JP2020063687A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device capable of suppressing erroneous transition to an acceleration suppression state due to abnormality.SOLUTION: A vehicle control device includes a first accelerator opening acquisition unit, an output unit, an obstacle detection unit, a vehicle velocity detection unit, an accelerator opening setting unit, and an abnormality determination unit. The first accelerator opening acquisition unit acquires a first accelerator opening. The output unit outputs an output signal to a driving force control part. The accelerator opening setting unit transits to an acceleration suppression state when following first to third conditions as necessary conditions are satisfied in a normal state (A), and returns to the normal state when a prescribed returning condition is satisfied in the acceleration suppression state (B). The accelerator opening setting unit does not perform a first switching processing when it is determined that there is an abnormality.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a vehicle control device.

  Conventionally, in order to prevent a sudden start of the vehicle against the driver's will, when an obstacle is present in the traveling direction of the vehicle and the accelerator pedal is suddenly depressed, the vehicle acceleration is suppressed (hereinafter Then, a technique of shifting to an acceleration suppression state) is known (see Patent Document 1).

Japanese Patent No. 5819509

  When there is an abnormality in the vehicle control device or the like, there is a risk of accidentally shifting to the acceleration suppression state when the acceleration suppression state should not be originally entered. One aspect of the present disclosure provides a vehicle control device that can prevent an accidental shift to an acceleration suppression state due to an abnormality.

  1 aspect of this indication is a vehicle control apparatus which controls a vehicle, Comprising: The 1st accelerator opening acquisition unit comprised so that an 1st accelerator opening may be acquired from an accelerator pedal sensor, and it responds to an accelerator opening. An output unit configured to output an output signal indicating an accelerator opening degree to a driving force control unit that controls the driving force of the vehicle, and an obstacle existing in the traveling direction of the vehicle. An obstacle detection unit configured, a vehicle speed detection unit configured to detect the vehicle speed of the vehicle, and (A) when the accelerator opening represented by the output signal is the first accelerator opening, Performing a first switching process of switching the accelerator opening degree represented by the output signal to a second accelerator opening degree smaller than the first accelerator opening degree on the condition that the first to third conditions are satisfied. (B) When the accelerator opening represented by the output signal is the second accelerator opening, and when a predetermined return condition is satisfied, the accelerator opening represented by the output signal is switched to the first accelerator opening. 2 It is determined whether or not there is an abnormality in the accelerator opening degree setting unit configured to perform the switching process, the vehicle control device, and at least a part of the devices electrically connected to the vehicle control device. When the abnormality determination unit determines that the abnormality is present, the accelerator opening setting unit determines whether the first to third conditions are satisfied. In other words, the vehicle control device does not perform the first switching process.

First condition: The obstacle detection unit detects the obstacle.
Second condition: the first accelerator opening is equal to or larger than a preset reference opening.
Third condition: The vehicle speed detected by the vehicle speed detection unit is equal to or lower than a preset reference vehicle speed.

  The vehicle control device according to one aspect of the present disclosure determines whether the first to third conditions are satisfied when at least a part of the vehicle control device and a device electrically connected to the vehicle control device has an abnormality. Regardless of this, the first switching process is not performed.

  Therefore, the vehicle control device, which is one aspect of the present disclosure, can prevent the accidental transition from the normal state to the acceleration suppression state due to an abnormality.

It is explanatory drawing showing the structure of the vehicle control apparatus 1 grade | etc.,. 3 is a block diagram showing a functional configuration of a control unit 13. FIG. 3 is a flowchart showing a process executed by the vehicle control device 1.

Exemplary embodiments of the present disclosure will be described with reference to the drawings.
<First Embodiment>
1. Configuration of vehicle control device 1 and the like The configuration of the vehicle control device 1 and the configuration of other members included in the vehicle will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the vehicle includes a vehicle control device 1, an accelerator pedal sensor 3, a front monitoring sensor 5, a rear monitoring sensor 7, a vehicle speed sensor 9, a shift sensor 10, and a driving force control unit 11. , And an interface unit 12.

The vehicle control device 1 includes a control unit 13, a relay switch 15, a second signal generation unit 17, and a coil power supply 19.
The control unit 13 includes a microcomputer having a CPU 21 and a semiconductor memory such as a RAM or a ROM (hereinafter referred to as a memory 23). Each function of the control unit 13 is realized by the CPU 21 executing a program stored in the non-transitional physical recording medium. In this example, the memory 23 corresponds to a non-transitional substantive recording medium storing a program. Further, by executing this program, the method corresponding to the program is executed. The control unit 13 may include one microcomputer or a plurality of microcomputers.

