JP2020152280A - Vehicular control apparatus - Google Patents

Abstract

To suppress discomfort of a driver when disengaging a coasting travel while traveling on automatic operation control.SOLUTION: While automatic operation control is executed, based on a planned route and a computation result of a vehicle state that is predicted in the planned route, a travel road zone in which a coasting travel is disengaged so as to prevent a change in a vehicle behavior for a given magnitude or more, and therefore it is possible to disengage the coasting travel in the travel road zone where the vehicle behavior is stabilized of it is possible to disengage the coasting travel after passing a travel road zone where the vehicle behavior tends to change. Thus, it is possible to suppress discomfort of a driver when disengaging the coasting travel while traveling on automatic operation control.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle control device including a power source and a power transmission device.

A vehicle control device including a power source and a power transmission device for transmitting the power of the power source to the drive wheels is well known. For example, the vehicle control device described in Patent Document 1 is that. In Patent Document 1, when a predetermined coasting driving condition such as accelerator off and brake off is satisfied during running, coasting running is started in which the vehicle is coasted with the power transmission in the power transmission device cut off. It is disclosed that when at least one of the accelerator pedal and the brake pedal is operated by the driver during the coasting run, the coasting run is terminated, that is, released, and the normal run is returned to.

JP-A-2018-62191

By the way, in a vehicle control device that performs automatic driving control to drive on a planned driving path by automatically performing driving control of the vehicle regardless of the driving operation of the driver, the vehicle state during driving under automatic driving control. It is conceivable to execute or cancel the coasting run based on. The cancellation of coasting driving during driving under automatic driving control is not due to the driver's accelerator operation or the like. Therefore, when the vehicle behavior changes when the coasting driving is canceled while driving under the automatic driving control, the vehicle behavior changes when the coasting driving is canceled by the driver's operation. This makes it easier for the driver to feel uncomfortable.

The present invention has been made in the background of the above circumstances, and an object of the present invention is to make it difficult for the driver to feel a sense of discomfort when canceling coasting driving while driving under automatic driving control. Is to provide a vehicle control device capable of

The gist of the first invention is a control device for a vehicle including (a) a power source and a power transmission device for transmitting the power of the power source to drive wheels, and (b) a driver's control device. A driving control unit that performs automatic driving control to travel on a planned traveling path by automatically performing driving control of the vehicle regardless of the driving operation, and (c) the power during driving under the automatic driving control. A coasting control unit that performs coasting running to coast the vehicle while power transmission in the transmission device is cut off, and (d) a vehicle state predicted on the planned running path during execution of the automatic driving control. The vehicle state calculation unit to be calculated, and (e) during execution of the automatic driving control, it is avoided that the vehicle behavior changes more than a predetermined value based on the planned travel path and the calculation result of the vehicle state. It is intended to include a release area determination unit for determining a travel path area for canceling the coasting travel.

According to the first invention, the vehicle behavior may change by a predetermined value or more based on the planned travel path and the calculation result of the vehicle state predicted on the planned travel path during the execution of the automatic driving control. Since the driving road area for canceling the coasting running is determined so as to be avoided, the coasting running can be canceled in the driving road region where the vehicle behavior is stable, or the driving road where the vehicle behavior is likely to change. The coasting run can be canceled after passing through the area by the coasting run. Therefore, when the coasting running is canceled during the running under the automatic driving control, it is possible to make the driver less likely to feel a sense of discomfort.

It is a figure explaining the schematic structure of the vehicle to which this invention is applied, and also is the figure explaining the main part of the control function and the control system for various control in a vehicle. It is a flowchart explaining the main part of the control operation of an electronic control unit, that is, the control operation for making it difficult for the driver to feel a sense of discomfort when canceling coasting driving during driving under automatic driving control. It is a figure explaining an example of the embodiment when the control operation shown in the flowchart of FIG. 2 is executed. It is a flowchart explaining the main part of the control operation of an electronic control unit, that is, the control operation for making the driver less likely to feel a sense of discomfort when canceling coasting driving during driving under automatic driving control, and is the flowchart of FIG. Is another embodiment. It is a flowchart explaining the main part of the control operation of an electronic control unit, that is, the control operation for making the driver less likely to feel a sense of discomfort when canceling coasting driving during driving under automatic driving control, and is the flowchart of FIG. Is another embodiment. It is a figure explaining an example of the embodiment when the control operation shown in the flowchart of FIG. 5 is executed.

In the embodiment of the present invention, the power source is, for example, an engine such as a gasoline engine or a diesel engine that generates power by burning fuel. Further, the vehicle may be provided with an electric motor or the like as a power source in addition to or in place of the engine. The power transmission device includes, for example, a transmission. This transmission is, for example, a known planetary gear type automatic transmission, a known synchronous meshing parallel two-axis automatic transmission, a synchronous meshing parallel two-axis automatic transmission, and a known type having two input shafts. DCT (Dual Clutch Transmission), known belt-type or toroidal-type continuously variable transmissions, known electric-type continuously variable transmissions, and the like.

