JP3058963B2 - Learning control car - Google Patents

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 operation 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.

However, for everyone,
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, providing feedback, 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 during steering of the steering wheel, 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,
When driving on the same road, the steering operation performed by the same driver is considered to be almost the same, so that it is possible to give the driver greater satisfaction. It does not always run on the same road, but runs on urban areas, on highways, or on mountain roads.Depending on the area, traffic conditions, vehicle speed bands, road bends Due to different states, the operation of the driver is necessarily different. Therefore, since the steering wheel operation naturally changes depending on the road on which the vehicle is driven, the steering wheel operation of the driver is simply learned and the front wheel and / or the steering wheel angle relative to the steering angle of the steering wheel are simply learned.
Alternatively, when changing the ratio of the steering angle of the rear wheels, driving the vehicle in accordance with the control gain of the driving characteristics changed by learning the driving characteristics of the driver, rather, depends on the intention of the driver. There was a problem that the vehicle could not be run to match.

Further, if the difference between the learning data and the actually measured data temporarily increases, if the learning data is updated immediately, the learning data suitable for the driver accumulated during a long running may be broken. There is. Conversely, even when the difference between the measured data and the learning data is large, some types of data properly reflect the driving situation, so such data should be uniformly excluded. Is not preferred.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and maintains accumulated proper learning data as much as possible, and changes learning sensitivity when learning is preferable. It is an object of the present invention to provide a learning-controlled vehicle capable of performing learning while controlling traveling characteristics in response to a change in traveling conditions at the moment.

An object of the present invention is to provide a detecting means for detecting a running condition of a vehicle, a running characteristic control means capable of controlling the running characteristics of the vehicle with a predetermined control gain, and the running characteristics based on the running condition of the vehicle. In a learning control vehicle capable of learning and changing the control gain of the control means, a threshold value for learning and changing the control gain is set in accordance with the property of actual measurement data indicating a running state of the vehicle obtained by the detection means. Threshold setting means for performing, and when the corresponding measured data exceeds the threshold, learning limiting means for preventing learning change of the control gain depending on the measured data, comprising: The setting means sets a large threshold value for limiting the learning for data based on geographical factors among the measured data indicating the driving state, Is achieved by the learning control vehicle is characterized in that so as to increase the sensitivity.

In a preferred aspect, gain correction means for correcting the control gain based on actual measurement data exceeding the threshold value is provided, and the correction means gives a large correction value to data based on geographical factors.

It is another object of the present invention to provide 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 In the learning control vehicle in which the learning of the control gain of the traveling characteristic control means can be changed,
Threshold value setting means for setting a threshold value for learning and changing the control gain in accordance with the nature of the measured data indicating the driving situation of the vehicle obtained by the detecting means; If the measured data exceeds the limit, learning limit means for preventing a learning change of the control gain from being performed depending on the measured data is provided. The data based on the factor is achieved by a learning control vehicle characterized in that the threshold value for limiting the learning is set small and the learning sensitivity is reduced.

In a preferred aspect, gain correction means for correcting the control gain based on actual measurement data exceeding the threshold value is provided, and the correction means gives a small correction value to data based on a factor peculiar to driver operation. . Furthermore, when performing control to lower the learning sensitivity,
For example, the period from the start to the stop of the vehicle can be continued.

[0012]

According to the present invention, the driving condition of the vehicle is detected and the control gain of the driving characteristic control means is learned and changed. However, if the learning data is updated each time with the actual measurement data representing the driving situation when the driving situation changes suddenly, the learning data that matches the driver's feeling may be lost. Further, in some cases, even if the fluctuation is large, it reflects the driving situation. Therefore, in the present invention, the learning sensitivity is changed by changing the threshold value of whether or not to learn according to the content of the data indicating the driving situation. For this reason, according to the present invention, if the fluctuation of data is large due to geographical factors, the fluctuation appropriately reflects the driving situation, and it is desirable to update the learning data based on the actual measurement data. For,
With respect to the fluctuation of the actual measurement data of the driving situation based on the geographical factor, the threshold value is set large to increase the sensitivity of the learning control so that the learning is easily performed.

