JP3139388B2 - Vehicle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device, and more particularly to control of a speed ratio of an automatic transmission including a stepped transmission and a continuously variable transmission.

[0002]

2. Description of the Related Art There has been proposed an automatic transmission control device provided with a change means for changing a control pattern of an automatic transmission at a current position of a vehicle in accordance with road information about the surroundings (Japanese Patent Publication No. 6-58141). ).

[0003]

By the way, in the control of the shift speed according to the road condition, the shift speed is controlled in accordance with a specific surrounding situation, so that the environment adaptability is high, and the It also imposes control of the vehicle's installation. From this point of view, the present invention estimates the driver's will so that the setting of the gear ratio is performed without going against the driver's will.

[0004]

This and other objects are achieved by the present invention described below.

[0005] (1) a storage means for storing a plurality of nodes indicating the position shape of the road, and the vehicle position detecting means for detecting a vehicle position, a vehicle speed detecting means for detecting a vehicle speed of the vehicle, A
Driving operation detecting means for detecting the degree of xell opening or operation of the brake pedal; recommended running speed calculating means for calculating a recommended running speed when passing a node in the traveling direction of the own vehicle position; and the own vehicle position detecting means. Distance calculating means for calculating a distance from the vehicle position detected by the vehicle to the node, a distance calculated by the distance calculating means, a recommended running speed calculated by the recommended running speed calculating means, and the vehicle speed detecting means. Means for determining an appropriate shift speed for decelerating from the current vehicle speed to the recommended traveling speed based on the detected vehicle speed; and operating the accelerator opening or the brake pedal.
Vehicle speed control means for detecting an operation of the vehicle and setting a gear position selected by the automatic transmission based on the gear ratio so as to fall within the range of the determined gear position. apparatus. (2) storage means for storing a plurality of nodes indicating the position shape of the road, vehicle position detection means for detecting the vehicle position,
Vehicle speed detecting means for detecting a vehicle speed of the vehicle, and the accelerator opening
Is a driving operation detecting means for detecting an operation of a brake pedal, a recommended traveling speed calculating means for calculating a recommended traveling speed when passing through a node in the traveling direction of the own vehicle position, and a distance calculated by the distance calculating means. From the recommended traveling speed calculated by the recommended traveling speed calculating means and the vehicle speed detected by the vehicle speed detecting means, an appropriate gear position for reducing the current vehicle speed to the recommended traveling speed is determined for each node. Means for setting, the upper limit setting means for determining the lowest gear among the determined gears for each node as the upper limit regulation value, and the accelerator opening or the brake pedal.
Vehicle speed control means for detecting an operation and setting a gear position selected by the automatic transmission based on the operation so as to fall within the range of the determined gear position. apparatus.

(3) Storage means for storing a plurality of nodes indicating the position shape of the road, own vehicle position detecting means for detecting the own vehicle position, vehicle speed detecting means for detecting the vehicle speed of the own vehicle, Driving operation detecting means for detecting a driving operation, recommended traveling speed calculating means for calculating a recommended traveling speed when passing through a node in the traveling direction of the own vehicle position, and the own vehicle detected by the own vehicle position detecting means A distance calculating means for calculating a distance from a position to the node; a deceleration curve indicating a deceleration required for decelerating from a current vehicle speed to a recommended traveling speed; and the deceleration curve and the distance calculating means. Is necessary to control the gear position selected by the automatic transmission from the distance calculated by the above, the recommended traveling speed calculated by the recommended traveling speed calculating means, and the vehicle speed detected by the vehicle speed detecting means. Determining means for each node, an upper limit setting means for setting an upper limit of a gear position selected by the automatic transmission when the determining means determines that there is a need, and a driving operation detecting means A vehicle control device comprising: a speed ratio setting unit that sets a gear position selected by the automatic transmission to fall within the upper limit range when a driving operation is detected.

