JP2017185947A - Control system and program of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a vehicle speed to be increased in response to a driver's operation promptly after a vehicle speed is suppressed so as to avoid colliding with an object.SOLUTION: A control system 2 of a vehicle 1 includes object detection means 21 for detecting an object present around the vehicle 1, determination means 24 for determining whether or not there is a possibility of the vehicle 1 colliding with the detected object, engine output control means 25 for controlling output of an engine 11, and braking force control means 26 for controlling braking force of a brake 12. When it is determined that there is a possibility of the vehicle 1 colliding with the object, the output control means reduces output of the engine 11, and the braking force control means 26 actuates the brake 12. When it is not determined, later, that there is a possibility of the vehicle 1 colliding with the object, the engine output control means 25 returns output of the engine 11 to a driver's request output immediately.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle control system and program.

  2. Description of the Related Art Conventionally, a collision avoidance system for preventing a vehicle (own vehicle) from colliding with an object (for example, another vehicle, a pedestrian, an obstacle) around the vehicle is known. Such a collision avoidance system, for example, detects an object that exists in the vicinity of the vehicle, and automatically reduces the output of the engine when it is determined that the possibility of the vehicle colliding with the detected object has increased. Activate the brake. By such control, the collision with the detected object is avoided by reducing the vehicle speed.

  As such a collision avoidance system, Patent Document 1 discloses a configuration in which, after avoiding a collision with a detected object, a control is executed in which the brake is immediately released and the engine output is gradually increased. Further, Patent Document 1 discloses a configuration in which the engine output is gradually increased after a certain amount of time has elapsed after avoiding a collision with a detected object.

JP 2005-201091 A

  However, in the configuration described in Patent Document 1, the speed of the engine gradually increases even if the driver has an intention to accelerate the vehicle immediately after avoiding a collision with the detected object. It takes time to rise. For this reason, for example, after avoiding a collision, even if it is desired to immediately start the vehicle or increase the speed in order to avoid a rear-end collision of a vehicle approaching from behind, it takes time to increase the vehicle speed, The vehicle speed does not increase as the driver operates.

  In view of the above situation, the problem to be solved by the present invention is to enable the vehicle speed to be increased according to the operation of the driver at an early stage after the vehicle speed is suppressed and the collision with the object is avoided.

  In order to solve the above problems, the present invention provides an object detection means for detecting an object existing around a vehicle, and a determination means for determining whether or not the vehicle may collide with the detected object. Output control means for controlling the output of the driving force source of the vehicle, driver request output obtaining means for obtaining a required output of the driving force source by the driver, and brake control for controlling the braking force of the brake of the vehicle. Power control means, and when it is determined that the vehicle may collide with the object detected by the determination means, the output control means reduces the output of the driving force source. The brake braking force control means operates the brake, the output control means reduces the output of the driving force source, and the brake braking force control means operates the brake. When it is no longer determined by the determination means that the vehicle may collide with the detected object, the output control means acquires the output of the driving force source by the driver request output acquisition means. It is characterized in that it immediately returns to the driver request output.

  The output control means reduces the output of the driving force source, and the brake braking force control means may cause the vehicle to collide with the object detected by the determination means after the brake is operated. When it is not determined, the brake braking force control means may gradually reduce the braking force of the brake.

  The brake braking force control means may be configured to immediately reduce the braking force of the brake to 0 when a predetermined condition is satisfied while gradually reducing the braking force of the brake.

  When the distance between the object detected by the detection means and the vehicle is a predetermined threshold or more, when the driver request output acquired by the driver request output acquisition means is a predetermined threshold or more, When it is determined that there is a possibility that another object existing behind the vehicle detected by the detecting means may collide with the vehicle, and at least one of the cases where the steering operation amount of the vehicle is equal to or greater than a predetermined threshold value In such a case, it may be determined that the predetermined condition is satisfied.

  The present invention is a program for causing a computer to function as each unit of the vehicle control system.

  According to the present invention, after the collision with the object is avoided by suppressing the vehicle speed, the vehicle speed can be increased in accordance with the driver's operation at an early stage.

