JP2939371B2 - Learning control car - Google Patents

Abstract

PURPOSE:To obtain traveling operating characteristics matching driver's inten tion and choice in any region by permitting a driver to learn operations of a control gain changing means based on an automobile position detected signal, thereby changing control gains of a traveling characteristics control means. CONSTITUTION:A position detecting sensor 18 for receiving signals, etc. from a space satellite and detecting the position of an automobile is provided in a detection system for a learning control automobile. Besides, a manual switch 34, etc., for changing control gains of various types of control devices 3, 7, 12, 14 are provided in an operation system. Furthermore, a main computer unit 50, a position computing computer unit 53, etc., for computing the position of the automobile are provided in a control system. The main computer unit 50 controls various types of control devices 3-15, respectively. In this case, the main computer unit 50 learns operations of the manual switch 34 based on position detected signals to change the control gains of various control devices 3-15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a learning control vehicle, and more particularly, to a learning control vehicle capable of executing control in accordance with the behavior characteristics of a driver.

[0002]

2. Description of the Related Art In a vehicle, a control gain of a driving characteristic is set for everybody so that a certain degree of satisfaction can be obtained even when a driver drives a vehicle in any area and under any environment. It is common. However, in order to be able to drive according to each driver's preference, power mode and normal mode, or control mode, hard mode or soft mode in vehicles with active suspension, sports in four-wheel steering vehicles There is also known an automobile provided with a manual switch so that only a specific control gain such as a mode and a normal mode can be selected.

[0003] However, as described above,
It is impossible to satisfy all drivers in a vehicle with a control gain set for driving characteristics or in a vehicle in which only a specific control gain can be selected by operating a manual switch. Therefore, by learning the driving characteristics of the driver, feeding it back, and changing the control gain of the driving characteristics,
Learning control vehicles designed to give the driver greater satisfaction have been proposed.

[0004] For example, Japanese Patent Publication No. 3-44029 discloses that a steering angular velocity, a steering angle, a yaw rate, a lateral acceleration and the like of a steering wheel are sampled while the steering wheel is being steered, and based on an average value within a predetermined time, the sampling is performed. Extract the driver's steering characteristics,
There has been proposed an automobile that performs learning control so as to change a ratio of a steering angle of a front wheel and / or a rear wheel to a steering angle of a steering wheel.

[0005]

However, when the ratio of the steering angle of the front wheels and / or the rear wheels to the steering angle of the steering wheel is changed as described above,
Steering of the steering wheel made by the same driver, always on the same road,
It is thought that they are almost the same, which can give the driver greater satisfaction.
It does not always run on the same road, but runs on an urban area, on a highway, or on a mountain road.Therefore, depending on what road you run, the steering wheel The steering of
In this way, if the ratio of the steering angle of the front wheels and / or the rear wheels to the steering angle of the steering wheel is simply changed by learning the steering of the driver's steering wheel, the driver's steering wheel needs to be changed. Running the vehicle in accordance with the control gain of the driving characteristics changed by learning the characteristics of the driving has a problem that the vehicle cannot be driven to match the driver's intention. .

Another problem is that it is not possible to drive the vehicle to meet the driver's preference only by changing the ratio of the steering angle of the front wheels and / or the rear wheels to the steering angle of the steering wheel. There was also.

[0007]

SUMMARY OF THE INVENTION The present invention provides a detecting means for detecting a running condition of a vehicle, a running characteristic control means capable of controlling a running characteristic of the vehicle with a predetermined control gain, and learning the running condition of the vehicle. In a learning control vehicle equipped with control means capable of changing the control gain of the characteristic control means, it is possible to improve the driving characteristics so as to match the driver's intention when driving in any area. It is another object of the present invention to provide a learning control vehicle that enables driving that matches the driver's preference.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a position detecting means for detecting a position of an automobile, and a control gain changing means operable by a driver and changing a control gain of a running characteristic control means when the operation is performed. The control means learns the operation of the control gain changing means by a driver based on a position detection signal from the position detecting means, and changes the control gain of the running characteristic control means. Achieved by:

In a preferred embodiment of the present invention, the control means is configured to increase a control gain change amount of the traveling characteristic control means as the number of operations of the control gain changing means increases. I have. In a further preferred aspect of the present invention, the control means is configured to learn an operation of the control gain changing means by a driver for each unit time period.

In another preferred embodiment of the present invention, the control means controls the control gain of the running characteristic control means by operating the control gain changing means as the number of updates of the control gain by the learning control increases. Is configured to reduce the amount of change. In still another preferred embodiment of the present invention, the control means changes the control gain of the driving characteristic control means by operating the control gain changing means as the number of updates of the control gain by learning control increases. Is reduced over time.

[0011]

According to the present invention, there are provided position detecting means for detecting the position of an automobile, control gain changing means operable by a driver and changing the control gain of the running characteristic control means when the operation is performed. Since the control means learns the operation of the control gain changing means by the driver based on the position detection signal from the position detecting means, and is configured to change the control gain of the traveling characteristic control means,
Detects what area you are driving, such as urban areas, urban areas, suburban areas, mountain roads, highways, etc., and detects the driver's preference by operating the control gain changing means,
Depending on the driver's preference, it is possible to execute learning control suited to the area, and therefore, when driving in any area, it is possible to improve the driving characteristics of the car to match the driver's preference Will be possible.

According to a preferred embodiment of the present invention, the control means is configured to increase the amount of change in the control gain of the traveling characteristic control means as the number of operations of the control gain changing means increases. When the driver frequently operates the control gain changing means and desires to change the control gain of the driving characteristic control means, the control gain of the driving characteristic control means is changed to match the driver's desire. This makes it possible to improve the running characteristics of the vehicle so as to meet the driver's preference.

According to a further preferred embodiment of the present invention, the control means is configured to learn the operation of the control gain changing means by the driver for each unit time zone. When driving, it is possible to drive in accordance with the traffic conditions at the time of the rush hour, and when driving a car at night, it is possible to drive in accordance with the traffic conditions at night. Also, when the vehicle is driven, the driving characteristics of the vehicle can be improved so as to match the driver's preference.

According to still another preferred embodiment of the present invention, the control means changes the control gain of the running characteristic control means by operating the control gain changing means as the number of updates of the control gain by the learning control increases. It is configured to reduce the amount, the number of updates of the control gain by learning control increases, the control gain of the driving characteristic control means matches the driver's preference, and the driver needs to operate the control gain changing means In the state where it is recognized that there is no running, even if the control gain changing means is operated by the driver, the amount of change of the control gain of the driving characteristic control means is reduced. The driver's gender is reduced, or the result is contrary to the driver's preference,
Again, it is possible to prevent an unnecessary operation of operating the control gain changing means in the reverse direction.

According to still another preferred embodiment of the present invention, the control means changes the control gain of the running characteristic control means by operating the control gain changing means as the number of updates of the control gain by the learning control increases. Configured to decrease the amount over time,
In a state in which the number of updates of the control gain by the learning control is increased, the control gain of the traveling characteristic control means matches the driver's preference, and the driver is recognized as not having to operate the control gain changing means, When the control gain changing means is operated, the control gain of the driving characteristic control means is once changed in accordance with the driver's operation, and thereafter, the amount of change of the control gain of the driving characteristic control means is reduced. By operation of the gain changing means, on the contrary, the running stability decreases,
Alternatively, as a result contrary to the driver's preference, the driver again controls the control gain changing means in the reverse direction,
It is possible to prevent an unnecessary operation of performing the operation.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram of a learning control vehicle according to a preferred embodiment of the present invention.

Referring to FIG. 1, a learning control vehicle 1 according to a preferred embodiment of the present invention has an engine control device 3 for controlling an intake amount of an engine 2, an ignition timing, a fuel injection amount, etc., and a front wheel with respect to a steering angle of a steering wheel 4. 5, a gear ratio control device 7 for controlling a gear ratio change device 6 for changing a steering angle ratio, a power steering control device 9 for controlling a power steering device 8, and an active suspension device 11 for the front wheels 5 and the rear wheels 10. Active suspension control device 12, anti-lock braking control device 14 for controlling front wheel 5 and rear wheel 10 brake 13, traction control device 15 for controlling engine 2 and brake 13 for front wheel 5 and rear wheel 10, and rear Four-wheel steering control for controlling a rear wheel steering device 16 for steering the wheels 10 It has a location 17. In FIG. 1, reference numeral 18 denotes a position detection sensor that receives a signal from a space satellite, a sign post, or the like or a geomagnetic signal (not shown) and detects the position of the vehicle 1. Is a display device for displaying.

FIG. 2 is a block diagram of an operation system, a detection system, and a control system of the learning control vehicle according to the preferred embodiment of the present invention. In FIG. 2, the operation system of the learning control vehicle according to the preferred embodiment of the present invention includes a steering wheel 4, an accelerator pedal 30, a brake pedal 3
1, a clutch pedal 32, a shift lever 33, a manual switch 34 operated by a driver to change a control gain of a predetermined control device, and a RAM 5 to be described later.
2 is provided with an erase switch 35 for erasing the rewritable program stored in the memory 2. Erase switch 35
Is provided, for example, when a car is sold, the driver is different.
It is necessary to delete the program stored in the RAM 52. Therefore, usually, the driver cannot operate, and only the dealer or the maker is provided so as to be operable. In order to be able to delete the program stored in the program, the program may be provided so as to be operable by a driver.

The detection system of the learning control vehicle according to the preferred embodiment of the present invention comprises a position detecting sensor 18 and a timepiece 4.
0, an integrator 41 for integrating the mileage, a calendar 42,
A vehicle speed sensor 43 for detecting a vehicle speed V of the vehicle 1;
A yaw rate sensor 44 for detecting the yaw rate Y of the vehicle, an acceleration sensor 45 for detecting the acceleration α of the vehicle 1, a lateral acceleration sensor 46 for detecting the lateral acceleration GL applied to the vehicle in the lateral direction, and a vertical acceleration applied to the vehicle in a vertical direction under the spring of the vehicle. G
The vertical acceleration sensor 47 for detecting V and an IC card are read to determine whether or not the driver is a specific driver such as an owner driver or a family member, and a driver signal is output.
Driver identification means 48 comprising C card reading means is provided. The driver identification means 48 does not read the IC card, but determines whether or not the driver is the owner driver or another specific driver by using the personal belongings of the driver such as a dedicated key, a license, a clock with a transmitter, and outputs the driver signal. You may comprise so that it may output. Although not shown, the engine control device 3, the gear ratio control device 7, the power steering control device 9, the active suspension control device 12, the anti-lock braking control device 14, the traction control device 15, and the four wheels Each of the steering control devices 17 has a built-in timer.

Further, the control system of the learning control vehicle according to the preferred embodiment of the present invention comprises a main computer unit 50, a ROM 51 storing a predetermined program,
A RAM 52 storing a rewritable program,
A position calculation computer unit 53 that calculates the position of the automobile 1 based on the detection signal detected by the position detection sensor 18, the engine control device 3, the gear ratio control device 7, the power steering control device 9, the active suspension control device 12,・ Lock / breaking control device 1
4, a traction control device 15 and a four-wheel steering control device 17 are provided.

The main computer unit 50 has R
The OM 51 and the program stored in the RAM 52 are accessible, and the main computer unit 50 includes a steering wheel 30, an accelerator pedal 31,
Operation signals from the brake pedal 32, the clutch pedal 33, the shift lever 34, the manual switch 35 and the erase switch 36, and the position detection sensor 18,
Clock 40, integrator 41, calendar 42, vehicle speed sensor 4
3, the detection signals from the yaw rate sensor 44, the acceleration sensor 45, the lateral acceleration sensor 46, the vertical acceleration sensor 47, and the identification signal from the driver identification means 48 are respectively input, and the main computer unit 50 sends the engine control device 3 , Gear ratio control device 7, power steering control device 9, active suspension control device 12, anti-lock braking control device 1
4. Control signals are output to the traction control device 15 and the four-wheel steering control device 17, respectively.

