JP2022186829A - Control device, method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a braking/driving force control device and so on capable of improving drivability at low cost.

SOLUTION: A control device mounted on a vehicle comprises: a reception section for receiving a plurality of first requests from a driving support system; an arbitration section for arbitrating the plurality of first requests; a calculation section for calculating a second request on the basis of the result of arbitration by the arbitration section; and a distribution section for distributing the second request to at least one in an actuator system including a power train actuator. The control content of the power train actuator is not included in the first requests. The control content of the power train actuator is included in the second request. The calculation section calculates the second request on the basis of the operating state of the power train actuator.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2023,JPO&INPIT

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device and the like mounted on a vehicle and the like for controlling a power train and brakes.

In recent years, various driving support systems have been proposed for vehicles. For example, Cited Document 1 discloses providing the driver with a favorable driving feeling by controlling the braking/driving force that facilitates maintaining the inter-vehicle distance based on the distance to the vehicle in front.

Driving support functions are becoming more sophisticated, and vehicles are equipped with a plurality of application execution units, and each application execution unit executes an application that performs processes such as automatic driving and automatic parking. Each application execution part calculates the braking/driving force (braking force and driving force) to be output by the powertrain provided in the vehicle and the braking force to be output by the brake in order to realize the driving support function for which it is in charge. In addition, each application execution unit determines whether or not to change the gear ratio of the transmission, to operate the L/U (lockup clutch), and to perform the engine F/C (fuel cut) with respect to the power train. The control contents such as whether or not to use are also determined based on the control specifications of each application.

The power train drive unit that drives the power train controls the transmission and engine based on the control details such as the braking/driving force calculated by each application execution unit, the determined gear ratio, L/U, F/C, etc. . In addition, when the user operates the accelerator pedal, the powertrain drive unit adjusts the braking/driving force, gear ratio, L/U, F/C based on the control specifications of the powertrain drive unit itself according to the operation amount. It determines the control contents such as, and controls the power train. Further, the brake drive unit that drives the brake controls the brake based on the braking force calculated by each application execution unit.

JP 2008-308099 A

Control of gear ratio, L/U, F/C, etc. has a non-linear effect on vehicle behavior, so it also affects drivability such as ease of driving and ride comfort. is large. Therefore, improvement of control specifications such as gear ratio, L/U, and F/C is important for improving drivability.

However, since each application and powertrain drive unit has its own control specifications for gear ratio, L/U, F/C, etc., it is necessary to develop and implement each separately, resulting in duplication of development. , cost, time, etc. were large. In addition, if the control specifications are different, it is difficult to obtain a sense of unity in the behavior of the vehicle, giving the user a sense of discomfort and possibly impairing drivability.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a control device and the like capable of improving drivability at low cost.

In order to solve the above problems, one aspect of the present invention is a control device mounted on a vehicle, comprising: a receiving unit for receiving a plurality of first requests from a driving support system; an arbitration unit, a calculation unit that calculates a second request based on the arbitration result of the arbitration unit, and a distribution unit that distributes the second request to at least one actuator system including a powertrain actuator. , the first request does not include the control content of the powertrain actuator, the second request includes the control content of the powertrain actuator, and the calculating unit further calculates the first request based on the operating state of the powertrain actuator. It is a control device that calculates the requirements of 2.

ADVANTAGE OF THE INVENTION According to this invention, the control apparatus etc. which can improve drivability at low cost can be provided.

1 is a functional block diagram of a braking/driving force control system according to an embodiment of the present invention; FIG. 2 is a sequence diagram showing processing of the longitudinal force control system according to one embodiment of the present invention;

(embodiment)
A braking/driving force control device according to an embodiment of the present invention receives a request for generating a braking/driving force, and based on the request, collectively controls the gear ratio, L/U, F/C, and the like. As a result, uniform drivability can be obtained with the same control specifications, and control of the gear ratio, L/U, F/C, etc. on the side of the driving support function, which is the source of the demand for the generation of braking/driving force, becomes unnecessary. , can reduce development costs.

An embodiment of the present invention will be described in detail below with reference to the drawings.

<Configuration>
FIG. 1 shows a functional block diagram of a braking/driving force control system 1 according to this embodiment. The braking/driving force control system 1 includes application execution units 11, 12, and 13 that perform processing for driving support, an accelerator opening sensor 14, a brake pedal sensor 15, a braking/driving force control device 100, a power train 20, and brakes. 31.

The application execution units 11, 12, and 13 use information obtained from a camera (not shown) or the like to execute different functions, such as automatic driving, automatic parking, and collision avoidance. . Further, the accelerator opening sensor 14 detects the amount of operation of the accelerator pedal by the user's operation. The brake pedal sensor 15 detects the amount of operation of the brake pedal by the user's operation. The braking/driving force control device 100 includes a braking/driving force determining section 101 , a powertrain driving section 102 , and a brake driving section 103 . Powertrain 20 includes engine 21 and transmission 22 .

