JP2020023944A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device which can shorten a time necessary for finishing a mode for suppressing a motion of a vehicle.SOLUTION: A vehicle control device 3 comprises a mode start unit 21, a pedal-in amount acquisition unit 23, a pedal-in speed calculation unit 25, and a mode finish unit 27. The mode start unit starts a drive force suppression mode on the basis of an operation of a driver and a situation of the surroundings of a vehicle. The pedal-in amount acquisition unit acquires a pedal-in amount of an accelerator pedal. The pedal-in speed calculation unit calculates a pedal-in speed. When the vehicle is in the drive force suppression mode, the mode finish unit finishes the drive force suppression mode on condition that the pedal-in speed exceeds a preset finish threshold.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to a vehicle control device.

  Patent Literature 1 discloses a false start prevention device. The false start prevention device suppresses the forward / backward movement of the vehicle based on the environment around the vehicle, regardless of the driver's operation.

Japanese Patent No. 5819509

  If the driver intends to move the vehicle forward or backward, it is necessary to end the mode in which the operation of the vehicle is suppressed. As control for ending the mode for suppressing the operation of the vehicle, if the driver continues to step on the accelerator for a predetermined time, the driver determines that the driver intends to move forward or backward, and control for ending the mode for suppressing the operation of the vehicle is performed. Conceivable.

  However, in the above control, it takes a long time to end the mode in which the operation of the vehicle is suppressed. One aspect of the present disclosure provides a vehicle control device that can reduce the time required to end a mode in which the operation of a vehicle is suppressed.

  An aspect of the present disclosure provides a mode start unit (21) configured to start a driving force suppression mode for suppressing a driving force of the vehicle based on a driver operation and a situation around the vehicle, and a sensor ( 11) a depression amount acquisition unit (23) configured to acquire the depression amount of the accelerator pedal, and a depression speed that is a change speed of the depression amount acquired by the depression amount acquisition unit. A stepping speed calculation unit configured to perform the driving force suppression on condition that the stepping speed calculated by the stepping speed calculation unit exceeds a preset end threshold when the driving force suppression mode is set. And a mode end unit (27) for terminating the mode.

  The vehicle control device according to an aspect of the present disclosure ends the driving force suppression mode on condition that the stepping speed exceeds an end threshold value in the driving force suppression mode. Therefore, the time required to end the driving force suppression mode can be reduced.

  It should be noted that reference numerals in parentheses described in this column and in the claims indicate a correspondence relationship with specific means described in the embodiment described below as one aspect, and the technical scope of the present disclosure will be described. It is not limited.

FIG. 1 is a block diagram illustrating a configuration of a vehicle control system 1. FIG. 2 is a block diagram illustrating a functional configuration of a vehicle control device 3. 5 is a flowchart illustrating a mode setting process executed by the vehicle control device 3. 5 is a flowchart illustrating a depression speed calculation process executed by a vehicle control device 3. FIG. 5A is a graph showing time-series data of the amount of depression, and FIG. 5B is a graph showing time-series data of the amount of depression from which high-frequency components have been removed. 9 is a flowchart illustrating an end threshold acquisition process executed by the vehicle control device 3.

Exemplary embodiments of the present disclosure will be described with reference to the drawings.
<First embodiment>
1. Configuration of Vehicle Control System 1 The configuration of the vehicle control system 1 will be described with reference to FIGS. The vehicle control system 1 is mounted on a vehicle. The vehicle on which the vehicle control system 1 is mounted is hereinafter referred to as a mounted vehicle. As shown in FIG. 1, the vehicle control system 1 includes a vehicle control device 3, a front monitoring sensor 5, a rear monitoring sensor 7, a vehicle speed sensor 9, an accelerator pedal sensor 11, an input unit 13, an engine control unit. 15 is provided.

  The vehicle control device 3 includes a microcomputer having a CPU 17 and a semiconductor memory (hereinafter, referred to as a memory 19) such as a RAM or a ROM. Each function of the vehicle control device 3 is realized by the CPU 17 executing a program stored in a non-transitional substantial recording medium. In this example, the memory 19 corresponds to a non-transitional substantial recording medium storing a program. When this program is executed, a method corresponding to the program is executed. The vehicle control device 3 may include one microcomputer, or may include a plurality of microcomputers.