Further, a gain correction means is provided to correct the control gain based on the actually measured data exceeding the threshold value to meet the demand. In this case, for data based on geographic factors, the correction value is increased to increase the control gain so that consistent control is performed.

Further, according to the present invention, if data fluctuates due to a driver's own operation, learning based on the fluctuation may damage accumulated highly reliable learning data. Therefore, the threshold value is reduced to lower the learning sensitivity. Similarly, a gain correction means is provided to correct the control gain based on the actually measured data exceeding the threshold value to meet the demand. In this case, for data resulting from the driver's unique operation, the correction amount is also reduced so as to suppress the fluctuation of the control gain. In this case, it is preferable that the control be continued for a certain period of time, for example, from the start to the stop of the engine, and after that period be controlled with normal sensitivity. This is because, after the elapse of a certain period, there is a possibility that the driving situation related to the driver-specific operation changes.

[0015]

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 includes an engine control device 3 for controlling an intake amount of an engine 2, an ignition timing, a fuel injection amount, and the like, 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, not shown, or a geomagnetic signal to detect the position of the vehicle 1, and 19 denotes a position of the vehicle 1 based on a map or the like. 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 erasing switch 35 for erasing the rewritable program stored in 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 detection 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
A vertical acceleration sensor 47 for detecting V and an IC card are read to identify whether or not the driver is a specific driver such as an owner driver or a family member, and a driver signal is output.
A 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 for calculating 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 programs stored in the OM 51 and the RAM 52 can be accessed. And the operation signal, the position detection sensor 18, the clock 40, the integrator 41, the calendar 42, and the 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, these setting programs A1 to A5 are corrected by correction programs E5 to E7, which will be described later, when a specific driver such as an owner driver or his or her family drives the automobile 1. The standard programs B1 to B
5 is obtained.

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 make it possible to ensure desired running stability when it is 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 erase switch 35 is operated.
A5 are copied as they are, 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, the standard programs B1 to B5 for each region corrected based on a correction program described later 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 in accordance with the input navigation signal.
Thus, the position where the automobile 1 is traveling, that is, the area, is determined, and one 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 on the basis of 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
Calculates 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 learns the inclination state of each road in the specific area for each unit section. Is what you do.

On the other hand, the learning programs D1 to D7 are:
The driver's operation status of the vehicle 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 conditions 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 period. 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 states 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. On average for each unit section,
Learning by day of the week and time of day, learning program D6
Learns the operation status of the shift lever 33 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 operation of the manual switch 34 in the unit section is performed according to the operation place, the day of the week, and the time zone.
It is something to learn.

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, every 100 m, 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 allow the automobile 1 to execute the same unit section a predetermined number of times on the same day of the week and the same time zone.
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 is performed within a predetermined distance, for example, when the operation of the brake pedal 31 is within 5 m, and when the operation of the manual switch 34 is 100 m, If the operation is performed within the range, 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 the weather condition is such that rain or snow is waving, the standard programs B1 to B5, the learning programs C1 to C3, and D1 to D7
, 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 experimentally or theoretically created in advance and stored in the RAM 52.

On the other hand, the correction program E5 is based on the 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 and the operation speed of the accelerator pedal 30 to be adjusted. 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
Is corrected, and the correction program E6 is compared with the control data stored in the RAM 52 until then.
When the main computer unit 50 determines that the traveling state of the automobile 1 is in an unstable direction for a predetermined time or more, the standard programs B1 to B5 and the learning programs C1 to C3 and D1 to D7 are forcibly corrected. Further, the correction program E7 is such that the main computer unit 50 detects the operation status of the manual switch 34 and changes the standard programs B1 to B5. It is to be corrected. Here, the correction program E6 is
Like the correction programs E1 to E4,
The correction program E5 is created experimentally or theoretically and stored in the RAM 52. The correction program E5 performs a predetermined number of times, for example, 100, in the same area classified as an urban area, an urban area, a suburban area, a mountain road, and an expressway. 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 by averaging the operation statuses 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 vibration in the case of C1 and the lateral acceleration GL in the case of C2 are included in the detected data. , 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.
5 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 the 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 a ratio between the setting program A1 to A6 of the control data of the anti-lock braking control device 14 and the standard program B3, and VGR is a 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, 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 steered in the same phase direction and 5 is the control data with the most opposite steering direction, 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 greatest force to steer the steering wheel 4, respectively.