<Processing>
FIG. 2 shows a sequence diagram showing the processing of the braking/driving force control system 1. As shown in FIG. The processing of the braking/driving force control system 1 will be described with reference to FIG. This process is repeatedly executed, for example, while the vehicle is running.

(Step S101)
The application execution units 11, 12, and 13 execute respective applications, generate and output information representing the braking/driving force necessary for realizing each driving support function. Here, the braking/driving force means the braking force for decelerating the vehicle and the driving force for accelerating the vehicle. The application execution units 11, 12, and 13 do not determine the details of control related to the gear ratio, L/U (lockup clutch), and F/C (fuel cut) of the engine. Therefore, the information representing the braking/driving force output by the application execution units 11, 12, and 13 does not include the control details for these control items. Note that the number of application execution units and the content of driving assistance are not limited. Further, the accelerator opening sensor 14 outputs the accelerator opening according to the user's operation of the accelerator pedal. A brake pedal sensor 15 outputs a pedal operation amount according to the user's brake pedal operation.

(Step S102)
The braking/driving force determination unit 101 receives information from the application execution units 11, 12, 13, the accelerator opening sensor 14, and the brake pedal sensor 15, and determines the driving/braking force to be generated based on the received information. The braking/driving force generated in the power train 20 and the braking force generated in the brake 30 are determined. When the braking/driving force determination unit 101 determines to generate the driving force, it generates a request to generate the determined driving force and notifies the powertrain driving unit 102 of the request. Further, when the braking/driving force determination unit 101 determines to generate the braking force, the braking force determining unit 101 distributes the determined braking force to the braking force generated in the power train 20 and the braking force generated in the brake 30, and generates them respectively. A request is generated and notified to the powertrain drive 102 and the brake drive 103 . Two of the application execution units 11, 12, and 13, the accelerator opening sensor 14, and the brake pedal sensor 15 are operated simultaneously or the user operates the accelerator pedal. If the above information is received at the same time, one of them is selected based on a predetermined priority, the state of the vehicle received from other equipment installed in the vehicle, and the state of the surroundings of the vehicle. force can be determined. Also, the priority may be designated by the application execution units 11, 12, and 13 according to the urgency of the processing of the device itself at each point in time. Between the application execution units 11, 12, 13 and the longitudinal force determination unit 101, for example, the outputs from the application execution units 11, 12, 13 are arbitrated to select one output. A management unit that notifies 101 may be provided.

(Step S103)
The powertrain drive unit 102 receives the request generated by the braking/driving force determination unit 101, and based on this request, determines the braking/driving force to be generated in the powertrain 20, the gear ratio of the transmission, the L/U (lockup clutch), The control contents of the engine F/C (fuel cut) are determined according to the control specifications installed in itself. The powertrain driving unit 102 may determine the content of control based on not only the braking/driving force determined by the braking/driving force determination unit 101 but also the operating state, operation history, etc. of the powertrain 20. The details of control may be determined based on the vehicle and the surrounding conditions of the vehicle received from the device.

(Step S104)
The power train 20 operates according to the control details determined by the power train drive unit 102, and controls the gear ratio of the transmission 22, L/U, and F/C of the engine 21, and generates braking/driving force. If the braking/driving force determined by the braking/driving force determination unit 101 in step S101 is the driving force, this sequence ends and the process is repeated from step S101. When the braking/driving force determined by the braking/driving force determination unit in step S101 is the braking force, the process proceeds to the next step S105.

(Step S105)
Brake driving unit 103 receives the request generated by braking/driving force determination unit 101 and determines the control content for causing brake 31 to generate the braking force represented by the request.

(Step S106)
The brake 31 operates according to the control details determined by the brake drive unit 103, and generates a braking force. This completes the sequence, and the process is repeated from step S101.

In the above example, when the driving force is requested from the braking/driving force determination unit 101, the power train 20 generates the driving force (S104). Further, when braking force is requested from the braking/driving force determination unit 101, the power train 20 and the brake 30 cooperate to generate the braking force (S104, S106). In step S102, when the braking/driving force determination unit 101 determines to generate the braking force, the power train driving unit 102 and the brake driving unit 103 determine the current operation states of the power train 20 and the brakes 30, respectively. The range of braking force that can be generated may be acquired based on the operation history and the braking force to be generated in the powertrain 20 and the braking force to be generated in the brake 30 within the acquired range. Further, the braking/driving force determining unit 101 may, for example, first generate braking force within a range that the powertrain 20 is capable of, and then control the brake 30 to further generate braking force if there is a shortage.