  As shown in FIG. 2, the vehicle control device 3 includes a mode start unit 21, a depression amount acquisition unit 23, a depression speed calculation unit 25, a mode end unit 27, a storage unit 29, a threshold learning unit 31, A threshold setting unit 33, a removal unit 35, a mode determination unit 37, a vehicle speed determination unit 39, and an obstacle determination unit 41 are provided.

  The method of realizing the functions of each unit included in the vehicle control device 3 is not limited to software, and some or all of the functions may be realized using one or a plurality of hardware. For example, when the above function is implemented by an electronic circuit that is hardware, the electronic circuit may be implemented by a digital circuit, an analog circuit, or a combination thereof.

  The forward monitoring sensor 5 detects an obstacle existing in front of the mounted vehicle. The rear monitoring sensor 7 detects an obstacle existing behind the mounted vehicle. The vehicle speed sensor 9 detects the vehicle speed of the mounted vehicle. The accelerator pedal sensor 11 detects the amount of depression of the accelerator pedal (hereinafter simply referred to as the amount of depression). The input unit 13 receives a user's input operation. The user may be a driver or an occupant other than the driver.

  The engine control unit 15 controls the driving force of the engine according to the depression amount detected by the accelerator pedal sensor 11 in principle. The greater the amount of depression, the greater the driving force of the engine. However, when the driving force suppression mode described later is set, the engine control unit 15 sets the driving force of the engine to 0 regardless of the depression amount detected by the accelerator pedal sensor 11.

2. Mode Setting Process Executed by Vehicle Control Device 3 A mode setting process that is repeatedly executed by the vehicle control device 3 at predetermined time intervals will be described with reference to FIGS. 3, 4, 5A, 5B, and 6.

  In step 1 of FIG. 3, the mode determination unit 37 determines whether the state of the vehicle control system 1 is in the driving force suppression mode. The driving force suppression mode is a state in which the driving force of the mounted vehicle becomes zero even if the driver depresses the accelerator pedal. If it is determined that the mode is not the driving force suppression mode, the process proceeds to step 2. When it is determined that the driving force suppression mode is set, the processing proceeds to step 11.

In Step 2, the vehicle speed determination unit 39 uses the vehicle speed sensor 9 to acquire the vehicle speed of the mounted vehicle.
In step 3, the vehicle speed determination unit 39 determines whether or not the vehicle speed acquired in step 2 is 10 km / h or less. If it is determined that the vehicle speed is equal to or less than 10 km / h, the process proceeds to step 4. If it is determined that the vehicle speed exceeds 10 km / h, the process ends.

In step 4, the obstacle determination unit 41 executes a process of detecting an obstacle existing around the mounted vehicle using the front monitoring sensor 5 and the rear monitoring sensor 7.
In step 5, based on the result of the processing in step 4, the obstacle determination unit 41 determines whether there is an obstacle in the traveling direction of the mounted vehicle. When it is determined that there is an obstacle in the traveling direction of the mounted vehicle, the processing proceeds to step 6. When it is determined that there is no obstacle in the traveling direction of the mounted vehicle, this processing ends. The presence or absence of an obstacle corresponds to the situation around the mounted vehicle.

In step 6, the depression amount acquisition unit 23 acquires the depression amount by using the accelerator pedal sensor 11.
In step 7, the storage unit 29 stores the depression amount acquired in step 6 in the memory 19.

  In step 8, the depressing speed calculating unit 25, the storage unit 29, and the removing unit 35 calculate the changing speed of the depressing amount (hereinafter referred to as the depressing speed). The stepping speed is a change amount of the stepping amount per unit time. The process of calculating the stepping speed will be described with reference to FIGS. 4, 5A, and 5B.

  In step 21 in FIG. 4, the depression speed calculation unit 25 reads out the past depression amount from the memory 19 and creates time-series data of the depression amount. The time-series data of the depression amount is data in which the depression amount is arranged in the order of the time at which the depression amount is acquired. FIG. 5A shows an example of time-series data of the depression amount.

  In step 22, the removal unit 35 executes a process of removing high-frequency components from the time-series data of the depression amount created in step 21. FIG. 5B shows an example of time-series data from which high-frequency components have been removed. The removal unit 35 can remove high-frequency components by, for example, filtering.

  In step 23, the stepping speed calculating unit 25 calculates the stepping speed based on the time series data excluding the high frequency components in step 22. The stepping speed is the slope of the stepping amount curve shown in FIG. 5B.

