JP2021165066A - Vehicle controller - Google Patents

Abstract

To stably control a steering angle by reducing an adverse effect of noise, and raise a control speed of the steering angle dependent on a change in a tilt angle.SOLUTION: A vehicle controller 1 includes: a tilt angle detection unit 11 that detects a tilt angle of an automobile; a filter unit 12 that performs filter processing on the tilt angle detected by the tilt angle detection unit 11; and a steering control unit 13 that controls the steering angle of the automobile on the basis of the tilt angle on which the filter processing is performed by the filter unit 12. When a direction of a tilt of the tilt angle detected by the tilt angle detection unit 11 does not change, the filter unit 12 sets an intensity, at which noise is removed through the filter processing, to a first intensity that is strong. When the direction of the tilt of the tilt angle detected by the tilt angle detection unit 11 has changed, the filter unit 12 changes the intensity, at which noise is removed through the filter processing, to a second intensity that is weaker than the first intensity. When the direction of the tilt of the tilt angle has changed, a control speed of a steering angle dependent on a change in the tilt angle is raised.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle control device.

A technique for controlling the steering angle of an automobile according to the inclination angle of the automobile in the vehicle width direction has been proposed. For example, in Patent Document 1, steering for obtaining the steering torque of an automobile based on the inclination angle in the width direction of the road in the map data at the estimated position of the automobile and the detected inclination angle in the vehicle width direction of the automobile. The assistive device is disclosed.

JP-A-2018-167735

By the way, in the above technique, a filter process for removing noise is executed for the detected tilt angle. However, since the strength of removing noise in the filtering process is too strong, the control speed of the steering angle with respect to the change in the inclination angle may be insufficient. On the other hand, if the strength of filtering noise is too weak, the steering angle control may become unstable due to the influence of noise.

Therefore, an object of the present invention is to provide a vehicle control device capable of increasing the control speed of the steering angle with respect to a change in the inclination angle while reducing the influence of noise and controlling the steering angle in a stable manner.

The present invention includes an inclination angle detection unit that detects an inclination angle in the vehicle width direction of an automobile, a filter unit that executes a filter process for removing noise from the inclination angle detected by the inclination angle detection unit, and a filter unit. The filter unit includes a steering control unit that controls the steering angle of the automobile based on the inclination angle filtered by the filter unit, and the filter unit does not change the inclination direction of the inclination angle detected by the inclination angle detection unit. In this case, the intensity for removing the noise of the filtering process is set as the first intensity, and when the direction of the inclination of the inclination angle detected by the inclination angle detection unit changes, the intensity for removing the noise of the filtering process is set as the first intensity. It is a vehicle control device that switches to a weak second strength.

According to this configuration, an inclination angle detection unit that detects an inclination angle in the vehicle width direction of an automobile, a filter unit that executes a filter process for removing noise from the inclination angle detected by the inclination angle detection unit, and a filter unit. In a vehicle control device including a steering control unit that controls the steering angle of an automobile based on the inclination angle filtered by the filter unit, the inclination direction of the inclination angle detected by the inclination angle detection unit changes. When not, the filter unit sets the strength for removing the noise of the filter processing to a strong first strength, so that the influence of the noise is reduced and the stable steering angle is controlled. On the other hand, when the inclination direction of the inclination angle detected by the inclination angle detection unit changes, the filter unit switches the intensity for removing noise in the filtering process to the second intensity, which is weaker than the first intensity, so that the inclination angle When the direction of inclination of is changed, the control speed of the steering angle with respect to the change of the inclination angle can be increased. Therefore, it is possible to increase the control speed of the steering angle with respect to the change of the inclination angle while reducing the influence of noise and controlling the steering angle in a stable manner.

In this case, the steering control unit may reset the integral term of the PID control in the steering angle control to 0 when the filter unit switches the intensity for removing noise in the filtering process from the first intensity to the second intensity. Suitable.

According to this configuration, the steering control unit determines the inclination of the inclination angle detected by the inclination angle detection unit when the filter unit switches the intensity for removing noise in the filtering process from the first intensity to the second intensity. When the direction changes, the integral term of PID control in the steering angle control is reset to 0. Therefore, the integral term accumulated before the inclination direction of the inclination angle changes causes an excess in the inclination direction after the change. It is possible to prevent the steering from being performed properly.

