JP2020085151A - Device for controlling accelerator pedal-less vehicle - Google Patents

Abstract

To provide a device for controlling an accelerator pedal-less vehicle which allows an escape from a stuck state.SOLUTION: A device for controlling an accelerator pedal-less vehicle includes a travel environment acquiring device for acquiring a travel environment where the accelerator pedal-less vehicle travels, an acceleration pattern calculating section for calculating an acceleration pattern during traveling of the accelerator pedal-less vehicle on the basis of the travel environment detected by the travel environment acquiring device, a drive control section for controlling a drive device and a transmission of the accelerator pedal-less vehicle on the basis of the acceleration pattern, a stuck state recognizing section for recognizing the stuck state of the accelerator pedal-less vehicle, and a shift position changeover section for periodically changing the shift position of the transmission between the drive range and the rear range. The stuck state recognizing section starts the shift position changeover section when the stuck state of the accelerator pedal-less vehicle is recognized.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a control device for a vehicle that is not equipped with an accelerator pedal or a vehicle that can disable accelerator pedal operation (hereinafter, referred to as “accelerator pedalless vehicle”).

2. Description of the Related Art Recently, accidents such as a collision with a building have frequently occurred due to a mistake in depressing a brake pedal and an accelerator pedal in a parking lot or the like. As a method of suppressing such an accident, an accelerator pedal-less vehicle that can travel without operating the accelerator pedal has been proposed. Vehicles that can travel without operating the accelerator pedal are disclosed in Patent Documents 1 and 2, for example.

JP, 2013-60826, A JP 2012-117377 A

However, when the accelerator pedalless vehicle is stuck on a snowy road or a bad road, there is a problem that it is difficult to escape from the stuck state unless the acceleration or shift operation suitable for the stuck state can be performed.

In view of the above-mentioned circumstances, at least one embodiment of the present disclosure aims to provide a control device for an accelerator pedalless vehicle that enables an escape operation from a stuck state.

A control device for an accelerator pedal-less vehicle according to at least one embodiment of the present disclosure, based on a traveling environment acquisition device that acquires a traveling environment in which an accelerator pedal-less vehicle travels, and a traveling environment detected by the traveling environment acquisition device. An acceleration pattern calculation unit that calculates an acceleration pattern when the pedalless vehicle is running, a drive control unit that controls a drive unit and a transmission of the accelerator pedalless vehicle based on the acceleration pattern, and a stack that recognizes that the accelerator pedalless vehicle is in a stuck state The stack state recognition unit includes a state recognition unit and a shift position switching unit that periodically switches the transmission shift position between the drive range and the rear range while operating the drive device so that the accelerator pedalless vehicle can travel. When the stack state of the pedalless vehicle is recognized, the shift position switching unit is activated.

With this configuration, when the accelerator pedalless vehicle traveling in the acceleration pattern calculated based on the traveling environment detected by the traveling environment acquisition device is in the stuck state, the shift position switching unit drives the shift position of the transmission. By cyclically switching between the range and the rear range, the accelerator pedalless vehicle cyclically repeats forward and backward movements, so that the escape operation from the stuck state becomes possible.

In at least one embodiment of the present disclosure, the stack state recognition unit includes a power detection unit that detects the power of the drive device, a traveling state detection unit that detects the actual traveling state of the accelerator pedalless vehicle, and a detection by the power detection unit. A stack state that determines whether or not the accelerator pedalless vehicle is in a stack state based on a difference calculation unit that detects a difference between the value and the detection value by the running state detection unit and a preset threshold value related to the difference and the difference A determination unit may be included. According to this configuration, it is possible to automatically recognize that the accelerator pedalless vehicle is in the stuck state, so that it is possible to quickly shift to the escape mode from the stuck state.

In at least one embodiment of the present disclosure, the stack state recognition unit may include a stack state approval device, and may recognize that the accelerator pedalless vehicle is in the stack state based on an operation performed on the stack state approval device. According to this configuration, since the driver operates the stack state approval device to shift to the escape mode from the stack state, it is possible to switch to the escape mode from the stack state only when the stack state is surely achieved.