  The depressing speed calculation unit 25 calculates the depressing speed at a plurality of times in a section from time tp to time tn (hereinafter referred to as a measurement section). Time tn is the current time. The time tp is a time that is backward by ΔT from the time tn. ΔT is a positive fixed value. ΔT is, for example, 0.1 to 1 second. Hereinafter, a group of the depressing speeds calculated at a plurality of times in the measurement section will be referred to as a depressing speed group.

In step 24, the storage unit 29 stores the depression speed group calculated in step 23 in the memory 19.
Returning to FIG. 3, in step 9, the mode start unit 21 determines whether or not all the stepping speeds belonging to the stepping speed group stored in step 8 exceed the start threshold. The start threshold is a fixed value set in advance. When all the stepping speeds belonging to the stepping speed group exceed the start threshold value, the processing proceeds to step S10. When at least a part of the stepping speeds belonging to the stepping speed group is equal to or less than the start threshold, the process ends.

  The fact that all the stepping speeds belonging to the stepping speed group exceed the start threshold value corresponds to the case where the stepping speed continuously exceeds the start threshold value for a preset time or more. Depressing the accelerator pedal corresponds to the driver's operation.

  In step 10, the mode start unit 21 starts the driving force suppression mode. After the driving force suppression mode is started, the driving force suppression mode continues until the driving force suppression mode is ended in step 16 described later.

The processing in steps 11 to 13 is the same as the processing in steps 6 to 8 described above.
In step 14, the threshold learning unit 31 and the threshold setting unit 33 obtain the end threshold. This processing will be described with reference to FIG.

  In step 31 of FIG. 6, the threshold setting unit 33 determines whether or not the user has input the end threshold to the input unit 13. If it is determined that the user has input the end threshold value to the input unit 13, the process proceeds to step S32. If it is determined that the user has not input the end threshold value into the input unit 13, the process proceeds to step S33.

  In step 32, the threshold setting unit 33 sets an end threshold based on the user's input. For example, when the user inputs a numerical value of the end threshold into the input unit 13, the threshold setting unit 33 sets the input numerical value as the end threshold. In addition, when the user performs an input to select one candidate from among a plurality of candidates for the end threshold, the threshold setting unit 33 sets the selected candidate as the end threshold.

  In step 33, the threshold learning unit 31 reads the stepping speed stored in the memory 19 by the storage unit 29 in steps 8 and 13. When a plurality of stepping speeds are stored in the memory 19, the threshold learning unit 31 reads out the plurality of stepping speeds.

  In step 34, the threshold learning unit 31 sets an end threshold based on the stepping speed read in step 33. The specific setting method of the end threshold value is as follows. The stepping speed data read in step 33 is arranged in descending order. Let N be the total number of steps speed data. N is a natural number of 1 or more. The stepping speed of the data having the nth stepping speed from the top is set as the end threshold. The magnitude of n is, for example, a value such that the value of n / N falls within the range of 0.01 to 0.3.

  Returning to FIG. 3, in step 15, the mode end unit 27 determines whether or not all the stepping speeds belonging to the stepping speed group stored in step 13 exceed the end threshold. The end threshold is the value obtained in step 14. When all the stepping speeds belonging to the stepping speed group exceed the end threshold, the process proceeds to step S16. If at least a part of the stepping speeds belonging to the stepping speed group is equal to or smaller than the end threshold, the process ends.

It should be noted that the fact that all the stepping speeds belonging to the stepping speed group exceed the end threshold value corresponds to that the stepping speed continuously exceeds the end threshold value for a preset time or more.
In step 16, the mode end unit 27 ends the driving force suppression mode. After the driving force suppression mode ends, the state other than the driving force suppression mode continues until the driving force suppression mode is started in step 10.

3. Effects of the vehicle control device 3
(1A) When in the driving force suppression mode, the vehicle control device 3 ends the driving force suppression mode on condition that the stepping speed exceeds an end threshold. Therefore, the time required to end the driving force suppression mode can be reduced. When the driver is in the driving force suppression mode, the driver can end the driving force suppression mode by depressing the accelerator pedal so that the stepping speed exceeds the termination threshold.

  (1B) The vehicle control device 3 ends the driving force suppression mode on condition that the depressing speed continuously exceeds the end threshold for a preset time or more. Therefore, when the stepping speed instantaneously increases due to a cause such as noise, it is possible to suppress the driving force suppression mode from being erroneously terminated.