Hereinafter, examples of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram for explaining a schematic configuration of a vehicle 10 to which the present invention is applied, and is a diagram for explaining a control function and a main part of a control system for various controls in the vehicle 10. In FIG. 1, the vehicle 10 includes an engine 12 as a power source, drive wheels 14, and a power transmission device 16 that transmits the power of the engine 12 to the drive wheels 14. Further, the vehicle 10 includes a transmitter / receiver 30.

The power transmission device 16 includes a transmission 18 connected to the engine 12, a differential gear device 20 connected to an output rotating member of the transmission 18, left and right axles 22 connected to the differential gear device 20, and the like. ing. In the power transmission device 16, the power output from the engine 12 is transmitted to the transmission 18, and is transmitted from the transmission 18 to the drive wheels 14 via the differential gear device 20 and the like. The power has the same meaning as torque and force unless otherwise specified.

The transmission 18 is an automatic transmission that forms a part of a power transmission path between the engine 12 and the drive wheels 14. The transmission 18 is a known planetary gear type automatic transmission including, for example, a plurality of sets of planetary gear devices and a plurality of friction engaging devices such as a clutch and a brake. The friction engagement device includes, for example, a clutch Cin that functions as an input clutch of the transmission 18. The clutch Cin functions as an engaging device that selectively connects or disconnects the power transmission path. Connecting or disconnecting the power transmission path means enabling or disconnecting the power transmission in the power transmission device 16. The transmission 18 is put into a neutral state in which the power transmission in the power transmission device 16 is cut off when the clutch Cin is released.

The transmitter / receiver 30 is a device that exists separately from the vehicle 10 and communicates with the center 100 as an external device separate from the vehicle 10. The electronic control unit 60, which will be described later, transmits and receives various information to and from the center 100 via the transmitter / receiver 30. The center 100 is a server that receives, processes, analyzes, stores, and provides various types of information, and / or a road traffic information communication center and the like. Similar to the vehicle 10, the center 100 transmits and receives various information to and from other vehicles 110a, 110b, ... (referred to as other vehicles 110 unless otherwise specified) different from the vehicle 10. It may be. The other vehicle 110 basically has the same function as the vehicle 10. Further, the transmitter / receiver 30 may have a function of directly performing vehicle-to-vehicle communication with another vehicle 110 in the vicinity of the vehicle 10 without going through the center 100.

Further, the vehicle 10 includes an electronic control device 60 as a controller including a control device for the vehicle 10. The electronic control device 60 is configured to include, for example, a so-called microcomputer provided with a CPU, RAM, ROM, an input / output interface, etc., and the CPU uses a temporary storage function of the RAM and follows a program stored in the ROM in advance. Various controls of the vehicle 10 are executed by performing signal processing.

The electronic control device 60 includes various sensors and devices provided in the vehicle 10 (for example, transmitter / receiver 30, engine rotation speed sensor 32, vehicle speed sensor 34, accelerator opening sensor 36, brake pedal sensor 38, steering sensor 40, etc. Various signals based on the detected values and acquired information (for example, communication signal Scom, engine rotation speed) by the G sensor 42, yaw rate sensor 44, vehicle peripheral information sensor 46, position sensor 48, navigation system 50, driving support setting switch group 52, etc. Ne, vehicle speed V, accelerator opening θacc, which is the amount of operation of accelerator operating members such as the accelerator pedal, and brake-on signal Bon, which is a signal indicating that the brake pedal for operating the wheel brake is being operated by the driver. Brake operation amount Bra indicating the magnitude of the driver's depression operation of the brake pedal corresponding to the pedaling force of the brake pedal, steering angle θsw and steering direction Dsw of the steering wheel provided in the vehicle 10, front-rear acceleration Gx of the vehicle 10, Left-right acceleration Gy of vehicle 10, yaw rate Ryaw which is the rotation angle speed around the vertical axis of vehicle 10, vehicle peripheral information Iard, position information Ivp, navigation information Inavi, setting by the driver in driving support control such as automatic driving control and cruise control. The driving support setting signal Sset, which is a signal indicating the above, is supplied. Further, the electronic control device 60 controls various command signals (for example, the engine 12) to each device (for example, engine 12, transmission 18, transmitter / receiver 30, wheel brake device 54, steering device 56, etc.) provided in the vehicle 10. Engine control command signal Se for controlling, transmission control command signal Sat for controlling the transmission 18, communication signal Scom, brake control command signal Sbra for controlling braking torque by wheel brake, wheels (especially front wheels) A steering control command signal (Sste, etc.) for controlling the steering of the wheel is output.