The setting of the control data in the setting programs A1 to A7 is merely an example, and the concept of what vehicle characteristics can be given to more drivers when the vehicle 1 is provided with the vehicle characteristics. 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. So that the suspension is 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 is 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 over 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 the driving state in which the driving stability should be considered,
The control data ratio is set to 5 so that the suspension is the hardest.

In Table 1, the standard program B3 for traveling outside the city, 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 is cautiously driving. The ratio of the control data of the setting program A3 is corrected to a value suitable for careful driving.
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 determines that the absolute value of the lateral acceleration GL input from the lateral acceleration sensor 46 is
It is determined whether or not a predetermined value GLo is, for example, 0.5 G or more.

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 traveling stability exclusively, and the control is executed based on the setting program A7 stored in the ROM 51. 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 an 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 the answer is 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 / her family. 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 being 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 more of these R
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 / 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 / her 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, the main computer unit 50 determines, based on the navigation signal, a linear distance L from a base point such as the current position of the vehicle 1 and the home of the owner of the vehicle 1 or the location of the dealer, by 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 car 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. , 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 is not possible to determine in which area the automobile 1 is located. 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 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, if YES, the driver is determined to be a specific driver, so the standard program B1
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 navigation signal cannot determine the exact position of the vehicle 1, 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 it has not been 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 for the unit section to be driven for that day of the week and for that time zone has 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 the 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 traveled have already been learned and stored, the main computer unit 50 stores the control data in the RAM 52. 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, if 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. To set 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 a greater satisfaction to the driver.
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. If the result is YES and N is 0, the setting program A stored in the ROM 52
Since the control is performed according to 1 to A5 or the setting program A3, the main computer unit 50 does not execute the learning control.

On the other hand, if NO, that is, if N is not 0, the main computer unit 50 further determines whether or not the flag N is 1. As a result, YES
That is, when N is 1, the navigation signal cannot be read and the most standard program B3 among the standard programs B1 to B5 is provisionally selected to execute the control. In addition, it is not always true that it is appropriate to select the standard program B3. If learning control is performed when it is not appropriate, the standard program B3 may be incorrectly corrected instead of the standard program B3. 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, that is, when N is 2, 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, the anti-lock
Braking control device 14, gear ratio control device 7, four-wheel steering control device 17, traction control device 1
5, the control data DBo of the engine control device 3 and the power steering control device 9 are read out, and the driving data D
Is read, and whether or not the absolute value of the difference between the control data DBo and the traveling 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 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 therefore,
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 program. 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 corrected 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 of 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 therefore,
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 YES, that is, when N is 4
In this case, the vehicle 1 is in a specific area, and it is recognized that the control data of the unit section to be driven is also stored in the RAM 52.
Are the learning programs C1 to C3 and D1 to D
7 is read, 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 data, corrects the control data DCo according to the learning programs C1 to C3 and D1 to D7, and
It is determined whether or not the absolute value of the difference between the control data DCo and the correction data DC is equal to or less than a predetermined value d5 as a lower threshold value. The determination is made for each control device.

If the determination is NO, that is, if the control data DC
If the deviation between the correction data DC and the correction data DC is larger than the threshold value d5, the main computer unit 50 further determines 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. Is determined for each control device. Here, d6> d5. Referring to FIG.
In the above determination, the control data DCo and the correction data DC
Is smaller than the threshold value d5 or larger than the upper threshold value d6, the main computer unit 50 determines that the data being determined is the running data of the C program, that is, the geographical factor. Is determined. If this determination is YES, that is, if it is data of the C program, the upper limit threshold d6 is changed to the value d7 only in that specific section. (In this case, d7> d6.) Also, the variables r1 and r2 in the calculation formula of the learning value of the control data DCo described later are changed to r3. (In this case, r1, r2> r3.) As a result, the amount of change, that is, the gain of the control data DCo, which is the learning value, increases.