In at least one embodiment of the present disclosure, the shift position switching unit is preset with a cyclic pattern for cyclically switching the shift position between the drive range and the rear range, and based on this cyclic pattern, the shift position switching unit , The shift position may be periodically switched between the drive range and the rear range. According to this configuration, the operation for escaping from the stack state is automatically performed, so that even a driver with insufficient experience can appropriately escape from the stack state.

In at least one embodiment of the present disclosure, the shift position switching operation device further includes a shift position switching operation device provided in a vehicle compartment of an accelerator pedal-less vehicle, and the shift position switching unit is configured to operate the shift position switching operation device based on an operation performed by the shift position switching operation device. May be periodically switched between the drive range and the rear range. According to this configuration, the shift position is periodically switched between the drive range and the rear range based on the operation of the shift position switching operation device by the driver, so that an experienced driver can appropriately escape from the stack state. You can

In at least one embodiment of the present disclosure, the drive control unit may change the output of the drive device with the lapse of time after the operation of periodically switching the shift position between the drive range and the rear range is started. Good. The fact that the elapsed time from the start of the escape operation is long means that the stack state cannot be escaped under the current operating conditions. With this configuration, the drive control unit increases the output of the drive device with the lapse of time from the start of the escape operation, thereby increasing the possibility of exiting the stack state.

According to at least one embodiment of the present disclosure, when the accelerator pedalless vehicle traveling in the acceleration pattern calculated based on the traveling environment detected by the traveling environment acquisition device is in the stuck state, the shift position switching unit is By periodically switching the shift position of the transmission between the drive range and the rear range, the accelerator pedalless vehicle periodically repeats forward and backward movements, so that the escape operation from the stuck state becomes possible.

1 is a schematic configuration diagram of an accelerator pedalless vehicle according to a first embodiment of the present disclosure. 1 is a block diagram showing a configuration of a control device for an accelerator pedalless vehicle according to a first embodiment of the present disclosure. FIG. 6 is a block diagram showing a configuration of a stack state recognition unit of a control device for an accelerator pedalless vehicle according to a second embodiment of the present disclosure. FIG. 6 is a block diagram showing a configuration of a control device for an accelerator pedalless vehicle according to a third embodiment of the present disclosure. It is a figure which shows an example of a structure of the shift position switching operation device in the control apparatus of the accelerator pedalless vehicle which concerns on Embodiment 3 of this indication.

Hereinafter, some embodiments of the present invention will be described with reference to the drawings. However, the scope of the present invention is not limited to the following embodiments. The dimensions, materials, shapes, relative arrangements, and the like of the components described in the following embodiments are not intended to limit the scope of the present invention thereto, but are merely illustrative examples.

(Embodiment 1)
As shown in FIG. 1, an accelerator pedalless vehicle 1 includes a pair of drive wheels 2 and 2, a pair of non-drive wheels 3 and 3, and a drive device that drives the pair of drive wheels 2 and 2 via a differential 4. 5, a transmission 6 provided between the drive device 5 and the differential 4, an ECU 7, a surroundings of the accelerator pedalless vehicle 1, that is, a traveling environment acquisition device 8 that acquires a traveling environment in which the accelerator pedalless vehicle 1 travels. Is equipped with. The drive device 5, the transmission 6, and the traveling environment acquisition device 8 are electrically connected to the ECU 7, respectively.

Here, the driving device 5 may be an engine, a motor, or both of them. Further, the traveling environment acquisition device 8 includes a camera that captures an image of the surroundings of the accelerator pedalless vehicle 1, a speed sensor that detects the speed of another vehicle that travels around the accelerator pedalless vehicle 1, and an inter-vehicle distance to the other vehicle. It may be a vehicle-to-vehicle distance sensor or the like that measures, or may include at least some of them. For example, the traffic rules displayed by the environment of the road on which the accelerator pedalless vehicle 1 travels (presence or absence of obstacles, congestion status, etc.), signs, signals, etc. can be acquired from the camera. From the speed sensor, the congestion status of the road on which the accelerator pedalless vehicle 1 travels can be acquired. From the inter-vehicle distance sensor, the conditions for safely driving the accelerator pedalless vehicle 1 can be acquired. Although these are merely examples, in the present disclosure, they are collectively defined as a traveling environment. In FIG. 1, only one traveling environment acquisition device 8 is provided in the front portion or the rear portion of the accelerator pedalless vehicle 1, but depending on the specific type of the traveling environment acquisition device 8, Plural can be provided at an appropriate place.