The manual switch 34 includes an engine control device 3, a gear ratio control device 7, a power steering control device 9, an active suspension control device 12, an anti-lock braking control device 14, a traction control device 15, and four wheels. The control gain of the steering control device 17 can be changed according to the driver's preference. FIG. 3 is a schematic front view showing an example of an instrument panel 36 provided with a manual switch 34, and 37 is an indicator.

The ROM 51 stores a setting program A1 used for traveling in an urban area, a setting program A2 used for traveling in an urban area, a setting program A3 used for traveling in an outlying area, and a mountain road. A setting program A4 used when traveling, a setting program A5 used when traveling on a highway, and a setting program A6 used when traveling on a road having a road surface friction coefficient equal to or less than a predetermined value.
In addition, a setting program A7 used in a traveling state in which traveling stability in which the lateral acceleration GL exceeds a predetermined value, for example, 0.5 G, is important.

The setting program A stored in the ROM 51 is stored in the RAM 52 when the automobile 1 is used for the first time, or immediately after the erasing switch 35 is operated.
Although the setting programs A1 to A5 are stored as they are, when a specific driver such as an owner driver or his / her family drives the car 1, the setting programs A1 to A5 are corrected by correction programs E5 to E7 described later. It is corrected to become standard programs B1 to B5 described later.

Setting program A stored in ROM 51
1 to A5, when a driver other than a specific driver such as an owner driver or a family member drives the automobile 1, or even when a specific driver drives, particularly, the driver is stored in the RAM 52. It is used only when it is desired to use the setting programs A1 to A5 stored in the ROM 51 and not using an IC card or the like indicating a specific driver, instead of the standard programs B1 to B5 described later. Based on the navigation signal generated by the position calculation computer unit 53 based on the signal from the detection sensor 18 and input to the navigation signal, the main computer unit 50 determines the position where the automobile 1 is traveling, that is, the area. Based on the determination result, the setting program A1 One of the stone A5 is selectively used. When the vehicle 1 is used for the first time, or immediately after the erasing switch 35 is operated, the setting programs A1 to A5 stored in the ROM 51 are stored in the RAM 52 as they are.
Even when a specific driver drives, the setting programs A1 to A5 are actually used.

On the other hand, the setting programs A6 and A7 are:
Initially, the setting programs A1 to A5 stored in the RAM 52 are corrected by the specific driver driving the automobile 1 and converted into standard programs B1 to B5, which will be described later. ,
When the automobile 1 is driven, even when a specific driver drives in a specific area described later, the vehicle 1 travels on a road having a road surface friction coefficient equal to or less than a predetermined value, and the lateral acceleration GL is a predetermined value, for example. , In which the running stability exceeding 0.5 G is to be emphasized, the standard programs B1 to B5 stored in the RAM 52 are forcibly selected and used instead of the standard programs B1 to B5. This is to ensure that the desired running stability can be ensured when necessary.

The setting program A1 stored in the ROM 51 is stored in the RAM 52 when the vehicle 1 is used for the first time or immediately after the erasing switch 35 is operated.
A5 is copied as it is, and the position calculation computer unit 5 is copied based on a signal from the position detection sensor 18 with the driving of the automobile 1 by a specific driver.
In accordance with the navigation signal generated and input by the control unit 3 and based on a correction program to be described later, standardized regional programs B1 to B5 are stored. That is, the RAM 52 has a standard program B1 used when traveling in an urban area, a standard program B2 used when traveling in an urban area, a standard program B3 used when traveling in an out-of-city area, and traveling on a mountain road. And a standard program B5 used when traveling on a highway are stored, respectively, when a specific driver such as an owner driver or his family drives the automobile 1. The main computer unit 50 is generated by the position calculation computer unit 53 based on the signal from the position detection sensor 18 and is input according to the input navigation signal.
Thus, the position where the automobile 1 is traveling, that is, the area, is determined, and any of these is selected and used based on the determination result.

The RAM 52 further stores a standard program B when the vehicle 1 is traveling within a specific area within a predetermined distance, for example, 20 km, from a base point such as the home of the owner of the vehicle 1 or the location of the dealer.
Learning program C used in preference to 1 to B5
1 to C3 and D1 to D7 are stored.
Whether the vehicle is traveling in a specific area is determined by the position detection sensor 1
8 is generated by the position calculation computer unit 53 based on the signal from the control unit 8 and is determined by the main computer unit 50 according to the input navigation signal.

Here, the learning programs C1 to C3
Indicates the terrain status of each road in a specific area for each unit section,
The learning program C1 detects the vibration state of the automobile 1 according to the vertical acceleration GV input from the vertical acceleration sensor 47, and determines the road surface state of each road in the specific area for each unit section. The learning program C2 learns the bending state of each road in the specific area for each unit section, and the learning program C3 calculates the inclination state of each road in the specific area for each unit section. Is what you learn.

On the other hand, the learning programs D1 to D7 are:
The driver's operation status of the automobile 1 in a unit section of a road in a specific area is classified into, for example, 9:00 to 12:00, 12:00 to 15
The learning program D1 learns the average vehicle speed V for each unit section of the road in the specific area, for each day of the week and for each time zone. The program D2 learns the place where the driver operates the brake pedal 31 in each unit section of the road in the specific area for each time zone, and the learning program D3
Learns the steering condition of the driver's steering wheel 4 in each unit section of the road in the specific area, on an average basis for each unit section, for each day of the week and for each time zone. The average yaw rate Y for each unit section is learned for each day of the week and for each time zone, and the learning program D5 calculates the operation status of the accelerator pedal 30, the brake pedal 31, and the clutch pedal 32 in each unit section of the road in the specific area. The learning program D6 learns, on average, for each unit section, for each day of the week and for each time zone, and averages the operation status of the shift lever 33 in each unit section of the road in the specific area for each unit section, Learning by day of the week and time of day, learning program D7,
The operation of the manual switch 34 in each unit section of the road in the specific area is learned for each operation location, day of the week, and time zone.

Here, the unit section is, for example, every 1 km, and a part of the area is adjacent to the adjacent unit section, for example, 100 m at a time, or every 10 minutes. A part is set to be temporally overlapped with the unit section, for example, every one minute. These learning programs C1 to C3 are used for the same unit section, the same day of the week, the same time zone, the vehicle 1
For example, when running 10 or 50 times, the average value of the terrain conditions detected so far is calculated, an initial program is created and stored in the RAM 52, and the learning programs D1, D3 To D6, the same unit section, the same day of the week, the same time zone, the car 1
When the vehicle has traveled a predetermined number of times, for example, 10 or 50 times, the average value of the operating conditions detected so far is calculated, an initial program is created and stored in the RAM 52, and the learning programs D2 and D7 are , On the same day,
When the automobile 1 has traveled the same unit section a predetermined number of times, for example, 10 or 50 times, in the same time zone, the brake pedal 3 performed up to that time at the same place
1. Average the operation status of the manual switch 34,
An initial program is created and stored in the RAM 52. Here, when the operation of the brake pedal 31 and the manual switch 34 are performed within a predetermined distance, for example, within 5 m in the case of the operation of the brake pedal 31, and in the case of the operation of the manual switch 34, When the operation is performed within 100 m, it is determined that the operation is performed at the same place.

The RAM 52 also has a standard program B
1 to B5, learning programs C1 to C3, and correction programs E1 to E7 for correcting D1 to D7. The correction program E1 is based on a signal from the clock 40, and when the main computer unit 50 determines that it is nighttime, the standard programs B1 through B
5, a uniform correction is forcibly added to the main computer unit 50.
When it is determined that there is a traffic jam, the standard program B
1 to B5 and the learning programs C1 to C3 and D1 to D7 are forcibly and uniformly corrected. The correction program E3 is executed by the main computer unit 50 based on an operation signal of a wiper (not shown). When it is determined that it is raining or snowing, the standard programs B1 to B5, the learning programs C1 to C3, and D1 to D7 are provided.
, Forcibly apply a uniform correction,
The correction program E4 is based on a signal from the integrator 41, and when the main computer unit 50 determines that the continuous running time has exceeded a predetermined time, the standard programs B1 to B5 and the learning programs C1 to C5.
3, and a uniform correction is forcibly applied to D1 to D7. These correction programs E1 to E4 are created experimentally or theoretically in advance and stored in the RAM 52.

On the other hand, the correction program E5 is based on operation signals of the steering wheel 4, the accelerator pedal 30 and the brake pedal 31, and the main computer unit 50 allows the steering speed of the steering wheel 4, the operation speed of the accelerator pedal 30 And the magnitude of the operation speed of the brake pedal 31 is detected, the characteristics of the operation of the specific driver are determined, and the standard programs B1 to B5
The correction program E6 determines that the traveling state of the automobile 1 is in a direction that is more than a predetermined amount and is unstable in comparison with the control data stored in the RAM 52 so far. When the unit 50 makes a determination, the standard programs B1 to B5 and the learning programs C1 to C5 are selected according to the degree of decrease in the running stability.
3 and D1 to D7 are forcibly corrected, and the correction program E7 is
The computer unit 50 is a manual switch 3
4 is detected, and the standard programs B1 to B1 are detected.
5 is to be corrected. Here, the correction program E6
Are previously created experimentally or theoretically and stored in the RAM 52 in the same way as the correction programs E1 to E4. A predetermined number of times within the same area, for example, 100 times or 200 times,
The steering speed of the steering wheel 4, the operation speed of the accelerator pedal 30, and the brake pedal 31 during traveling
The operation speeds are averaged, created for each region, stored in the RAM 52, and corrected by the correction program E7.
Is a manual switch 3 that has been driven a predetermined number of times, for example 100 or 200 times, in the same area.
4 are created on average and stored in the RAM 52.

The correction programs E1, E5 and E
7 is used only for correction of the standard programs B1 to B5. The learning programs C1 to C3 and D1 to D7 used in a specific area include a vehicle 1 for each road, each day of the week, and each time zone. Is created and corrected in consideration of the characteristics of the driver's operation when the vehicle is driven, so that correction by the correction programs E1, E5 and E7 is not required.

In the learning programs C1 to C3, D1 to D7 and the correction programs E5 to E7, the detected data, for example, the vertical acceleration GV indicating the vibration in the case of C1, and the lateral acceleration GL in the case of C2. , Is memorized. Table 1 shows the control data of the setting programs A1 to A6 stored in the ROM 51 and the standard programs B1 to B5 stored in the RAM 52.
3 shows an example of the ratio of the control data of the standard program B3 after the automobile 1 has traveled for a predetermined time.

In Table 1, ACS is a ratio between the control data setting programs A1 to A6 of the active suspension control device 12 and the standard program B3, A
BS is the ratio between the control data setting programs A1 to A6 of the anti-lock braking control device 14 and the standard program B3, and VGR is the gear ratio control device 7.
Ratio between the control data setting programs A1 to A6 and the standard program B3, 4WS is the ratio between the control data setting programs A1 to A6 of the four-wheel steering control device 17 and the standard program B3, and TRC is the traction The ratio between the control data setting programs A1 to A6 of the control device 15 and the standard program B3, the EGC is the ratio between the control data setting programs A1 to A6 and the standard program B3 of the engine control device 3, and the PSC is the power. An example of the ratio between the control data setting programs A1 to A6 of the steering control device 9 and the standard program B3 is shown, respectively. By multiplying these values by a predetermined coefficient for each control device, control data of each control device is obtained. Here, in ACS, 1 is the control data which makes the suspension the softest and 5 is the hardest,
In the case of ABS, 1 is the least difficult to apply braking, 5 is the control data that most applies braking, and VGR is 1
Is the control data with the largest gear ratio, 5 is the control data with the smallest gear ratio, and in 4WS, 1 is the control data with the rear wheel being steered in the same phase and 5 is the control data with the most opposite steering, and TRC is Is that 1 is the smallest slip and 5
Is the control data that causes the largest slip and increases the power. In EGC, 1 is the most fuel-efficient and 5
Is the control data that gives the most power to obtain
In C, 1 can steer the steering wheel 4 with the smallest force, and 5 corresponds to control data that requires the largest force to steer the steering wheel 4, respectively.