On the other hand, if the data currently determined is not the driving data for the C program, the main computer unit 50 is based on the data for the D program, that is, the driver-specific operational factors. The value of the flag α indicating whether the
Is 1 indicates that it was determined to be a D program in the previous execution cycle). Flag α
If is not 1, then it is determined whether the data is the driving data of the D program. In the case of the driving data of the D program, whether the deviation between the control data DCo and the correction data DC is smaller than the lower threshold d5 continuously for a certain period of time,
Alternatively, it is determined whether a state larger than the upper threshold d6 continues. If it is determined that this state continues, the main computer unit 50 changes the threshold value d5 to a smaller value d8 (d5 <d8), and changes the threshold value d6 to a smaller value. Large d9 (d6> d
Change to 9). Also, the variables r1 and r2 in the formula for calculating the learning value of the control data DCo are changed to r4. (In this case, r1, r2 <r4.) As a result, the amount of change, that is, the gain of the control data DCo, which is the learning value, is reduced. As described above, in the present embodiment, with respect to the travel data related to the C program, that is, the travel data based on the geographical factor, the learning sensitivity is increased, that is, the learning is controlled so as to be easily performed, and the learning value is actively changed. I have to. On the other hand, with respect to the travel data related to the D program, that is, the travel data related to the driver's operation, the learning sensitivity is lowered to make learning difficult, and even when learning is performed, the amount of change in the learning value is minimized. While geographical factors can be considered to directly reflect the driving situation, factors related to driver operation include driver's psychology, the number of occupants, etc.
Since it is affected by other factors, it is desirable to determine the operation status. Therefore, they are treated differently.

When the threshold values d5 and d6 and the coefficients r1 and r2 of the driving data for the D program are changed, the main computer unit 50 sets the flag α to 1
Set to. If the flag α is set to 1 and the travel data for the determination is not for the C program, the main computer unit 50 determines whether or not the ignition switch is off. When the ignition switch is off, the threshold values d8 and d9 and the coefficient r4 changed for the traveling data of the D program are restored. That is,
The changes of the threshold values d5 and d6 and the coefficients r1 and r2 for processing the traveling data for the D program are continued until the vehicle stops, and are cleared once the vehicle stops.

According to the above procedure, the threshold values d5 and d6
When it is determined that the learning control is to be performed in a state where the coefficients r1 and r2 are changed or in a state where the coefficients r1 and r2 are not changed, the main computer unit 50
It is determined whether the number of updates n has reached a predetermined number no. As a result, when the result is NO, the number of updates n by the learning control is small, and therefore, it is not recognized that the vehicle 1 has the running characteristics sufficiently matching the operating characteristics of the specific driver. The unit 50 executes the learning control based on the traveling data D according to the following equation.

DCo = (r1 × DCo + DC) / (r1 + 1) Here, r1 is a predetermined coefficient, for example, set to 100. If the threshold data d5 and d6 and the coefficients r1 and r2 are changed when the traveling data DC is data on the C program, r1 is r3 (r3 <r1). The threshold values d5 and d6 when the travel data DC is data on the D program
When the coefficients r1 and r2 are changed, r1 is r4 (r4> r1).

Next, the main computer unit 5
0 stores the update count n in the RAM 52 as n = n + 1. On the other hand, if the update count n has reached the predetermined count no, the learning control recognizes that the vehicle 1 already has characteristics that sufficiently match the driving characteristics of the specific driver. Control data DB
The correction value of o may be 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. For example, r2 is set to 150. Also in this case, the threshold values d5 and d6 and the coefficients r1 and r2 are used when the travel data DC is data for the C program as described above.
Is changed, r1 is r3 (r3 <r1).
When the travel data DC is data on the D program, the threshold values d5 and d6 and the coefficients r1 and r
If 2 is changed, r1 is r4 (r4> r
1).

Thereafter, the update count n is stored in the RAM 52 as n = n + 1. Next, 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 is still learned and not stored in the RAM 52, but the vehicle is traveling. The main computer unit 50 reads the traveling data D in order to learn and create the control data of the unit section. And for the learning programs D1, D3 to D6,
When the vehicle travels p times, for example, 10 times or 50 times, in the same unit section in the same day of the week and in the same time zone, and when p pieces of travel data D are obtained, the p pieces of travel data D are added. Then, control data DCo is calculated by dividing by p,
It is stored in the RAM 52. On the other hand, as for the learning program D2, when the operation of the brake pedal 31 is performed p times, for example, 10 times or 50 times at the same place in the same day of the week and at the same time, p pieces of travel data D are obtained. Is added and divided by p to calculate control data DCo,
It is stored in the RAM 52.

