JP3772477B2 - Vehicle control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle control apparatus that performs control by automatically selecting a control pattern suitable for a traveling state and a traveling environment from a plurality of control patterns for controlling a vehicle.
[0002]
[Prior art]
2. Description of the Related Art In recent years, development of a vehicle control device that collects information related to a running state and a running environment of a vehicle, integrates the information, and automatically selects an appropriate vehicle control pattern has been promoted.
As a conventional vehicle control device of this type, for example, there is one disclosed in Japanese Patent Application Laid-Open No. 6-324138, which is used for traveling such as gradients, curves, road surface conditions, etc. recorded on a map of a navigation system. Environmental information is used to determine control patterns for automatic transmissions and engines.
Further, in the one disclosed in Japanese Patent Laid-Open No. 7-223457, the shift condition of the automatic transmission is changed according to the inter-vehicle distance detected by a camera or a laser radar.
A more appropriate control pattern can be determined by using both information relating to the gradient recorded on the map of the navigation system and information relating to the inter-vehicle distance detected by the laser radar or the like.
[0003]
FIG. 12 shows the degree of congestion td as a detection output from the camera, the inter-vehicle distance i as a detection output from the laser radar, the gradient r and road attribute rt as the detection output from the navigation system, and the detection output from the vehicle speed sensor. It is a figure explaining the selection conditions and control content when inputting the vehicle speed v and selecting an optimal control pattern from three control pattern candidates, power, smooth, and controllable.
A selection program is created so that an appropriate control pattern is selected from the three control pattern candidates according to the value of the detection output.
[0004]
On the uphill road where the gradient r is greater than the predetermined value R1, the power of the control pattern is selected, and in the automatic transmission, the overdrive is turned off, the power mode is selected, and at the same time, the gain of the throttle actuator is set high. .
When the road attribute rt is a highway, the vehicle speed v is greater than or equal to the predetermined value V, and the highway traveling on the highway where the inter-vehicle distance i is greater than or equal to the predetermined value I1, smooth control pattern is selected. The overdrive area is enlarged and the gain of the throttle actuator is set to a small value.
Control pattern controllable is selected for downhill roads and congested roads in urban areas where the gradient r is smaller than the predetermined value R2 or the inter-vehicle distance i is smaller than the predetermined value I2 and the degree of congestion td is larger than the predetermined value TD. Then, the automatic transmission turns off the overdrive, the foot release upshift is prohibited, and the gain of the throttle actuator is set to normal.
[0005]
[Problems to be solved by the invention]
However, in such a conventional vehicle control device, if any of the detection outputs is missing, the selection to a part of the control pattern is not performed, or an alternative selection program when the detection output is missing is previously set. It is necessary to prepare.
If you choose not to select a control pattern, if one of the outputs is missing, you will not be able to select all of the control patterns that are used in the selection program, regardless of the importance of that output. .
[0006]
In addition, when an alternative program is prepared, an alternative selection program must be prepared for all missing outputs, and the selection program becomes complicated and large-scale.
Furthermore, in the conventional vehicle control device, the same control pattern can be selected even when the output accuracy changes due to changes over time in a detector such as a laser radar or when the output reliability changes due to changes in the driving environment. You may not be able to select an appropriate control pattern because you are using a program.
[0007]
Further, when the control pattern power is changed to the control pattern controllable selected state, the throttle actuator gain is switched from large to normal, and the same accelerator is opened as shown in FIG. The throttle opening with respect to the degree suddenly decreases from THh to THn, and the driver feels uncomfortable.
Therefore, in view of the above-described conventional problems, the present invention is suitable for cases where output lacks or output accuracy and reliability change without preparing a complicated control pattern selection program. It is an object of the present invention to provide a vehicle control device that can select a control pattern and reduce a sense of discomfort given to a driver when the control pattern is switched.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention selects a control pattern suitable for a driving state and a driving environment from a plurality of control pattern candidates, and controls the vehicle in a driving state and a driving environment. A plurality of detection means for detecting, a reference evaluation value storage unit for storing a reference evaluation value obtained by quantifying the weight of each output for each of the outputs of the plurality of control pattern candidates and the plurality of detection means, and detection by the detection means An evaluation value generating means comprising: a detection state detection means for detecting a state; an evaluation value setting means for setting an evaluation value according to a detection result of the detection state detection means based on a reference evaluation value; Control pattern selection means for selecting one control pattern from a plurality of control pattern candidates according to detection results of the plurality of detection means, and vehicle control for controlling the vehicle according to the selected control pattern It was assumed to have a stage.