(4) The vehicle control device according to (3) , wherein the driving operation detecting means detects a driving operation based on an accelerator opening or an operation of a brake pedal.

[0008] (5) the automatic transmission is a multi-speed transmission (1), (2), or vehicle control apparatus according to (3).

[0009] (5-b) the automatic transmission is a continuously variable transmission (1), (2), or vehicle control apparatus according to (3).

(6) Storage of road information storing road information
Means, current position detecting means for detecting the current position , and the vehicle position
To calculate the recommended traveling speed at a specific point in the direction of travel
Traveling speed calculating means and a vehicle speed detecting means for detecting a vehicle speed of the own vehicle
Speed, automatic transmission that automatically selects the gear ratio, and operation
A driving operation detecting means for detecting a person driving operation, the specific
The distance between the point and the current location, and the recommended speed and current
Shifts within a predetermined range according to the speed difference with the vehicle speed
Gear ratio regulating means for regulating the gear ratio, and based on the driving operation of the driver.
The transmission ratio selected by the automatic transmission is
Gear ratio setting to be within the range regulated by the control means
A vehicle control device comprising:

(7) The specific point represents a road shape.
The vehicle control device according to the above (6) , wherein the node is a node that operates . (8) The driving operation detecting means is based on the accelerator opening.
The vehicle control device according to the above (6), which detects a driving operation
Place. (9) The driving operation detecting means is based on the throttle opening.
The vehicle control device according to the above (6), which detects the following driving operation
Place. (10) The driving operation detecting means includes a brake pedal.
The vehicle according to (6), wherein the driving operation is detected based on the operation.
Both control units. (11) The automatic transmission is a multi-stage transmission.
The vehicle control device according to (6). (12) The automatic transmission is a continuously variable transmission.
The vehicle control device according to (6).

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One preferred embodiment of the present invention will be described below.
One will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing the configuration of the vehicle control device of the present invention. The vehicle control device 1 of the present invention includes a navigation system device 10, an AT mode selection unit 20, a vehicle state detection unit 30
And a transmission control device 40. The navigation system device 10 includes a navigation processing unit 11, a data storage unit 12 as a road information storage unit, a current position detection unit 13, a communication unit 15, an input unit 16, a display unit 17
And an audio output unit 19.

The navigation processing unit 11 performs various arithmetic processing such as navigation processing based on the input information, and outputs a result thereof to a central control unit (hereinafter referred to as “CP”).
U ”) 111. This CPU 111
The ROM 112 and the RAM 113 are connected via a bus line such as a data bus. The ROM 112 is a read-only memory in which various programs for searching for a route to a destination, traveling guidance on the route, determining a specific section, and the like are stored. RAM 113 is a CPU
Reference numeral 111 denotes a random access memory as a working memory for performing various arithmetic processing.

The data storage unit 12 stores a map data file, an intersection data file, a node data file, a road data file, a photograph data file, and information for each area such as a hotel, a gas station, and a tourist spot guide in each area. It has other stored data files. In each of these files, while performing a route search, a guide map is displayed along the searched route, characteristic photographs and frame diagrams at the intersection and the route are displayed, the remaining distance to the intersection, the next intersection, The display unit 17 and the audio output unit 19 display the traveling direction of the
Various data to be output from are stored.

Of the information stored in these files, those used for route search in normal navigation are the files storing intersection data, node data, and road data. These files include road width, slope, road surface conditions, corner radius of curvature, intersections, T-junctions, number of lanes on the road, points where the number of lanes decreases, corner entrances, railroad crossings, and highway exit rampways. , Road information such as a tollgate on an expressway, a point where the width of a road becomes narrower, a downhill road, an uphill road, and the like.

Each file is, for example, DVD, MO, C
Various storage devices such as a D-ROM, an optical disk, a magnetic tape, an IC card, and an optical card are used. Each file has a large storage capacity, for example, it is preferable to use a CD-ROM. However, for individual data such as other data files and data for each area, an IC card may be used.