Further, it is preferable that the filter unit gradually returns the intensity for removing noise in the filter processing from the second intensity to the first intensity after switching the intensity for removing noise in the filter processing from the first intensity to the second intensity. Is.

According to this configuration, the filter unit gradually changes the intensity for removing noise in the filtering process from the second intensity to the first intensity after switching the intensity for removing noise in the filtering process from the first intensity to the second intensity. Since it is returned, the steering angle can be controlled more smoothly.

Further, the filter unit filters when the inclination direction of the inclination angle detected by the inclination angle detection unit changes and the amount of change of the inclination angle detected by the inclination angle detection unit per hour is equal to or more than the threshold value. It is preferable to switch the intensity for removing processing noise from the first intensity to the second intensity.

According to this configuration, in the filter unit, the inclination direction of the inclination angle detected by the inclination angle detection unit changes, and the amount of change of the inclination angle detected by the inclination angle detection unit per hour is equal to or more than the threshold value. In some cases, the intensity of removing noise from the filtering process is switched from the first intensity to the second intensity. Therefore, when the amount of change in the tilt angle per hour is small, the intensity of removing the noise of the filtering process is weaker than the first intensity. It is possible to prevent the steering angle control from becoming unstable due to the influence of noise by switching to the second intensity.

According to the vehicle control device of the present invention, it is possible to increase the control speed of the steering angle with respect to the change of the inclination angle while reducing the influence of noise and controlling the steering angle in a stable manner.

It is a block diagram which shows the vehicle control device which concerns on embodiment. It is a flowchart which shows the operation of the vehicle control device which concerns on embodiment. (A) is a graph showing the change in the inclination angle subjected to the filtering process with the noise removing intensity as the first intensity, and (B) is the filtering process with the noise removing intensity as the second intensity. It is a graph which shows the change of the inclination angle, and (C) is the graph which shows the change of the inclination angle which executed the filtering process of this embodiment.

Hereinafter, the vehicle control device according to the embodiment of the present invention will be described in detail with reference to the drawings. The vehicle control device 1 shown in FIG. 1 is mounted on a large automobile such as a truck, a tractor, and a bus, and corresponds to an inclination angle (cant angle) in the vehicle width direction of the road on which the automobile travels. The steering angle of the vehicle is controlled so as to maintain the center of the lane defined by the white or yellow line on the road surface without the steering operation of the driver of the vehicle. The vehicle control device 1 includes a yaw rate sensor 2, a vehicle speed sensor 3, a lateral acceleration sensor 4, a camera 5, an ECU 10, and a steering actuator 21.

The yaw rate sensor 2 is a sensor for detecting the direction of an automobile by detecting the yaw rate (rotation angular velocity) around the vertical axis of the center of gravity of the automobile. As the yaw rate sensor 2, for example, a gyro sensor is used. The yaw rate sensor 2 outputs a signal corresponding to the detected yaw rate of the automobile to the ECU 10. The vehicle speed sensor 3 is a sensor for detecting the speed of an automobile. As the vehicle speed sensor 3, for example, a wheel speed sensor that is provided on a wheel of an automobile or an axle that rotates integrally with the wheel and detects the rotation speed of the wheel as a signal is used. The vehicle speed sensor 3 transmits a signal corresponding to the rotation speed of the wheels to the ECU 10.

The lateral acceleration sensor 4 is a sensor for detecting lateral acceleration, which is an acceleration in the vehicle width direction of an automobile. The lateral acceleration sensor 4 transmits a signal corresponding to the lateral acceleration of the automobile to the ECU 10. The camera 5 photographs the front of the vehicle including the white or yellow lines that divide the lanes on the road surface. The camera 5 transmits the information of the photographed image of the front of the automobile to the ECU 10.

The ECU (Electronic Control Unit) 10 includes an inclination angle detection unit 11, a filter unit 12, and a steering control unit 13. The ECU 10 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network), and the like. In the ECU 10, various functions of the tilt angle detection unit 11, the filter unit 12, and the steering control unit 13 are realized by loading the program stored in the ROM into the RAM and executing the program loaded in the RAM in the CPU. do.