FIG. 1 is a functional block diagram illustrating a configuration example of a control system according to an embodiment of the present invention. FIG. 2 is a time chart schematically showing fluctuations of the braking force of the brake, the output of the engine, and the vehicle speed over time when the control system executes the vehicle speed suppression control. FIG. 3 is a flowchart illustrating an example of processing of vehicle speed suppression control.

  Embodiments of the present invention will be described below in detail with reference to the drawings. When the vehicle control system according to the embodiment of the present invention determines that the vehicle (own vehicle) may collide with an object (another vehicle, a pedestrian, an obstacle, etc.) during traveling, the vehicle speed is set. Carrying out vehicle speed suppression control is executed. For convenience of explanation, “vehicle control system” may be abbreviated as “control system”. Unless otherwise specified, the “vehicle” refers to the own vehicle, and the “object” refers to an object detected by an object detection unit described later.

<Control system configuration>
First, a configuration example of the control system 2 according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is a functional block diagram showing a configuration example of a control system 2 according to the embodiment of the present invention. As shown in FIG. 1, a vehicle 1 to which a control system 2 according to an embodiment of the present invention is applied has an engine 11 that is a driving force source of the vehicle 1 and a brake 12 that brakes the vehicle 1. . The control system 2 according to the embodiment of the present invention includes an object detection unit 21, a driver request output acquisition unit 22, a steering operation amount acquisition unit 23, a determination unit 24, an engine output control unit 25, a brake A braking force control means 26 and an information storage means 27 are included.

  The object detection unit 21 detects an object existing around the vehicle 1 and outputs a distance and a relative speed between the detected object and the vehicle 1. For example, an image sensor or a laser distance meter can be applied to the object detection means 21. While the control system 2 is operating, the object detection means 21 continuously executes detection of an object existing around the vehicle 1 and output of the distance between the detected object and the vehicle 1 and the relative speed. .

  The driver request output acquisition means 22 acquires the output of the engine 11 (driver request output) intended by the driver. In the embodiment of the present invention, the driver request output is an output of the engine 11 according to an accelerator operation amount (for example, an accelerator pedal depression amount) by the driver. Further, in the embodiment of the present invention, the driver request output “0” means an output that coasts while driving, for example, an output when the accelerator operation amount is “0”. And The driver request output not being “0” means an output that allows the vehicle 1 to travel (power running) (excluding travel due to a so-called creep phenomenon), and the accelerator operation amount is “0”. Let's say the output when the value is larger.

  The steering operation amount acquisition means 23 acquires the operation amount (rotation angle) of the steering wheel. It is assumed that the turning radius of the vehicle 1 is smaller as the steering operation amount is larger.

  The determination unit 24 executes a predetermined determination process. The predetermined determination process executed by the determination unit 24 includes a determination process of whether or not a condition for executing the vehicle speed suppression control (hereinafter referred to as “execution condition”) is satisfied. In the embodiment of the present invention, the possibility that the vehicle 1 collides with an object is used as an execution condition. The execution condition is assumed to be satisfied when the vehicle 1 may collide with an object. For example, it is assumed that the smaller the distance between the vehicle 1 and the object and the greater the relative speed at which the vehicle 1 approaches the object, the higher the possibility that the vehicle 1 will collide with the object. The determination unit 24 determines that the execution condition is satisfied when the distance between the vehicle 1 and the object is equal to or less than a predetermined threshold value and the vehicle 1 and the object are approaching at a speed equal to or higher than the predetermined threshold value. If not, it is determined that the execution condition is not satisfied. However, the determination method and the determination criterion for determining whether or not the execution condition is satisfied (whether or not the vehicle 1 may collide with an object) are not limited to the above-described determination criterion and determination method.

  The engine output control means 25 controls the output of the engine 11 so that the driver request output acquired by the driver request output acquisition means 22 is obtained while the vehicle speed suppression control is not being executed. That is, the engine output control means 25 controls the output of the engine 11 by setting the output target value of the engine 11 to the driver request output while the vehicle speed suppression control is not being executed. The engine output control means 25 reduces the output of the engine 11 at a predetermined timing while the vehicle speed suppression control is being executed. Details will be described later.