Further, if the control of steps S103 to S106 is repeated in a short period of a predetermined time or less to finely vary the ratio of the braking force generated by the powertrain 20 and the braking force generated by the brake 31, for example, the powertrain 20 controls the transmission gear ratio, L/U, and engine F/C, resulting in a non-linear decrease in the braking force generated by the powertrain 20, the brake 31 offsets the non-linear changes. Thus, the braking force can be increased, the influence on the behavior of the vehicle can be reduced, and drivability can be improved. The content and timing of communication between the braking/driving force determination unit 101 and the power train driving unit 102 and the brake driving unit 103 are not limited as long as the driving/braking force can be suitably realized.

<effect>
According to the present invention, the braking/driving force control device collectively performs controls that greatly affect drivability, such as the gear ratio of the transmission, L/U, and the F/C of the engine. As a result, when a braking/driving force request is generated by a plurality of application execution units for driving support or by a user's accelerator operation or braking operation, the same control specifications can be used to control the gear ratio, L/U, F/C control can be performed. As a result, it is possible to perform control with a sense of unity that does not give the user a sense of discomfort. In addition, since there is no need to develop and implement control specifications for each application, development costs can be reduced, and drivability can be efficiently improved. In addition, when the application execution unit requests the braking force, the braking/driving force control device cooperatively controls the power train and the brakes. be able to.

Note that drivability when various driving support functions are executed by the application execution unit has a unique problem that is not present in drivability due to user's accelerator pedal operation. In order to deal with this unique problem, the braking/driving force control device partially changes the control specifications of the gear ratio, L/U, and F/C when the driving support function is executed with the control specifications when the user operates the accelerator pedal. can be different.

In the above-described embodiment, the gear ratio, L/U, and F/C are given as examples of the control items collectively controlled by the braking/driving force control device. may contain control items for Further, the information representing the braking/driving force described above may be represented by acceleration or the like.

In addition, the present invention is not only regarded as a braking/driving force control device (control device) or a braking/driving force control system, but also a computer-readable non-temporary computer-readable non-temporary system that stores a computer-executed method, program, and program provided by these. It is also possible to regard it as a recording medium or a vehicle equipped with a braking force control system.

INDUSTRIAL APPLICABILITY The control device and the like of the present invention are useful for controlling the braking/driving force of a vehicle or the like.

1 Braking/Driving Force Control System 11, 12, 13 Application Executing Part 14 Accelerator Position Sensor 15 Brake Pedal Sensor 20 Power Train 21 Engine 22 Transmission 31 Brake 100 Braking/Driving Force Control Device (Control Device)
101 Braking/Driving Force Determining Section 102 Power Train Driving Section 103 Brake Driving Section

Claims (5)

A control device mounted on a vehicle,
a reception unit that receives a plurality of first requests from the driving support system;
an arbitration unit that arbitrates the plurality of first requests;
a calculation unit that calculates a second request based on the arbitration result of the arbitration unit;
a distributor for distributing the second request to at least one actuator system including a powertrain actuator;
The first request does not include the control content of the powertrain actuator, the second request includes the control content of the powertrain actuator,
The control device, wherein the calculation unit further calculates the second request based on the operating state of the powertrain actuator. 2. The control device according to claim 1, wherein said calculator calculates said second request further based on an operation history of said power train actuator. A manager on board a vehicle,
a reception unit that receives a plurality of first requests from a plurality of ADAS applications;
an arbitration unit that arbitrates the plurality of first requests;
a calculation unit that calculates a second request based on the arbitration result of the arbitration unit;
a distributor for distributing the second request to at least one actuator system including a powertrain actuator;
The first request does not include the control content of the powertrain actuator, the second request includes the control content of the powertrain actuator,
The manager, wherein the calculation unit further calculates the second request based on an operating state of the powertrain actuator. A method performed by a controller onboard a vehicle, comprising:
receiving a plurality of first requests from the driving assistance system;
arbitrating the plurality of first requests;
calculating a second request based on the reconciliation result;
and distributing the second request to at least one actuator system including a powertrain actuator;
The first request does not include the control content of the powertrain actuator, the second request includes the control content of the powertrain actuator,
The method of claim 1, wherein the calculating step further calculates the second demand based on operating conditions of the powertrain actuator. A program to be executed by a computer of a control device mounted on a vehicle,
receiving a plurality of first requests from the driving assistance system;
arbitrating the plurality of first requests;
calculating a second request based on the reconciliation result;
and distributing the second request to at least one actuator system including a powertrain actuator;
The first request does not include the control content of the powertrain actuator, the second request includes the control content of the powertrain actuator,
The program according to claim 1, wherein the calculating step further calculates the second request based on an operating state of the powertrain actuator.

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