The communication signal Scom includes, for example, travel information on the vehicle 10 and road traffic information transmitted / received to / from the center 100. And / or, the communication signal Scom includes, for example, vehicle-to-vehicle communication information directly transmitted and received to and from another vehicle 110 in the vicinity of the vehicle 10 without going through the center 100. The driving information includes, for example, vehicle speed V, steering angle θsw, front-rear acceleration Gx, left-right acceleration Gy, yaw rate Raw, position information Ivp, brake pedal operation information, turn signal lamp blinking information, hazard lamp blinking information, and the like. Is included. The road traffic information includes, for example, information such as road conditions, road congestion, accidents, construction, required time, and parking lots. The vehicle-to-vehicle communication information includes, for example, the traveling information, traffic environment information, and the like. The traffic environment information includes, for example, information such as road congestion and construction.

The vehicle peripheral information sensor 46 includes at least one of, for example, a rider, a radar, and an in-vehicle camera, and directly acquires information on a traveling road and information on an object existing around the vehicle. The rider is, for example, a plurality of riders that detect objects in front of the vehicle 10, objects on the sides, objects in the rear, and the like, or one rider that detects objects all around the vehicle 10, and the detected objects. The object information related to the vehicle is output as the vehicle peripheral information Iard. The radar is, for example, a plurality of radars for detecting an object in front of the vehicle 10, an object in the vicinity of the front, an object in the vicinity of the rear, and the like, and outputs object information related to the detected object as vehicle peripheral information Iard. The object information obtained by the rider or radar includes the distance and direction of the detected object from the vehicle 10. The in-vehicle camera is, for example, a monocular camera or a stereo camera provided on the back side of the windshield of the vehicle 10 and images the front of the vehicle 10, and outputs the imaged information as the vehicle peripheral information Iard. This imaging information includes information such as lanes of the traveling lane, signs on the traveling lane, and other vehicles, pedestrians, and obstacles on the traveling lane.

The position sensor 48 includes a GPS antenna and the like. The position information Ivp includes own vehicle position information indicating the position of the vehicle 10 on the ground surface or a map based on a GPS signal (orbit signal) transmitted by a GPS (Global Positioning System) satellite.

The navigation system 50 is a known navigation system having a display, a speaker, and the like. The navigation system 50 identifies the position of the own vehicle on the map data stored in advance based on the position information Ivp. The navigation system 50 displays the position of the own vehicle on the map displayed on the display. When the destination is input, the navigation system 50 calculates the travel route from the departure point to the destination, and instructs the driver of the travel route and the like with a display, a speaker, or the like. Navigation information Inavi includes, for example, map information such as road information and facility information based on map data stored in advance in the navigation system 50. The road information includes information such as road types such as urban roads, suburban roads, mountain roads, highways, that is, highways, road branching and merging, road gradients, and speed limits. The facility information includes information such as the type, location, and name of a base such as a supermarket, a store, a restaurant, a parking lot, a park, a base for repairing a vehicle 10, a home, and a service area on an expressway. The service area is, for example, a highway and is a base equipped with facilities such as parking, meals, and refueling.

The driving support setting switch group 52 sets an automatic driving selection switch for executing automatic driving control, a cruise switch for executing cruise control, a switch for setting a vehicle speed in cruise control, and an inter-vehicle distance to a preceding vehicle in cruise control. It includes a switch to set, a switch to execute lane keep control to maintain the set lane and drive.

The wheel brake device 54 is a braking device that applies braking torque by the wheel brake to the wheels. The wheel brake device 54 supplies brake hydraulic pressure to the wheel cylinder provided on the wheel brake in response to, for example, a driver stepping on the brake pedal. In the wheel brake device 54, a master cylinder hydraulic pressure having a size corresponding to the pedaling force of the brake pedal, which is normally generated from the brake master cylinder, is directly supplied to the wheel cylinder as the brake hydraulic pressure. On the other hand, in the wheel brake device 54, for example, during ABS control, skid suppression control, vehicle speed control, automatic operation control, etc., the brake hydraulic pressure required for each control is required to generate braking torque by the wheel brake. It is supplied to the wheel cylinder. The wheels are a driving wheel 14 and a trailing wheel (not shown).

The steering device 56 applies assist torque according to, for example, the vehicle speed V, the steering angle θsw, the steering direction Dsw, the yaw rate Ryaw, and the like to the steering system of the vehicle 10. In the steering device 56, for example, during automatic driving control, torque for controlling the steering of the front wheels is applied to the steering system of the vehicle 10.

In order to realize various controls in the vehicle 10, the electronic control device 60 includes an engine control means, that is, an engine control unit 62, a transmission control means, that is, a transmission control unit 64, an operation control means, that is, an operation control unit 66, and coasting control. The means, that is, the coasting control unit 68 is provided.