  The brake braking force control means 26 controls the braking force of the brake 12 according to the amount of brake operation (for example, the amount of depression of the brake pedal) while the vehicle speed suppression control is not being executed. Further, the brake braking force control means 26 controls the braking force of the brake 12 so as to generate a predetermined braking force at a predetermined timing while the vehicle speed suppression control is being executed. Details will be described later.

  In the information storage means 27, predetermined information and settings used for vehicle speed suppression control are stored in advance. The determination unit 24, the engine output control unit 25, and the brake braking force control unit 26 can read information and settings stored in the information storage unit 27.

  Here, a hardware configuration example of the control system 2 will be described. The vehicle 1 is equipped with a vehicle speed suppression control ECU that executes vehicle speed suppression control. The vehicle speed suppression control ECU is a computer having a CPU, a ROM, and a RAM. The ROM stores in advance a computer program and predetermined information and settings for executing vehicle speed suppression control. Then, the CPU reads out the computer program stored in the ROM and executes it using the RAM as a work area. At this time, predetermined information and settings stored in the ROM are appropriately read out and referred to. As a result, the vehicle speed suppression control ECU functions as each unit shown in FIG. 1, and vehicle speed suppression control is realized.

<Vehicle speed suppression control>
Next, the vehicle speed suppression control will be described with reference to FIG. FIG. 2 is a time chart schematically showing fluctuations of the braking force of the brake 12, the output of the engine 11, and the vehicle speed with time when the control system 2 executes the vehicle speed suppression control. Note that the braking force of the brake 12 and the output of the engine 11 shown in FIG. 2 are both target values, and the engine output control means 25 and the brake braking force control means 26 have the output of the engine 11 and the braking force of the brake 12 respectively. Control is performed so as to change according to the target value. FIG. 2 shows an example in which the driver request output acquired by the driver request output acquisition means 22 maintains a predetermined value greater than “0”.

  The object detection unit 21 continuously executes detection of an object and output of the distance between the vehicle 1 and the object and the relative speed during the operation of the control system 2. Further, the driver request output acquisition means 22 continues to acquire the driver request output while the control system 2 is operating. Based on the output of the object detection means 21, the determination means 24 continuously determines whether or not the execution condition is satisfied (determination as to whether or not the vehicle 1 may collide with the object). .

As shown in FIG. 2, the vehicle speed suppression control according to the embodiment of the present invention has three stages of a first stage to a third stage. Timing T ₁ is the start timing of the first stage. The first stage is started when the determination unit 24 determines that the execution condition is satisfied. In the first stage, the brake braking force control means 26 operates the brake 12 to reduce the vehicle speed. Timing T ₂ is the start timing of the second stage. The second stage is started when it is determined that the collision with the object cannot be avoided by the operation of the brake 12. In the second stage, the brake braking force control means 26 maintains the braking force of the brake 12 at a predetermined value (constant value) greater than 0, and the engine output control means 25 reduces the output of the engine 11. Timing T ₃ is the start timing of the third stage. In the third stage, the vehicle speed is increased (recovered) when it is determined that the collision has been avoided by the control in the second stage. In the third stage, the engine output control means 25 immediately returns the output of the engine 11 to the driver request output, and the brake braking force control means 26 gradually reduces the braking force of the brake 12. Timing T ₄ is a timing of termination of the vehicle speed suppression control.

First stage When it is determined by the determination means 24 that the execution condition is satisfied, the brake braking force control means 26 gradually increases the braking force of the brake 12 over time. On the other hand, the engine output control means 25 maintains the output of the engine 11 at the driver request output. That is, the engine output control means 25 uses the driver request output as the output target value of the engine 11 in the first stage. Thus, in the first stage, the vehicle speed is reduced by gradually increasing the braking force of the brake 12 over time.

  If conditions for shifting to the second stage (hereinafter referred to as “transition conditions”) are satisfied after the start of the first stage, the process shifts to the second stage. In the embodiment of the present invention, when a predetermined time elapses while the execution condition is satisfied after the first stage is started, or the braking force of the brake 12 reaches a predetermined threshold value while the execution condition is satisfied. In this case, it is assumed that the transition condition is satisfied. Note that the determination unit 24 may determine whether the transition condition is satisfied. On the other hand, if the execution condition is not satisfied before the transition condition is satisfied, the vehicle speed suppression control is terminated without shifting to the second stage. In this case, the brake braking force control means 26 returns the braking force of the brake 12 to “0” (controls the braking force of the brake 12 so as to be a braking force according to the driver's braking operation).

