JP2019123380A - Vehicle control apparatus and vehicle control method - Google Patents

Abstract

To improve responsiveness related to the control of an actuator in emergency.SOLUTION: A vehicle control apparatus includes: a drive-supporting control part 11 for generating a control signal for controlling an actuator 3, disposed in a vehicle, used for controlling a vehicular motion; and an actuator control part 12 for outputting the control signal to the actuator 3 via a filter 123 used for smoothing the control signal in a case where the control signal is not for activating the actuator 3 in emergency, and for outputting the control signal to the actuator 3 bypassing the filter 123 in a case where the control signal is for activating the actuator 3 in emergency.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to a vehicle control device and a vehicle control method.

  When controlling an actuator such as an engine, a brake, and a steering provided in a vehicle, the operation of the actuator is smoothened in consideration of the driver's comfort. For example, Patent Document 1 discloses performing moderation control for alleviating the shock due to the fuel injection amount being rapidly increased or decreased when the accelerator pedal is suddenly depressed or suddenly returned. ing.

Unexamined-Japanese-Patent No. 2004-218579

  When the smoothing control is performed, the response speed of control of the actuator is delayed. For this reason, in the case where emergency control is performed when the actuator is controlled in an emergency for the purpose of preventing a collision of a vehicle, etc., responsiveness related to control of the actuator becomes a problem.

  Then, this indication is made in view of these points, and it aims at providing a vehicle control device and a vehicle control method which can improve responsiveness concerning control of an actuator at the time of emergency.

  A vehicle control device according to a first aspect of the present disclosure includes a generation unit that is provided in a vehicle and generates a control signal for controlling an actuator that controls movement of the vehicle, and the control signal operates the actuator urgently. If the control signal is output to the actuator through a filter that smoothes the control signal, and the control signal causes the actuator to operate urgently, the filter is not used. And a controller for outputting the control signal to the actuator.

  The vehicle control device includes a first filter, which is the filter used when the actuator is not operated in an emergency, and a second filter, which has a delay smaller than that of the first filter, and the control unit performs the control The control signal is output to the actuator via the first filter when the signal is not for operating the actuator urgently, and the control signal is for operating the actuator urgently. The control signal may be output to the actuator via a second filter.

  The control unit outputs the control signal to the actuator via the filter when the control signal does not operate the actuator urgently, and the control signal operates the actuator urgently. In some cases, the control signal may be output directly to the actuator without passing through the filter.

  The vehicle control device receives a normal control signal, which is the control signal indicating that the actuator is not operated urgently, and a emergency control signal which is the control signal indicating that the actuator is operated urgently A second receiving unit for receiving the normal control signal, the generation unit outputs the normal control signal to the first receiving unit, and the emergency control signal to the second receiving unit, and the control unit When the first reception unit receives the normal control signal, the first control unit outputs the normal control signal to the actuator through the filter, and when the second reception unit receives the emergency control signal, it does not pass through the filter. The emergency control signal may be output to the actuator.

  The vehicle control device further includes a reception unit that receives the control signal including the first information indicating that the actuator is not to be operated urgently and the control signal including the second information indicating that the actuator is urgently operated. The generation unit outputs the control signal to the reception unit, and the control unit receives the first information from the control signal received by the reception unit. A control signal may be output to the actuator, and the control signal may be output to the actuator without passing through the filter when the second information is included in the control signal received by the receiving unit.

  A vehicle control method according to a second aspect of the present disclosure includes the steps of: generating a control signal for controlling an actuator provided in a vehicle and controlling movement of the vehicle, the control signal being executed by a computer; When the control signal is output to the actuator without passing through a filter for smoothing the control signal, and the control signal does not operate the actuator urgently. Outputting the control signal to the actuator via the filter.

  According to the present disclosure, there is an effect that responsiveness in controlling an actuator can be improved in an emergency.

It is a figure showing the functional composition of the vehicle concerning an embodiment. It is a figure showing composition of a control part for actuators concerning an embodiment. It is a figure which shows the other structural example of the control part for actuators which concerns on embodiment. It is a flowchart for demonstrating the flow of a process when the vehicle control apparatus which concerns on embodiment controls a vehicle.