The current position detector 13 includes a GPS receiver 131, a geomagnetic sensor 132, a distance sensor 133, a steering sensor 134, a beacon sensor 135, and a gyro sensor 136. GPS receiver 13
Reference numeral 1 denotes a device that receives a radio wave emitted from an artificial satellite and measures the position of the own vehicle. The terrestrial magnetism sensor 132 detects terrestrial magnetism to determine the direction in which the vehicle is facing. As the distance sensor 133, for example, a sensor that detects and counts the number of rotations of a wheel, a sensor that detects acceleration and integrates twice, and other measuring devices are used. Steering sensor 134
For example, an optical rotation sensor or a rotation resistance volume attached to a rotating portion of a steering wheel is used, but an angle sensor attached to a wheel portion may be used. The beacon sensor 135 receives position information from a beacon arranged on the road. The gyro sensor 136 is configured by a gas rate gyro, an optical fiber gyro, or the like that detects the rotational angular velocity of the vehicle and integrates the angular velocity to determine the azimuth of the vehicle.

The GPS receiver 13 of the current position detector 13
1 and the beacon sensor 135 can independently measure the position, but in other cases, the distance sensor 133
, Or a combination of the azimuth detected by the geomagnetic sensor 132 and the gyro sensor 136, or the combination of the distance detected by the distance sensor 133 and the steering angle detected by the steering sensor 134. The absolute position (own vehicle position) is detected.

The communication unit 15 transmits and receives various data to and from an FM transmission device, a telephone line, and the like.
For example, various data such as road information such as traffic congestion and traffic accident information received from an information center or the like are received.

The input unit 16 is configured to correct the current position at the start of traveling and to input a destination. Examples of the configuration of the input unit 16 include a touch panel that is arranged on a screen of a display that configures the display unit 17 and that inputs information by touching keys and menus displayed on the screen, a keyboard, a mouse, and a bar. Examples include a code reader, a light-on, and a remote control device for remote operation.

The display unit 17 displays an operation guide, an operation menu, operation keys, a route to a guide point set in response to a request from the user, and various maps such as a guide map along a traveling route. Display is performed. As the display unit 17,
A CRT display, a liquid crystal display, a plasma display, a hologram device that projects a hologram on a windshield, or the like can be used.

The voice input unit 18 is constituted by a microphone or the like, and inputs necessary information by voice. The voice output unit 19 includes a voice synthesizer and a speaker, and outputs guidance information of voice synthesized by the voice synthesizer. Note that, in addition to the voice synthesized by the voice synthesizer, various kinds of guidance information may be recorded on a tape and output from a speaker, or the synthesized voice of the voice synthesizer and the voice of the tape may be output. They may be combined.

In the navigation system device 10 as described above, the vehicle position detecting means includes the current position detecting unit 1.
3 and the road information storage means is configured by the data storage unit 12. The specific point in the traveling direction of the own vehicle position is determined by the navigation processing unit 11 based on the own vehicle position detected by the current position detecting unit 13, the traveling direction of the own vehicle, and the road information stored in the road information storage unit. decide. Further, the distance calculation means includes a current position detection unit 13,
The data storage unit 12 and the shift control device 40 calculate distances L1 to Ln from the current position to each node.

The node radius calculation means includes a data storage unit 12
And a transmission control device 40, each node N1
ＮNn are calculated for each of the node radii r1 to rn. here,
A node is an element indicating a position shape of a road in a digital map, and digitized road information is constituted by a point (node) indicating a position on a road and a line (link) connecting the nodes. In the present embodiment, a node is a specific point. The method of calculating the node radius at the specific point can be calculated, for example, from the crossing angle of the link crossing at the specific point. The recommended traveling speed calculating means includes a data storage unit 12, a current position detecting unit 13, and a shift control device 40, and is determined in advance by each of the node radii r1 to rn and a preset turning lateral G. According to the data table, recommended vehicle speeds (node speeds) V1 to Vn when passing through each node position are calculated for each node.