The engine control unit 62 applies the accelerator opening θacc and the vehicle speed V to, for example, a drive request amount map, which is a relationship that is experimentally or designedly obtained and stored in advance, that is, a predetermined relationship. The required driving force Frdem [N] in the driving wheel 14 is calculated. The engine control unit 62 outputs an engine control command signal Se for controlling the engine 12 so as to obtain an engine torque Te that realizes the required driving force Frdem in consideration of the gear ratio of the transmission 18 and the like. In addition to the required driving force Frdem, the required driving force includes the required driving torque Trdem [Nm] for the driving wheels 14, the required driving power Prdem [W] for the driving wheels 14, and the required output torque for the output rotating member of the transmission 18. Etc. can also be used. In the automatic driving control described later, the drive request amount for realizing the running under the automatic driving control is calculated.

The transmission control unit 64 determines the shift of the transmission 18 using, for example, a shift map, which is a predetermined relationship, and the transmission control command signal Sat for executing the shift control of the transmission 18 as needed. Is output. The shift map has a predetermined relationship in which, for example, a shift line for determining the shift of the transmission 18 is provided on two-dimensional coordinates with the vehicle speed V and the required driving force Fredem as variables.

As the driving control of the vehicle 10, the driving control unit 66 plans to automatically perform the manual driving control for traveling based on the driving operation of the driver and the driving control of the vehicle 10 regardless of the driving operation of the driver. It is possible to perform automatic driving control to travel on the planned route as the traveling route of. The manual driving control is a driving control for driving by manual driving by the driving operation of the driver. The manual driving is a driving method in which the vehicle 10 is normally driven by a driver's driving operation such as an accelerator operation, a brake operation, and a steering operation. In the automatic driving control, for example, a target driving state is automatically set based on a destination or map information input by the driver, and acceleration / deceleration and steering are automatically performed based on the target driving state. Therefore, it is an operation control that runs by automatic operation. The automatic driving is performed by automatically performing acceleration / deceleration, braking, steering, etc. under the control of the electronic control device 60 based on signals and information from various sensors, regardless of the driver's driving operation (intention). It is a driving method which carries out 10 running. In a broad sense, although the driver performs the steering operation, cruise control that automatically performs acceleration / deceleration, braking, etc. may be included in the automatic driving control.

When the automatic operation is not selected in the automatic operation selection switch in the operation support setting switch group 52, the operation control unit 66 establishes the manual operation mode and executes the manual operation control. The operation control unit 66 executes manual operation control by outputting a command for controlling the engine 12 to the engine control unit 62 and outputting a command for controlling the transmission 18 to the transmission control unit 64.

When the driver operates the automatic driving selection switch in the driving support setting switch group 52 and automatic driving is selected, the driving control unit 66 establishes the automatic driving mode and executes the automatic driving control. Specifically, the driving control unit 66 sets various settings such as the destination, fuel efficiency priority, vehicle speed V, and inter-vehicle distance input by the driver, own vehicle position information based on position information Ivp, navigation information Inavi, and navigation information Inavi. / Or road conditions such as curves based on the communication signal Scom, map information such as slope, altitude, legal speed, infrastructure information, weather, etc., and lanes of the lane based on the vehicle surrounding information Iard, signs on the lane, driving The target driving state is automatically set based on information such as other vehicles and pedestrians on the road. The operation control unit 66 performs automatic operation control by automatically performing acceleration / deceleration, braking, and steering based on the target traveling state. This acceleration / deceleration is acceleration of the vehicle 10 and deceleration of the vehicle 10, and braking may be included in the deceleration here.

The driving control unit 66 sets the target driving state as a target vehicle speed in consideration of a safety margin based on a planned route and a planned course, an actual inter-vehicle distance, a target driving torque based on a target vehicle speed, a running resistance, and the like. To set. The operation control unit 66 outputs a command for controlling the engine 12 to the engine control unit 62 and a command for controlling the transmission 18 to the transmission control unit 64 so that the target drive torque can be obtained. When the target drive torque is a negative value, that is, when a braking torque is required, at least one brake torque of the engine brake torque by the engine 12 and the wheel brake torque by the wheel brake device 54 is applied to the vehicle 10. For example, the operation control unit 66 calculates the wheel brake torque within the available range, and outputs a brake control command signal Sbra for applying the wheel brake torque to the wheel brake device 54 so that the target drive torque can be obtained. To do. In addition, the driving control unit 66 outputs a steering control command signal Sste for controlling the steering of the front wheels to the steering device 56 based on the set target traveling state.