[0009]
It is desirable that the detection state detection means includes a missing detection means for detecting missing outputs from the plurality of detection means.
The evaluation value setting means uses the reference evaluation value of the detection means in which the loss of output is detected by the missing detection means as a missing reference evaluation value, and the missing reference evaluation value belongs when the missing reference evaluation value is equal to or less than a predetermined value. As another evaluation value of the control pattern candidate, the first evaluation value correcting means for setting the reference evaluation value as it is is provided.
[0010]
The evaluation value setting means is the missing detection means, and the reference evaluation value of the detection device in which the missing output is detected is set as the missing reference evaluation value, the missing reference evaluation value is equal to or greater than a predetermined value, and the missing reference evaluation value belongs When there is a reference evaluation value greater than or equal to a predetermined value among other reference evaluation values of control pattern candidates, the evaluation value corresponding to the reference evaluation value greater than or equal to the predetermined value is corrected using the missing reference evaluation value, and the missing reference evaluation The evaluation value corresponding to the remaining reference evaluation value of the control pattern candidate to which the value belongs may have second evaluation value correcting means for setting the reference evaluation value as it is.
[0011]
The evaluation value setting means is the missing detection means, and when the reference evaluation value of the detection means in which the missing output is detected is the missing reference evaluation value, the missing reference evaluation value is equal to or greater than a predetermined value, and the missing reference evaluation value is Third evaluation value correction for setting a selection prohibition flag for prohibiting selection of a control pattern candidate to which a missing reference evaluation value belongs when there is no reference evaluation value greater than or equal to a predetermined value among other reference evaluation values of the control pattern candidate to which it belongs It can also have means.
[0012]
The detection state detection means preferably includes a travel environment detection means for detecting a travel environment that affects the reliability of the detection output.
One of the plurality of detecting means is a congestion degree detecting device using a camera that detects the degree of congestion, and the traveling environment detecting means has a luminance detecting means for detecting an average luminance of an image taken by the camera. The evaluation value setting means can include fourth evaluation value correction means for setting the evaluation value based on the reference evaluation value according to the luminance detected by the luminance detection means.
[0013]
The detection state detection means preferably has an accuracy detection means for detecting the detection accuracy of the output of the detection means.
One of the plurality of detection means is a laser radar that detects an inter-vehicle distance, the accuracy detection means has a light amount detection means that detects a light emission amount of a light emitting element of the laser radar, and the evaluation value setting means includes a light amount A fifth evaluation value correcting means for setting an evaluation value can be provided according to the light emission amount of the light emitting element of the laser radar detected by the detecting means.
[0014]
The control pattern selection means has selection prohibition means for prohibiting selection of control pattern candidates for which a selection prohibition flag is set, and the selection prohibition means forbids selection of control pattern candidates for which a selection prohibition flag is set. A display unit for notifying the driver that the vehicle has been operated can be connected.
The control pattern selection unit is a comprehensive evaluation value calculation unit that calculates a comprehensive evaluation value for each control pattern candidate from detection results and evaluation values of a plurality of detection units. It is assumed that there is selection means for selecting as follows.
[0015]
When the control pattern selection means selects a control pattern different from the control pattern executed by the vehicle control means, the control action is changed from the control action based on the executed control pattern to the control action based on another control pattern. It is also possible to have control pattern connection means that gradually change.
[0016]
[Action]
In a vehicle control device that controls a vehicle by selecting a control pattern suitable for a driving state and a driving environment from among a plurality of control pattern candidates, each output is weighted for each output of a plurality of detection means of the plurality of control pattern candidates. Based on the reference evaluation value, the evaluation value is corrected based on the reference evaluation value, and for each control pattern candidate, from the evaluation value and the information on the driving state and the driving environment detected by the detecting means By calculating a comprehensive evaluation value and determining a control pattern candidate having the largest comprehensive evaluation value as a control pattern, an appropriate control pattern is selected without using a complicated selection program.