Here, the traveling data D of the learning programs D1, D3 to D6 is, for example, 100 m apart from the 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 travel data D, continuity of the travel 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. 12 and 13 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. 12 shows the vertical acceleration GV and the correction data. FIG. 13 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 a method of correcting the travel data D according to the correction programs E5 to E7 to obtain the correction data DB. FIGS. 14, 15 and 16 are flowcharts showing the control execution subroutine. 14, 15, and 16, 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 vehicle 1 is large, and the vehicle is in a running state in which it is necessary to emphasize running stability. 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 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 control time T stored in the timer of each control device has elapsed 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 the flag P is 1 or not.

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, when the result is YES, the driver changes to the 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, it is a situation that the control is to be performed by the setting programs A1 to A5 stored in the ROM 51. 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 increases to 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 from a specific driver such as the owner driver or his / her family, to 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 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.

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 has elapsed. 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 the 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 performs the calculation 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 such 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.

If the result is 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 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 is 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 executes each control calculated based on the correction programs E1 to E4, based on the navigation signals, and based on 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 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. 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 M52, the control data of a neighboring unit section within a predetermined distance l0 of the straight distance l from the unit section to be driven 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 include 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 is 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.

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 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, an out-of-city area, a mountain road, and an expressway,
The setting programs A1 to A5 set to the control gains matching the area, the setting program A6 which is forcibly used while the lateral acceleration GL is larger than the predetermined value GLo, and the setting program A6 when the vehicle is traveling on a road with a small road surface friction coefficient. When a specific driver such as an owner driver or his / 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, A standard program B1 to B5 having a control gain learned and changed for each area such as an expressway so as to match the operation of the area and a specific driver, a predetermined distance Lo from the home 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, such as by commuting, it is provided with correction programs E1 to E7. And a learning program C1 to C3 having a control gain 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 and 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 in 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 for 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.

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 coefficient of road surface friction, the setting program A7 is forcibly selected and used, so that it is possible to reliably prevent the traveling stability from being impaired.

The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the invention described in the appended claims, which are also included in the scope of the present invention. Needless to say, this is done. For example,
In the above embodiment, the RAM 52 stores the standard programs B1 to B5 used when the specific driver drives the automobile 1 outside the specific area.
When the specific driver drives the car 1 outside the specific area, the setting program A1 to A5 is used,
The capacity of the RAM 52 can be reduced 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 performed 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 merely examples, 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 regions: urban areas, urban areas, suburban areas, mountain roads, and highways.
The regional divisions of urban area, suburban area, mountain road, and highway are merely 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 other learning programs and correction programs may be 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, if 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.

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 his or her family 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 more 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. For example, these coefficients may be corrected stepwise and multiple times in accordance with the number of updates n of the control data, such as by further correcting them, and further, the number of updates n of the control data may be increased. 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 of updates n 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 traveling 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 o'clock to 11 o'clock, 11 o'clock to 12 o'clock.

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 main computer unit 50 sends a driver signal. 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 no driver signal is 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.

In the above embodiment, as shown in FIG. 12 and FIG.
For example, the ACS correction data x1 and x2 are calculated. The ROM 51 stores a map for each region as shown in FIGS. 17 and 18, and the main computer unit 50 stores the position correction 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.

[0137]

According to the present invention, the sensitivity of the learning control is changed according to the contents of the traveling data. Thus, appropriate learning control can be achieved. Specifically, for travel data based on geographical factors, the learning sensitivity is increased, that is, the learning is controlled so as to be easily performed, and the learning value is actively changed. As a result, quick response of learning control to changes in geographical factors can be achieved.

[0138] Further, the learning sensitivity of the driving data relating to the driver's operation is reduced to make learning difficult, and even when learning is performed, the amount of correction of the learning value, that is, the amount of change is minimized. Thus, more appropriate learning control can be performed while maintaining the reliability of the accumulated learning value. That is, highly reliable learning control can be continuously performed.