As shown in FIG. 2, the control device 10 of the accelerator pedalless vehicle 1 includes an ECU 7 and a traveling environment acquisition device 8. The ECU 7 includes an acceleration pattern calculator 11 electrically connected to the traveling environment acquisition device 8, a drive controller 5, a transmission 6, and a drive controller 12 electrically connected to the acceleration pattern calculator 11, and a drive controller. The stack state recognizing unit 13 electrically connected to 12 and the shift position switching unit 14 electrically connected to the stack state recognizing unit 13 and the transmission 6.

The control device 10 of the accelerator pedalless vehicle 1 according to the first embodiment further includes a stack state approval device 9 electrically connected to the stack state recognition unit 13. The stack state recognition unit 13 is preferably provided in the vehicle interior of the accelerator pedalless vehicle 1 and provided at a position where the driver can operate it. The stack state approval device 9 is for confirming that the driver of the accelerator pedalless vehicle 1 is in the stack state and instructing the ECU 7 to shift to the operation mode for exiting from the stack state. The switch may be a switch such as a button or an icon displayed on the screen of the touch panel of the navigation system.

Next, the operation of the control device 10 of the accelerator pedalless vehicle 1 will be described. As shown in FIG. 2, the acceleration pattern calculation unit 11 calculates an acceleration pattern of the accelerator pedalless vehicle 1 during traveling based on the traveling environment detected by the traveling environment acquisition device 8. The drive control unit 12 controls the operating condition of the drive device 5 and the shift position of the transmission 6 based on the calculated acceleration pattern. The accelerator pedalless vehicle 1 travels according to the acceleration pattern based on the traveling environment even if the accelerator pedal does not exist or the operation of the accelerator pedal is disabled by the driver's selection of the driving mode. While driving, the driver only operates the steering wheel and brake pedal to change the direction of travel and stop.

When the vehicle is stuck on a snowy road or a bad road while the accelerator pedalless vehicle 1 is traveling, the driver operates the stack state approval device 9 to shift to a driving mode (escape mode) for exiting from the stack state. The ECU 7 is instructed to do so. By this operation, the stack state recognition unit 13 recognizes that the accelerator pedalless vehicle 1 is in the stack state. Since the driver shifts to the escape mode by operating the stack state approval device 9, it is possible to switch to the escape mode only when the stack state is surely achieved.

When recognizing that the accelerator pedalless vehicle 1 is in the stuck state, the stuck state recognizing unit 13 activates the shift position switching unit 14. The shift position switching unit 14 periodically switches the shift position of the transmission 6 between the drive range and the rear range. As a result, the accelerator pedalless vehicle 1 periodically repeats forward and backward movements. This operation allows the accelerator pedalless vehicle 1 to escape from the stuck state.

If a cyclic pattern for repeating forward and backward movements to escape from the stack state is set in advance in the shift position switching unit 14, the shift position switching unit 14 cyclically shifts the shift position based on this cyclic pattern. It can be switched. Further, if a plurality of periodic patterns are set and the periodic patterns are sequentially changed according to the elapsed time from the start of the escape operation, various stack states can be dealt with. Further, the fact that the elapsed time from the start of the escape operation is long means that it is not possible to escape from the stack state under the current operating conditions. Therefore, as the time elapses from the start of the escape operation, the drive controller 12 drives the drive device 5 May be changed (usually increased). This can increase the possibility of getting out of the stack state.

When the traveling environment acquisition device 8 includes a camera, the direction in which the accelerator pedalless vehicle 1 escapes is determined based on the image captured by the camera before the accelerator pedalless vehicle 1 is periodically moved forward and backward. , You may be able to escape in that direction. For example, when the accelerator pedal-less vehicle 1 is to be escaped in either the left or right direction, the shift position switching unit 14 may periodically switch the shift position while the steering wheel is rotated in either the left or right direction. Good. Further, for example, when the accelerator pedal-less vehicle 1 is to be escaped in either the front direction or the rear direction, when the shift positions are periodically switched, the shift position is in the drive range and the rear range is in the same range. It may be different.