The tilt angle detection unit 11 detects the tilt angle in the vehicle width direction of the automobile. The tilt angle detection unit 11 detects the tilt angle in the vehicle width direction of the vehicle based on the lateral acceleration a _cant [m / s ² ] due to the tilt angle in the vehicle width direction of the vehicle. The yaw rate γ [rad / s] detected by the yaw rate sensor 2, the vehicle speed v [m / s] detected by the vehicle speed sensor 3, and the vehicle width direction acceleration _ay [detected by the lateral acceleration sensor 4]. With respect to m / s ² ], the lateral acceleration a _cant [m / s ² ] is calculated by the following equation (1). The tilt angle detection unit 11 may detect the tilt angle in the vehicle width direction of the automobile by another method.
a _cant = γ · v- _ay … (1)

The filter unit 12 executes a filter process for removing noise from the tilt angle detected by the tilt angle detection unit 11. As will be described later, when the inclination direction of the inclination angle detected by the inclination angle detection unit 11 has not changed, the filter unit 12 sets the intensity for removing noise in the filter processing as the first intensity, which is a strong intensity. do. On the other hand, when the inclination direction of the inclination angle detected by the inclination angle detection unit 11 changes and the change amount of the inclination angle detected by the inclination angle detection unit 11 per hour is equal to or more than the threshold value. Switches the intensity of removing noise in the filtering process to the second intensity, which is weaker than the first intensity. Further, the filter unit 12 removes the noise of the filter processing when a predetermined time of, for example, about 1 to 5 seconds elapses after switching the intensity of removing the noise of the filter processing from the first intensity to the second intensity. The strength to be applied is gradually returned from the second strength to the first strength.

The steering control unit 13 determines the steering angle of the vehicle so that the vehicle maintains the center in the lane based on the information of the image including the white or yellow line that divides the lane on the road surface taken by the camera 5. Is controlled by PID (Proportional-Integral-Differential) control. Further, the steering control unit 13 controls the steering angle of the vehicle by PID control so that the vehicle maintains the center in the lane and runs based on the inclination angle filtered by the filter unit 12. As will be described later, the steering control unit 13 determines the inclination angle detected by the inclination angle detection unit 11 when the filter unit 12 switches the intensity for removing noise in the filtering process from the first intensity to the second intensity. When the direction of inclination changes and the amount of change of the inclination angle detected by the inclination angle detection unit 11 per hour is equal to or greater than the threshold value, the integration term of PID control in the control of the steering angle is reset to 0. The steering control unit 13 outputs a control signal to the steering actuator 21.

The steering actuator 21 is an actuator that changes the steering angle of an automobile based on a control signal from the steering control unit 13 of the ECU 10. The steering actuator 21 may be configured by, for example, an assist motor of an electric power steering system.

Hereinafter, the operation of the vehicle control device 1 of the present embodiment will be described. In the following description, it is assumed that the automobile is traveling in a lane defined by a white or yellow line on the road surface. The tilt angle detection unit 11 detects the tilt angle in the vehicle width direction of the automobile. The filter unit 12 executes a filter process for removing noise from the inclination angle detected by the inclination angle detection unit 11. The steering control unit 13 controls the steering angle of the vehicle so that the vehicle travels in the lane based on the inclination angle filtered by the filter unit 12.

As shown in FIG. 2, when the inclination direction of the inclination angle detected by the inclination angle detection unit 11 has not changed, that is, when the inclination direction remains the left direction and the inclination direction is the right direction. When it is left as it is, the filter unit 12 sets the strength for removing the noise of the filter processing as the first strength (S1).