[Overview of Vehicle Control Device 10]
FIG. 1 is a diagram showing a functional configuration of a vehicle V according to the embodiment. The vehicle V is, for example, a large vehicle such as a bus or a truck, or a small commercial vehicle (LCV: Light Commercial Vehicle) such as a pickup truck. The vehicle V includes various sensors, an imaging device 2, a plurality of actuators, and a vehicle control device 10.

The various sensors are sensors that detect various states related to the motion of the vehicle V, and are, for example, a speed sensor 1A and a distance measurement sensor 1B. The various sensors output state detection information indicating various states to the vehicle control device 10. In the embodiment, an example in which the distance measurement sensor 1B is used as means for measuring the distance to another vehicle or the like will be described, but the present invention is not limited thereto. For example, instead of the distance measurement sensor 1B, the vehicle V may be provided with a camera for photographing the front of the surroundings of the vehicle V, and the distance to another vehicle or the like may be measured based on the image taken by the camera. .
The imaging device 2 is, for example, a camera for imaging the front and the rear of the vehicle V. The photographing device 2 outputs the photographed image to the vehicle control device 10.

  The actuators are, for example, the engine 3A, the steering assist motor 3B, and the brake 3C, and control the movement of the vehicle V. For example, the steering assist motor 3B is provided on a steering shaft (not shown) of the vehicle V. The steering assist motor 3B functions as a steering assist unit, and applies torque (steering assist force) to the steering shaft via a gear or the like according to control of the vehicle control device 10, for example. In the following description, the engine 3A, the steering assist motor 3B, and the brake 3C are collectively referred to as an actuator 3.

  The vehicle control device 10 includes a plurality of ECUs (Electronic Control Units). In the present embodiment, the vehicle control device 10 generates a control signal for controlling the actuator 3 based on the state detection information output from various sensors, and outputs the control signal to the actuator 3.

  The vehicle control device 10 includes a filter that smoothes the control signal in order to improve the driver's comfort. The vehicle control device 10 inputs the control signal to the filter, and outputs the control signal that has passed through the filter to the actuator 3. Here, when the control signal that has passed through the filter is output to the actuator 3, a delay occurs from generation of the control signal to transmission to the actuator 3. For example, when the actuator 3 is urgently controlled such that the vehicle V is highly likely to collide, transmission delay of the control signal becomes a problem. Therefore, when controlling the actuator 3 in an emergency, the vehicle control device 10 outputs a control signal to the actuator 3 without passing through the filter. By doing this, the vehicle control device 10 can improve the responsiveness related to the control of the actuator 3 in an emergency.

Configuration of Vehicle Control Device 10
Subsequently, the detailed configuration of the vehicle control device 10 will be described with reference to FIGS. 1 and 2. FIG. 2 is a diagram showing the configuration of the actuator control unit 12 according to the embodiment.

  As shown in FIG. 1, the vehicle control device 10 includes a driving support control unit 11 as a generation unit, an engine control unit 12A, a motor control unit 12B, and a brake control unit 12C. The engine control unit 12A, the motor control unit 12B, and the brake control unit 12C function as an actuator control unit 12.

  The driving support control unit 11 is, for example, an ECU that functions as an advanced driving assistance system (ADAS: Advanced Driver Assistance System) and generates a control signal for controlling the actuator 3. Specifically, the control unit 11 for driving support includes constant-speed traveling and inter-vehicle distance control (ACC: Adaptive Cruise Control), emergency automatic braking (AEB: Automatic Emergency Braking) control, lane departure prevention (LDP: Lane Departure Prevention). Implement control and Lane Keeping Assist (LKA) control.

  The constant speed traveling / inter-vehicle distance control determines the speed of the vehicle V based on, for example, the speed of the vehicle V detected by the speed sensor 1A and the distance between the vehicle V detected by the distance measuring sensor 1B and another vehicle or the like. The control is performed such that the inter-vehicle distance to another vehicle is equal to or more than a predetermined distance from the speed within a predetermined range. The driving support control unit 11 generates a control signal for controlling the engine 3A and the brake 3C to realize constant speed traveling and inter-vehicle distance control, and the control signal corresponds to the engine control unit 12A and the brake control. Output to section 12C.