When the driver exits from the stack state, the driver operates the stack state approval device 9 so that the stack state recognition unit 13 issues a command to the drive control unit 12 and the shift position switching unit 14 to shift from the escape mode to the normal operation mode. , The operation of the shift position switching unit 14 is stopped. As a result, the accelerator pedalless vehicle 1 that has escaped from the stuck state then travels based on the travel environment detected by the travel environment acquisition device 8.

As described above, when the accelerator pedalless vehicle 1 traveling in the acceleration pattern calculated based on the traveling environment detected by the traveling environment acquisition device 8 is in the stuck state, the shift position switching unit 14 causes the shift position of the transmission 6 to shift. By cyclically switching between the drive range and the rear range, the accelerator pedalless vehicle 1 cyclically repeats forward and backward movements, so that the escape operation from the stuck state becomes possible. In addition, in the first embodiment, the operation for escaping from the stack state is automatically performed, so that even a driver with insufficient experience can appropriately escape from the stack state.

(Embodiment 2)
Next, a control device for an accelerator pedalless vehicle according to the second embodiment will be described. The control device for an accelerator pedalless vehicle according to the second embodiment is different from that of the first embodiment in that it automatically recognizes that the accelerator pedalless vehicle is in a stuck state. In the second embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 3, the stack state recognition unit 13 of the control device for an accelerator pedalless vehicle according to the second embodiment includes a power detection unit 21 that detects the power of the drive device 5 (see FIG. 2) and the accelerator pedalless vehicle 1. (See FIG. 1), a running state detection unit 22 that detects an actual running state, a deviation calculation unit 23 that calculates a deviation between a detection value of the power detection unit 21 and a detection value of the running state detection unit 22, and an accelerator pedalless A stack state determination unit 24 that determines whether or not the vehicle 1 is in the stack state is included. A power detection unit 21, a traveling state detection unit 22, and a stack state determination unit 24 are electrically connected to the deviation calculation unit 23, respectively.

Here, what is specifically detected by each of the power detection unit 21 and the traveling state detection unit 22 is not limited, but in the following description, the power detection unit 21 detects the rotation speed of the drive device 5, The running state detection unit 22 is an example of detecting GNSS (Global Navigation Satellite System) position information. Other configurations are the same as those in the first embodiment.

In the first embodiment, as shown in FIG. 2, while the driver operates the stack state approval device 9, the stack state recognizing unit 13 recognizes that the accelerator pedalless vehicle 1 is in the stack state. In the mode 2, as shown in FIG. 3, the two are different in that the stack state determination unit 24 automatically recognizes that the accelerator pedalless vehicle 1 is in the stack state, and other operations are the same as those in the first embodiment. It is the same as Form 2. Therefore, hereinafter, an operation in which the stack state recognition unit 13 automatically recognizes that the accelerator pedalless vehicle 1 is in the stack state will be described.

As shown in FIG. 3, while the accelerator pedal-less vehicle 1 (see FIG. 1) is traveling, the power detection unit 21 detects the rotation speed of the drive device 5 (see FIG. 2), and the traveling state detection unit 22 is an accelerator-pedalless vehicle. GNSS position information of No. 1 is detected. The signal for each detected value is transmitted to the deviation calculating unit 23. The deviation calculating unit 23 estimates the traveling distance of the accelerator pedalless vehicle 1 from the history of the rotation speed of the drive device 5 in a certain period, and also calculates the actual traveling distance of the accelerator pedalless vehicle 1 from the change in the GNSS position information in a certain period. The deviation between the calculated and estimated traveling distance and the actual traveling distance is calculated.