Next, the planned traveling road is a route which is set when a traveling route of the vehicle is already set, and when the traveling route is not set, for example, when the vehicle goes straight ahead. It can be a route that is expected. By providing such a traveling route detecting means for searching for the planned traveling route, the planned traveling route becomes clearer and the controllability is improved.

The automatic transmission includes an automatic transmission (not shown) (a multi-stage transmission having a fifth speed in this embodiment) and an actuator for setting a gear ratio (in this embodiment, a fifth speed). (Hydraulic control circuit) and a shift control device 40 that outputs an operation signal to the actuator. The shift control device 40 receives a vehicle speed signal, an accelerator opening signal from an accelerator sensor, and a shift position command signal from the navigation system device 10. A driving operation is detected based on a signal from the accelerator sensor 33 based on an accelerator opening signal. That is, the driving operation detecting means is constituted by judging the accelerator opening signal. The speed change control device 40 that constitutes the speed ratio control means and the speed ratio setting means is functionally composed of a gear position determination unit and a gear position restriction unit. The gear position determining unit specifically determines which gear position to select, and is determined by, for example, a data table (shift map) that determines the gear position based on the throttle opening and the vehicle speed.

On the other hand, the gear position regulating section is a main part of the present invention, and regulates the upper limit of the gear position determined by the gear position determining section. Therefore, even if, for example, the fifth speed is determined by the shift speed determining unit, if the upper limit is set to the fourth speed by the shift speed regulating unit, the command signal is output only within the range from the first speed to the fourth speed. Then, a command signal is output to an actuator for setting a gear ratio (not shown).

Hereinafter, the control operation of the transmission control device 40 will be described in detail with reference to the flowchart shown in FIG.

First, from the navigation processing unit 11,
The road information such as the position of the vehicle 2 and the traveling direction of the vehicle 2 is acquired (step S101). The road data in the traveling direction includes the type of the road on which the vehicle is currently traveling, the shape of the road ahead, the coordinate data of each of the nodes N1 to Nn ahead of the current position, and the like.

In step S101, the obtained data, that is, distances L1 to Ln from the current position to the nodes from the nodes N1 to Nn (see FIG. 2) on the planned traveling route, and the nodes for each of the nodes N1 to Nn The radii r1 to rn are calculated (step S103).

Next, vehicle information is obtained (step S1).
05). The vehicle information includes a vehicle speed V, a throttle opening, an accelerator opening α, a brake signal, and the like. Next, referring to the normal shift map, the shift speed is determined from the throttle opening and the vehicle speed (step S107). And each node N
The node speeds V1 to Vn are calculated from the node radii r1 to rn for each of the nodes 1 to Nn, and the regulating shift stage map (FIG. Based on 4), the necessity of the gear position regulation control is determined (step S109). Current vehicle speed V0
From the node speed V1 of each node N1 to Nn in front of
The deceleration for decelerating to Vn is obtained for each node,
The necessity of control is determined for each node.

The regulating gear map shown in FIG. 4 sets recommended decelerations in consideration of deceleration due to change of gear, safe deceleration, vehicle behavior, and the like. 4 is a map in which the most appropriate gear is set in accordance with the map. The gear position to be regulated is determined based on the map.
That is, the deceleration required to decelerate to each node speed V1 to Vn is displayed as deceleration curves m1 and m2,
The current vehicle speed V0, which is the speed at the current position, is compared with the deceleration curve, and if the current vehicle speed V0 is high, it is determined that control is necessary. The deceleration curves are set in correspondence with the gears considered to be desirable for each deceleration level, and two deceleration curves m1 and m2 are provided for each node point. When the vehicle speed V0 is located above the deceleration curve m1 on the upper side of the figure, the upper limit of the shift speed is set to the second speed, and when the vehicle speed V0 is located between the deceleration curve m1 and the deceleration curve m2, the shift speed is set. To the third speed, the node speed Vn (V
1) When the speed is not less than the deceleration curve m2, the upper limit of the shift speed is controlled to be set to the fourth speed, and when the speed is not more than the node speed Vn (V1), the speed limit control is performed. Is not performed, and the shift speed is determined based on the normal shift map. This gear is set from the viewpoint of what gear is more appropriate for decelerating to the node speed, and is applied after confirming the driver's will, as described later. It has such a configuration.