[0139]

[Table 1]

[0140]

[Table 2]

[0141]

[Table 3]

[0142]

[Table 4]

[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 illustrating an intermediate portion of a learning control subroutine.

FIG. 11 is a flowchart illustrating a latter half of a learning control subroutine.

FIG. 12 is a map showing a relationship between vertical acceleration GV and correction data in the ACS of the learning program C1.

FIG. 13 is a map showing a relationship between lateral acceleration GL and correction data in the ACS of the learning program C2.

FIG. 14 is a flowchart illustrating a first half of a control execution subroutine.

FIG. 15 is a flowchart illustrating a middle part of a control execution subroutine.

FIG. 16 is a flowchart illustrating a first half of a control execution subroutine.

FIG. 17 is a map showing a relationship between vertical acceleration GV and correction data in the ACS of the learning program C1.

FIG. 18 is a map showing a relationship between lateral acceleration GL and correction data in ACS of learning program C1.

[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

────────────────────────────────────────────────── ─── Continued on the front page (51) Int.Cl. ⁷ Identification code FI F02D 45/00 340 F02D 45/00 340Z F16H 61/00 F16H 61/00 G05B 13/02 G05B 13/02 L (72) Kiyoshi Sakamoto 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (72) Inventor Mine-Higashi 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (72) Inventor Shigefumi Hirabayashi Hiroshima Mitsuda Co., Ltd., 3-1 Shinchi, Fuchu-cho, Aki-gun, Japan (72) Inventor Seiji Miyamoto 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Pref. JP, A) JP-A-1-255746 (JP, A) JP-A-2-181504 (JP, A) JP-A-1-262229 (JP, A) JP-A-2-223644 (JP, A) JP Showa 61-138857 (J JP-A-3-92437 (JP, A) JP-A-62-56657 (JP, A) JP-A-63-255134 (JP, A) JP-A-1-247856 (JP, A) 62-261622 (JP, A) JP-A-2-238600 (JP, A) JP-B 3-44029 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60K 41 / 00 B60G 17/00 B60T 8/00 B62D 5/00 F02D 29/02 311 F02D 45/00 340 F16H 61/00 G05B 13/02

Claims (5)

(57) [Claims] A detecting means for detecting a driving condition of the vehicle; a driving characteristic control device capable of controlling a driving characteristic of the vehicle with a predetermined control gain; and the control of the driving characteristic control device based on the driving condition of the vehicle. In a learning control vehicle capable of learning change of gain, a threshold value setting for setting a threshold value for learning change of the control gain according to a property of actual measurement data indicating a traveling state of the vehicle obtained by the detection means. Means, and when the corresponding measured data exceeds a threshold, comprises learning limiting means for preventing learning change of the control gain depending on the measured data, the threshold setting means comprises: Actual measurement data showing the driving state
For data based on geographic factors,
Increase the learning sensitivity by setting a large threshold to limit learning
A learning control vehicle characterized in that: And a gain correction means for correcting the control gain based on actual measurement data exceeding the threshold value, wherein the correction means gives a large correction value to data based on a geographical factor. Special features
Learning control vehicle according to Motomeko 1. A detecting means for detecting a driving condition of the vehicle; a driving characteristic control device capable of controlling a driving characteristic of the vehicle with a predetermined control gain; and the control of the driving characteristic control device based on the driving condition of the vehicle. In a learning control vehicle capable of learning change of gain, a threshold value setting for setting a threshold value for learning change of the control gain in accordance with a property of measured data indicating a traveling state of the vehicle obtained by the detection means. Means, and when the corresponding measured data exceeds a threshold, comprises learning limiting means for preventing learning change of the control gain depending on the measured data, the threshold setting means comprises: Actual measurement data showing the driving state
Data based on factors specific to driver operation.
The threshold value for limiting the learning is set small,
A learning control vehicle characterized by lowering learning sensitivity . 4. A gain correcting means for correcting the control gain based on measured data exceeding the threshold value, wherein the correcting means gives a small correction value to data based on a factor specific to a driver operation. The learning control vehicle according to claim 3 , wherein: 5. A method according to claim 3, characterized in that the period continues to the stop control for lowering the learning speed from the vehicle starting
The learning control car according to the above .