[0017]
That is, when the detection state is detected and the detection output is missing, a comprehensive evaluation value is calculated using an evaluation value obtained by correcting the reference evaluation value, and a control pattern is selected.
Furthermore, even when the driving environment changes and the detection reliability of the detection means changes, the change of the driving environment is detected, and the evaluation value is set based on the reference evaluation value according to the detection result, By calculating a comprehensive evaluation value using the evaluation value and selecting a control pattern, an appropriate control pattern can be selected even when the driving environment changes without using a complicated selection program. .
In other words, by detecting the brightness of the image taken by the camera, if the surroundings are dark and the reliability of the input information from the camera is low, the reference evaluation value of the degree of congestion that reduces the reliability is reduced. Raise the standard evaluation value of the inter-vehicle distance and select an appropriate control pattern.
[0018]
In addition, even when the detection means changes due to changes over time and the detection accuracy changes, a change in the detection state is detected, and an evaluation value is set based on the reference evaluation value according to the detection result. Then, by calculating the overall evaluation value using the evaluation value and selecting the control pattern, even if a change occurs in the detection state without using a complicated selection program, an appropriate control pattern Make a selection.
For example, when the light quantity of the light emitting element of the laser radar is detected and the light quantity of the light emitting element is reduced due to a change over time, and the detection accuracy of the inter-vehicle distance is lowered, the reference evaluation of the inter-vehicle distance is reduced. Decrease the value and select an appropriate control pattern.
Further, when the control pattern connecting means is provided and the control pattern is switched, the sense of discomfort given to the driver is reduced by gradually approaching the control value of the vehicle from the selected one to the switched one.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the invention will be described with reference to examples. FIG. 1 shows the configuration of the first embodiment of the present invention, and FIGS. 2 and 3 are flowcharts showing the flow of operation.
The detection unit 1 includes a congestion degree detection device 21, an inter-vehicle distance detection device 22, a gradient detection device 23, a road attribute detection device 24, and a vehicle speed detection device 25.
[0020]
The congestion degree detection device 21 calculates a congestion degree td from an image photographed by the camera and outputs it.
The inter-vehicle distance detection device 22 detects the inter-vehicle distance i with a laser radar and outputs it.
The gradient detection device 23 detects the current position by GPS and a gyrocompass, and reads and outputs the gradient r of the traveling road from the map data of the navigation system.
The road attribute detection device 24 reads out and outputs a road attribute rt such as a speed limit from the map data of the navigation system.
The vehicle speed detection device 25 detects and outputs the vehicle speed v when the vehicle is actually traveling.
[0021]
The evaluation value generation unit 2 includes a detection state detection unit 26, an evaluation value setting unit 27, and a reference evaluation value storage unit 28.
The detection state detection unit 26 is connected to the congestion degree detection device 21, the inter-vehicle distance detection device 22, the gradient detection device 23, the road attribute detection device 24, and the vehicle speed detection device 25, detects the presence or absence of each output, and is missing in the output If there is, the detection result is output to the evaluation value setting unit 27.
The reference evaluation value storage unit 28 stores a reference evaluation value obtained by quantifying the weight of each output for each control pattern candidate. Each reference evaluation value takes a value of 0 to 1.0, and a value closer to 1.0 is set as it is more important for selection of a control pattern.
The evaluation value setting unit 27 sets an evaluation value according to the detection result of the detection state detection unit 26 based on the reference evaluation value, and outputs each evaluation value to the control pattern selection unit 3.
[0022]
The control pattern selection unit 3 includes a selection prohibition unit 29, a comprehensive evaluation value calculation unit 30, and a selection unit 31. The control pattern selection unit 3 selects a control pattern from the control pattern candidates and outputs the selected control pattern to the control pattern connection unit 5.
The selection prohibition unit 29 is connected to the display unit 4 provided on the instrument panel.
The control pattern connection unit 5 is connected to the vehicle control unit 6.
The vehicle control unit 6 includes a throttle opening adjustment unit 32, a throttle actuator 33, a transmission unit 34, and an automatic transmission 35.
The evaluation value generation unit 2, the control pattern selection unit 3, and the control pattern connection unit 5 are mounted on an arithmetic device that includes a microcomputer or the like.
[0023]
Next, the basic operation of the present embodiment will be described with reference to the flowcharts shown in FIGS.