The deceleration curve is set for each node and each of the node speeds V1 and V2, and the necessity of the upper limit of the shift speed is determined. Then, among the determined nodes, the shift speed having the highest degree of regulation (the lower limit of the shift speed) is determined as the upper limit regulation value. For example, in FIG. 4, when the current vehicle speed is V0, it is desirable to set the upper limit of the shift speed to the third speed in order to pass through the node N1 at the recommended speed, and to set the upper limit in order to pass through the node N2. It is necessary to be in second gear. In this case, the upper limit of the gear position is set to the second speed. Next, it is determined whether or not the driver intends to decelerate. That is, it is determined whether the accelerator opening is close to 0, or whether the accelerator opening is sufficiently small and the accelerator opening change rate Δα is closed at a predetermined change rate δ or more (step S11).
1).

When the accelerator opening α is close to 0, or when the accelerator opening is sufficiently small and the accelerator opening α
If the change rate Δα is closed at a predetermined change rate δ or more, it can be determined that the driver has the intention to decelerate, so that the upper limit of the shift speed set in step S109 and the normal shift map Then, the shift speed selected at the step is compared, and the lower shift speed is output as a shift operation control command value. That is, even if, for example, the fourth speed is determined by the normal shift map, if the upper limit of the shift speed is set to the third speed in step S109 according to the regulating shift map of FIG. I do. When the second speed is determined by the normal speed change map, even if the speed limit map is the third speed, the speed limit is limited within the range of the third speed, so the speed change output as the command signal is performed. The steps are
Second gear.

On the other hand, if the accelerator opening α is not close to 0 or the rate of change Δα of the accelerator opening α cannot be closed at a predetermined rate of change δ or more, the driver intends to decelerate. It is determined that this is not the case, and normal control is performed. Such a control operation may be performed by the navigation processing unit 11 or the automatic transmission, or a configuration in which a part of the control operation is responsible for a part of the control operation may be used.

In the embodiment described above, the driver's intention to decelerate is determined based on the accelerator opening α (step S1).
09), the driving operation can be detected based on the change rate or value of the throttle opening (that is, engine torque) input from the throttle sensor, and the intention of deceleration can be determined. Further, the driving operation may be detected based on the operation of the brake pedal, and the intention of deceleration may be determined. In this case, the intention of deceleration can be determined based on the change rate of the brake depression amount input from the brake sensor 32 and the brake ON operation. In addition, a configuration may be adopted in which the driving operation is detected based on the turn signal switch, and the intention of deceleration is determined based on the detection of the turn signal ON operation.

Although the gear position determining section determines the gear position based on the accelerator opening and the vehicle speed, the gear position may be determined based on the throttle opening and the vehicle speed, or may be determined based on the magnitude of the engine torque and the vehicle speed. The configuration may be such that the shift speed is determined.

As the automatic transmission, a device having a continuously variable transmission may be used.
The range of the gear ratio is regulated instead of the gear.

[0039]

As described above, according to the vehicle control device of the present invention, the accelerator opening or the operation of the brake pedal is detected, and based on this, the shift selected by the automatic transmission is determined. Since the gear is set so as to be within a range of a gear suitable for decelerating to the recommended traveling speed, vehicle control according to the driver's intention can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle control device of the present invention.

FIG. 2 is a schematic diagram showing an arrangement of nodes on a road.

FIG. 3 is a flowchart showing a control operation of a control device.