The coasting control unit 68 performs coasting traveling by executing coasting control for coasting the vehicle 10 in a state where the power transmission in the power transmission device 16 is cut off, that is, in a state where the transmission 18 is in the neutral state. .. When executing the coasting control, the coasting control unit 68 outputs a command to the engine control unit 62 to, for example, control the engine 12 to an idling state or perform a fuel cut to stop the fuel supply to the engine 12. By doing so, the engine 12 is stopped. Further, when the coasting control unit 68 executes the coasting control, the coasting control unit 68 outputs a command to release the clutch Cin to the transmission control unit 64 to put the transmission 18 in the neutral state.

The coasting control unit 68 can execute the coasting control regardless of whether the vehicle is traveling under the manual driving control or the automatic driving control. The coasting control unit 68 executes coasting control when a predetermined coasting start condition A such as accelerator off and brake off is satisfied during traveling under manual operation control. The accelerator off is a state in which the accelerator opening θacc is determined to be zero. The brake off is a state in which the brake on signal Bon is turned off. The coasting control unit 68 coasts when a predetermined coasting start condition A is not satisfied due to an accelerator operation or a brake operation performed by the driver during coasting running under manual driving control. The control is stopped, the coasting run is canceled, and the normal run is restored.

The coasting control unit 68 knows that the vehicle will stop in the near future if there is no problem even if the vehicle speed V drops a little after reaching the set vehicle speed while traveling under the automatic driving control, and the vehicle slowly decelerates. If there is no problem, or if the predetermined coasting start condition B is satisfied, as in any case of approaching the preceding vehicle, coasting control is executed. The coasting control unit 68 is in the case where the predetermined coasting start condition B is not satisfied during the coasting running under the automatic driving control, or when the driver operates the accelerator or the brake. The coasting control is stopped, the coasting run is canceled, and the normal run is restored.

By the way, during coasting running under automatic driving control, the coasting running is canceled to increase the lowered vehicle speed V to give driving force, or the coasting running is canceled to further decelerate the vehicle 10. It is conceivable to apply braking force. At this time, if the traveling road is a low μ road, an uneven road, or the like, the vehicle behavior tends to change and the vehicle behavior tends to become unstable. If the driver is driving under manual driving control, the coasting driving is canceled and the driving force or braking force is applied by the driver turning on the accelerator or braking, so even if the vehicle behavior changes. The driver can understand the change and does not feel any discomfort. However, since the cancellation of coasting driving during driving under automatic driving control does not involve the driver's operation, if the vehicle behavior changes when coasting driving is canceled during driving under automatic driving control, the driver will It is easy to feel a sense of discomfort. It is desirable to make the driver less likely to feel a sense of discomfort when canceling coasting driving during driving under automatic driving control.

In order to realize a control function that makes it difficult for the driver to feel a sense of discomfort when canceling the coasting run during running under automatic driving control, the electronic control device 60 further includes a state determination means, that is, a state determination unit 70. It includes a vehicle state calculation means, that is, a vehicle state calculation unit 72, and a release area determination unit, that is, a release area determination unit 74.

The state determination unit 70 determines whether or not the operation mode is the automatic operation mode, that is, whether or not the automatic operation control is being executed. In addition, the state determination unit 70 determines whether or not the coasting is in progress. When it is determined that the coasting run is in progress, the state determination unit 70 determines whether or not the coasting release operation, which is an operation for canceling the coasting run, has been performed. The coasting release operation is, for example, a brake operation, a steering operation, an accelerator operation, or the like by the driver. The coasting release operation also includes brake on, steering, accelerator on, etc. in automatic driving control.

When the vehicle state calculation unit 72 determines that the automatic driving control is being executed by the state determination unit 70, the vehicle state calculation unit 72 is particularly executing the automatic driving control and coasting running by the state determination unit 70. If it is determined that the coasting release operation has not been performed, the vehicle state predicted in the planned route in the automatic driving control set by the driving control unit 66 is calculated. The vehicle state predicted on the planned route is, for example, a state of change in vehicle speed V, a state of vehicle operation such as a brake operation, an acceleration operation, and a shift operation scheduled to be performed as the vehicle 10, an execution state of coasting running, and the like. The execution state of the coasting run can be specified, for example, by a runway position where the coasting run is scheduled to start on the planned route and a runway position where the coasting run is scheduled to be canceled.

When the state determination unit 70 determines that the automatic driving control is being executed, the release area determination unit 74 is determined by the planned route in the automatic driving control set by the operation control unit 66 and the vehicle state calculation unit 72. Based on the calculation result of the vehicle state predicted in the calculated planned route, the travel path area for canceling the coasting travel in the automatic driving control is determined so that the vehicle behavior does not change more than a predetermined value. When the vehicle behavior changes more than a predetermined value, for example, when the coasting driving is canceled or when the vehicle operation scheduled to be performed as the vehicle 10 is performed, the vehicle behavior changes to the extent that the driver feels uncomfortable. It is to be.