In step 101, the congestion degree detecting device 21 of the detecting unit 1 detects the congestion degree td, the inter-vehicle distance detecting device 22 is the inter-vehicle distance i, the gradient detecting device 23 is the gradient r, and the road attribute detecting device 24 is the road attribute detecting device 24. The vehicle speed sensor 25 detects the vehicle speed v based on the road attribute rt.
[0024]
In step 102, the detection state detection unit 26 determines whether there are any missing detection outputs. If there is any omission, the process proceeds to step 104. If there is no omission, the process proceeds to step 103.
In step 103, each reference evaluation value is set as an evaluation value as it is, and the process proceeds to step 110 of the flowchart shown in FIG.
In step 104, it is determined whether or not the evaluation value has been corrected. If not completed, the process proceeds to step 105, and if completed, the process proceeds to step 110 of the flowchart shown in FIG.
[0025]
In step 105, the reference evaluation value of the missing output is read from the reference evaluation value storage unit 28, and it is determined whether the value is 0.5 or more. When it is smaller than 0.5, the routine proceeds to step 106. When it is 0.5 or more, the routine proceeds to step 107.
In step 106, the evaluation value of the missing output is set to 0, the reference evaluation value is set as the evaluation value of the other output in the control pattern candidate, and the process returns to step 104.
In step 107, it is determined whether there is a reference evaluation value of 0.5 or more among other output reference evaluation values in the control pattern candidate. If not, the process proceeds to step 108, and if present, the process proceeds to step 110.
In step 108, a selection prohibition flag is set for the control pattern candidate, and the process returns to step 104.
[0026]
In step 109, when the reference evaluation value of the missing output is S1, and the reference evaluation value of the other reference evaluation value is 0.5 or more is S2, the other reference evaluation value is 0.5 or more of the output. Evaluation value S3
S3 = (S1 + S2) / 2
Set to be.
Further, the evaluation value of the missing output is set to 0, the reference evaluation value is set as it is as the other evaluation value in the control pattern candidate, and the process returns to step 104.
[0027]
In step 110, the selection prohibition unit 29 determines whether there is a control pattern candidate for which the selection prohibition flag is set. If there is no control pattern candidate, the process proceeds to step 113, and if there is, the process proceeds to step 111.
In step 111, selection of control pattern candidates for which a selection prohibition flag is set is prohibited.
In step 112, the display unit 4 is displayed to notify the driver that selection of some control pattern candidates is prohibited.
[0028]
In step 113, the comprehensive evaluation value calculation unit 30 reads the degree of congestion td, the inter-vehicle distance i, the gradient r, the road attribute rt, and the vehicle speed v.
In step 114, in order to select a control pattern from the remaining control pattern candidates excluding the control pattern candidates for which selection has been prohibited, the value of the detection output read in step 114 and the evaluation value are integrated to obtain a comprehensive evaluation. Calculate the value.
As a calculation method, the “decision-making method by hierarchical fuzzy integration” reported by Shiizuka et al. (Journal of Japanese Society for Fuzzy Society, August 1993) is used. For example, from the evaluation value as shown in FIG. 4A and the detection output shown in FIG. 4B, as shown in FIG. 4C, the overall evaluation value HP of the control pattern candidate power, the control pattern A candidate smooth overall evaluation value HS and a control pattern candidate controllable comprehensive evaluation value HC are calculated.
[0029]
In step 115, the selection unit 31 determines a control pattern candidate having the largest comprehensive evaluation value from among the comprehensive evaluation values HP, HS, and HC as a control pattern.
In step 116, the control pattern connection unit 5 determines whether the control pattern determined in step 115 and the control pattern being executed are the same. If they are the same, the process proceeds to step 118, and if they are different, the process proceeds to step 117.
In step 117, the control pattern being executed is gradually changed to the control pattern determined in step 115, and the process proceeds to step 118.
In step 118, the vehicle control unit 6 executes the control pattern determined in step 115.
[0030]
Steps 101 and 113 in the flowchart shown in FIG. 2 constitute the detection means of the invention, and step 102 constitutes a detection state detection means and also constitutes a missing detection means. Steps 103 to 109 constitute the evaluation value generating means of the invention. In particular, Step 106 is the first evaluation value correcting means, Step 108 is the third evaluation value correcting means, and Step 109 is the second evaluation value correcting means. Configure the means.