FIG. 4 is a shift map in downshift control.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 vehicle control device 2 vehicle 10 navigation system device 11 navigation processing unit 12 data storage unit 13 current position detection unit 20 AT mode selection unit 30 vehicle state detection unit 40 shift control device EQ96106 1

────────────────────────────────────────────────── ─── of the front page continued (51) Int.Cl. ⁷ identification mark FI F16H 59:66 (56) reference Patent flat 8-202991 (JP, a) (58 ) investigated the field (Int.Cl. ⁷ , DB name) F16H 61/00-61/24

Claims (6)

(57) [Claims] And 1. A storage means for storing a plurality of nodes indicating the position shape of the road, and the vehicle position detecting means for detecting a vehicle position, a vehicle speed detecting means for detecting a vehicle speed of the vehicle, the accelerator opening or Driving operation detecting means for detecting operation of a brake pedal, recommended running speed calculating means for calculating a recommended running speed when passing through a node in the traveling direction of the own vehicle position, and detecting by the own vehicle position detecting means A distance calculating means for calculating a distance from the vehicle position to the node; a distance calculated by the distance calculating means; a recommended traveling speed calculated by the recommended traveling speed calculating means; and a vehicle speed detected by the vehicle speed detecting means. Means for determining an appropriate shift speed for decelerating from the current vehicle speed to the recommended traveling speed, and detecting operation of the accelerator opening or brake pedal
And a gear ratio setting means for setting a gear position selected by the automatic transmission based on the speed ratio so as to fall within the range of the determined gear position. 2. A storage means for storing a plurality of nodes indicating the position shape of the road, and the vehicle position detecting means for detecting a vehicle position, a vehicle speed detecting means for detecting a vehicle speed of the vehicle, the accelerator opening or Driving operation detecting means for detecting operation of a brake pedal, recommended running speed calculating means for calculating a recommended running speed when passing through a node in the traveling direction of the own vehicle position, and a distance calculated by the distance calculating means. From the recommended traveling speed calculated by the recommended traveling speed calculating means and the vehicle speed detected by the vehicle speed detecting means, an appropriate gear position for reducing the current vehicle speed to the recommended traveling speed is determined for each node. Means, an upper limit setting means for determining the lowest gear among the determined gears for each node as an upper limit regulation value, and detecting the accelerator opening or the operation of a brake pedal. I
And a gear ratio setting means for setting a gear position selected by the automatic transmission based on the speed ratio so as to fall within the range of the determined gear position. 3. A storage means for storing a plurality of nodes indicating a position shape of a road; a vehicle position detection means for detecting a vehicle position; a vehicle speed detection means for detecting a vehicle speed of the vehicle; Driving operation detecting means for detecting an operation; recommended traveling speed calculating means for calculating a recommended traveling speed when passing through a node in the traveling direction of the own vehicle position; and the own vehicle position detected by the own vehicle position detecting means. And a distance calculating means for calculating a distance from the node to the node, and a deceleration curve indicating a deceleration required for decelerating from the current vehicle speed to the recommended traveling speed is set, and the deceleration curve and the distance calculating means From the calculated distance, the recommended traveling speed calculated by the recommended traveling speed calculating means, and the vehicle speed detected by the vehicle speed detecting means, the necessity of control for restricting the gear selected by the automatic transmission is determined. Determining means for determining for each node; upper limit setting means for setting an upper limit of a gear position selected by the automatic transmission when the determining means determines that there is a need; and operating by the driving operation detecting means. A vehicle control device comprising: a gear ratio setting unit that sets a gear selected by the automatic transmission to fall within the upper limit when an operation is detected. 4. The vehicle control device according to claim 3, wherein the driving operation detecting means detects a driving operation based on an accelerator operation amount or an operation of a brake pedal. 5. The vehicle control device according to claim 1, wherein the automatic transmission is a multi-stage transmission. 6. The vehicle control device according to claim 1, wherein the automatic transmission is a continuously variable transmission.