  As shown in FIG. 2, the control unit 13 includes a first accelerator opening degree acquisition unit 24, an obstacle detection unit 25, a vehicle speed detection unit 26, an accelerator opening degree setting unit 27, a shift detection unit 28, and an abnormality. The determination unit 29 and the notification unit 30 are provided.

  The method of realizing the function of each unit included in the control unit 13 is not limited to software, and a part or all of the function thereof may be realized by using one or a plurality of hardware. For example, when the above function is realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.

  As shown in FIG. 1, the relay switch 15 includes a first contact point 31, a second contact point 33, an output side contact point 35, a movable piece 37, and a coil 39. The first contact 31 is connected to the signal line 41. The signal line 41 transmits the first signal from the accelerator pedal sensor 3 to the first contact 31. The first signal is a signal representing the accelerator opening detected by the accelerator pedal sensor 3 (hereinafter referred to as the first accelerator opening). The unit of the accelerator opening is%. The accelerator opening is 0% when the driver does not step on the accelerator at all. The accelerator opening is 100% when the driver steps on the accelerator to the upper limit.

  The second contact 33 is connected to the signal line 43. The signal line 43 transmits the second signal from the second signal generation unit 17 to the second contact 33. The second signal is a signal generated by the second signal generation unit 17. The second signal is a signal representing the second accelerator opening degree. The second accelerator opening is 0%.

  The output side contact 35 is connected to the signal line 45. The signal line 45 is connected to the driving force control unit 11. The signal line 45 transmits an output signal from the output side contact point 35 to the driving force control section 11. The output signal is a signal representing the accelerator opening.

  One end of the movable piece 37 is always connected to the output side contact 35. The opposite end of the movable piece 37 is connected to one of the first contact 31 and the second contact 33. That is, the movable piece 37 can be moved to a position (hereinafter, referred to as a first position) where the first contact 31 and the output-side contact 35 are connected to each other, and the second contact 33 and the output-side contact 35 are connected to each other. It is also possible to move to a position (hereinafter, referred to as a second position).

  The coil 39 generates a magnetic force by the current flowing through the coil 39. The movable piece 37 moves due to the magnetic force generated by the coil 39. By controlling the current flowing through the coil 39, the position of the movable piece 37 can be switched from the first position to the second position or from the second position to the first position.

  The second signal generation unit 17 generates the second signal. The second signal reaches the second contact 33 via the signal line 43. The coil power supply 19 supplies a current to the coil 39 according to an instruction from the accelerator opening setting unit 27 in the control unit 13.

  The accelerator pedal sensor 3 detects the first accelerator opening degree. The front monitoring sensor 5 detects an obstacle existing in front of the vehicle. The rear monitoring sensor 7 detects an obstacle existing behind the vehicle. The vehicle speed sensor 9 detects the vehicle speed. The shift sensor 10 detects a shift state.

  The driving force control unit 11 controls the driving force of the vehicle according to the accelerator opening represented by the output signal. The driving force control unit 11 sets the throttle opening according to the accelerator opening represented by the output signal, for example. Examples of the driving force control unit 11 include a power management controller and the like.

  The interface unit 12 is installed in the vehicle compartment of the vehicle. The interface unit 12 includes a display capable of displaying an image and a speaker capable of outputting sound. The interface unit 12 also includes an input unit that accepts a user's input operation. Examples of the input unit include a touch panel, keyboard, various switches, and the like. The relay switch 15 and the signal line 45 correspond to the output unit.

  The interface unit 12 displays an image and outputs a sound according to an instruction from the control unit 13. The interface unit 12 also sends a signal corresponding to the input operation received by the input unit to the control unit 13.

2. Processing executed by the vehicle control device 1 The processing executed by the vehicle control device 1 repeatedly at predetermined time intervals will be described with reference to FIG. In step 1 of FIG. 3, the accelerator opening setting unit 27 determines whether or not the vehicle is currently in a normal state. The normal state is a state in which the movable piece 37 is at the first position and the first contact point 31 and the output side contact point 35 are connected. In the normal state, the accelerator opening represented by the output signal is the first accelerator opening.