Further, Steps 110 to 115 in the flowchart shown in FIG. 3 constitute the control pattern selection means of the invention. In particular, Steps 110 and 111 are selection prohibition means, Step 114 is a comprehensive evaluation value calculation means, and Step 115 is a selection. Configure the means.
Step 116 and step 117 constitute a control pattern connecting means, and step 118 constitutes a vehicle control means.
[0031]
Next, the operations in the flowcharts of FIGS. 2 and 3 will be described in detail using specific evaluation value values.
Control pattern candidates include power, smooth, and controllable, and the contents of each control are the same as in the conventional example shown in FIG. The reference evaluation value for each output of the detector 1 is set as shown in FIG.
A control pattern selection instruction is issued from the control program of the automatic transmission at regular time intervals, and the operation is started.
[0032]
A flow of a flowchart when a part of the navigation system breaks down, the output gradient r cannot be read, and the output of the gradient detection device 23 is lost will be described.
For example, in the control pattern candidate smooth, each reference evaluation value is determined in advance as shown in FIG. Since the reference evaluation value of the gradient r is 0.2, the process proceeds from Steps 102 and 104 of the flowchart to Step 105. In Step 105, the reference evaluation value of the missing output is 0.5 or less. As shown in (b), the evaluation value of the gradient r is set to 0, and the reference evaluation value is set for the remaining output evaluation values.
That is, when the missing reference evaluation value is low, only a less important output is missing in selecting a control pattern, and the other evaluation values are used as they are.
[0033]
If the congestion level td, which is the output of the congestion detection device 21, is lost due to a camera failure, the reference evaluation value of the congestion level td in the smooth control pattern candidate is 0.8, so the process proceeds from step 105 to step 107. In 107, there is an output in which another reference evaluation value of 0.5 or more is set, so the process proceeds to step 109.
In step 109, as shown in FIG. td Is set to 0, and the evaluation value of the inter-vehicle distance i is set to 0.7, which is an average value of the reference evaluation values of the inter-vehicle distance i and the congestion degree td. The evaluation value of the road attribute rt is also set to 0.7, which is an average value of the road attribute rt and the congestion degree td. For other output evaluation values, the standard evaluation values are set as they are.
That is, besides the missing output, high If there is an output for which a reference evaluation value is set, the output value of the missing output is complemented by the output.
[0034]
Further, for example, in the control pattern candidate power, when each reference evaluation value is determined as shown in FIG. 4A, if the gradient r is missing, the reference evaluation value of the gradient r is 0.8. Since there is no other output in which a reference evaluation value of 0.5 or more is set, the process proceeds from step 107 to step 108, and a selection prohibition flag is set in the control pattern candidate power.
At this time, since there is a control pattern candidate for which the selection prohibition flag is set in step 110, the process proceeds to step 111, and selection of control pattern candidate power is prohibited, and control pattern candidate power selection prohibition is displayed in step 112. To do.
That is, important output in control pattern selection is missing, and control pattern candidates that do not have other outputs that can compensate for the lack are prohibited from being selected, thereby improving the driver's safety.
[0035]
In steps 113, 114 and 115, a comprehensive evaluation value is calculated, and a control pattern having the largest comprehensive evaluation value is selected from the control pattern candidates.
Next, when the power of the control pattern shown in FIG. 4 is selected, the output gradient r is missing, the selection of the control pattern power is prohibited, and the control pattern controllable is selected instead. Consider the operation of step 116 and step 117 in FIG.
Since the control pattern has been switched, the process proceeds from step 116 to step 117, where the control operation is gradually changed. When the control pattern power is switched to controllable, the throttle opening TH is changed from the throttle opening THp when the throttle actuator gain is large to the throttle opening TH when the throttle actuator gain is large, according to the number of times the accelerator is turned off. Move closer to THc.
TH = {THp × (N−n) + THc × n} / N (N: constant)
Thereby, even if it switches from the power of a control pattern to controllable, the throttle opening with respect to the same accelerator opening does not fall rapidly.
[0036]
The present embodiment is configured as described above, and when the detection state is detected and the detection output is missing, the overall evaluation value is calculated using the evaluation value obtained by correcting the reference evaluation value, Since the control pattern is selected, an appropriate control pattern can be selected even when output is lost without using a complicated control pattern or selection program.