On low μ roads and uneven roads, a phenomenon in which vehicle behavior changes more than a predetermined value is likely to occur. When the travel path position where the coasting travel is to be canceled is in the section of the low μ road or the uneven road, the release area determination unit 74 performs the coasting travel before or after the section of the low μ road or the uneven road. The track area for canceling the coasting run is determined so that is canceled. Alternatively, when the release area determination unit 74 performs a reacceleration operation after the coasting run on the section of the low μ road or the uneven road, the release area determination unit 74 continues the coasting run and sets the section of the low μ road or the uneven road. Determine the track area to cancel the coasting run so that it passes in the coasting run.

It is desirable not to cancel the coasting run in the vehicle state change section, which is a section in which a sudden change in vehicle speed V, large steering, large change in front-rear acceleration Gx, or large change in left-right acceleration Gy occurs. Alternatively, in the vehicle state change section, it is desirable that a driving force is applied to stabilize the vehicle 10. The release area determination unit 74 determines the travel path area for canceling the coasting travel so that the coasting travel is canceled in front of the vehicle state change section.

The release area determination unit 74 is acquired based on information acquired, for example, through communication with the center 100, or via vehicle-to-vehicle communication with another vehicle 110 such as a preceding vehicle. Based on the information, the low μ road section, the uneven road section, the vehicle state change section, and the like are determined. The release area determination unit 74 plans to release the coasting run based on, for example, information via the above-mentioned various communications, information on low μ road sections, information on uneven road sections, information on vehicle state change sections, and the like. The travel path area of is changed.

As described above, the vehicle state calculation unit 72 and the release area determination unit 74 calculate the vehicle behavior until the coasting run is released, and the coasting control unit 68 makes a request to release the coasting run. The track area where the coasting run can be canceled is determined in advance.

The state determination unit 70 needs to determine whether or not the vehicle 10 has reached the travel path area where the coasting travel calculated by the vehicle state calculation unit 72 and the release area determination unit 74 is to be canceled, that is, the coasting travel must be released. It is determined whether or not it is.

When the state determination unit 70 determines that the coasting run needs to be canceled, the coasting control unit 68 requests the cancellation of the coasting run. When the coasting control unit 68 requests the cancellation of the coasting run, or when the state determination unit 70 determines that the coasting release operation has been performed, the coasting control unit 68 ends the coasting control and coasts. Cancel the run. When the coasting control unit 68 ends the coasting control, the coasting control unit 68 outputs a command to the engine control unit 62 for controlling the engine 12 that realizes the required driving force Frdem. Further, when the coasting control unit 68 ends the coasting control, the coasting control unit 68 outputs a command for engaging the clutch Cin to the transmission control unit 64.

FIG. 2 is a flowchart illustrating a main part of the control operation of the electronic control device 60, that is, a control operation for making the driver less likely to feel a sense of discomfort when canceling the coasting driving during driving under automatic driving control. For example, it is executed repeatedly. FIG. 3 is an example of an embodiment when the control operation shown in the flowchart of FIG. 2 is executed.

In FIG. 2, first, in step S10 corresponding to the function of the state determination unit 70 (hereinafter, step is omitted), it is determined whether or not the operation mode is the automatic operation mode. If the judgment of S10 is denied, this routine is terminated. If the determination in S10 is affirmed, it is determined in S20 corresponding to the function of the state determination unit 70 whether or not the coasting is in progress. If the judgment of S20 is denied, this routine is terminated. If the determination in S20 is affirmed, it is determined in S30 corresponding to the function of the state determination unit 70 whether or not the coasting release operation has been performed. If this determination in S30 is denied, the vehicle behavior up to the time of cancellation of the coasting run is calculated in S40 corresponding to the functions of the vehicle state calculation unit 72 and the release area determination unit 74, and the coasting run is scheduled to be canceled. The track area of is determined. Next, in S50 corresponding to the function of the state determination unit 70, it is determined whether or not it is necessary to cancel the coasting run. If the judgment of S50 is denied, the process returns to S20. If the determination in S50 is affirmed, cancellation of the coasting run is required in S60 corresponding to the function of the coasting control unit 68. If the determination in S30 is affirmed, or in S70 corresponding to the function of the coasting control unit 68 following S60, the coasting run is canceled.

FIG. 3 shows an example of an embodiment when the planned route in the automatic transmission control includes a travel path region such as a low μ road or an uneven road where the vehicle behavior tends to be unstable due to the cancellation operation of the coasting travel. There is. In FIG. 3, the shaded portion in the road surface state shows a traveling road region such as a low μ road or an uneven road. The comparative example shows an example in which the coasting running is canceled by the operation by the driver, that is, the driver operation, or by the judgment of the low μ road or the like based on the unstable vehicle behavior (the driving road position). See p2a position). In this embodiment, the coasting running is automatically canceled outside the driving road region where the vehicle behavior becomes unstable, that is, outside the driving road region such as a low μ road or an uneven road (at the driving road position). See p1a position and p3a position).