Second Stage In the second stage, the brake braking force control means 26 maintains the braking force of the brake 12 at a predetermined constant value. For example, as shown in FIG. 3, the brake braking force control means 26 maintains the braking force of the brake 12 in the second stage at the braking force at the end timing of the first stage. The engine output control means 25 reduces the output of the engine 11 to a predetermined value regardless of the driver request output. In the embodiment of the present invention, the engine output control means 25 reduces the output of the engine 11 to the same output as when idling. As shown in FIG. 3, the engine output control means 25 immediately reduces the output of the engine 11 after the start of the second stage. In other words, the engine output control means 25, at the timing T ₂ of the beginning of the second stage switches in real output target value of the engine 11 from the driver's demand output to a predetermined value (e.g., the same output as idling). By such control, the vehicle speed is reduced even in the second stage. In addition, since the output of the engine 11 was maintained at the driver request output in the first stage, it was reduced to a predetermined value in the second stage. Increased compared to the first stage.

  If it is determined that the collision with the object has been avoided after the transition to the second stage, the process proceeds to the third stage. In the embodiment of the present invention, when the execution condition is not satisfied and the driver has an intention to increase the vehicle speed, it is determined that the collision with the object is avoided. Specifically, when the execution condition is not satisfied and the driver request output is not “0”, it is determined that the collision with the object has been avoided, and the process proceeds to the third stage. These determinations may be performed by the determination unit 24 based on the detection result by the object detection unit 21 and the acquisition result by the driver request output acquisition unit 22. In the second stage, while the execution condition is satisfied, even if the driver request output is not “0”, it can be considered that the collision with the object is not avoided. Therefore, in this case, the control system 2 continues the second stage of the vehicle speed suppression control. Even if the execution condition is not satisfied, if the driver request output is “0”, it can be considered that the driver does not have an intention to increase the vehicle speed. In this case, the control system 2 ends the vehicle speed suppression control. That is, the brake braking force control means 26 returns the braking force of the brake 12 to 0 (controls the braking force of the brake 12 so as to be a braking force corresponding to the driver's braking operation).

Third Stage In the third stage, the engine output control means 25 controls the output of the engine 11 so that it immediately becomes the driver request output. In other words, the engine output control means 25 immediately switches the output target value of the engine 11 to the driver request output at the timing of shifting from the second stage to the third stage. At the timing of shifting to the third stage (T ₃ ), the driver request output is not “0”, so when shifting from the second stage to the third stage, the output of the engine 11 immediately rises to the driver request output. It will be. However, if the output of the engine 11 increases immediately, the vehicle 1 may start suddenly or accelerate rapidly. Therefore, in the embodiment of the present invention, when shifting from the second stage to the third stage, the brake braking force control means 26 gradually reduces the braking force of the brake 12 with time. That is, in the third stage, the braking force of the brake 12 is gradually reduced in a state where the output of the engine 11 has returned to the driver request output. For this reason, in the third stage, the vehicle speed gradually increases.

-Termination of vehicle speed suppression process If the termination condition is satisfied after the transition to the third stage, the control system 2 terminates the vehicle speed suppression control. In the embodiment of the present invention, the vehicle speed suppression control is terminated in any of the following aspects (a) to (d).

  (A) The determination unit 24 determines that the end condition is satisfied when the distance between the vehicle 1 and the object is equal to or greater than a predetermined threshold. When the distance between the vehicle 1 and the object is equal to or greater than a predetermined threshold, it can be considered that the possibility of colliding with the object is low even if the acceleration of the vehicle 1 is large. Therefore, if the distance between the vehicle 1 and the object is equal to or greater than a predetermined threshold, the control system 2 ends the vehicle speed suppression control.