  In the normal state, the driving force control unit 11 controls the driving force of the vehicle according to the first accelerator opening degree. In this case, if the first accelerator opening becomes large, the vehicle can start and accelerate. If it is the normal state, the process proceeds to step 2. If it is not in the normal state, the process proceeds to step 11. When the vehicle is not in the normal state, the vehicle is in the acceleration suppression state.

  In step 2, the abnormality determination unit 29 determines whether or not the abnormality flag is on. The abnormality flag is a flag that is turned on in step 4 or step 14 described later. If the abnormality flag is on, the process ends. If the abnormality flag is off, the process proceeds to step 3.

  In step 3, the abnormality determination unit 29 performs abnormality detection processing. The abnormality detection process is a process of detecting an abnormality from a detection target. The detection target is the vehicle control device 1 or a device electrically connected to the vehicle control device 1.

  Examples of the device electrically connected to the vehicle control device 1 include a device that outputs a signal to the vehicle control device 1 and a device that receives a signal from the vehicle control device 1. The form of signal transmission / reception may be wired or wireless. The device electrically connected to the vehicle control device 1 is, for example, a device involved in at least a part of the processes in steps 3 to 10 or steps 12 to 21 described later. The device electrically connected to the vehicle control device 1 includes, for example, an accelerator pedal sensor 3, a front monitoring sensor 5, a rear monitoring sensor 7, a vehicle speed sensor 9, a shift sensor 10, a driving force control unit 11, and an interface unit 12. One or more selected from the group may be mentioned.

  The abnormality detected by the abnormality determination unit 29 is, for example, an abnormality that affects the determination in step 9 or the determination in step 13 described later. The abnormality detected by the abnormality determination unit 29 is, for example, an abnormality that affects the function of the interface unit 12.

  The method of detecting an abnormality by the abnormality determination unit 29 is, for example, a method of determining that an abnormality exists if the value of the voltage or current generated by the detection target is out of a preset normal range.

  In step 4, the abnormality determination unit 29 determines whether or not an abnormality is detected as a result of the processing in step 3 above. If an abnormality is detected, the process proceeds to step 5, and if no abnormality is detected, the process proceeds to step 6.

In step 5, the abnormality determination unit 29 turns on the abnormality flag.
In step 6, the first accelerator opening degree acquisition unit 24 acquires the first accelerator opening degree from the accelerator pedal sensor 3.

  In step 7, the obstacle detection unit 25 uses the front monitoring sensor 5 or the rear monitoring sensor 7 to detect an obstacle existing in the traveling direction of the vehicle. The obstacle existing in the traveling direction of the vehicle is an obstacle existing in front of the vehicle when the vehicle is moving forward. The obstacle detection unit 25 can detect an obstacle existing in front of the vehicle by using the front monitoring sensor 5. The obstacle existing in the traveling direction of the vehicle is an obstacle existing behind the vehicle when the vehicle is moving backward. The obstacle detection unit 25 can detect an obstacle existing behind the vehicle by using the rear monitoring sensor 7.

In step 8, the vehicle speed detection unit 26 detects the vehicle speed using the vehicle speed sensor 9.
In step 9, the accelerator opening degree setting unit 27 determines whether or not the following first to third conditions are satisfied based on the results of the processing in steps 6 to 8.

First condition: The obstacle detection unit 25 detects an obstacle existing in the traveling direction of the vehicle.
Second condition: The first accelerator opening is 55% or more.
Third condition: The vehicle speed detected by the vehicle speed detection unit 26 using the vehicle speed sensor 9 is 10 Km / hr or less.

  The first condition can be, for example, a condition that the obstacle detection unit 25 detects an obstacle existing in the traveling direction of the vehicle and the distance between the detected obstacle and the vehicle is equal to or less than a predetermined value.

  When all of the first to third conditions are satisfied, the driver does not intend to suddenly start, but corresponds to the case where the accelerator is accidentally suddenly stepped on. 55% in the second condition corresponds to a preset reference accelerator opening degree. 55% in the second condition corresponds to the accelerator opening degree at which the stopped vehicle suddenly starts. The 10 km / hr under the third condition corresponds to a preset reference vehicle speed.

When all the first to third conditions are satisfied, the process proceeds to step 10. If even one of the first to third conditions is not satisfied, this processing ends.
In step 10, the accelerator opening degree setting unit 27 executes a process of changing the state of the vehicle from the normal state to the acceleration suppression state (hereinafter referred to as the first switching process). The acceleration suppression state is a state in which the movable piece 37 is at the second position and the second contact 33 and the output side contact 35 are connected. The first switching process is a process of moving the position of the movable piece 37 from the first position to the second position. In the acceleration suppression state, the accelerator opening represented by the output signal is the second accelerator opening.