As described above, according to the present embodiment, it is possible to prevent the vehicle behavior from changing more than a predetermined value based on the planned route and the calculation result of the vehicle state predicted on the planned route during the execution of the automatic driving control. Since the driving road area for canceling the coasting running is determined so as to be performed, the coasting driving can be canceled in the driving road area where the vehicle behavior is stable, or the driving road area where the vehicle behavior is likely to change. The coasting run can be canceled after passing through the coasting run. Therefore, when the coasting running is canceled during the running under the automatic driving control, it is possible to make the driver less likely to feel a sense of discomfort.

Next, another embodiment of the present invention will be described. In the following description, parts common to each other in the examples are designated by the same reference numerals and description thereof will be omitted.

In automatic driving control, the vehicle speed V can be automatically adjusted regardless of the driver operation. Therefore, the driving control unit 66 adjusts the vehicle speed V at the start of the coasting running by the automatic driving control before the coasting running is started. As a result, the position of the traveling path for canceling the coasting traveling can be changed during the traveling under the automatic driving control. When the vehicle speed V at the start of coasting is increased by the acceleration operation, the coasting is canceled so that the coasting is canceled after the low μ road section, the uneven road section, or the vehicle state change section. The track area to be driven can be varied. Alternatively, when the vehicle speed V at the start of coasting is reduced by braking operation, coasting is canceled so that coasting is canceled in front of a low μ road section, an uneven road section, or a vehicle state change section. The track area to be released can be changed. If the coasting run is canceled after the vehicle state change section, the vehicle will pass through the vehicle state change section by coasting running, but by adjusting the vehicle speed V, for example, there is no problem with large steering or the like. It should be.

FIG. 4 is a flowchart illustrating a main part of the control operation of the electronic control device 60, that is, a control operation for making the driver less likely to feel a sense of discomfort when canceling the coasting driving during driving under automatic driving control. For example, it is executed repeatedly. FIG. 4 is an embodiment different from the flowchart of FIG.

In FIG. 4, first, in S10 corresponding to the function of the state determination unit 70, it is determined whether or not the operation mode is the automatic operation mode. If the judgment of S10 is denied, this routine is terminated. If the determination in S10 is affirmed, the vehicle behavior up to the time of cancellation of the coasting run is calculated in S22 corresponding to the functions of the vehicle state calculation unit 72 and the release area determination unit 74, and the coasting run is scheduled to be canceled. The travel path area is determined. Next, in S25 corresponding to the function of the driving control unit 66, the vehicle speed V at the start of coasting travel is adjusted. As a result, the track area where the coasting run is scheduled to be canceled is moved. Next, in S28 corresponding to the function of the state determination unit 70, it is determined whether or not the coasting run has been started. If the judgment of S28 is denied, this routine is terminated. If the determination in S28 is affirmed, it is determined in S30 corresponding to the function of the state determination unit 70 whether or not the coasting release operation has been performed. If the determination in S30 is denied, in S55 corresponding to the function of the state determination unit 70, it is determined whether or not the position is the track position where the coasting travel is scheduled to be canceled, that is, the coasting travel is released. If the judgment of S55 is denied, the process returns to S30. If the determination of S55 is affirmed, cancellation of the coasting run is required in S60 corresponding to the function of the coasting control unit 68. If the determination in S30 is affirmed, or in S70 corresponding to the function of the coasting control unit 68 following S60, the coasting run is canceled.

As described above, according to this embodiment, the same effect as that of Example 1 described above can be obtained. In addition, since the vehicle speed V at the start of the coasting run is adjusted by the automatic driving control before the coasting run is started, the coasting run can be performed in a wider running road area, and the fuel consumption is improved.

When the vehicle behavior becomes unstable during the coasting run, it is desirable to perform control to stabilize the vehicle 10. The control for stabilizing the vehicle 10 is, for example, known ABS control, skid suppression control called VSC, lane keep control, and the like. The wheel brake is operated during ABS control or skid suppression control. Further, the steering operation is performed during the steering cooperative control for assisting the steering torque and controlling the front wheel turning angle during the skid suppression control, and during the lane keep control. Further, when the deceleration is controlled by applying a weak engine braking action during coasting running, a shift operation is performed in which the clutch Cin of the transmission 18 is put into a slip state.

