the curve travel target vehicle speed. When the speed of the vehicle M is equal to or lower than the curve travel target vehicle speed, the curve travel control unit 22 performs control to accelerate the vehicle M based on the curve acceleration.

  The control of the speed of the vehicle M based on the acceleration for the curve is started when the vehicle M reaches the point K before the curve R shown in FIG. The position of the point K may be changed according to at least one of the curve travel target vehicle speed and the curve acceleration.

  When the driver of the vehicle M gives an instruction to execute one of the cruise control and the curve travel control, the control selection unit 23 receives the vehicle from the cruise control unit 21 or the curve travel control unit 22 that has been instructed to execute. Control the speed of M.

  On the other hand, when the driver of the vehicle M is instructed to execute both the cruise control and the curve travel control, the control selection unit 23 has a speed that is higher than the curve travel target vehicle speed, and the blinker is in an operating state. When the speed of the vehicle M is lower than the cruise vehicle speed, a control signal is transmitted to the actuator 7 so that the acceleration control is executed. Specifically, the control selection unit 23 controls the speed of the vehicle M based on the following processing when the driver of the vehicle M is instructed to execute both cruise control and curve traveling control.

  The flow of processing performed by the control selection unit 23 when the driver of the vehicle M has instructed execution of both cruise control and curve traveling control will be described with reference to the flowchart of FIG. Note that the processing shown in FIG. 5 is executed by the ECU 6 when the driver of the vehicle M gives an instruction to execute cruise control and curve traveling control. When the process of the flowchart reaches the end, the ECU 6 repeats the process from the start again. The ECU 6 ends the process shown in FIG. 5 when execution of at least one of cruise control and curve traveling control is canceled by the driver of the vehicle M. Further, while the control selection unit 23 performs the processing shown in FIG. 5, the target vehicle speed calculation unit 12 and the cruise control unit 21 calculate the above-described acceleration and the like. When an instruction to execute both cruise control and curve traveling control is given, the cruise control unit 21 and the curve traveling control unit 22 do not transmit control signals to the actuator 7. The control selection unit 23 transmits a control signal to the actuator 7.

  First, the control selection unit 23 determines whether or not the curve travel target vehicle speed calculated by the target vehicle speed calculation unit 12 is slower than the current speed of the vehicle M (S21). The control selection unit 23 uses the speed of the vehicle M acquired by the vehicle speed sensor 1 as the current speed of the vehicle M.

  When the curve travel target vehicle speed is slower than the current speed of the vehicle M (S21: YES), the control selection unit 23 determines whether or not the cruise vehicle speed is faster than the current speed of the vehicle M (S22). When the cruise vehicle speed is higher than the current speed of the vehicle M (S22: YES), the control selection unit 23 changes the lane from the travel lane L1 to the overtaking lane L2 based on the detection result of the winker operation detection unit 13. It is then determined whether or not the right turn signal is operating (turn signal ON) (S23).

  When the right turn signal is in operation (S23: YES), the control selection unit 23 selects the turn signal interlocking acceleration calculated by the cruise control unit 21 as the acceleration used to control the speed of the vehicle M. Then, the control selection unit 23 transmits a control signal to the actuator 7 so that the vehicle M is accelerated to the cruise vehicle speed based on the selected blinker interlocking acceleration (S24). That is, the vehicle speed control unit 14 performs the curve travel control (deceleration) when the speed of the vehicle M is higher than the curve travel target vehicle speed, and when the turn signal is in operation and the speed of the vehicle M is slower than the cruise vehicle speed. Priority is given to cruise control (acceleration control) rather than control.

  When the curve travel target vehicle speed is not slower than the current speed of the vehicle M (S21: NO), the control selection unit 23 uses the cruise calculated by the cruise control unit 21 as the acceleration used for controlling the speed of the vehicle M. Select acceleration. Then, based on the selected cruise acceleration, the control selection unit 23 transmits a control signal to the actuator 7 so that the speed of the vehicle M becomes the cruise vehicle speed (S26).

  When the cruise vehicle speed is not faster than the current speed of the vehicle M (S22: NO), or when the right turn signal is not operating (S23: NO), the control selection unit 23 controls the speed of the vehicle M. The acceleration for the curve calculated by the target vehicle speed calculation unit 12 is selected as the acceleration to be used. The curve acceleration selected here is an acceleration for decelerating the vehicle M as described in the calculation method with reference to FIG. Then, the control selection unit 23 transmits a control signal to the actuator 7 so that the vehicle M is decelerated to the curve travel target vehicle speed based on the selected curve acceleration (S25).

  The present embodiment is configured as described above. In the vehicle control device 100, when the speed of the vehicle M is higher than the curve travel target vehicle speed, and the winker is in an operating state and the vehicle speed is lower than the cruise vehicle speed. In this case, acceleration control is performed based on turn signal interlocking acceleration when the right turn signal is operated in cruise control (processing of S24). In other words, the vehicle control device 100 accelerates based on the blinker interlocking acceleration when the condition for performing the acceleration control based on the blinker interlocking acceleration and the condition for performing the deceleration control based on the curve acceleration are simultaneously satisfied. Take control. The acceleration control based on the winker interlocking acceleration is executed by the driver operating the winker lever. That is, this acceleration control is executed based on the driver's intention. As described above, the vehicle control device 100 can perform the control reflecting the driver's intention by performing the acceleration control when the conditions for performing the acceleration control and the conditions for performing the deceleration control are satisfied at the same time.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. For example, the curve radius acquisition unit 11 acquires the curve radius from the map storage unit 41, but may acquire the curve radius by performing wireless communication from an information center or the like provided outside the vehicle M. Further, the vehicle control device 100 may detect the curve radius when the vehicle M actually travels on the road, and may store the detected curve radius. In this case, the curve radius acquisition unit 11 may acquire the curve radius stored by actually traveling. The curve radius acquisition unit 11 may acquire a curve curvature instead of the curve radius.

  The vehicle control device 100 may include a rider that detects light around the vehicle M using light instead of the radar 5.

  DESCRIPTION OF SYMBOLS 11 ... Curve radius acquisition part, 12 ... Target vehicle speed calculation part, 13 ... Winker operation detection part, 14 ... Vehicle speed control part, 100 ... Vehicle control apparatus, M ... Vehicle, R ... Curve.

Claims (1)

A curve radius acquisition unit for acquiring the curve radius of the traveling lane of the vehicle;
A target vehicle speed calculation unit that calculates a curve travel target vehicle speed when the vehicle passes a curve based on the curve radius acquired by the curve radius acquisition unit;
A winker operation detection unit for detecting whether or not the winker is in an operating state;
Deceleration control for decelerating the vehicle when the vehicle speed is higher than the curve travel target vehicle speed, and the vehicle when the turn signal is in operation and the vehicle speed is lower than a predetermined speed. A vehicle speed control unit that performs acceleration control to accelerate,
With
The vehicle speed control unit performs the acceleration control when the vehicle speed is higher than the curve travel target vehicle speed and when the blinker is in an operating state and the vehicle speed is lower than a predetermined speed. Car control device to perform.

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