The setting of the control data in the setting programs A1 to A7 is only an example, and the concept of what kind of vehicle characteristics can be given to a larger number of drivers when the vehicle 1 is given. Needless to say, changes are possible. In Table 1, A
In the example of CS, the concept of the control data setting will be explained. In addition, in A1 which is a setting program for traveling in an urban area, traffic congestion and the like are likely to occur, and therefore, starting and stopping are often repeated. To make the suspension quite hard,
The ratio of the control data is set to 4, and in A2, which is a setting program for traveling in a city area, the vehicle speed V is higher than that in an urban area, but is not so high, and therefore, the traveling stability is almost the same. The ratio of the control data is set to 1 so that the suspension becomes the softest without giving any importance to the ride comfort, and the vehicle speed V is further increased in A3, which is a setting program for traveling outside the city. Therefore, the ratio of control data is set to 2 so that the suspension is soft in consideration of running stability, and the setting program for mountain road running is A4 and the setting program for highway running is A5. , The vehicle speed V becomes even higher, so that the ratio of the control data is , It is set to 3 and 4. Further, in the setting program A6 for traveling on a road having a low coefficient of road surface friction, the suspension is made to be the softest so that the behavior of the vehicle becomes as gentle as possible.
The ratio of the control data is set to 1, and the lateral acceleration GL exceeds, for example, 0.5 G. In the setting program A7 which is intended only for a driving state in which the driving stability should be considered as a problem,
The control data ratio is set to 5 so that the suspension is the hardest.

In Table 1, a standard program B3 for traveling outside the city, which is shown as an example of the standard programs B1 to B5, shows an example in which the setting program A3 is corrected when a specific driver drives carefully. The ratio of the control data of the setting program A3 is corrected to a value suitable for careful operation.
Table 2 shows how the control data of the learning programs C1 to C3 are corrected according to the terrain condition of each road in a specific area. Table 3 shows the learning programs D1 and D3.
The learning data D2 and D7 are used to determine how the control data 3 to D6 are corrected according to the driver's operation status of the vehicle 1 for each unit section of the road in the specific area. The table shows how the correction is made according to the driver's operation status of the car 1 for each location in each unit section. Table 4 shows the standard program B1 based on the correction programs E1 to E7. 7 shows how the control data of the learning programs C1 to C3 and the learning programs D1 to D7 are corrected.

The correction based on the operating conditions in Tables 2, 3 and 4 is made based on a map stored in advance. In Tables 2 and 3, “large” means that the value of the ratio of the control data is largely corrected,
“Small” means that the value of the ratio of the control data is largely corrected. FIG. 4 is a flowchart showing a basic control routine executed by the main computer unit 50.

In FIG. 4, first, the lateral acceleration sensor 46
, The lateral acceleration GL, and the estimated value μ of the road surface friction coefficient from the anti-lock braking control device 14 are input to the main computer unit 50, respectively.
Next, the main computer unit 50 calculates the absolute value of the lateral acceleration GL input from the lateral acceleration sensor 46 as
It is determined whether the value is equal to or more than a predetermined value GLo, for example, 0.5G.

As a result, when the result is YES, the lateral acceleration GL applied to the vehicle 1 is large, and the vehicle is in a traveling state in which it is necessary to emphasize the traveling stability exclusively. The main computer unit 5
0 sets the flag P to 0, and further determines whether or not the program to be used has been changed between the previous cycle and the current cycle. If the program has been changed, the flag S is set to 0.
, And if not changed, the flag S is set to 1.

On the other hand, if NO, it is determined based on the input signal from the anti-lock braking control device 14 whether or not the estimated value μ of the road surface friction coefficient is equal to or smaller than a predetermined value μo. As a result, when the result is YES, it is recognized that the vehicle is traveling on a road with a low coefficient of road surface friction. The main computer unit 50
Sets the flag P to 1, further determines whether the program to be used has been changed between the previous cycle and the current cycle, and sets the flag S to 0 when the program has been changed. If not, the flag S is set to 1.

On the other hand, if NO, a driver determination subroutine is executed to determine whether or not the driver is a specific driver such as an owner driver or his or her family, and it is necessary to execute control by setting programs A1 to A5. It is determined whether there is. That is, as shown in FIG. 5, the main computer unit 50
It is determined whether or not the driver is a specific driver such as an owner driver or a family thereof based on whether or not a driver signal is input from the driver identification means 48. Here, the driver identification means 48 is an IC card,
When a driver's belongings such as a dedicated key, a license, and a clock with a transmitter are detected, a driver signal is output to the main computer unit 50.

As a result, when the driver signal is input, the main computer unit 50 sets the flag F to 0 and further determines whether or not the flag F was 0 in the previous cycle. hand,
If the flag F was not 0 in the previous cycle, the flag S is set to 0, and if the flag F was 0 in the previous cycle, the flag S is set to 1.

On the other hand, when the driver signal is not input, the main computer unit 50 further includes a driver weight detecting device (not shown), a device for recognizing the driver's body type and / or face by image processing, or , Voice recognition device, seat position detection device, etc., the driver's weight, body type, face,
One or more of voice, seat position, etc.
It is determined whether or not the driver is a specific driver based on whether or not the data matches the data stored in the AM 52.

As a result, one or two or more of these
When the data matches the data stored in the AM 52, the main computer unit 50 determines that the driver is a specific driver such as the owner driver or his / her family, sets the flag F to 0,
Further, it is determined whether or not the flag F was 0 in the previous cycle. If the flag F was not 0 in the previous cycle, the flag S is set to 0. When F is 0, the flag S is set to 1.

On the other hand, when it cannot be determined that the driver is a specific driver based on the weight of the driver or the like, the main driver
The computer unit 50 further includes a steering speed of the steering wheel 4, an operation speed of the accelerator pedal 30,
Operating speed of brake pedal 31 and clutch pedal 3
The operation speed of the steering wheel 4 is monitored over a predetermined period of time, and until then, the vehicle 1 is operated by a specific driver, and as a result, the steering speed of the steering wheel 4 of the specific driver stored in the RAM and the accelerator pedal 30 are stored.
If the difference is less than a predetermined value, it is determined that the driver is the specific driver such as the owner driver or his family. Then, the flag F is set to 0, and it is further determined whether or not the flag F was 0 in the previous cycle. If the flag F was not 0 in the previous cycle, the flag S was set to 0. The flag S is set to 0, and if the flag F is also 0 in the previous cycle, the flag S is set to 1.

On the other hand, when it is determined that the difference exceeds a predetermined value, it is determined that the driver is not a specific driver such as the owner driver or his or her family, and the flag F is set to 1; Further, it is determined whether or not the flag F was 1 in the previous cycle, and if the flag F was not 1 in the previous cycle, the flag S is set to 0. When F is 1, the flag S is set to 1.

After determining whether the driver is a specific driver such as the owner driver or his family by the driver determination subroutine, the main computer unit 50 further executes an area determination subroutine shown in FIG. . That is, the main
The computer unit 50 is provided with a position detection computer unit 53 based on a signal from the position detection sensor 18.
Reads the navigation signal generated by.

As a result, when the navigation signal cannot be read, the flag H is set to 0 and the routine returns. On the other hand, if the navigation signal could be read, but the navigation signal was inappropriate and the position of the car 1 could not be determined accurately based on the navigation signal, the main computer unit 5
If 0 is determined, the flag H is set to 1 and the routine returns.

On the other hand, when the position of the automobile 1 can be determined based on the navigation signal, the flag H is set to 2
Further, based on this navigation signal, the main computer unit 50 calculates a linear distance L from a base point such as the home of the car 1 and the home of the owner of the car 1 or the location of the dealer as a predetermined distance.
It is determined whether the vehicle is traveling within a specific area within Lo, for example, within 20 km.

As a result, a linear distance L from a base point such as the home of the owner of the automobile 1 or the location of the dealer is shown.
However, when it is determined that the vehicle is traveling within a specific area within a predetermined distance Lo, for example, within 20 km, the main computer unit 50 sets the flag M to 0, and determines that the vehicle is traveling outside the specific area. Then, the flag M is set to 1.

Next, the main computer unit 5
0 executes the program selection subroutine shown in FIGS. That is, as shown in FIGS. 7 and 8, the main computer unit 50 first determines whether or not the driver is a specific driver such as an owner driver or a family member based on whether or not the flag F is 0. .

As a result, when the result is NO, that is, when it is determined that the driver is not a specific driver,
The main computer unit 50 further determines whether or not the flag H is 0. As a result, if YES,
Since the driver is not a specific driver, R
The control should be executed based on the setting programs A1 to A5 stored in the OM 51, but the navigation signal cannot be read out, and it cannot be determined which area the automobile 1 is in. The computer unit 50 accesses the standard setting program A3 among the setting programs A1 to A5, sets the flag N to 0, and determines whether the program to be used in the previous cycle and the current cycle is If it has been changed, the flag S is set to 0; if it has not been changed, the flag S is set to 1.

On the other hand, when the flag H is not 0, the main computer unit 50 accesses the setting programs A1 to A5 stored in the ROM 51, sets the flag N to 0, and sets the flag N to 0 in the previous cycle and the current cycle. When the program to be used is changed, the flag S is set to 0, and when the program is not changed, the flag S is set to 1.

On the other hand, when the flag F is not 0, that is, when it is determined that the driver is a specific driver, the main computer unit 5
0 further determines whether the flag H is 0 or not. As a result, when the result is YES, the driver is determined to be a specific driver. Based on E6,
Since the control should be performed, but the navigation signal cannot be read out and it is not possible to determine in which area the car 1 is, the main computer unit 50 is able to read the standard programs B1 to B5 home,
The program accesses the standard program B3, which is the most standard program, sets the flag N to 1, and sets the flag S to 0 when the program to be used has been changed between the previous cycle and the current cycle. If not changed, the flag S is set to 1.

On the other hand, if NO, the main computer unit 50 further determines whether or not the flag H is 1. As a result, when the result is YES, the driver is determined to be the specific driver.
B5 and correction programs E1 to E7, or learning programs C1 to C3 and D1 to D7 and correction programs E1 to E4 and E
6, the control should be executed, but since the exact position of the vehicle 1 cannot be determined by the navigation signal, the main computer unit 50
Accesses the standard programs B1 to B5, sets the flag N to 2, and sets the flag S to 0 when the program to be used has been changed between the previous cycle and the current cycle. If not, the flag S is set to 1.

On the other hand, if NO, the main computer unit 50 further determines whether or not the car 1 is in a specific area, based on whether or not the flag M is 0.
As a result, in the case of NO, the car 1 is recognized to be outside the specific area, so the main computer unit 5
0 indicates that the program accesses the standard programs B1 to B5 and the correction programs E1 to E7 stored in the RAM 52, sets the flag N to 3, and changes the program to be used between the previous cycle and the current cycle. Sets the flag S to 0, and sets the flag S to 1 if not changed.

On the other hand, if the answer is YES, the car 1 is recognized to be in the specific area, but the control data of the day of the week and the time zone for the unit section to be driven have not yet been learned. Since there is a possibility that the day is not stored in the RAM 52,
It is determined whether or not the control data in that time zone has been learned and stored in the RAM 52.

As a result, when the result is YES, that is, when the control data of the day of the week and the time zone in the unit section to be driven have already been learned and stored, the main computer unit 50 When the stored learning programs C1 to C3 and D1 to D7 and E1 to E4 and E6 are accessed, the flag N is set to 4, and the program to be used is changed between the previous cycle and the current cycle. , The flag S is set to 0, and if the flag has not been changed, the flag S is set to 1.

On the other hand, when NO, that is, the day of the week,
When the control data of the unit section to be traveled in the time zone has not been learned and is not stored in the RAM 52, the main computer unit 50 further adds a linear distance l from the unit section to a predetermined distance. lo,
For example, it is determined whether or not the control data of the day of the week and the time zone of the neighboring unit section within 20 m has been learned and stored in the RAM 52.

As a result, when the result is NO, it is determined that the control cannot be executed by the learning program, and the main computer unit 50 transmits the standard programs B1 to B5 and the correction programs E1 to E7 stored in the RAM 52. And sets the flag N to 3, and when the program to be used is changed between the previous cycle and the current cycle, the flag S
Is set to 0, and if not changed, the flag S is set to 1.