  Here, the driving support control unit 11 is provided with a first output terminal 111 and a second output terminal 112 as shown in FIG. 2 corresponding to each of the actuator control units 12. The first output terminal 111 is used to output a normal control signal which is a control signal generated when the actuator 3 is not operated in an emergency. The second output terminal 112 is used to output an emergency control signal which is a control signal generated when the actuator 3 is operated in an emergency.

  The constant speed traveling / inter-vehicle distance control does not operate the actuator 3 (engine 3A and brake 3C) in an emergency. For this reason, the control signal generated to realize constant speed traveling / inter-vehicle distance control is usually a control signal. The driving support control unit 11 outputs a control signal generated to realize constant speed traveling and inter-vehicle distance control to the engine control unit 12A and the brake control unit 12C via the first output terminal 111.

  In the emergency automatic brake control, for example, the vehicle V collides with another vehicle or the like based on the speed of the vehicle V detected by the speed sensor 1A and the distance between the vehicle V detected by the distance measurement sensor 1B and the other vehicle If it is determined that the possibility to do is high, it is control to brake in an emergency. The driving support control unit 11 generates a control signal for controlling the brake 3C in order to realize the emergency automatic brake control, and outputs the control signal to the brake control unit 12C.

  The emergency automatic brake control is to operate the actuator 3 (brake 3C) in an emergency. Therefore, the control signal generated to realize the emergency automatic brake control is an emergency control signal. The driving support control unit 11 outputs a control signal generated to realize the emergency automatic brake control to the brake control unit 12C via the second output terminal 112.

  The lane deviation prevention control is, for example, control for preventing the vehicle V from deviating from the lane on which the vehicle V is traveling, based on the image captured by the imaging device 2. In order to realize lane departure prevention control, the driving support control unit 11 generates a control signal for controlling the steering assist motor 3B, and outputs the control signal to the motor control unit 12B.

  The lane departure prevention control is to operate the actuator 3 (steering assist motor 3B) in an emergency. Therefore, the control signal generated to realize lane departure prevention control is an emergency control signal. The driving support control unit 11 outputs a control signal generated to realize lane departure prevention control to the steering assist motor 3B via the second output terminal 112. In the lane departure prevention control, depending on the departure situation of the vehicle V with respect to the lane, the actuator 3 may not have to be operated urgently. Therefore, the lane departure prevention control outputs the control signal generated for realizing the lane departure prevention control from the first output terminal 111 or the second output terminal 112 based on the departure situation of the vehicle V with respect to the lane. You may switch whether to output.

  The lane keeping support control is, for example, control for guiding the vehicle V to the center of the traveling lane based on the image captured by the imaging device 2. In order to realize lane departure prevention control, the driving support control unit 11 generates a control signal for controlling the steering assist motor 3B, and outputs the control signal to the motor control unit 12B.

  The lane keeping assist control does not operate the actuator 3 (steering assist motor 3B) in an emergency. For this reason, the control signal generated to realize lane keeping assist control is usually a control signal. The driving support control unit 11 outputs a control signal generated to realize the lane keeping support control to the steering assist motor 3B via the first output terminal 111.

  The engine control unit 12A is, for example, an ECU that is provided near the engine 3A and controls the engine 3A. The motor control unit 12B is, for example, an ECU that is provided in the vicinity of the steering assist motor 3B and controls the steering assist motor 3B. The brake control unit 12C is, for example, an ECU that is provided in the vicinity of the brake 3C and controls the brake 3C. The configurations of the engine control unit 12A, the motor control unit 12B, and the brake control unit 12C will be described below with reference to the configuration of the actuator control unit 12 shown in FIG.

  When the control signal causes the actuator 3 to operate in an emergency, the actuator control unit 12 improves the responsiveness of control of the actuator 3 as compared with the case where the control signal does not operate the actuator 3 in an emergency. Let

  As shown in FIG. 2, the actuator control unit 12 includes a first input terminal 121 as a first receiving unit, a second input terminal 122 as a second receiving unit, a filter 123, and an output terminal 124. .