  In the acceleration suppression state, the driving force control unit 11 controls the driving force of the vehicle according to the second accelerator opening degree. The second accelerator opening is 0%. Therefore, the vehicle does not accelerate in the acceleration suppression state.

  In step 11, the abnormality determination unit 29 determines whether or not the abnormality flag is on. If the abnormality flag is on, the process proceeds to step 15, and if the abnormality flag is off, the process proceeds to step 12.

In step 12, the abnormality determination unit 29 performs the same abnormality detection processing as in step 3 above.
In step 13, the abnormality determination unit 29 determines whether or not an abnormality is detected as a result of the processing in step 12. If an abnormality is detected, the process proceeds to step 14, and if no abnormality is detected, the process proceeds to step 16.

In step 14, the abnormality determination unit 29 turns on the abnormality flag.
In step 15, the notification unit 30 notifies using the interface unit 12. The content of the notification is a process of displaying a predetermined image on the display, or a process of producing a predetermined sound from a speaker.

The processing in steps 16 to 18 is the same as the processing in steps 6 to 8.
In step 19, the shift detection unit 28 uses the shift sensor 10 to detect the shift of the vehicle.

  In step 20, the accelerator opening degree setting unit 27 determines whether or not the return condition is satisfied based on the results of the processing in steps 16 to 19. The satisfaction of the return condition means that the following fourth condition is satisfied and at least one of the following fifth conditions 5A to 5C is satisfied.

Fourth condition: The first accelerator opening is 10% or less.
Condition 5A: The obstacle detection unit 25 does not detect an obstacle in the traveling direction of the vehicle.
Condition 5B: The vehicle speed detected by the vehicle speed detection unit 26 using the vehicle speed sensor 9 is 0 Km / hr.

Condition 5C: The shift detected by the shift detection unit 28 in the immediately preceding step 19 has changed from the shift detected immediately before shifting to the acceleration suppression state.
If the return condition is satisfied, the process proceeds to step 21. If the return condition is not satisfied, this process ends.

  In step 21, the accelerator opening degree setting unit 27 performs a process (hereinafter, referred to as a second switching process) of returning the vehicle state from the acceleration suppression state to the normal state. The second switching process is a process of moving the position of the movable piece 37 from the second position to the first position.

3. Effects of Vehicle Control Device 1 (1A) When the vehicle control device 1 or a device electrically connected to the vehicle control device 1 is abnormal, the vehicle control device 1 satisfies the first to third conditions. Regardless of this, the first switching process is not performed.

Therefore, the vehicle control device 1 can suppress the accidental transition from the normal state to the acceleration suppression state due to an abnormality.
(1B) When an abnormality is detected in the acceleration suppression state, the vehicle control device 1 turns on the abnormality flag in step 14 described above. After that, even if the state returns to the normal state and the state in which the first to third conditions are satisfied is reached, the affirmative determination is made in step 2 and the present processing ends, so the state does not shift to the acceleration suppression state.

  Therefore, when the vehicle control device 1 detects an abnormality in the acceleration suppression state, the vehicle control device 1 can suppress the accidental transition to the acceleration suppression state due to the abnormality after returning to the normal state.

  (1C) The vehicle control device 1 gives notification when an abnormality is detected in the acceleration suppression state. Therefore, the user can easily know that an abnormality has occurred. Further, the user can easily know that the state will not shift to the acceleration suppression state even if the first to third conditions are satisfied after returning to the normal state.

(1D) The vehicle control device 1 does not perform the determination in step 9 when an abnormality is detected and the abnormality flag is turned on. Therefore, the processing load of the vehicle control device 1 can be reduced.
<Other Embodiments>
Although the embodiment of the present disclosure has been described above, the present disclosure is not limited to the above-described embodiment, and various modifications can be implemented.

  (1) The reference accelerator opening may be a value other than 55%. The reference vehicle speed may be a value other than 10 Km / hr. The threshold value of the first accelerator opening under the fourth condition may be a value other than 10%. The threshold value of the vehicle speed under the 5B condition may be a value other than 0 km / hr. For example, the threshold value of the vehicle speed under the 5B condition may be 5 Km / hr. In this case, the 5B condition is "the vehicle speed detected by the vehicle speed detection unit 26 using the vehicle speed sensor 9 is 5 Km / hr or less".