On the other hand, if YES, that is,
A straight distance l from a unit section to be driven is a predetermined distance lo,
For example, when the control data of the day of the week and the time zone in the neighboring unit section within 20 m is stored in the RAM 52, the learning data D1, D3 to D6, and the control data,
When the unit section to be traveled is traveled during the time zone on the day of the week, it is recognized that the control data is similar to the learned control data. Therefore, rather than executing the control based on the standard programs B1 to B5, It is considered that executing the control based on the control data of the day unit and the time zone of the neighboring unit section can give the driver greater satisfaction.
Accesses the neighboring unit section learning programs C1 to C3 and D1, D3 to D6 stored in the RAM 52, and converts similar data of this neighboring unit section to the gain k
Is corrected to the stable side, and the flag N is set to 5. However, the control data of the learning programs D2 and D7 are
Since the operation position of the brake pedal 31 and the operation position of the manual switch 34 are to be obtained by learning, respectively, even if there is control data of a neighboring unit section, control is executed based on these data. Since it is not appropriate, the main computer unit 50
No access is made to the learning programs D2 and D7 of the neighboring unit section stored in the storage unit 2. Thereafter, it is determined whether or not the program to be used has been changed between the previous cycle and the current cycle.
, And if not changed, the flag S is set to 1.

FIGS. 9 and 10 are flowcharts showing the learning control subroutine. 9 and 10, the main computer unit 50 first determines whether or not the flag N is 0. As a result, when the result is YES, the control is performed according to the setting programs A1 to A5 or the setting program A3 stored in the ROM 52.
Does not execute learning control.

On the other hand, if NO, the main computer unit 50 further determines whether the flag N is 1 or not. As a result, when the result is YES, the navigation signal cannot be read, and the standard programs B1 to B1 are not read.
5 is a case where the most standard program B3 is provisionally selected and the control is executed. Therefore, it is appropriate that the standard program B3 is actually selected.
However, if it is not appropriate, if the learning control is executed, there is a possibility that the standard program B3 may be inappropriately corrected by the learning control. Therefore, the learning control is not executed.

On the other hand, when the flag N is not 1, the main computer unit 50 further determines whether or not the flag N is 2. As a result, when the result is YES, the main computer unit 50 reads out the standard program of the corresponding area from B1 to B5 based on the navigation signal, and controls each control device of the standard program, that is, the active suspension control device. 12. Anti-lock braking control device 1
4, gear ratio control device 7, four-wheel steering control device 17, traction control device 15, engine control device 3,
The control data DBo of the power steering control device 9 is read, and the driving data D is further read. Whether or not the absolute value of the difference between the control data DBo and the driving data D is equal to or less than a predetermined value d1 is determined for each control device. judge.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the traveling data D is small, and the control data DBo of the control device stored in the RAM 52 is corrected. The main computer unit 5
0 means that the learning of the traveling data D is not performed. On the other hand,
If NO, the main computer unit 50
Further, it is determined for each control device whether or not the absolute value of the difference between the control data DBo and the traveling data D is equal to or greater than a predetermined value d2. Here, d2> d1.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the traveling data D is extremely large, and the operation by the specific driver may have been performed suddenly. Is large, and it is not appropriate to learn such traveling data D. Therefore, the main computer unit 50 does not learn the traveling data D.

On the other hand, if NO, the main computer unit 50 determines that the number of updates n is equal to the predetermined number n.
Determine if o has been reached. As a result, when the result is NO, the number of updates n by the learning control is small, and
Since the car 1 has not yet been recognized as having traveling characteristics sufficiently matching the operating characteristics of the specific driver, the main computer unit 50 stores the traveling data D
Is performed according to the following equation.

DBo = (j1 × DBo + D) / (j1 + 1) where j1 is a predetermined coefficient, for example, 10000
Is set to Thereafter, the update count n is stored in the RAM 52 as n = n + 1. On the other hand, if YES,
Since the learning control recognizes that the vehicle 1 already has characteristics that sufficiently match the driving characteristics of the specific driver, the correction value of the control data DBo by the learning control may be small. The unit 50 executes the learning control based on the traveling data D according to the following equation.

DBo = (j2 × DBo + D) / (j2 + 1) Here, j2 is a predetermined coefficient, j1 <j2, and is set to 15000, for example. Thereafter, the update count n is stored in the RAM 52 as n = n + 1. On the other hand, when determining that the flag N is not 2, the main computer unit 50 further determines whether or not the flag N is 3.

As a result, when the result is YES, the main computer unit 50 reads out the standard program of the corresponding area from B1 to B5 based on the navigation signal, and controls each control device of the standard program, that is, the active device. The control data DBo of the suspension control device 12, the anti-lock braking control device 14, the gear ratio control device 7, the four-wheel steering control device 17, the traction control device 15, the engine control device 3, and the power steering control device 9 are read. Further, the travel data D is read, and based on the read travel data D, according to the correction programs E5 to E7,
The control data DBo is corrected to obtain the control data DB, and it is determined for each control device whether or not the absolute value of the difference between the control data DBo and the correction data DB is equal to or less than a predetermined value d3.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the correction data DB is small, and the control data DBo of the control device stored in the RAM 52 is corrected. Since it is recognized that there is no need to perform the correction, the main computer unit 50 does not learn the correction data DB. On the other hand, if NO, the main computer unit 50
Further, for each control device, it is determined whether or not the absolute value of the difference between the control data DBo and the correction data DB is equal to or greater than a predetermined value d4.
judge. Here, d4> d3.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the correction data DB is extremely large, and the operation by the specific driver may have been performed suddenly. Is large, and it is not appropriate to learn such correction data DB.
Does not learn the correction data DB.

On the other hand, if NO, the main computer unit 50 determines that the number of updates n is equal to the predetermined number n.
Determine if o has been reached. As a result, when the result is NO, the number of updates n by the learning control is small, and
Since the car 1 has not yet been recognized as having traveling characteristics sufficiently matching the operating characteristics of the specific driver, the main computer unit 50 stores the traveling data D
Is performed according to the following equation.

DBo = (m1 × DBo + DB) / (m1 + 1) where m1 is a predetermined coefficient, for example, 10000
Is set to Thereafter, the update count n is stored in the RAM 52 as n = n + 1. On the other hand, if YES,
Since the learning control recognizes that the vehicle 1 already has characteristics that sufficiently match the driving characteristics of the specific driver, the correction value of the control data DBo by the learning control may be small. The unit 50 executes the learning control based on the traveling data D according to the following equation.

DBo = (m2 × DBo + DB) / (m2 + 1) Here, m2 is a predetermined coefficient and m1 <m2, and is set to 15000, for example. Thereafter, the update count n is stored in the RAM 52 as n = n + 1. On the other hand, when determining that the flag N is not 3, the main computer unit 50 further determines whether or not the flag N is 4.

As a result, when the result is YES, the car 1 is in a specific area, and the control data of the unit section to be driven is also
Since it is recognized that the learning program is stored in the RAM 52, the main computer unit 50 executes the learning program C1.
C3 and D1 to D7 are read out, and control data DCo of each control device of the learning program is calculated based on the control data of each control device of the learning program.

The main computer unit 50 further reads the driving data D, and based on the driving data D, corrects the control data DBo according to the learning programs C1 to C3 and D1 to D7, and
It is determined whether the absolute value of the difference between the control data DCo and the correction data DC is equal to or smaller than a predetermined value d5 for each control device. judge.

As a result, when the result is YES, the difference between the control data DC of the control device stored in the RAM 52 and the traveling data D is small, and the control data DC of the control device stored in the RAM 52 is corrected. The main computer unit 50
Does not learn the correction data DC. On the other hand,
If NO, the main computer unit 50
Further, it is determined for each control device whether or not the absolute value of the difference between the control data DCo and the correction data DC is equal to or greater than a predetermined value d6. Here, d6> d5.

As a result, in the case of YES, the difference between the control data DCo of the control device stored in the RAM 52 and the correction data DC is extremely large, and the operation of the specific driver may have been performed suddenly. Is large, and it is not appropriate to learn such correction data DC.
Does not learn the correction data DC.

On the other hand, if NO, the main computer unit 50 determines that the number of updates n is equal to the predetermined number of times n
Determine if o has been reached. As a result, when the result is NO, the number of updates n by the learning control is small, and
Since the car 1 has not yet been recognized as having traveling characteristics sufficiently matching the operating characteristics of the specific driver, the main computer unit 50 stores the traveling data D
Is performed according to the following equation.

DCo = (r1 × DCo + DC) / (r1 + 1) Here, r1 is a predetermined coefficient, for example, set to 100. Thereafter, the update count n is stored in the RAM 52 as n = n + 1. On the other hand, if YES, the learning control recognizes that the vehicle 1 already has characteristics that sufficiently match the driving characteristics of the specific driver. Therefore, even if the correction value of the control data DBo by the learning control is small, Therefore, the main computer unit 50 executes the learning control based on the traveling data D according to the following equation.

DCo = (r2 × DCo + DC) / (r2 + 1) Here, r2 is a predetermined coefficient, and r1 <r2, and is set to, for example, 150. Then, the number of updates n
Is stored in the RAM 52 as n = n + 1. On the other hand, when the flag N is not 4, the flag N is 5, and it is recognized that the control data of the unit section to be traveled has not yet been learned and stored in the RAM 52. The main computer unit 50 reads the traveling data D in order to learn and create the control data of the unit section that is running. And the learning program D1,
For D3 to D6, on the same day and time,
The same unit interval is repeated p times, for example, 10 times, or
After traveling 50 times and obtaining p pieces of traveling data D,
These p pieces of traveling data D are added, divided by p,
The control data DCo is calculated and stored in the RAM 52.
On the other hand, for the learning program D2, the operation of the brake pedal 31 is performed at the same place on the same day, at the same time,
When p times, for example, 10 times or 50 times, p running data D are added and divided by p,
The control data DCo is calculated and stored in the RAM 52.

Here, the travel data D of the learning programs D1, D3 to D6 is, for example, 100 m apart from an adjacent unit section every 1 km.
Unit sections set to overlap, or
Every 10 minutes, data in a unit section that is set to be partially temporally overlapped with an adjacent unit section, for example, one minute at a time, is added to the integrator 4 for each unit section.
The average is calculated based on the detection signal input from Step 1. As described above, by calculating the traveling data D, continuity of the traveling data can be ensured, which is desirable.

Learning programs C1 to C3 and D
1 to D7, the control data DC of the learning program is obtained, and the learning programs C1 to C3 and D1
A method of calculating the correction data DC of each control device from the travel data D based on D7 through D7 will be described below in more detail by taking the case of ACS as an example.

FIGS. 11 and 12 are maps for explaining a method of correcting the ACS control data by the learning programs C1 to C3 based on the terrain condition. FIG. 11 shows the vertical acceleration GV and the correction data. 12 is a map showing the relationship between the lateral acceleration GL and the correction data, and these are stored in the ROM 51.

Based on the detection signal of the vertical acceleration sensor 47, the correction data x1 of the learning program C1 is calculated as shown in FIG. Here, 1 indicates data with the hardest suspension, and 0 indicates data with the softest suspension. Next, based on the detection signal of the lateral acceleration sensor 46, the correction data x2 of the learning program C2 is calculated as shown in FIG.

As shown in Table 2, the ACS control data is not corrected by the learning program C3. Therefore, based on the two correction data x1 and x2, the learning programs C1 to C3 are calculated according to the following equations.
Is calculated. Xc = (x1 + x2) / 2 According to a map (not shown) stored in the ROM 51,
Similarly, the correction data Xd of the learning programs D1 to D7 is calculated.

Based on the correction data Xc and Xd thus obtained, correction data DC is obtained according to the following equation. DC = (K1.Xc + K2.Xd) / (K1 + K2) where K1 and K2 are weighting coefficients, and K1 <K
Set to 2. Further, the main computer unit 50 similarly controls the control data D calculated similarly based on the data stored in the RAM 52 for each of the learning programs C1 to C3 and D1 to D7.
The absolute value of the difference between Co and the correction data DC thus obtained is compared with predetermined values d3 and d4, and as described above,
When the learning is to be performed, the correction data DC is learned. When the learning is not to be performed, the learning of the correction data DC is not performed.