  (B) The determination unit 24 determines that the termination condition is satisfied when the driver request output acquired by the driver request output acquisition unit 22 is equal to or greater than a predetermined threshold. When the driver request output is large to some extent, it can be seen that the driver has an intention to greatly accelerate the vehicle 1. Therefore, when the driver request output is equal to or greater than a predetermined threshold, the control system 2 ends the vehicle speed suppression control so that the vehicle 1 is accelerated according to the driver's intention.

  (C) The determination unit 24 determines that the end condition is satisfied when the steering operation amount acquired by the steering operation amount acquisition unit 23 is equal to or greater than a predetermined threshold. When the amount of steering operation is large to some extent, it can be considered that the driver has an intention to advance the vehicle 1 in that direction. Therefore, when the steering operation amount is equal to or greater than the predetermined threshold, the control system 2 ends the vehicle speed suppression control so that the vehicle 1 immediately proceeds in the direction intended by the driver.

  (D) The determination unit 24 determines that the end condition is satisfied when there is a possibility that another vehicle approaching from behind may collide with the vehicle 1 (own vehicle). When there is a possibility that another vehicle approaching from the rear may collide with the vehicle 1, it is preferable that the vehicle 1 can be avoided by moving it immediately. Therefore, when there is a possibility that another vehicle approaching from the rear may collide with the vehicle 1, the control system 2 performs vehicle speed suppression control so that the vehicle 1 can travel at the speed intended by the driver. finish. In the embodiment of the present invention, the determination unit 24 includes the other vehicle (an object different from the object that triggered the start of the vehicle speed suppression control) existing behind the vehicle 1 detected by the object detection unit and the vehicle 1. And the other vehicle approaches the vehicle 1 (own vehicle) at a relative speed equal to or higher than the predetermined threshold, the other vehicle may collide with the vehicle 1. Judge that there is.

  In addition, the specific value of each above-mentioned predetermined threshold value is not specifically limited, It sets suitably. These predetermined threshold values are stored in the information storage means 27 in advance.

  If it transfers to a 3rd step, the engine output control means 25 will return the output of the engine 11 to a driver | operator request | requirement output immediately. For this reason, since the output of the engine 11 has already returned to the driver request output at the end timing of the vehicle speed suppression control, the driver can immediately increase the vehicle speed. According to such control, the driver of the vehicle 1 can quickly increase the vehicle speed after avoiding a collision with an object. Therefore, for example, the driver of the vehicle 1 can immediately perform driving for avoiding a collision of another vehicle from behind after avoiding a collision with an object. Further, in the third stage, by suddenly reducing the braking force of the brake 12, it is possible to prevent the vehicle 1 from suddenly starting and accelerating.

<Example of vehicle speed suppression control processing>
Next, an example of vehicle speed suppression control processing executed by the control system 2 will be described with reference to FIGS. 2 and 3. FIG. 3 is a flowchart illustrating an example of processing of vehicle speed suppression control. The control system 2 executes the process shown in FIG. 3 while the vehicle 1 is traveling. In addition, while the control system 2 is operating, the object detection means 21 continuously executes detection of an object existing around the vehicle 1 (calculation of the distance and relative speed between the vehicle 1 and the object) and driving. The driver request output acquisition means 22 continues to acquire the driver request output. When the control system 2 includes the steering operation amount acquisition unit 23, the steering operation amount acquisition unit 23 continuously acquires the steering operation amount while the control system 2 is operating. To do.

  In “execution condition satisfied?” In step S101, the determination unit 24 determines whether an execution condition for executing the vehicle speed suppression control is satisfied. As described above, in the embodiment of the present invention, the possibility that the vehicle 1 collides with an object is used as an execution condition. The determination unit 24 satisfies the execution condition when the distance between the vehicle 1 and the object is equal to or less than a predetermined threshold and the vehicle 1 and the object are approaching at a relative speed equal to or greater than the predetermined threshold. Judge. Then, while it is determined that the execution condition is not satisfied, the process waits in this step S101 (repeats step S101). By this process, the determination means 24 continues to determine whether or not the execution condition is satisfied while the control system 2 is operating (while the vehicle 1 is traveling). If it is determined that the execution condition is satisfied, the process proceeds to step S102.