Further, as the reference evaluation value, the importance of the detection output for the selection of the control pattern is relatively indicated by quantifying the weight of the detection output for the selection of the control pattern between 0 and 1.0. Can do.
Furthermore, since the control pattern with the largest comprehensive evaluation value is selected, a plurality of control patterns are not selected at the same time, and there is no need for a selection program that considers the priority order among the control patterns, thus further simplifying the selection program. it can.
When the control pattern connecting portion is provided and the control pattern is switched, the vehicle control values are gradually brought closer to the switched control value, so that a sense of discomfort given to the driver can be reduced.
[0037]
Next, a description will be given of a second embodiment of the present invention in which a brightness detecting device is newly provided and the configuration of the evaluation value setting unit is changed. FIG. 6 is a part of the configuration diagram of this embodiment, and FIG. 7 is a part of a flowchart for explaining the operation of this embodiment.
The luminance detection device 7 detects the average luminance of the image captured by the camera of the congestion degree detection device 21 and outputs it to the evaluation value generation unit 8. The evaluation value generation unit 8 includes a detection state detection unit 26, an evaluation value setting unit 36 having a memory 37, and a reference evaluation value storage unit 28.
[0038]
The operation of this embodiment is obtained by adding steps 131 to 134 shown in FIG. 7 before step 101 in the flowchart of the operation of the first embodiment shown in FIGS.
In step 131, the luminance detection device 7 detects the luminance m〓 of the image.
In step 132, the reference evaluation value stored in the reference evaluation value storage unit 28 is read into the memory 37 of the evaluation value setting unit 8. In order to simplify the description, the reference evaluation value of the control pattern candidate smooth shown in FIG. 8A will be described as an example.
In step 133, the detection result of the luminance detection device 7 is read. If the luminance m is equal to or greater than the predetermined value M, the process proceeds to step 101. If the luminance m is smaller than the predetermined value M, the process proceeds to step 134.
In step 134, as shown in FIG. 8B, the standard evaluation value of the congestion degree is lowered from 0.8 to 0.2, the standard evaluation value of the inter-vehicle distance is raised from 0.6 to 0.8, Proceed to step 101.
In the steps after step 101, the modified reference evaluation value stored in the memory 37 is used instead of the reference evaluation value stored in the reference evaluation value storage unit 28.
[0039]
Step 131 constitutes a detection state detection means of the invention, and also constitutes a traveling environment detection means and a luminance detection means. Steps 132, 133 and 134 constitute the evaluation value generating means of the invention, and in particular, step 134 constitutes the fourth evaluation value correcting means.
Other configurations and operations are the same as those in the first embodiment.
In this embodiment, by detecting the brightness of the image taken by the camera, when the surroundings are dark and the reliability of the input information from the camera is low, the reference evaluation value of the degree of congestion that reduces the reliability is reduced. Instead, an appropriate control pattern is selected by raising the reference evaluation value of the inter-vehicle distance.
[0040]
As a result, the same effect as in the first embodiment can be obtained, and also when the traveling environment changes and the detection reliability of the detection device changes, the change in the traveling environment is detected and the detection result is changed. , Modify the reference evaluation value, set the evaluation value based on the corrected reference evaluation value, calculate the total evaluation value using the evaluation value, and select the control pattern. An appropriate control pattern can be selected even when the driving environment changes without using a selection program.
[0041]
Further, a third embodiment of the present invention in which a light meter is provided and the configuration of the evaluation value setting unit is changed will be described. FIG. 9 is a part of a configuration diagram of the present embodiment, and FIG. 10 is a part of a flowchart for explaining the operation of the present embodiment.
The light meter 9 is made of a photodiode, detects the light amount of the light emitting element of the laser radar that detects the inter-vehicle distance, and outputs it to the evaluation value generation unit 10. The evaluation value generation unit 10 includes a detection state detection unit 26, an evaluation value setting unit 38 having a memory 39, and a reference evaluation value storage unit 28.
[0042]
The operation of this embodiment is obtained by adding Steps 141 to 144 shown in FIG. 10 before Step 101 of the flowchart of the operation of the first embodiment shown in FIGS.