In the standard programs B1 to B5,
The same applies to the method of correcting the traveling data D according to the correction programs E5 to E7 to obtain the correction data DB. FIGS. 13, 14 and 15 are flowcharts showing the control execution subroutine. 13, 14, and 15, the main computer unit 50
First determines whether the flag P is 0 or not.

As a result, when the result is YES, the lateral acceleration GL applied to the automobile 1 is large, and the vehicle is in a traveling state in which importance must be given to the traveling stability, and the control is performed based on the setting program A7 stored in the ROM 51. It is determined that it is in a state to be executed. Therefore, the main computer unit 50 further determines whether or not the flag S is 0.

As a result, if the result is YES, the driver changes to a specific driver from a specific driver such as the owner driver or his or her family, from another driver, or from a driver other than the specific driver, due to a change in driving conditions. Since the program used is changed between the previous cycle and the current cycle, the main computer unit 50 includes: a main computer unit 50 for preventing a sudden change in the running state of the vehicle 1; The time T1 is added to the control time T stored in the timer of the control device.

On the other hand, when the flag S is not 0, the main computer unit 50 determines whether or not the control gain of each control device has changed between the previous cycle and the current cycle. As a result, when YES, the vehicle 1
In order to prevent the running condition of the control device from changing suddenly, the main computer unit 50 controls the control time T stored in the timer of the control device in which the control gain has changed.
Is added to the time T2.

Thereafter, the main computer unit 50 sets the control gain to gradually increase to the value calculated this time after the lapse of the control time T stored in the timer of each control device according to the setting program A7. , And outputs a control execution signal to each control device. On the other hand, when the flag P is not 0, the main computer unit 50 further determines whether or not the flag P is 1.

As a result, when the result is YES, it is recognized that the vehicle is traveling on a road having a low coefficient of road surface friction, and the vehicle is in a traveling state in which it is necessary to focus on traveling stability exclusively. It is determined that control is to be performed. Therefore, the main computer unit 50 further determines whether or not the flag S is 0.

As a result, if the result is YES, the driver changes to a specific driver due to a change in driving conditions or from a specific driver such as the owner driver or his family to another driver or from a driver other than the specific driver. Since the program has been changed, it is recognized that the program to be used has been changed between the previous cycle and the current cycle. Therefore, in order to prevent the running state of the automobile 1 from changing abruptly, the main computer unit 50 The time T1 is added to the control time T stored in the timer of each control device.

On the other hand, when the flag S is not 0, the main computer unit 50 determines whether the control gain of each control device has changed between the previous cycle and the current cycle. As a result, when YES, the vehicle 1
In order to prevent the running condition of the control device from changing suddenly, the main computer unit 50 controls the control time T stored in the timer of the control device in which the control gain has changed.
Is added to the time T2.

Thereafter, the main computer unit 50 sets the control gain to gradually increase to the value calculated this time after the lapse of the control time T stored in the timer of each control device according to the setting program A6. , And outputs a control execution signal to each control device. On the other hand, when the flag P is not 1, the main computer unit 50 further determines whether the flag N is 0.

As a result, when the result is YES, the control is to be performed by the setting programs A1 to A5 stored in the ROM 51, but the main computer unit 50 further checks whether the flag S is 0 or not. That is, it is determined whether the program to be used has been changed. As a result, when the result is YES, the driver has changed from a specific driver such as the owner driver or his family to another driver, or from a driver other than the specific driver to a specific driver due to a change in driving conditions, Since it is recognized that the program to be used has been changed between the previous cycle and the current cycle, the main computer unit 50 controls each control to prevent the running condition of the automobile 1 from changing suddenly. The time T1 is added to the control time T stored in the timer of the apparatus.

On the other hand, when the flag S is not 0, the main computer unit 50 determines whether the control gain of each control device has changed between the previous cycle and the current cycle. As a result, when YES, the vehicle 1
In order to prevent the running condition of the control device from changing suddenly, the main computer unit 50 controls the control time T stored in the timer of the control device in which the control gain has changed.
Is added to the time T2.

The control gains of the setting programs A1 to A5 stored in the ROM 51 are not corrected by the correction programs E1 to E7. After the elapse of T, a control execution signal is output to each control device so that the control gain gradually becomes the value calculated this time.

On the other hand, when the flag N is not 0, the main computer unit 50 further sets the flag N to 1
It is determined whether or not. As a result, if YES, control based on the standard program B3 is started. First, the main
The computer unit 50 further determines whether or not the flag S is 0.

As a result, when the result is YES, the driver changes to a specific driver due to a change in driving conditions or from a specific driver such as an owner driver or his family to another driver, or from a driver other than the specific driver. Since the program used is changed between the previous cycle and the current cycle, the main computer unit 50 includes: a main computer unit 50 for preventing a sudden change in the running state of the vehicle 1; The time T1 is added to the control time T stored in the timer of the control device.

On the other hand, when the flag S is not 0, the main computer unit 50 operates according to the standard program B3 based on the correction programs E1 to E4.
As shown in Table 4, the calculated control gain of each control device is uniformly corrected to calculate the control gain of each control device. That is, first, when it is determined that the nighttime is based on the input signal from the clock 40, as shown in Table 4, the control data DB of each control device of the standard program in the corresponding area is corrected, and the navigation signal and the like are corrected. When it is determined based on the input signal from the vehicle speed sensor 43 that the vehicle is in a congested state, as shown in Table 4, the control data DB of each control device of the standard program in the corresponding area is corrected, and a wiper operation (not shown) is performed. When it is determined from the signal from the means that the wiper is operating and the weather condition is rainy or snowy, as shown in Table 4, the control of each control device of the standard program in the corresponding area is performed. When the data DB is corrected and the running time is determined to be long based on the input signals from the clock 40 and the integrator 41, the data is shown in Table 4 according to the length. As, by correcting the control data DB of the control device of the standard program of the relevant region, based on the thus corrected control data of the control device has calculates a control gain of each control device.

Thereafter, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 sends a control execution signal so that the control gain gradually becomes the value calculated this time after the control time T stored in the timer of each control device elapses. Output to each control device. On the other hand, when it is determined that the flag N is not 1, the main computer unit 50 further performs
It is determined whether the flag N is 2 or 3.

As a result, when the result is YES, the main computer unit 50 reads out the standard program of the corresponding area from the standard programs B1 to B5 based on the navigation signal, and based on any of the standard programs B1 to B5. Start control. First, the main computer unit 50 further determines whether or not the flag S is 0.

As a result, if the result is YES, the driver changes to a specific driver due to a change in driving conditions or from a specific driver such as an owner driver or his family to another driver, or from a driver other than the specific driver. Since the program used is changed between the previous cycle and the current cycle, the main computer unit 50 includes: a main computer unit 50 for preventing a sudden change in the running state of the vehicle 1; The time T1 is added to the control time T stored in the timer of the control device.

On the other hand, when the flag S is not 0, the main computer unit 50 calculates based on the correction programs E1 to E4 according to any one of the standard programs B1 to B5 selected based on the navigation signal. As shown in Table 4, the control gain of each control device is uniformly corrected to calculate the control gain of each control device.

Thereafter, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 sends a control execution signal so that the control gain gradually becomes the value calculated this time after the control time T stored in the timer of each control device elapses. Output to each control device. On the other hand, when it is determined that the flag N is not 2 or 3, the main computer unit 50
Further, it is determined whether or not the flag N is four.

As a result, if YES, control based on the learning programs C1 to C3 and D1 to D7 is started. First, the main computer unit 50
Determines whether the manual switch 34 has been operated. If the result is NO, the main computer unit 50 further determines whether or not the flag S is 0.

As a result, when the result is YES, the driver has changed from a driver other than the specific driver to the specific driver due to a change in driving conditions, or
Since it is recognized that the program to be used has changed between the previous cycle and the current cycle, the main computer unit 50 controls each control device to prevent the running condition of the automobile 1 from changing suddenly. The time T1 is added to the control time T stored in the timer.

On the other hand, when the flag S is not 0, the main computer unit 50 executes each control calculated based on the correction programs E1 to E4, based on the navigation signals, and according to the learning programs C1 to C3 and D1 to D7. As shown in Table 4, the control gain of each control device is uniformly corrected, and the control gain of each control device is calculated.

Thereafter, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 sends a control execution signal so that the control gain gradually becomes the value calculated this time after the control time T stored in the timer of each control device elapses. Output to each control device. On the other hand, when it is determined that the manual switch 34 has been operated, the main computer unit 50 stores the data in a counter (not shown) provided in each control device and is different from the above-mentioned counter. It is determined whether the number of operations z of the manual switch 34 has reached a predetermined number of times zo smaller than the predetermined number of times no, for example, ten times.

If the result is NO, the main computer unit 50 further determines whether or not the flag S is 0. As a result, when the result is YES, it is recognized that the program used has changed between the previous cycle and the current cycle due to a change in driving conditions or from a driver other than the specific driver to a specific driver. The main computer unit 50 adds the time T1 to the control time T stored in the timer of each control device in order to prevent the running condition of the automobile 1 from changing abruptly.

On the other hand, when the flag S is not 0, the main computer unit 50 executes each control calculated in accordance with the learning programs C1 to C3 and D1 to D7 based on the correction programs E1 to E4 and the navigation signal. As shown in Table 4, the control gain of each control device is uniformly corrected, and the control gain of each control device is calculated.

Thereafter, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 sends a control execution signal so that the control gain gradually becomes the value calculated this time after the control time T stored in the timer of each control device elapses. Output to each control device. On the other hand, the number of operations z of the manual switch 34 is
When it is determined that the predetermined number of times zo is smaller than the predetermined number of times no, the main computer unit 50 further
It is determined whether or not the number of updates n of the control data DCo of the control device on which the manual switch 34 has been operated has reached a predetermined number no.

As a result, when the result is NO, the number n of updates of the control data DCo of the control device in which the manual switch 34 is operated has not yet reached the predetermined number no.
While the control data DCo does not sufficiently match the preferences of the particular driver, the manual switch 34 has been operated zo times at the same location, and the manual switch 34 must be operated at that location. The main computer unit 50 changes the control gain of the control device on which the manual switch 34 is operated to a value larger than usual, because it is determined that the user's preference depends on the preference of the specific driver.

Next, the main computer unit 5
0 determines whether the flag S is 0 or not. As a result, YE
In the case of S, the program used is recognized to have changed between the previous cycle and the current cycle due to a change in driving conditions or a change from a driver other than the specific driver to a specific driver. In order to prevent the driving situation from changing suddenly,
The main computer unit 50 adds the time T1 to the control time T stored in the timer of each control device.

On the other hand, when the flag S is not 0, the main computer unit 50 executes each control calculated in accordance with the learning programs C1 to C3 and D1 to D7 based on the correction signals E1 to E4 and the navigation signal. As shown in Table 4, the control gains of the control devices are uniformly corrected to calculate the control gains of the respective control devices.

Thereafter, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 issues a control execution signal so that the control gain gradually becomes the value calculated this time after the control time T stored in the timer of each control device has elapsed. Output to each control device. On the other hand, the update number n of the control data DCo of the control device in which the manual switch 34 has been operated is a predetermined number no.
In the above case, the control data of the control device has been updated no times, and has been adapted to the preference of the specific driver. However, when the control gain of the control device in which the manual switch 34 is operated is changed in accordance with the operation of the specific driver, the driving stability may be impaired. At the same time, the result may be contrary to the preference of the specific driver, and the specific driver may operate the manual switch 34 in the opposite direction again so as to match his / her preference.
The main computer unit 50 changes the control gain of the control device on which the manual switch 34 is operated, to a value smaller than the normal change amount.

Next, the main computer unit 5
0 determines whether the flag S is 0 or not. As a result, YE
In the case of S, the program used is recognized to have changed between the previous cycle and the current cycle due to a change in driving conditions or a change from a driver other than the specific driver to a specific driver. In order to prevent the driving situation from changing suddenly,
The main computer unit 50 adds the time T1 to the control time T stored in the timer of each control device.