  In “vehicle speed suppression control / first stage” in step S102, the control system 2 starts the vehicle speed suppression control. In step S102, the brake braking force control means 26 operates the brake 12 to reduce the vehicle speed. As shown in FIG. 2, the brake braking force control means 26 gradually increases the braking force of the brake 12 over time. However, the engine output control means 25 maintains the output of the engine 11 at the driver request output. By such processing, the vehicle speed is reduced.

  In “execution condition satisfied?” In step S103, the determination unit 24 determines whether or not the execution condition satisfied in step S102 is still satisfied. When it is determined that the execution condition is not satisfied, it can be considered that the collision with the object is avoided. In this case, the process proceeds directly to step S110 without passing through steps S104 to S109, and the vehicle speed suppression control is terminated. If it is determined that the execution condition is satisfied, it can be considered that the collision with the object has not been avoided yet. In this case, the brake braking force control means 26 continues the control for increasing the braking force of the brake 12. Then, the process proceeds to step S104.

  In “transition condition satisfied?” In step S104, the determination unit 24 determines whether the transition condition is satisfied. If the determination unit 24 determines that the transition condition is not satisfied, the process returns to step S103. If the determination unit 24 determines that the transition condition is satisfied, the process proceeds to step S104.

  Thus, while it is determined that the execution condition is satisfied, the control system 2 continues to execute the first stage of the vehicle speed suppression control until it is determined that the transition condition is satisfied. Further, when the execution condition is not satisfied before the transition condition is satisfied, that is, when it is not determined that the vehicle 1 may collide with an object during the execution of the first stage. Then, the vehicle speed suppression control is terminated.

  In the “vehicle speed suppression control / second stage” of step S105, the brake braking force control means 26 maintains the braking force of the brake 12 constant, and the engine output control means 25 immediately reduces the output of the engine 11. Thus, the vehicle speed suppression control shifts from the first stage to the second stage. Then, the process proceeds to step S106.

  In “execution condition satisfied?” In step S106, the determination unit 24 determines whether or not the execution condition is still satisfied. When it is determined that the execution condition is satisfied, it can be considered that the collision with the object has not been avoided yet. In this case, the process waits at step S106 (repeats step S106). Therefore, the brake braking force control means 26 maintains the braking force of the brake 12 at a predetermined constant value, and the engine output control means 25 maintains the state where the output of the engine 11 is reduced. As described above, when it is determined that the execution condition is satisfied, the second-stage control of the vehicle speed suppression control is continued. When it is determined that the execution condition is not satisfied, it can be considered that the collision with the object is avoided. In this case, the process proceeds to step S107.

  In “driver request output> 0?” In step S107, the determination unit 24 determines whether or not the driver request output acquired by the driver request output acquisition unit 22 is greater than “0”. When it is determined that the driver request output is “0” (in the case of “NO”), the driver starts the vehicle 1 even after the collision with the object is avoided. It can be assumed that he has no intention to accelerate. Therefore, in this case, the process proceeds to step S110 without passing through steps S108 and S109, and the vehicle speed suppression control is terminated. On the other hand, when it is determined that the driver request output is larger than “0” (in the case of “YES”), it is considered that the driver has an intention to start or accelerate the vehicle 1. Make it. Therefore, in this case, the process proceeds to step S108.

  In the “vehicle speed suppression control / third stage” in step S108, the brake braking force control means 26 gradually reduces the braking force of the brake 12 with time (the target value of the braking force of the brake 12 is set). Gradually reduce it). The engine output control means 25 immediately returns the output of the engine 11 to the driver request output. Thus, the vehicle speed suppression control shifts to the third stage. According to such control, the output of the engine 11 returns to the driver request output, and in this state, the braking force of the brake 12 gradually decreases. Therefore, the vehicle speed will increase. Then, the process proceeds to step S109.

  In “End condition satisfied?” In step S109, the determination unit 24 determines whether the end condition is satisfied. If it is determined that the end condition is not satisfied (in the case of “NO”), the process waits in step S109. Therefore, in this case, the third stage of the vehicle speed suppression control continues. If it is determined that the end condition is satisfied, the process proceeds to step S110.