  (1C) The vehicle control device 3 stores the calculated stepping speed. The vehicle control device 3 sets an end threshold based on the stored stepping speed. Therefore, the vehicle control device 3 can set an appropriate end threshold value for each of the mounted vehicle and the driver.

(1D) The vehicle control device 3 sets an end threshold based on a user input. Therefore, the vehicle control device 3 can set an appropriate end threshold value according to the user's preference.
(1E) The vehicle control device 3 removes high-frequency components from the time-series data of the depression amount. The vehicle control device 3 calculates the stepping speed based on the time-series data from which the high-frequency component has been removed. Therefore, the vehicle control device 3 can suppress the influence of noise and the like, and can calculate an accurate stepping speed.
<Other embodiments>
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and can be implemented with various modifications.

(1) The mounted vehicle may be an electric vehicle driven by a motor. In this case, the driving force suppression mode is a state in which the driving force of the motor is 0 regardless of the amount of depression.
(2) The driving force suppression mode may be a mode in which driving force is generated according to the amount of depression. However, the driving force in the driving force suppression mode is smaller than the driving force in the normal state as compared with the case where the depression amount is the same.

  (3) In step 15, the mode end unit 27 may make an affirmative determination regardless of the stepping speed at a past time if the stepping speed at the current time exceeds the end threshold.

(4) The end threshold may be a fixed value set in advance.
(5) If a negative determination is made in step 31, the threshold learning unit 31 may set a default end threshold.

(6) In step 13, the stepping speed calculating unit 25 may calculate the stepping speed based on the time-series data before removing the high-frequency component.
(7) The method by which the mode start unit 21 starts the driving force suppression mode may be another method. For example, the driving force suppression mode may be started by a method described in Japanese Patent No. 5819509.

  (8) A plurality of functions of one component in the above embodiment may be realized by a plurality of components, or one function of one component may be realized by a plurality of components. . Also, a plurality of functions of a plurality of components may be realized by one component, or one function realized by a plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of another above-described embodiment. Note that all aspects included in the technical idea specified by the language described in the claims are embodiments of the present disclosure.

  (9) In addition to the above-described vehicle control device, a system including the vehicle control device as a component, a program for causing a computer to function as the vehicle control device, and a non-transitional actual recording such as a semiconductor memory storing the program. The present disclosure can be realized in various forms, such as a medium, a vehicle control device method, and a method of ending a driving force suppression mode.

DESCRIPTION OF SYMBOLS 1 ... Vehicle control system, 3 ... Vehicle control device, 15 ... Engine control part, 17 ... CPU, 19 ... Memory, 21 ... Mode start unit, 23 ... Stepping amount acquisition unit, 25 ... Stepping speed calculation unit, 27 ... Mode end Unit, 29 storage unit, 31 threshold learning unit, 33 threshold setting unit, 35 removal unit, 37 mode determination unit, 39 vehicle speed determination unit, 41 obstacle determination unit

Claims (5)

A mode starting unit (21) configured to start a driving force suppression mode for suppressing a driving force of the vehicle based on an operation of a driver and a situation around the vehicle;
A depression amount acquisition unit (23) configured to acquire the depression amount of the accelerator pedal using the sensor (11);
A depression speed calculation unit (25) configured to calculate a depression speed that is a change speed of the depression amount acquired by the depression amount acquisition unit;
A mode end unit (27) for ending the driving force suppression mode on condition that the stepping speed calculated by the stepping speed calculation unit exceeds an end threshold set in advance when the driving force suppression mode is set;
A vehicle control device (3) comprising: The vehicle control device according to claim 1,
The vehicle control device, wherein the mode end unit ends the driving force suppression mode on condition that the stepping speed continuously exceeds the end threshold value for a preset time or more. The vehicle control device according to claim 1 or 2,
A storage unit (29) configured to store the stepping speed calculated by the stepping speed calculation unit;
A threshold learning unit (31) configured to set the end threshold based on the stepping speed stored by the storage unit;
A vehicle control device further comprising: The vehicle control device according to any one of claims 1 to 3,
A vehicle control device further comprising a threshold setting unit (33) configured to set the end threshold based on a user input. The vehicle control device according to any one of claims 1 to 4,
A removing unit configured to remove high-frequency components from the time-series data of the stepping amount acquired by the stepping amount acquisition unit;
The vehicle control device, wherein the stepping speed calculation unit is configured to calculate the stepping speed based on the time-series data from which the high-frequency component has been removed.