On the other hand, when the flag S is not 0, the main computer unit 50 executes each control calculated in accordance with the learning programs C1 to C3 and D1 to D7 based on the correction signals E1 to E4 and the navigation signal. As shown in Table 4, the control gain of each control device is uniformly corrected, and the control gain of each control device is calculated.

After that, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 issues a control execution signal so that the control gain gradually increases to the value calculated this time after the control time T stored in the timer of each control device has elapsed. Output to each control device. On the other hand, when it is determined that the flag N is not 4, the control data of the unit section to be traveled is still RA RA.
Although not stored in the M52, the control data of the neighboring unit section within a predetermined distance l0 is stored in the RAM 52 because the linear distance l from the unit section to be traveled is stored in the RAM 52.
The main computer unit 50 starts control of the learning programs C1 to C3 and D1, D3 to D6 based on the control data of the neighboring unit section.
However, the control data of the learning programs D2 and D7 are stored in the brake pedal 31 and the manual
Since the learning is performed and generated in relation to the operation place of the switch 34, it is not appropriate to execute the control based on the control data of the neighboring unit section.
No control is performed.

First, the main computer unit 50
Determines whether the flag S is 0 or not. As a result, when the result is YES, the program used in the previous cycle and the current cycle has changed due to a change in driving conditions or because the driver has changed from a driver other than the specific driver to a specific driver. Since it is recognized, the main computer unit 50 adds the time T1 to the control time T stored in the timer of each control device in order to prevent the running condition of the automobile 1 from suddenly changing.

On the other hand, when the flag S is not 0, the main computer unit 50 sets the learning programs C1 to C3 and D1, D3 to D6 based on the correction signals E1 to E4 and the navigation signal.
As shown in Table 4, the control data of the neighboring unit section is uniformly corrected, and the control gain of each control device is calculated.

After that, the main computer unit 5
A value of 0 determines whether or not the control gain of each control device thus obtained has changed between the previous cycle and the current cycle. As a result, when the result is YES, the main computer unit 50 sets the control time T stored in the timer of the control device in which the control gain has changed to prevent the running condition of the automobile 1 from changing suddenly. , Time T
Add 2.

Thereafter, the main computer unit 50 issues a control execution signal so that the control gain gradually becomes the value calculated this time after the control time T stored in the timer of each control device elapses. Output to each control device. As described above, according to the present embodiment, the RAM 52 stores, for each area such as an urban area, an urban area,
The setting programs A1 to A5 set to control gains matching the area, the setting program A6 forcibly used in a running state where the lateral acceleration GL is larger than the predetermined value GLo, and the running program on a road having a small road surface friction coefficient. When a specific driver such as an owner driver or his or her family drives the car 1, the setting program A7 used forcibly learns the characteristics of the operation, and learns the characteristics of the operation, and is used for urban areas, urban areas, suburban areas, mountain roads, For each area such as an expressway, standard programs B1 to B5 having a control gain learned and changed to match the operation of the area and a specific driver, a predetermined distance Lo from the home of the owner of the automobile 1 or the location of the dealer. Learning the terrain and the operation of certain drivers, such as the owner driver and his family, within a certain area of the For each unit section, learning programs C1 to C3 and D1 to D7 having control gains learned to match the operation of the unit section and the specific driver, and standard programs B1 to B5 and learning programs C1 to C3 and D1
When a specific driver, such as an owner driver or his / her family, drives the automobile 1 in a specific area where he or she frequently travels by commuting, etc. And learning programs C1 to C3 having control gains learned so as to match the terrain of the road and the operation of the specific driver for each unit section by learning the operation of a specific driver such as an owner driver or the family thereof; D
Since the running characteristics of the vehicle 1 are controlled by the control gains corrected from 1 to D7 by the correction programs E1 to E1 and E6, the specific driver can be given a very great satisfaction and the running stability can be improved. In addition, when a specific driver drives outside of a specific area, it will match the operation of that area and the specific driver for each area such as urban area, urban area, suburban area, mountain road, highway, etc. So learning,
The running characteristics of the vehicle 1 are controlled by the control gains corrected by the correction programs E1 to E7 from the standard programs B1 to B5 having the changed control gains, so that a great satisfaction can be given. When a driver other than a specific driver such as or his family drives the car 1,
The driving characteristics of the vehicle 1 are controlled by the setting programs A1 to A5 set to control gains that match the area in each area such as an urban area, a suburban area, a mountain road, and an expressway. , Car 1
When driving the vehicle, it is possible to give greater satisfaction than in the past.

Further, when a driver other than the specific driver drives, the learning control is not performed. Therefore, the control gain of the program changed to match the operation of the specific driver by driving the specific driver becomes: It can be prevented from being changed in an undesirable direction. Further, when the lateral acceleration GL is a predetermined value G
When the driving state is equal to or higher than Lo, the setting program A
When the vehicle 6 is traveling on a road with a small road friction coefficient, the setting program A7 is forcibly selected and used, respectively, so that it is possible to reliably prevent the traveling stability from being impaired.

When the manual switch 34 is operated at the same place a predetermined number of times or more, the change amount of the control gain of the control device in which the manual switch 34 is operated is made larger than usual. After the control data of the control device in which the manual switch 34 is operated is updated a predetermined number of times or more, sufficient learning is performed, and In a state where the control data is found to be in accordance with the preference of the specific driver, even if the manual switch 34 is operated, the amount of change in the control gain of the control device is made smaller than usual. Since there,
In such a state, the manual switch 3
4 is operated to prevent the running stability from being impaired, and the specific driver operates the manual switch 34 to turn the manual switch 34 in the reverse direction again against his / her preference. It is possible to prevent an unnecessary operation of performing an operation at a time.

FIGS. 16 and 17 are flowcharts showing another embodiment of the learning control of the present invention. In the embodiment shown in FIGS. 16 and 17, the control data DB
o and the absolute value of the difference between the driving data D exceeds a predetermined value d1,
When the absolute value of the difference between the control data DBo and the traveling data D is less than the predetermined value d2, the absolute value of the difference between the control data DBo and the correction data DB exceeds the predetermined value d3, and When the absolute value of the difference between the data DBs is less than a predetermined value d4, and when the absolute value of the difference between the control data DCo and the correction data DC exceeds the predetermined value d5 and the difference between the control data DCo and the correction data DC When the absolute value is less than the predetermined value d6, that is, when learning control is to be performed, a counter provided in each control device, which is different from the above-described embodiment, has reached the point where the number of updates q of the control gain reaches qo. Nevertheless, when it is recognized that the vehicle 1 does not have characteristics that match the driving characteristics of the specific driver, the traveling data D is based on the operational characteristics of the specific driver, and To It, it is determined that the standard program B1 to B5 or learning programs D1 through D7 has been corrected by the learning control, a stable side is corrected. As a result, based on the habit of the driver,
The learning control is performed to prevent the running characteristics from becoming unstable.

That is, it is determined whether or not the flag N is 2; if YES, the main computer unit 50 sets B1 to B5 based on the navigation signal.
And reads out the standard program of the corresponding region from among the control programs of the standard program, that is, the active suspension control device 12, the anti-lock braking control device 14, the gear ratio control device 7, and the four-wheel steering control device. 17, the control data DBo of the traction control device 15, the engine control device 3, and the power steering control device 9 are read, and the driving data D is read, and the absolute value of the difference between the control data DBo and the driving data D becomes a predetermined value. It is determined for each control device whether or not d1 or less.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the traveling data D is small, and the control data DBo of the control device stored in the RAM 52 is corrected. The main computer unit 5
0 means that the learning of the traveling data D is not performed. On the other hand,
If NO, the main computer unit 50
Further, it is determined for each control device whether or not the absolute value of the difference between the control data DBo and the traveling data D is equal to or greater than a predetermined value d2. Here, d2> d1.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the traveling data D is extremely large, and the operation by the specific driver may have been performed suddenly. Is large, and it is not appropriate to learn such traveling data D. Therefore, the main computer unit 50 does not learn the traveling data D.

On the other hand, if NO, the main computer unit 50 determines that the number of updates q is equal to the predetermined number of times q
o, and when it is determined that the predetermined number of times qo has been reached, the main computer unit 50
It is determined whether or not the operation status of the driver has changed by learning control. That is, it is statistically determined whether the absolute value of the difference between the control data DBo and the travel data D is reduced by the learning control.

As a result, when the result is YES, it is recognized that the vehicle 1 is being provided with characteristics that match the driving characteristics of the specific driver by the learning control, so that the main computer unit 50 sets the number of updates q to q = Q + 1, and is stored in the RAM 52, and learning control based on the traveling data D is executed according to the following equation. DBo = (j3 × DBo + D) / (j3 + 1) where j3 is a predetermined coefficient, for example, 10000
Is set to

On the other hand, when the answer is NO, the operation status of the specific driver has not changed even though the control data DBo has been updated by the learning control qo times.
Since it is recognized that the traveling data D is obtained based on the operation habit of the specific driver, it is necessary to correct the operation data to a stable side contrary to the operation of the specific driver in order to secure the traveling stability. Desirable and therefore the main
The computer unit 50 stores the update count q as q = 0 in the RAM 52 and executes learning control based on the travel data D according to the following equation.

DBo = (j4 × DBo−D) / (j4-1) Here, j4 is a predetermined coefficient. When the flag N is 3, the main computer unit 50
Reads out a standard program of a corresponding area from B1 to B5 based on a navigation signal, and controls each control device of the standard program, that is, an active suspension control device 12, an anti-lock braking control device 14, a gear The control data DBo of the ratio control device 7, the four-wheel steering control device 17, the traction control device 15, the engine control device 3, and the power steering control device 9 are read, and the driving data D is read. The control data DBo is corrected in accordance with the correction programs E5 to E7 to obtain the control data DB.
The determination is made for each control device.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the correction data DB is small, and the control data DBo of the control device stored in the RAM 52 is corrected. Since it is recognized that there is no need to perform the correction, the main computer unit 50 does not learn the correction data DB. On the other hand, if NO, the main computer unit 50
Further, for each control device, it is determined whether or not the absolute value of the difference between the control data DBo and the correction data DB is equal to or greater than a predetermined value d4.
judge. Here, d4> d3.

As a result, when the result is YES, the difference between the control data DBo of the control device stored in the RAM 52 and the correction data DB is extremely large, and the operation by the specific driver may have been performed suddenly. Is large, and it is not appropriate to learn such correction data DB.
Does not learn the correction data DB.

On the other hand, if NO, the main computer unit 50 determines that the number of updates q is equal to the predetermined number of times q
o, and when it is determined that the predetermined number of times qo has been reached, the main computer unit 50
It is determined whether or not the operation status of the driver has changed by learning control. That is, statistically, it is determined whether or not the absolute value of the difference between the control data DBo and the traveling data D is reduced by the learning control.

As a result, when the result is YES, it is recognized by the learning control that the vehicle 1 is being provided with characteristics that match the driving characteristics of the specific driver, so the main computer unit 50 sets the number of updates q to q = Q + 1, and is stored in the RAM 52, and learning control based on the correction data DB is executed according to the following equation. DBo = (m3 × DBo + DB) / (m3 + 1) where m3 is a predetermined coefficient, for example, 10000
Is set to

On the other hand, when the answer is NO, the operation status of the specific driver has not changed even though the control data DBo has been updated by the learning control qo times.
This is because the traveling data D is obtained based on the operation habit of the specific driver, and it is recognized that the correction has been performed in accordance with the correction programs E5 to E7. It is desirable to compensate for the running side in order to ensure running stability, and therefore, the main computer unit 50
Sets the update count q to q = 0, stores the update count q in the RAM 52, and sets the learning control based on the correction data DB to
Execute according to the following equation.

DBo = (m4 × DBo−DB) / (m4-1) Here, m4 is a predetermined coefficient. Further, the flag N
Is 4, the vehicle 1 is located in the specific area, and it is recognized that the control data of the road to be driven is also stored in the RAM 52. Therefore, the main computer unit 50 executes the learning programs C1 to C3 and D1 to D7 are read out, and control data DCo of each control device of the learning program is calculated based on the control data of each control device of the learning program.