As shown in FIG. 3A, when 0 ≦ t ≦ T ₁ in which the direction of inclination does not change and the strength of removing noise from the filter processing of the filter unit 12 is strong, the filter processing is performed. There is little noise at the tilt angle executed. On the other hand, as shown in FIG. 3B, in 0 ≦ t ≦ T ₁ where the direction of inclination does not change, the strength of removing noise in the filter processing of the filter unit 12 is weaker than that of the first strength. At high intensity, the filtered tilt angle is noisy. In the present embodiment, as shown in FIG. 3 (C), in the tilt angle is not changed the direction of inclination of the inclined angle detected by the detection unit 11 0 ≦ t ≦ T _1, the filter of the filter unit 12 The strength for removing processing noise is a strong first strength, and the influence of noise is reduced to control the steering angle in a stable manner.

As shown in FIG. 2, the inclination angle detection unit 11 detects the inclination angle in the vehicle width direction of the automobile (S2). In the filter unit 12, the inclination direction of the inclination angle detected by the inclination angle detection unit 11 changes (S3), and the amount of change of the inclination angle detected by the inclination angle detection unit 11 per hour is equal to or more than the threshold value. When (S4), the intensity for removing noise in the filtering process is switched to the second intensity, which is weaker than the first intensity (S5). When the direction of inclination of the inclination angle changes, it means when the direction of inclination changes from left to right and when the direction of inclination changes from right to left. When the amount of change in the inclination angle per hour is equal to or greater than the threshold value, for example, the amount of change in the inclination angle per hour is 5 to 10 ° / s or more, and the change in the inclination direction is due to unevenness of the road surface or the like. It means that it is not a thing. The switch from the first intensity to the second intensity is carried out immediately rather than stepwise.

When the inclination direction of the inclination angle detected by the inclination angle detection unit 11 changes (S3) and the amount of change of the inclination angle detected by the inclination angle detection unit 11 per hour is not equal to or more than the threshold value (S4). The filter unit 12 maintains the strength for removing noise in the filtering process as the first strength.

As shown in FIG. 3A, when the intensity of removing the noise of the filter processing of the filter unit 12 is strong at _{T 1} <t where the direction of inclination has changed, the filtering process is executed. The noise of the tilt angle is small, but the amount of change in the tilt angle is small, and the detection of the change in the tilt direction is delayed. On the other hand, as shown in FIG. 3B, when T ₁ <t in which the direction of inclination has changed and the intensity of removing noise in the filter processing of the filter unit 12 is weak at the second intensity, the filter processing is executed. The noise of the tilt angle is large, but the amount of change in the tilt angle is large, and the change in the tilt direction is detected quickly. _{Therefore, in the present embodiment, as shown in FIG. 3C, when T 1} <t in which the inclination direction of the inclination angle detected by the inclination angle detection unit 11 changes, the filter processing of the filter unit 12 is performed. The strength for removing noise is a second strength weaker than the first strength, and when the direction of inclination of the inclination angle changes, the control speed of the steering angle with respect to the change in the inclination angle can be increased.

As shown in FIG. 2, the steering control unit 13 was detected when the filter unit 12 switched the intensity for removing noise in the filtering process from the first intensity to the second intensity, that is, by the inclination angle detecting unit 11. When the inclination direction of the inclination angle changes and the amount of change of the inclination angle detected by the inclination angle detection unit 11 per hour is equal to or more than the threshold value, the integral term of PID control in the steering angle control is reset to 0. (S6).

The filter unit 12 removes the noise of the filter processing when a predetermined time of, for example, about 1 to 5 seconds elapses after switching the intensity of removing the noise of the filter processing from the first intensity to the second intensity (S7). The strength to be applied is gradually returned from the second strength to the first strength (S8). Switching from the second strength to the first strength takes a time of, for example, about 1 to 5 seconds, and is a strength between the second strength and the first strength, gradually increasing from a strength close to the second strength. It is executed by setting the value close to 1 intensity. _{As shown in FIG. 3C, at T 2} <t, where the intensity for removing noise in the filtering process began to gradually return from the second intensity to the first intensity, the filtering process was executed with the passage of time t. The noise of the tilt angle is gradually reduced, the influence of the noise is reduced, and stable steering angle control is performed.