  In “end of vehicle speed suppression control” in step S110, the control system 2 ends the vehicle speed suppression control. When the process proceeds directly from step S103 to step S110, the brake braking force control means 26 ends the operation of the brake 12 started in step S102 and returns the braking force of the brake 12 to zero. When the process directly proceeds from step S107 to step S110, the brake braking force control means 26 returns the braking force of the brake 12 to 0, and the engine output control means 25 returns the output of the engine 11 to the driver request output. . Then, the process returns to step S101. Therefore, when the vehicle speed suppression control ends, the engine output control means 25 controls the output of the engine 11 based on the driver request output until the execution condition is satisfied again, and the brake braking force control means 26. Controls the braking force of the brake 12 based on the brake operation by the driver. In this way, the control system 2 continuously executes the process shown in FIG. 3 during operation.

  By such processing, the control shown in FIG. 2 is realized.

  As mentioned above, although embodiment of this invention was described in detail with reference to drawings, the said embodiment only showed the specific example in implementation of this invention. The technical scope of the present invention is not limited to the embodiment described above. The present invention can be variously modified without departing from the spirit thereof, and these are also included in the technical scope of the present invention.

  For example, in the embodiment of the present invention, a vehicle speed suppression control ECU, which is a computer, is mounted on a vehicle and the vehicle speed suppression control ECU functions as each unit of the control system. However, the present invention is limited to such a configuration. Not. For example, an engine ECU that controls the engine may function as engine output control means, and a brake ECU that controls the brake may function as brake braking force control means. In this case, the vehicle speed suppression control ECU, the engine ECU, and the brake ECU are connected to each other through a vehicle-mounted network or the like so as to transmit and receive signals. These ECUs cooperate to function as each means of the control system, and vehicle speed suppression control is realized. As described above, the control system may be configured with a single piece of hardware or may be configured with a plurality of pieces of hardware.

  The present invention is a technique effective for a vehicle control system. And according to this invention, after suppressing the vehicle speed and the collision with an object being avoided, a vehicle speed can be raised according to a driver | operator's operation at an early stage.

DESCRIPTION OF SYMBOLS 1: Vehicle 11: Engine 12: Brake 2: Vehicle control system 21: Object detection means 22: Driver request output acquisition means 23: Steering operation amount acquisition means 24: Judgment means 25: Engine output control means 26: Brake braking force Control means 27: Information storage means

Claims (5)

Object detection means for detecting an object present around the vehicle;
Determination means for determining whether or not the vehicle may collide with the detected object;
Output control means for controlling the output of the driving force source of the vehicle;
Driver request output acquisition means for acquiring a request output of the driving force source by the driver;
Brake braking force control means for controlling the braking force of the brake of the vehicle;
Have
When it is determined that the vehicle may collide with the object detected by the determination means, the output control means reduces the output of the driving force source, and the brake braking force control means Actuate the brake,
The output control means reduces the output of the driving force source, and the brake braking force control means may cause the vehicle to collide with the object detected by the determination means after the brake is operated. When the determination is no longer made, the output control means immediately returns the output of the driving force source to the driver request output acquired by the driver request output acquisition means.   The output control means reduces the output of the driving force source, and the brake braking force control means may cause the vehicle to collide with the object detected by the determination means after the brake is operated. 2. The vehicle control system according to claim 1, wherein the brake braking force control unit gradually reduces the braking force of the brake when it is not determined. 3.   The brake braking force control means immediately sets the braking force of the brake to 0 when a predetermined condition is satisfied while gradually reducing the braking force of the brake. The vehicle control system according to 1 or 2. When the distance between the object detected by the detection means and the vehicle is a predetermined threshold or more,
When the driver request output acquired by the driver request output acquisition means is a predetermined threshold or more,
When it is determined that another object existing behind the vehicle detected by the detection means may collide with the vehicle,
When the steering operation amount of the vehicle is not less than a predetermined threshold,
4. The vehicle control system according to claim 3, wherein the predetermined condition is determined to be satisfied when at least one of the two conditions is satisfied. 5.   The program for functioning a computer as each means of the control system of the vehicle of any one of Claim 1 to 4.

Images