(2) Instead of the relay switch 15, another known switch may be used.
(3) After making an affirmative determination in step 9, it may be determined whether or not the abnormality flag is on. In this case, if the abnormality flag is on, the process is terminated, and if the abnormality flag is off, the process proceeds to step 10.

(4) The second accelerator opening may be a value other than 0%. For example, the second accelerator opening may be 1%, 3%, or the like.
(5) A plurality of functions of one constituent element in the above-described embodiment may be realized by a plurality of constituent elements, or one function of one constituent element may be realized by a plurality of constituent elements. . Also, a plurality of functions of a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above-described embodiment may be added or replaced with the configuration of the other above-described embodiment.

  (6) In addition to the vehicle control device described above, a system having the vehicle control device as a component, a program for causing a computer to function as a control unit of the vehicle control device, and a non-transitional type such as a semiconductor memory storing the program The present disclosure can also be realized in various forms such as an actual recording medium and a vehicle control method.

DESCRIPTION OF SYMBOLS 1 ... Vehicle control device, 3 ... Accelerator pedal sensor, 5 ... Front monitoring sensor, 7 ... Rear monitoring sensor, 9 ... Vehicle speed sensor, 10 ... Shift sensor, 11 ... Driving force control part, 12 ... Interface part, 13 ... Control unit , 15 ... Relay switch, 17 ... Second signal generating unit, 19 ... Coil power supply, 21 ... CPU, 23 ... Memory, 24 ... First accelerator opening acquisition unit, 25 ... Obstacle detection unit, 26 ... Vehicle speed detection unit, 27 ... Accelerator opening setting unit, 28 ... Shift detection unit, 29 ... Abnormality judgment unit, 30 ... Notification unit, 31 ... First contact point, 33 ... Second contact point, 35 ... Output side contact point, 37 ... Movable piece, 39 ... Coil, 41, 43, 45 ... Signal line

Claims (4)

A vehicle control device for controlling a vehicle, comprising:
A first accelerator opening acquisition unit configured to acquire a first accelerator opening from an accelerator pedal sensor;
An output unit configured to output an output signal representing the accelerator opening to the driving force control unit that controls the driving force of the vehicle according to the accelerator opening,
An obstacle detection unit configured to detect an obstacle existing in the traveling direction of the vehicle,
A vehicle speed detection unit configured to detect the vehicle speed of the vehicle,
(A) When the accelerator opening degree represented by the output signal is the first accelerator opening degree, the accelerator opening degree represented by the output signal is set to the above as a necessary condition that the following first to third conditions are satisfied. A first switching process for switching to a second accelerator opening smaller than the first accelerator opening is performed, and (B) when the accelerator opening represented by the output signal is the second accelerator opening, a predetermined return condition is satisfied. In this case, an accelerator opening degree setting unit configured to perform a second switching process for switching the accelerator opening degree represented by the output signal to the first accelerator opening degree,
An abnormality determination unit configured to determine whether or not there is an abnormality in at least a part of the vehicle control device and a device electrically connected to the vehicle control device,
Equipped with
When the abnormality determination unit determines that there is the abnormality, the accelerator opening degree setting unit does not perform the first switching process regardless of whether the first to third conditions are satisfied. .
First condition: The obstacle detection unit detects the obstacle.
Second condition: The first accelerator opening is equal to or greater than a preset reference opening.
Third condition: The vehicle speed detected by the vehicle speed detection unit is equal to or lower than a preset reference vehicle speed. The vehicle control device according to claim 1, wherein
When the abnormality determination unit determines that the abnormality is present when the accelerator opening degree represented by the output signal is the second accelerator opening degree, the accelerator opening degree setting unit is configured to perform the second switching process after the second opening process. A vehicle control device that does not perform the first switching process even if the first to third conditions are satisfied. The vehicle control device according to claim 1 or 2, wherein
Further provided with an informing unit capable of informing,
When the accelerator opening represented by the output signal is the second accelerator opening, the notification unit notifies the notification unit when the abnormality determination unit determines that the abnormality is present. The vehicle control device according to any one of claims 1 to 3,
The vehicle control device wherein the accelerator opening setting unit does not determine whether the first to third conditions are satisfied when the abnormality determination unit determines that there is the abnormality.

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