In step 141, the light quantity meter 9 detects the light quantity of the light emitting element of the laser radar.
In step 142, the reference evaluation value of the reference evaluation value storage unit 28 is read into the memory 39 of the evaluation value setting unit 38.
In step 143, the detection result of the light meter 9 is read. If the light amount e is equal to or greater than the predetermined value E, the process proceeds to step 101, and if smaller than the predetermined value E, the process proceeds to step 144.
In step 144, as shown in the graph of FIG. 11, when the light amount e becomes small, the reference evaluation value of the inter-vehicle distance is corrected so that the reference evaluation value of the inter-vehicle distance also becomes small, and the process proceeds to step 101.
In the steps after step 101, the modified reference evaluation value stored in the memory 39 is used instead of the reference evaluation value stored in the reference evaluation value storage unit 28.
[0043]
Step 141 constitutes a detection state detection means of the invention, and constitutes an accuracy detection means and a light quantity detection means. Steps 142, 143 and 144 constitute the evaluation value generation means of the invention, and in particular, step 144 constitutes a fifth evaluation value correction means.
Other configurations and operations are the same as those in the first embodiment.
In this embodiment, when the light amount of the light emitting element of the laser radar is detected, the light amount of the light emitting element is lowered due to a change over time, etc., and the detection accuracy of the intervehicular distance is lowered. An appropriate control pattern is selected by reducing the reference evaluation value.
[0044]
As a result, the same effect as in the first embodiment can be obtained, and even when the state of the detection device changes due to a change over time and the detection accuracy changes, the change in the detection state is detected and the detection result is obtained. The reference evaluation value is corrected accordingly, the evaluation value is set based on the corrected reference evaluation value, the comprehensive evaluation value is calculated, and the control pattern is selected, so a complicated control pattern or selection program is used. In addition, an appropriate control pattern can be selected even when a change occurs in the detection state.
[0045]
【The invention's effect】
As described above, the present invention selects a control pattern suitable for a driving state and a driving environment from a plurality of control pattern candidates, and outputs the outputs of a plurality of detection means for a plurality of control pattern candidates in a vehicle control device that controls the vehicle. A reference evaluation value in which the weight of each output is quantified is determined in advance, and the evaluation value is corrected based on the reference evaluation value. By calculating the overall evaluation value from the information on the state and the driving environment and determining the control pattern candidate having the largest overall evaluation value as the control pattern, an appropriate control pattern can be selected without using a complex control pattern or a selection program. .
[0046]
If there is a gap in the detection output, calculate the overall evaluation value using the evaluation value corrected for the reference evaluation value, and select the control pattern. An appropriate control pattern can be selected.
In addition, when a control pattern connection means is provided and the control pattern is switched, the control value of the vehicle is gradually approached from the selected one to the switched one to be given to the driver at the time of switching the control pattern. Discomfort is reduced.
[0047]
Furthermore, even when the driving environment changes and the detection reliability of the detecting means changes, a change in the driving environment is detected, and an evaluation value is set based on the reference evaluation value according to the detection result. By calculating the overall evaluation value using the evaluation value and selecting the control pattern, an appropriate control pattern can be selected even when a change occurs in the traveling environment without using a complicated selection program.
In other words, if the brightness of the image taken by the camera is detected, the surroundings are dark, and the reliability of the input information from the camera is low, the evaluation value of the congestion level that reduces the reliability is reduced, and instead of the inter-vehicle distance By raising the evaluation value, an appropriate control pattern can be selected.
[0048]
In addition, even when the state of the detection means changes due to changes over time and the detection accuracy changes, a change in the detection state is detected, and an evaluation value is set based on the reference evaluation value according to the detection result. By calculating a comprehensive evaluation value using the evaluation value and selecting a control pattern, an appropriate control pattern can be selected even when a change occurs in the detection state without using a complicated selection program. .
In other words, the light quantity of the light emitting element of the laser radar is detected, and when the light quantity of the light emitting element decreases due to a change over time or the like and the detection accuracy of the inter-vehicle distance decreases, the evaluation value of the inter-vehicle distance that reduces the detection accuracy is reduced. Thus, an appropriate control pattern can be selected.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a first embodiment of the present invention.
FIG. 2 is a flowchart for explaining the operation of the first embodiment;
FIG. 3 is a flowchart for explaining the operation of the first embodiment;
FIG. 4 is a diagram showing reference evaluation values.