The deviation in the certain period becomes larger when the accelerator pedalless vehicle 1 is in the stack state than when the accelerator pedalless vehicle 1 is normally traveling. This is because in the stuck state, the actual travel distance of the accelerator pedalless vehicle 1 becomes substantially zero even when the drive device 5 is driven. Therefore, a threshold value relating to the deviation is set in advance in the stack state determination unit 24, and the stack state determination unit 24 determines whether the deviation calculated by the deviation calculation unit 23 is the threshold value or more. When the calculated deviation is equal to or greater than the threshold value, the stack state determination unit 24 determines that the accelerator pedalless vehicle 1 is in the stack state. In this way, since it is possible to automatically recognize that the accelerator pedalless vehicle 1 is in the stuck state, it is possible to quickly shift to the escape mode from the stuck state. The operation of escaping the accelerator pedalless vehicle 1 from the stuck state is the same as that of the first embodiment.

Other combinations of the detection values by the power detection unit 21 and the traveling state detection unit 22 will be exemplified below. For example, the power detection unit 21 may detect the rotation speed of the drive wheels 2 (see FIG. 1), and the traveling state detection unit 22 may detect the rotation speed of the non-drive wheels 3 (see FIG. 1). Here, the rotation speed of the drive wheel 2 corresponds to the power of the drive device 5 because the drive wheel 2 is driven by the power of the drive device 5. On the other hand, the rotation speed of the non-driving wheels 3 corresponds to the actual traveling state because the non-driving wheels 3 do not rotate unless the accelerator pedalless vehicle 1 actually travels. The deviation calculating unit 23 calculates the deviation between the rotation speed of the driving wheel 2 and the rotation speed of the non-driving wheel 3 in a certain period. A threshold regarding this deviation is set in advance in the stack state determination unit 24, and the stack state determination unit 24 determines whether or not the deviation calculated by the deviation calculation unit 23 is equal to or more than the threshold. When the state in which the calculated deviation is equal to or greater than the threshold value continues for a preset time, the stuck state determination unit 24 can determine that the accelerator pedalless vehicle 1 is in the stuck state.

Further, as another example, the power detection unit 21 may detect the rotational speed of the drive device 5, and the traveling state detection unit 22 may detect the ground vehicle speed or acceleration of the accelerator pedalless vehicle 1. In this case, the relationship between the rotational speed of the drive device 5 and the ground vehicle speed or acceleration of the accelerator pedalless vehicle 1 is set in advance in the deviation calculating unit 23, and the deviation calculating unit 23 is based on this relationship and operates in a certain period during the accelerator pedalless operation. The deviation between the actual ground vehicle speed or acceleration of the vehicle 1 and the actual ground vehicle speed or acceleration of the accelerator pedalless vehicle 1 estimated from this relationship is calculated. A threshold regarding this deviation is set in advance in the stack state determination unit 24, and the stack state determination unit 24 determines whether or not the deviation calculated by the deviation calculation unit 23 is equal to or more than the threshold. When the state in which the calculated deviation is equal to or greater than the threshold value continues for a preset time, the stuck state determination unit 24 can determine that the accelerator pedalless vehicle 1 is in the stuck state.

(Embodiment 3)
Next, a control device for an accelerator pedalless vehicle according to the third embodiment will be described. The control device for an accelerator pedalless vehicle according to the third embodiment is different from that of the first embodiment in that the driver performs an operation of causing the accelerator pedalless vehicle to escape from the stuck state. In the third embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 4, the control device 10 of the accelerator pedalless vehicle 1 according to the third embodiment of the present disclosure includes a shift position switching operation device 30 electrically connected to the shift position switching unit 14. As shown in FIG. 5, the shift position switching operation device 30 is provided on the handle 31 in the vehicle interior of the accelerator pedalless vehicle 1 (see FIG. 1). The shift position switching operation device 30 has a groove 32 formed in the handle 31 and a lever 33 slidable along the groove 32. The lever 33 can slide from a neutral position in the vicinity of the center of the groove 32 in the longitudinal direction to an advanced position and a retracted position in both ends of the groove 32. A signal indicating whether the lever 33 is in the neutral position, the forward position, or the reverse position is transmitted to the shift position switching unit 14. Other configurations are the same as those in the first embodiment.