According to the present embodiment, the inclination angle detection unit 11 that detects the inclination angle in the vehicle width direction of the automobile and the filter that executes the filter processing for removing noise from the inclination angle detected by the inclination angle detection unit 11. Detected by the tilt angle detection unit 11 in the vehicle control device 1 including the unit 12 and the steering control unit 13 that controls the steering angle of the automobile based on the inclination angle filtered by the filter unit 12. When the inclination direction of the inclination angle does not change, the filter unit 12 sets the strength for removing the noise of the filter processing to the strong first strength, so that the influence of the noise is reduced and the steering angle can be controlled stably. Will be done. On the other hand, when the inclination direction of the inclination angle detected by the inclination angle detection unit 11 changes, the filter unit 12 switches the intensity for removing noise in the filtering process to the second intensity, which is weaker than the first intensity. When the direction of inclination of the inclination angle changes, the control speed of the steering angle with respect to the change of the inclination angle can be increased. Therefore, it is possible to increase the control speed of the steering angle with respect to the change of the inclination angle while reducing the influence of noise and controlling the steering angle in a stable manner.

Further, according to the present embodiment, the steering control unit 13 is detected when the filter unit 12 switches the intensity for removing noise in the filter processing from the first intensity to the second intensity, that is, by the inclination angle detection unit 11. When the tilt direction of the tilt angle changes, the integral term of PID control in the steering angle control is reset to 0, so after the change due to the integral term accumulated before the tilt direction of the tilt angle changes. It is possible to prevent excessive steering in the direction of inclination of.

Further, according to the present embodiment, the filter unit 12 switches the intensity for removing noise in the filter process from the first intensity to the second intensity, and then changes the intensity for removing the noise in the filter process from the second intensity to the first intensity. Since the strength is gradually returned, the steering angle can be controlled more smoothly.

Further, according to the present embodiment, the filter unit 12 changes the direction of inclination of the inclination angle detected by the inclination angle detection unit 11 and changes in the inclination angle detected by the inclination angle detection unit 11 per hour. When the amount is equal to or greater than the threshold value, the intensity for removing the noise of the filtering process is switched from the first intensity to the second intensity. Is switched to the second intensity, which is weaker than the first intensity, and it is possible to prevent the steering angle control from becoming unstable due to the influence of noise.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and is implemented in various forms. For example, the form and use of the automobile on which the vehicle control device 1 is mounted is arbitrary. Further, the vehicle control device 1 controls the steering angle of the automobile so as to maintain the center in the lane defined by the white or yellow line on the road surface without necessarily depending on the steering operation of the driver of the automobile. It is not limited to the application and may be applied to other driving support systems and automatic driving systems.

1 ... Vehicle control device, 2 ... Yaw rate sensor, 3 ... Vehicle speed sensor, 4 ... Lateral acceleration sensor, 5 ... Camera, 10 ... ECU, 11 ... Tilt angle detection unit, 12 ... Filter unit, 13 ... Steering control unit, 21 ... Steering actuator.

Claims (4)

An inclination angle detection unit that detects the inclination angle in the width direction of the automobile,
A filter unit that executes a filter process for removing noise from the inclination angle detected by the inclination angle detection unit, and a filter unit.
A steering control unit that controls the steering angle of the automobile based on the inclination angle that has been filtered by the filter unit.
With
The filter unit
When the inclination direction of the inclination angle detected by the inclination angle detection unit has not changed, the intensity for removing noise in the filtering process is set as the first intensity.
A vehicle control device that switches the intensity of removing noise in the filtering process to a second intensity weaker than the first intensity when the inclination direction of the inclination angle detected by the inclination angle detection unit changes. The steering control unit resets the integral term of PID control in the control of the steering angle to 0 when the filter unit switches the intensity for removing noise in the filtering process from the first intensity to the second intensity. The vehicle control device according to claim 1. After switching the strength for removing the noise of the filter processing from the first strength to the second strength, the filter unit gradually changes the strength for removing the noise of the filter processing from the second strength to the first strength. The vehicle control device according to claim 1 or 2, which is returned to. When the inclination direction of the inclination angle detected by the inclination angle detection unit changes and the amount of change of the inclination angle detected by the inclination angle detection unit per hour is equal to or more than a threshold value. The vehicle control device according to any one of claims 1 to 3, wherein the strength for removing noise in the filtering process is switched from the first strength to the second strength.

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