The first input terminal 121 normally receives a control signal. The second input terminal 122 receives an emergency control signal.
The filter 123 is, for example, a low pass filter and smoothes the control signal. Although the filter 123 is provided inside the actuator control unit 12, the present invention is not limited to this. The filter 123 may be provided between the actuator control unit 12 and the actuator 3.

  The actuator control unit 12 outputs the control signal to the actuator 3 through the filter 123 when the control signal does not operate the actuator urgently, and the control signal operates the actuator 3 urgently The control signal is directly output to the actuator 3 without passing through the filter 123.

  Specifically, when the first input terminal 121 receives the normal control signal, the actuator control unit 12 outputs the normal control signal to the actuator 3 through the filter 123, and the second input terminal 122 receives the emergency control signal. If accepted, the emergency control signal is output to the actuator 3 without passing through the filter 123.

  When the control signal causes the actuator 3 to operate in an emergency, the actuator control unit 12 directly outputs the control signal to the actuator 3 without passing through the filter 123, but the present invention is not limited to this. For example, the actuator control unit 12 may include a second filter with a delay smaller than that of the filter 123 used when the actuator 3 is not operated urgently. Then, when the control signal does not operate the actuator 3 urgently, the actuator control unit 12 outputs the control signal to the actuator 3 through the filter 123, and the control signal operates the actuator 3 urgently. If so, the control signal may be output to the actuator via the second filter. By doing this, the vehicle control device 10 can improve the driver's comfort compared to the case where the second filter is not provided while improving the responsiveness of the control of the actuator 3 in an emergency.

  Moreover, although the control part 12 for actuators received the normal control signal by the 1st input terminal 121, and received the emergency control signal by the 2nd input terminal 122, it does not restrict to this. For example, the actuator control unit 12 may include only the first input terminal 121, and may receive the normal control signal and the emergency control signal from the first input terminal 121.

  FIG. 3 is a view showing another configuration example of the actuator control unit 12 according to the embodiment. As shown in FIG. 3, the actuator control unit 12 includes a first input terminal 121, a filter 123, an output terminal 124, and a switching unit 125. The driving support control unit 11 also includes a first output terminal 111.

  The driving support control unit 11 includes, from the first output terminal 111, a normal control signal including first information indicating that the actuator 3 is not to be operated urgently, and second information indicating that the actuator 3 is to be operated urgently. And an emergency control signal.

The first input terminal 121 receives a normal control signal and an emergency control signal.
The switching unit 125 switches whether to output the control signal to the filter 123 based on the information included in the control signal output from the first input terminal 121. When the control signal output from the first input terminal 121 includes the first information, the switching unit 125 outputs the control signal to the filter 123. In addition, when the control signal output from the first input terminal 121 includes the second information, the switching unit 125 does not pass the control signal through the filter 123, but transmits the control signal via the first output terminal 111. Directly to the actuator 3. By doing this, the vehicle control device 10 can switch whether or not to use the filter 123 even when the actuator control unit 12 is provided with only one input terminal.

[Processing Flow in Vehicle Control Device 10]
FIG. 4 is a flowchart for explaining the flow of processing when the vehicle control device 10 according to the embodiment controls the vehicle V. The processing in this flowchart is executed, for example, at predetermined time intervals when the vehicle V is traveling in the lane.

First, the driving support control unit 11 generates a control signal based on the state detection information output from various sensors (S10).
Subsequently, the driving support control unit 11 determines whether a normal control signal has been generated (S20). When determining that the normal control signal has been generated, the driving support control unit 11 outputs a control signal from the first output terminal 111 to the actuator control unit 12 (S30).

  The control signal output from the first output terminal 111 is input to the first input terminal 121. When the control signal is input to the first input terminal 121, the actuator control unit 12 inputs the control signal to the filter 123 (S40). Thereafter, the actuator control unit 12 outputs the control signal that has passed through the filter 123 to the actuator 3 (S60).

  If it is determined that the normal control signal is not generated in S20, the driving support control unit 11 determines that the control signal is an emergency control signal, and outputs the control signal from the second output terminal 112 to the actuator control unit 12 (S50).