Next, the operation of the control device 10 of the accelerator pedalless vehicle 1 according to the third embodiment will be described based on FIGS. 4 and 5. When the stack state recognition unit 13 recognizes that the accelerator pedalless vehicle 1 is in the stack state by the same operation as that of the first embodiment, it activates the shift position switching unit 14 and outputs a signal regarding the position of the lever 33 in the shift position switching operation device 30. The shift position switching unit 14 is instructed to receive. The driver of the accelerator pedalless vehicle 1 in the stuck state periodically switches the position of the lever 33 between the forward drive position and the reverse drive position. When this signal regarding the position of the lever 33 is transmitted to the shift position switching unit 14, the shift position switching unit 14 periodically switches the shift position of the transmission 6 between the drive range and the rear range according to this signal. As a result, the accelerator pedalless vehicle 1 periodically repeats forward and backward movements. This operation allows the accelerator pedalless vehicle 1 to escape from the stuck state.

As described above, in the third embodiment, the shift position is cyclically switched between the drive range and the rear range based on the operation of the shift position switching operation device 30 by the driver, so that the skilled driver can appropriately stack the vehicle. You can escape from.

In the third embodiment, the shift position switching operation device 30 is provided in the steering wheel 31, but may be provided anywhere in the vehicle compartment as long as the driver can operate it while holding the steering wheel 31. Further, the shift position switching operation device 30 is not limited to the actual configuration such as the lever 33 that can move along the groove 32, and operates the icons and the like displayed on the screen of the touch panel of the navigation system on the touch panel. It may be one.

1 accelerator pedalless vehicle 5 drive device 6 transmission 8 traveling environment acquisition device 9 stack state approval device 10 control device 11 acceleration pattern calculation unit 12 drive control unit 13 stack state recognition unit 14 shift position switching unit 21 power detection unit 22 running state detection unit 23 Discrepancy Calculation Section 24 Stacked State Determination Section 30 Shift Position Switching Operation Device

Claims (6)

A control device for an accelerator pedalless vehicle,
A travel environment acquisition device for acquiring a travel environment in which the accelerator pedalless vehicle travels,
An acceleration pattern calculator that calculates an acceleration pattern when the accelerator pedalless vehicle is traveling, based on the traveling environment detected by the traveling environment acquisition device;
A drive control unit that controls the drive device and the transmission of the accelerator pedalless vehicle based on the acceleration pattern;
A stack state recognition unit that recognizes that the accelerator pedalless vehicle is in a stack state,
A shift position switching unit that periodically switches the shift position of the transmission between a drive range and a rear range,
The control device for an accelerator pedalless vehicle, wherein the stack state recognition unit activates the shift position switching unit when the stack state of the accelerator pedalless vehicle is recognized. The stack state recognition unit,
A power detection unit that detects the power of the drive device,
A running state detection unit that detects the actual running state of the accelerator pedalless vehicle,
A deviation calculation unit that detects a deviation between a detection value by the power detection unit and a detection value by the traveling state detection unit,
The control of the accelerator pedal-less vehicle according to claim 1, further comprising: a stack state determination unit that determines whether or not the accelerator pedal-less vehicle is in a stack state based on the deviation and a preset threshold value regarding the deviation. apparatus. The accelerator pedalless vehicle according to claim 1, wherein the stack state recognition unit includes a stack state approval device, and recognizes that the accelerator pedalless vehicle is in a stack state based on an operation performed on the stack state approval device. Control device. A periodic pattern for periodically switching the shift position between a drive range and a rear range is preset in the shift position switching unit, and based on the periodic pattern, the shift position switching unit switches the shift position to the drive range. The control device for an accelerator pedalless vehicle according to any one of claims 1 to 3, wherein the control device switches between the rear range and the rear range periodically. Further comprising a shift position switching operation device provided in the passenger compartment of the accelerator pedal-less vehicle,
4. The shift position switching unit according to claim 1, wherein the shift position switching unit periodically switches the shift position between a drive range and a rear range based on an operation performed on the shift position switching operation device. Control device for accelerator pedalless vehicle. 6. The drive control unit according to claim 4, wherein the drive control unit changes the output of the drive device with the lapse of time after the operation of periodically switching the shift position between the drive range and the rear range is started. Control device for accelerator pedalless vehicle.

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