The main computer unit 50 further reads the travel data D, and based on the read travel data D, corrects the control data DBo according to the learning programs C1 to C3 and D1 to D7, and
And control data DCo and correction data DC of each control device.
It is determined for each control device whether or not the absolute value of the difference is equal to or less than a predetermined value d5.

As a result, when the result is YES, the difference between the control data DC of the control device stored in the RAM 52 and the traveling data D is small, and the control data DC of the control device stored in the RAM 52 is corrected. The main computer unit 50
Does not learn the correction data DC. On the other hand,
If NO, the main computer unit 50
Further, it is determined for each control device whether or not the absolute value of the difference between the control data DCo and the correction data DC is equal to or greater than a predetermined value d6. Here, d6> d5.

As a result, in the case of YES, the difference between the control data DCo of the control device stored in the RAM 52 and the correction data DC is extremely large, and the operation of the specific driver may have been performed suddenly. Is large, and it is not appropriate to learn such correction data DC.
Does not learn the correction data DC.

On the other hand, if NO, the main computer unit 50 determines that the number of updates q is equal to the predetermined number of times q
o, and when it is determined that the predetermined number of times qo has been reached, the main computer unit 50
It is determined whether or not the operation status of the driver has changed by learning control. That is, statistically, it is determined whether or not the absolute value of the difference between the control data DBo and the traveling data D is reduced by the learning control.

As a result, when the result is YES, it is recognized by the learning control that the vehicle 1 is being provided with characteristics that match the driving characteristics of the specific driver. Therefore, the main computer unit 50 sets the number of updates n to q = Q + 1 is stored in the RAM 52, and learning control based on the correction data DC is executed according to the following equation. DCo = (r3 × DCo + DC) / (r3 + 1) Here, r3 is a predetermined coefficient, for example, set to 100.

On the other hand, when the answer is NO, the operation status of the specific driver has not changed even though the control data DCo has been updated by learning control qo times.
This is because the driving data D is obtained based on the operation habit of the specific driver, and it is recognized that the correction has been performed in accordance with the learning programs D1 to D7. On the side, it is desirable to compensate for running stability, and therefore the main computer unit 50
Indicates that the update count q is set to q = 0 and stored in the RAM 52, and the learning control based on the correction data DC is
Execute according to the following equation.

DCo = (r4 × DCo−DC) / (r4-1) Here, r4 is a predetermined coefficient. FIG. 18 is a block diagram of the learning control vehicle 1 showing another embodiment of the present invention. FIG. 18 shows an embodiment of the automatic learning control vehicle 1 having the automatic transmission control device 20, and FIG. 3 is a block diagram of an operation system, a detection system, and a control system. Therefore, the brake pedal 31 is not provided, and the transmission device 21 is controlled by the automatic transmission control device 20. In this case, the ratio ATC of the setting programs A1 to A7 of the control data of the automatic transmission control device 20 corresponding to Table 1 is 1, 2,
3, 5, 3, 1, 5 and a standard program B3 for the control data of these setting programs A1 to A7.
Is corrected to 2. Here, the larger the ratio is, the more the power-oriented control gain is, and the smaller the ratio is, the more the fuel-efficient control gain is. In this embodiment, the learning control is performed in the same manner as in the above embodiment.

Tables 5, 6, and 7 correspond to Tables 2, 3, and 4, respectively, and show how the ATC is corrected for terrain conditions and operation conditions. is there. In Tables 6 and 7, D2, D7
And E7 are the same as in Tables 3 and 4, and are therefore omitted. The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the invention described in the claims, which are also included in the scope of the present invention. Needless to say,

For example, in the above embodiment, the RAM
At 52, a specific driver outside of a specific area
The standard programs B1 to B5 used when driving the vehicle 1 are stored. When the specific driver drives the automobile 1 outside the specific area, the setting program A1 is stored.
Alternatively, the capacity of the RAM 52 can be reduced by using A5 to reduce the cost. In this case, when the navigation signal is not input, the setting program A3 is used instead of the standard program B3. When it is determined that the navigation signal is abnormal, instead of the standard programs B1 to B5, The setting programs A1 to A5 are used.

In the above embodiment, when a driver other than the specific driver drives the automobile 1, only the setting programs A1 to A7 are used. The learning control may be executed using the learning programs C1 to C3 related to the terrain. In this case, the learning programs C1 to C3 are related to the terrain and are not related to the operation. In addition, the control gain of C3 is not changed in an unfavorable direction, and a greater satisfaction can be given to a driver other than the specific driver.

Further, in the above embodiment, the ROM 5
1 stores, as setting programs, regional setting programs A1 to A5 for five areas: urban area, urban area, suburban area, mountain road, and highway.
The regional divisions of urban area, suburban area, mountain road, and highway are just one example, and the area is further subdivided, and the setting program is stored in the ROM 51 to improve the traveling characteristics of the automobile 1. Alternatively, the capacity of the ROM 51 can be reduced by reducing the number of areas such as urban areas, suburban areas, and highways.

Similarly, in the above embodiment, the RAM 5
2 stores, as standard programs, regional standard programs B1 to B5 for five areas: urban areas, urban areas, suburban areas, mountain roads, and highways.
The regional divisions of urban area, suburban area, mountain road, and highway are only examples, and the area is further subdivided, and a standard program is stored in the RAM 52 to improve the traveling characteristics of the automobile 1. Or in urban areas,
Reduce the number of areas, such as suburbs, highways,
The capacity of the AM 52 may be reduced in size.

Further, the learning program and the correction program are not limited to the learning programs D1 to D7 and the correction programs E5 to E7 shown in the above-described embodiment, and even if other learning programs and correction programs are added. Alternatively, some of the learning programs D1 to D7 and the correction programs E5 to E7 may be omitted. For example, as a learning program for the terrain, a program for learning a road surface friction coefficient, as a correction program, a program for correcting a standard program according to a traveling distance, and as a correction program for driver operation, a vehicle speed V, a yaw rate change, a yaw rate change, a clutch Operation speed of pedal 32, shift lever 33
Depending on the operation speed, a correction program for correcting the standard program may be added, or only a learning program related to the driver's operation may be provided as the learning program.

Further, in the above embodiment, when the data of the unit section to be driven has not been learned yet, the control data of the day of the week and the time zone in the neighboring unit section are stored in the RAM 52. At this time, the control is executed based on the control data of the neighboring unit section, but if the data of the unit section to be driven has not been learned yet, the standard programs B1 to B1 are always used.
The control may be executed according to 5.

Further, a plurality of standard programs B1 to B5, learning programs C1 to C3 and D5 to D7 may be stored in the RAM 52 for each specific driver such as an owner driver or a family member.
In order to reduce the capacity of the RAM 52, a plurality of standard programs B1 to B5 and learning programs C1 to C3 for only the owner driver or only a specific person among the owner driver and their families are provided.
And D5 to D7 may be stored in the RAM 52.

Further, in the above-described embodiment, when the number n of updates of the control data becomes equal to or greater than the predetermined number no,
It is determined that the vehicle 1 has characteristics that sufficiently match the driving characteristics of the specific driver, and the coefficient j1 is set to j2 and m
1 is set to m2 and r1 is set to r2, and is uniformly increased and corrected only once, so that the correction value is controlled to be small. However, when the number of updates n reaches n1 which is larger than no For example, these coefficients may be corrected a number of times stepwise in accordance with the number of updates n of the control data, such as by further correcting them. Further, as the number of updates n of the control data increases, Therefore, these coefficients may be corrected so as to gradually increase.

When the learning programs C1 to C3 and D1 to D7 are used and the number n of updates of the control data is equal to or greater than the predetermined number no, the control of the learning programs C1 to C3 and D1 to D7 is performed. Although it is determined that the data is highly reliable, the coefficient r1 is corrected to a larger coefficient r2, but a certain unit in a specific area where the learning programs C1 to C3 and D1 to D7 are used. The fact that the number n of updates of the control data is equal to or greater than the predetermined number no while the vehicle is traveling in the section means that the unit section travels frequently and the learning control for the unit section is more detailed. Is determined to be desirable, the coefficient r1 is corrected to a larger coefficient r2, or alternatively, the travel data D In the unit section for reading, that is, the unit distance or the unit time is corrected to be small, and in the unit section in a specific area where the driving frequency is high, finer learning control may be performed. When the number n of updates reaches n1 times greater than no, the unit section or the unit time for reading the travel data D, that is, the unit distance or unit time is corrected again by, for example, correcting the unit distance or unit time to be smaller. According to the number of updates n, the correction may be made in stages, a plurality of times, and further, as the number of updates n of the control data increases, the unit distance or unit time for reading the travel data D may be gradually reduced. You may correct so that it may become small. In addition, the unit distance or the unit time for reading the travel data D is corrected to be small or, alternatively, a part or all of the unit time zone for reading is changed from 9 o'clock to 12 o'clock to 9 o'clock. Time or 10
The time may be as small as 10:00 to 11:00 and 11:00 to 12:00.

Further, in the above embodiment, when the driver identification means 48 detects the belongings of the driver such as an IC card, a dedicated key, a license, a clock with a transmitter, etc., the driver signal is transmitted to the main computer unit 50. Is output, and when a driver signal is input, the main computer unit 50 is configured to determine that the driver is a specific driver. However, the driver identification means 48 is configured by a driver possession detecting device. Alternatively or in addition to having a driver possession detection device, and further having an input device capable of manually inputting specific information such as a password, when specific information such as a password is input, a driver signal is output. The data may be output to the main computer unit 50.

In the above embodiment, when the driver signal is not input, the main computer unit 50 further includes a driver weight detecting device.
A device for recognizing the driver's body type and / or face by image processing, or one or two of the driver's weight, body type, face, voice, seat position, etc., by a voice recognition device, seat position detection device, or the like. When the above is consistent with the data stored in the RAM 52, the driver is identified as a specific driver. When it cannot be determined from the information that the driver is a specific driver, the steering speed of the steering wheel 4, the accelerator speed, Although the operating speed of the pedal 30, the operating speed of the brake pedal 31, and the operating speed of the clutch pedal 32 are compared with the average values of these stored in the RAM 52, it is determined whether the driver is a specific driver. One or more of the driver's weight, body type, face, voice, seat position, etc., is stored in the RAM 52. Only when the data matches the data, it is not determined that the driver is a specific driver. Further, for a predetermined time, the monitored steering speed of the steering wheel 4, the operation speed of the accelerator pedal 30, the operation speed of the brake pedal 31, and the clutch pedal 32 Operating speed of the vehicle 1 until then, the specific driver
As a result of driving, compared with the average value of the steering speed of the steering wheel 4, the operation speed of the accelerator pedal 30, the operation speed of the brake pedal 31, and the operation speed of the clutch pedal 32 stored in the RAM, When the difference is within a predetermined value, a configuration may be such that a specific driver is determined for the first time, or only one of these determinations may be performed.

Further, in the embodiment of the learning control shown in FIGS. 16 and 17, it is determined whether or not the number of updates q of the control data DBo and DCo has reached a predetermined number qo, and has reached the predetermined number qo. Is determined as to whether or not the operation status of the driver is changed by learning control, that is, the control data DB is statistically controlled by learning control.
o, DCo and the correction data DB, determine whether or not the absolute value of the difference between DC is small, the travel data D,
It is determined whether or not due to the habit of the specific driver. If it is determined that the habit is due to the habit, the control data DBo and DCo are corrected to the stable side contrary to the operation of the specific driver. The correction may be performed so that the correction amount is smaller than the correction to be normally performed. For example, the control data may be corrected to predetermined control data instead of the correction data. May be stopped, and even if the correction by the learning control is performed according to the operation of the driver, the correction may be performed so as to reduce the correction amount. And all these cases.

In the embodiment of the learning control shown in FIGS. 16 and 17, after the number of updates q of the control data DBo and DCo reaches a predetermined number qo, the learning control is performed statistically. If the absolute value of the difference between the control data DCo and the correction data DC is not small, the traveling data D is determined to be due to the habit of the specific driver, and the control data DBo, DCo is corrected to a stable side, but instead, the habit of a specific driver is determined as follows,
The control data DBo and DCo may be corrected.