  The control signal output from the second output terminal 112 is input to the second input terminal 122. When the control signal is input to the second input terminal 122, the actuator control unit 12 outputs the control signal to the actuator 3 without passing through the filter 123 (S60). Thus, when the actuator 3 is urgently controlled, a control signal is input to the actuator 3 without passing through the filter 123.

[Effect according to the embodiment]
As described above, the vehicle control device 10 according to the embodiment sends the control signal to the actuator 3 through the filter 123 that smoothes the control signal when the control signal does not cause the actuator 3 to operate in an emergency. When the control signal is to operate the actuator 3 in an emergency, the control signal is output to the actuator 3 without passing through the filter 123. By doing this, the vehicle control device 10 can improve the responsiveness related to the control of the actuator 3 in an emergency.

  Further, in the vehicle control device 10, when the first input terminal 121 receives the normal control signal, the actuator control unit 12 outputs the normal control signal to the actuator 3 via the filter 123, and the second input terminal 122 is urgent When the control signal is received, the emergency control signal is output to the actuator 3 without passing through the filter 123. As described above, the control section 12 for the actuator separately controls the reception ports of the normal control signal and the emergency control signal separately to make control processing in the control section 12 for the actuator simple, thereby causing a malfunction. It can suppress that it occurs.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It is apparent to those skilled in the art that various changes or modifications can be added to the above embodiment. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the present invention.

1A: speed sensor 1B: distance measurement sensor 2: photographing device 3: actuator 3A: engine 3B: steering assist motor 3C: brake 10: vehicle control device 11 ... Driving support control unit 111 ... first output terminal 112 ... second output terminal 12 ... actuator control unit 12A ... engine control unit 12B ... motor control unit 12C · · · · · · Brake control unit 121 ... first input terminal 122 ... second input terminal 123 ... filter 124 ... output terminal V ... vehicle

Claims (6)

A generation unit configured to generate a control signal for controlling an actuator provided in a vehicle and controlling the motion of the vehicle;
The control signal is output to the actuator through a filter that smoothes the control signal when the control signal does not operate the actuator urgently, and the control signal causes the actuator to operate urgently A control unit that outputs the control signal to the actuator without passing through the filter,
A vehicle control device comprising: A first filter which is the filter used when the actuator is not operated urgently;
A second filter having a delay smaller than that of the first filter;
Equipped with
The control unit outputs the control signal to the actuator via the first filter when the control signal does not operate the actuator urgently, and the control signal operates the actuator urgently Outputting the control signal to the actuator via the second filter,
The vehicle control device according to claim 1. The control unit outputs the control signal to the actuator via the filter when the control signal does not operate the actuator urgently, and the control signal operates the actuator urgently. In some cases, the control signal is output directly to the actuator without passing through the filter
The vehicle control device according to claim 1. A first reception unit that receives a normal control signal, which is the control signal indicating that the actuator is not operated urgently;
A second reception unit that receives an emergency control signal that is the control signal indicating that the actuator is to be operated in an emergency;
And further
The generation unit outputs the normal control signal to the first reception unit, and outputs the emergency control signal to the second reception unit.
When the first reception unit receives the normal control signal, the control unit outputs the normal control signal to the actuator via the filter, and the second reception unit receives the emergency control signal. Outputting the emergency control signal to the actuator without passing through a filter;
The vehicle control device according to any one of claims 1 to 3. The control unit further includes a reception unit that receives the control signal including the first information indicating that the actuator is not operated urgently and the control signal including the second information indicating that the actuator urgently operated.
The generation unit outputs the control signal to the reception unit.
When the control information received by the receiving unit includes the first information, the control unit outputs the control signal to the actuator through the filter, and the control signal received by the receiving unit. Outputs the control signal to the actuator without passing through the filter when the second information is included in the
The vehicle control device according to any one of claims 1 to 3. Computer runs,
Generating a control signal for controlling an actuator provided on the vehicle for controlling the motion of the vehicle;
When the control signal causes the actuator to operate in an emergency, the control signal is output to the actuator without passing through a filter for smoothing the control signal, and the control signal causes the actuator to operate in an emergency Outputting the control signal to the actuator via the filter if not.
Vehicle control method comprising:

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