The coasting control unit 68 basically cancels the coasting run when the coasting release operation is performed during the coasting run, but the vehicle 10 by the automatic drive control during the coasting run under the automatic drive control. The coasting run is not canceled by the operation for the control to stabilize the. The coasting control unit 68 does not release the coasting run when the wheel brake is operated by the automatic driving control. The coasting control unit 68 does not cancel the coasting run during the steering operation by the automatic driving control. The coasting control unit 68 does not cancel the coasting run during the shift operation by the automatic driving control.

FIG. 5 is a flowchart illustrating a main part of the control operation of the electronic control device 60, that is, a control operation for making the driver less likely to feel a sense of discomfort when canceling the coasting driving during driving under automatic driving control. For example, it is executed repeatedly. FIG. 5 is an embodiment different from the flowchart of FIG. FIG. 6 is an example of an embodiment when the control operation shown in the flowchart of FIG. 5 is executed.

In FIG. 5, first, in S10 corresponding to the function of the state determination unit 70, it is determined whether or not the operation mode is the automatic operation mode. If the judgment of S10 is denied, this routine is terminated. If the determination in S10 is affirmed, the vehicle behavior up to the time of cancellation of the coasting run is calculated in S22 corresponding to the functions of the vehicle state calculation unit 72 and the release area determination unit 74, and the coasting run is scheduled to be canceled. The track area of is determined. Next, in S28 corresponding to the function of the state determination unit 70, it is determined whether or not the coasting run has been started. If the judgment of S28 is denied, this routine is terminated. If the determination in S28 is affirmed, it is determined in S30 corresponding to the function of the state determination unit 70 whether or not the coasting release operation has been performed. If the determination in S30 is denied, it is determined in S55 corresponding to the function of the state determination unit 70 whether or not it is the cancellation point of the coasting run. If the judgment of S55 is denied, the process returns to S30. On the other hand, if the determination in S30 is affirmed, it is determined in S58 corresponding to the function of the state determination unit 70 whether or not the coasting release operation is an operation by automatic driving control for stabilizing the vehicle behavior. To. If the judgment of S58 is affirmed, the process returns to S30. If the determination in S55 is affirmed, or if the determination in S58 is denied, cancellation of the coasting run is required in S60 corresponding to the function of the coasting control unit 68. Next, in S70 corresponding to the function of the coasting control unit 68, the coasting run is canceled.

FIG. 6 shows an example of an embodiment when the planned route in the automatic transmission control includes a travel path region in which the vehicle behavior tends to be unstable. In FIG. 6, the shaded portion in the road surface state shows a traveling road region in which the vehicle behavior becomes unstable during coasting traveling. The comparative example shows an example in which the coasting run is canceled by the driver operation or by the determination that the vehicle behavior has become unstable (see the p2b position of the runway position). In this embodiment, the operation for stabilizing the vehicle behavior by the automatic driving control can be performed even during the coasting traveling in the traveling road region where the vehicle behavior becomes unstable. In this embodiment, the coasting run is automatically canceled outside the runway region where the vehicle behavior may become unstable (see p1b position and p3b position of the runway position).

As described above, according to this embodiment, the same effect as that of Example 1 described above can be obtained. In addition, since the coasting running is not canceled by the operation for the control for stabilizing the vehicle 10 by the automatic driving control during the coasting running by the automatic driving control, the vehicle behavior is changed during the coasting running. The operation for stabilization is possible, and the driver is less likely to feel uncomfortable.

Although the examples of the present invention have been described in detail with reference to the drawings, the present invention also applies to other aspects.

For example, in the above-described second embodiment, the vehicle speed V at the start of the coasting run is adjusted by the automatic driving control to change the runway area for canceling the coasting run, but instead of adjusting the vehicle speed V, In addition, for example, the travel path region for canceling the coasting travel may be changed by changing the planned route in the automatic driving control.

It should be noted that the above is only one embodiment, and the present invention can be implemented in a mode in which various changes and improvements are made based on the knowledge of those skilled in the art.

10: Vehicle 12: Engine (power source)
14: Drive wheel 16: Power transmission device 60: Electronic control device (control device)
66: Driving control unit 68: Coasting control unit 72: Vehicle state calculation unit 74: Release area determination unit

Claims (1)

A control device for a vehicle provided with a power source and a power transmission device for transmitting the power of the power source to the drive wheels.
A driving control unit that performs automatic driving control to drive on a planned driving path by automatically controlling the driving of the vehicle regardless of the driving operation of the driver.
A coasting control unit that performs coasting running that coasts the vehicle while the power transmission in the power transmission device is cut off while traveling under the automatic driving control.
During the execution of the automatic driving control, a vehicle state calculation unit that calculates a vehicle state predicted on the planned travel path, and a vehicle state calculation unit.
A travel road region in which the coasting travel is canceled so that the vehicle behavior does not change more than a predetermined value based on the planned travel path and the calculation result of the vehicle state during the execution of the automatic driving control. A vehicle control device comprising a release area determination unit for determining a vehicle.

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