That is, when the number of updates q of the control data DBo, DCo reaches q1, which is smaller than the predetermined number qo, when the control data DBo, DCo is in a state to be corrected, the control is performed according to the following equation. Data DBo, DC
o is largely corrected (where j5 <j3, m5 <m
3, r5 <r3. ). DBo = (j5 × DBo + DB) / (j5 + 1) DBo = (m5 × DBo + DB) / (m5 + 1) DCo = (r5 × DCo + DC) / (r5 + 1) In the next control cycle, the control data DBo and the running data D The absolute value of the difference exceeds the predetermined value d7 and is smaller than the predetermined value d2 or d4 (where d7> d1, d7> d
3. It is determined whether d7> d5).

As a result, when the result is YES, no change is recognized in the operation state of the driver even though the control data DBo has been largely corrected in the previous time, and the difference between the driving data D and the control data DBo is not changed. Absolute value is large,
Since the obtained driving data D can be determined to be due to the habit of the specific driver, it is desirable to reduce the correction amount of the control data DBo for the operation of the specific driver in order to improve the driving stability. The control data DBo is corrected in accordance with
> J1, m6> m1.

DBo = (j6 × DBo + DB) / (j6 + 1) DBo = (m6 × DBo + DB) / (m6 + 1) Further, the absolute value of the difference between the control data DCo and the traveling data D exceeds a predetermined value d8, and , When less than the predetermined value d6 (here, d8> d1, d8> d3, d8> d5),
Similarly, the obtained driving data D can be determined to be due to the specific driver's habit. Therefore, it is desirable to reduce the correction amount of the control data DCo for the operation of the specific driver in order to improve the driving stability. The control data DCo is corrected in accordance with the following equation. Here, r6> r1.

DCo = (r6 × DCo + DC) / (r6 + 1) On the other hand, the absolute value of the difference between the control data DBo and the traveling data D in the next control cycle exceeds the predetermined value d1 or d3, but the predetermined value d7 If it is less than the predetermined value d1 or d3 or less, the control data D
As a result of the Bo being greatly corrected, the vehicle 1 is being matched with the characteristics of the operation of the specific driver, and it can be determined that the operation of the specific driver at the previous time is not based on a habit, so that the normal learning control is executed. Therefore, the control data D can be calculated as usual according to the following equation.
Perform Bo correction.

DBo = (j1 × DBo + DB) / (j1 + 1) DBo = (m1 × DBo + DB) / (m1 + 1) Further, the absolute value of the difference between the control data DCo and the traveling data D exceeds a predetermined value d5. Is smaller than the predetermined value d8, the control data DCo is similarly corrected in the usual manner according to the following equation.

DCo = (r1 × DCo + DC) / (r1 + 1) In this way, when determining a habit,
It is possible to determine whether the operation of the specific driver is due to a habit, and there is an advantage that it is possible to prevent generation of undesirable control data due to the habit of the driver. The standard program B3 or B
When 1 to B5 are used, the learning control may be executed at the time of the first update. Here, in the next control cycle, when the operation of the driver is determined to be habitual, the correction amount may be gradually reduced.

In the embodiment shown in FIGS. 1 to 15, when the number of updates n of one of the counters becomes no, only the coefficient correction is performed so that the correction value of the learning control becomes small. On the other hand, in the embodiment shown in FIGS. 16 and 17, when the update count q of the other counter reaches qo, the habit is determined, and when the habit is determined, Only the correction to reduce the correction amount is performed, but when the number of updates n of one of the counters becomes no, the correction of the coefficient is performed so that the correction value of the learning control becomes small, and the other is performed. When the number q of updates of the counter becomes qo, it is determined whether or not it is a habit, and when it is determined that the habit is a habit, correction may be performed so that the amount of correction by the learning control becomes small. In this case, no and qo may be set to different values, and these corrections may be performed independently.
When o = no is set and the update counts n and q reach no, first, a habit determination is performed. If it is determined that the habit is not a habit, the vehicle 1 is controlled by learning control to determine the driving characteristics of the specific driver. Is determined to have characteristics that sufficiently match with, and correction is performed so that the correction amount becomes small.
When it is determined that it is habit, the correction may be performed so that the correction amount becomes smaller.

In the above embodiment, when the number of times n of updating the control data of the control device on which the manual switch 34 is operated reaches no, the manual switch 34 is operated when the manual switch 34 is operated. The amount of change in the control gain of the control device operated by is controlled to be smaller than usual.However, once the control gain is changed as usual, and thereafter, with time, the amount of change becomes larger than normal. May also be reduced.

Further, in the above-described embodiment, when the number of updates n of the control data of the control device in which the manual switch 34 is operated reaches no, the manual switch 34 is operated when the manual switch 34 is operated. Is controlled so that the amount of change in the control gain of the control device operated is smaller than usual, but after the number of updates n reaches n2, which is larger than zo and different from no, the manual switch 34 is operated. Then, the change amount of the control gain of the control device in which the manual switch 34 is operated may be smaller than usual.

In the above embodiment, the control gain of the control device in which the manual switch 34 is operated is increased only once after the number of operations z of the manual switch 34 reaches the predetermined number of times zo. Although the number of operations z of the manual switch 34 has reached the predetermined number of times zo after the manual switch 34 has been operated, the number of times that the manual switch 34 is operated may be changed little by little. Thereafter, when the manual switch 34 is operated a plurality of times stepwise, the value may be largely changed.

Further, in the above-described embodiment, when the number of updates n of the control data of the control device in which the manual switch 34 is operated reaches no, the manual switch 34 is operated when the manual switch 34 is operated. Is controlled so that the control gain change amount of the control device is smaller than usual, but n4 is larger than no.
After the manual switch 34 has been updated, the manual switch 34 is operated a plurality of times stepwise, such as by making the control gain change amount of the control device in which the manual switch 34 is operated smaller. The amount of change in the control gain of the control device may be reduced, and further, as the number of updates n of the control data increases, the amount of change in the control gain of the control device in which the manual switch 34 is operated is gradually reduced. You may make it small.

In the above embodiment, as shown in FIG. 11 and FIG.
For example, although the ACS correction data x1 and x2 are calculated, the ROM 51 stores a map for each area as shown in FIGS. 20 and 21, and the main computer unit 50 stores the position calculation data. Based on the navigation signal input from the computer unit 53, a curve in a corresponding area may be selected to calculate, for example, ACS correction data x1, x2. The same applies to the correction programs E5 to E7. is there.

Further, in the claims, each means is not necessarily limited to physical means.
The present invention includes a case where the function of each means is realized by software, and furthermore, the function of one means is 2
The present invention includes a case where the functions are realized by the above physical means, and a case where the functions of the two means are realized by one physical means.

[0185]

According to the present invention, it is possible to improve the driving characteristics so as to meet the driver's intention in any driving area in a normal driving situation, It is possible to provide a learning control vehicle that enables driving that matches the preference.

[0186]

[Table 1]

[0187]

[Table 2]

[0188]

[Table 3]

[0189]

[Table 4]

[0190]

[Table 5]

[0191]

[Table 6]

[0192]

[Table 7]

[Brief description of the drawings]

FIG. 1 is a block diagram of a learning control vehicle according to a preferred embodiment of the present invention.

FIG. 2 is a block diagram of an operation system, a detection system, and a control system of the learning control vehicle according to the preferred embodiment of the present invention.

FIG. 3 is a schematic front view of an instrument panel provided with a manual switch.

FIG. 4 is a flowchart showing a basic control routine.

FIG. 5 is a flowchart illustrating a driver determination subroutine.

FIG. 6 is a flowchart illustrating an area determination subroutine.

FIG. 7 is a flowchart showing the first half of a program selection subroutine.

FIG. 8 is a flowchart showing a latter half of a program selection subroutine.

FIG. 9 is a flowchart illustrating a first half of a learning control subroutine.

FIG. 10 is a flowchart showing a latter half of a learning control subroutine.

FIG. 11 is a map showing a relationship between vertical acceleration GV and correction data in ACS of learning program C1.

FIG. 12 is a map showing a relationship between lateral acceleration GL and correction data in ACS of a learning program C2.

FIG. 13 is a flowchart illustrating a first half of a control execution subroutine.

FIG. 14 is a flowchart illustrating a middle section of a control execution subroutine.

FIG. 15 is a flowchart showing a first half of a control execution subroutine.

FIG. 16 is a flowchart illustrating a first half of another example of the learning control subroutine.

FIG. 17 is a flowchart illustrating the latter half of another example of the learning control subroutine.

FIG. 18 is a block diagram of a learning control vehicle according to another preferred embodiment of the present invention.

FIG. 19 is a block diagram showing an operation system, a detection system, and a control system of a learning control vehicle according to another preferred embodiment of the present invention.

FIG. 20 is a map showing a relationship between vertical acceleration GV and correction data in the ACS of the learning program C1.

FIG. 21 is a map showing a relationship between lateral acceleration GL and correction data in ACS of learning program C2.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automobile 2 Engine 3 Engine control device 4 Steering wheel 5 Front wheel 6 Gear ratio changing device 7 Gear ratio control device 8 Power steering device 9 Power steering control device 10 Rear wheel 11 Active suspension device 12 Active suspension control device 13 Brake 14 Anti-lock・ Brake control device 15 Traction control device 16 Rear wheel steering device 17 Four-wheel steering control device 18 Position detection sensor 19 Display device 20 Automatic transmission control device 21 Transmission device 30 Accelerator pedal 31 Brake pedal 32 Clutch pedal 33 Shift lever 34 Manual switch 35 Erase switch 36 Instrument panel 37 Indicator 40 Clock 41 Integration Total 42 Calendar 43 Vehicle speed sensor 44 Yaw rate sensor 45 Acceleration sensor 46 Lateral acceleration sensor 47 Vertical acceleration sensor 48 Driver identification means 50 Main computer unit 51 ROM 52 RAM 53 Position calculation computer unit

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kiyoshi Sakamoto 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (72) Mine-Higashi Shibata 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Matsu (72) Inventor Shigefumi Hirabayashi 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Inside Mazda Corporation (72) Inventor Seiji Miyamoto 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Inside Mazda Corporation (56) References JP-A-61-256051 (JP, A) JP-A-3-44029 (JP, A) JP-A-64-74132 (JP, A) JP-A-4-145255 (JP, A) JP-A-62-292947 (JP, A) JP-A-58-89434 (JP, A) JP-A-3-78539 (JP, A) JP-A-3-145548 (JP, A) JP-A-4-15799 ( JP, A) JP-A-4-293626 (JP, A) JP-A-63 113800 (JP, A) JitsuHiraku flat 4-26874 (JP, U) (58 ) investigated the field (Int.Cl. ^6, DB name) B60K 41/00

Claims (5)

(57) [Claims] 1. A detecting means for detecting a running condition of a vehicle, a running characteristic control device capable of controlling a running characteristic of the vehicle with a predetermined control gain, and a learning condition of the running condition of the vehicle. In a learning control vehicle having control means capable of changing the control gain, a position detection means for detecting a position of the vehicle, and a control gain of the running characteristic control means which can be operated by a driver when the operation is performed. And control gain changing means for changing the control gain of the running characteristic control means based on a position detection signal from the position detecting means. A learning control vehicle characterized by being configured to change. 2. The control device according to claim 1, wherein the control unit increases the change amount of the control gain of the driving characteristic control unit as the number of operations of the control gain changing unit increases. 2. The learning control vehicle according to 1. 3. The control unit according to claim 1, wherein the control unit learns an operation of the control gain changing unit by a driver for each unit time period.
The learning control car according to the above. 4. The control means is configured to decrease a change amount of the control gain of the traveling characteristic control means by an operation of the control gain changing means as the number of updates of the control gain by the learning control increases. The learning control vehicle according to any one of claims 1 to 3, wherein: 5. The control means changes the control gain change amount of the traveling characteristic control means by the operation of the control gain change means as the time elapses, as the number of updates of the control gain by the learning control increases. The learning control vehicle according to any one of claims 1 to 4, wherein the learning control vehicle is configured to reduce the amount.