FIG. 5 is a diagram illustrating an example of setting an evaluation value.
FIG. 6 is a part of a configuration diagram of a second embodiment of the present invention.
FIG. 7 is a part of a flowchart for explaining the operation of the second embodiment;
FIG. 8 is a diagram illustrating a modification example of a reference evaluation value.
FIG. 9 is a part of a configuration diagram of a third embodiment.
FIG. 10 is a part of a flowchart for explaining the operation of the third embodiment;
FIG. 11 is a diagram illustrating a modification example of a reference evaluation value.
FIG. 12 is a diagram illustrating control pattern selection conditions and control contents in a conventional example.
FIG. 13 is a diagram illustrating a gain of a throttle actuator.
[Explanation of symbols]
1 detector
2, 8, 10 Evaluation value generator
3 Control pattern selector
4 display section
5 Control pattern connection
6 Vehicle control unit
7 brightness detector
9 Light meter
21 Congestion degree detection device
22 Inter-vehicle distance detection device
23 Gradient detector
24 Road attribute detection device
25 Vehicle speed detection device
26 Detection state detector
27, 36, 38 Evaluation value setting section
28 reference evaluation value storage unit
29 Selection prohibited part
30 Comprehensive evaluation value calculation part
31 Selector
32 Throttle opening adjustment section
33 Throttle actuator
34 Transmission section
35 Automatic transmission
37, 39 memory

Claims (11)

In the vehicle control device that selects one control pattern suitable for the driving state and driving environment from a plurality of control pattern candidates, and controls the vehicle,
A plurality of detecting means for detecting a driving state and a driving environment;
For each output of the plurality of control pattern candidates and the plurality of detection means, a reference evaluation value storage unit that stores a reference evaluation value obtained by quantifying the weight of each output, and a detection state that detects a detection state of the detection means An evaluation value generating means comprising detection means, and evaluation value setting means for setting an evaluation value according to the detection result of the detection state detection means based on the reference evaluation value;
Control pattern selection means for selecting the one control pattern from the plurality of control pattern candidates according to the evaluation value and the detection results of the plurality of detection means,
Vehicle control means for controlling the vehicle according to the selected control pattern ,
The vehicle control apparatus according to claim 1, wherein the detection state detection unit includes a loss detection unit that detects a loss of output of the plurality of detection units. The evaluation value setting means uses the reference evaluation value of the detection means detected as missing in the missing detection means as a missing reference evaluation value, and when the missing reference evaluation value is equal to or less than a predetermined value, the missing reference evaluation 2. The vehicle control apparatus according to claim 1, further comprising a first evaluation value correcting unit that directly sets a reference evaluation value as another evaluation value of a control pattern candidate to which the value belongs. The evaluation value setting means sets the reference evaluation value of the detection means detected by the missing detection means as a missing reference evaluation value, the missing reference evaluation value is equal to or greater than a predetermined value, and the missing reference evaluation When there is a reference evaluation value greater than or equal to a predetermined value among other reference evaluation values of the control pattern candidate to which the value belongs, the evaluation value corresponding to the reference evaluation value greater than or equal to the predetermined value is corrected using the missing reference evaluation value and, the evaluation value corresponding to the remaining reference evaluation value of the control pattern candidates said missing reference evaluation value belongs, according to claim 1, characterized in that a second evaluation value correcting means for directly setting the reference evaluation value or 3. The vehicle control device according to 2 . The evaluation value setting means has a missing reference evaluation value equal to or greater than a predetermined value when the missing evaluation means sets a reference evaluation value of a detection device in which a lack of output is detected as a missing reference evaluation value, and the missing reference When there is no reference evaluation value greater than or equal to a predetermined value among the other reference evaluation values of the control pattern candidate to which the evaluation value belongs, a selection prohibition flag is set to prohibit selection of the control pattern candidate to which the missing reference evaluation value belongs. The vehicle control device according to claim 1, further comprising: an evaluation value correction unit. 5. The vehicle control device according to claim 1, wherein the detection state detection unit includes a travel environment detection unit that detects a travel environment that affects the reliability of the detection output. 6. One of the plurality of detection means is a congestion degree detection device using a camera that detects the degree of congestion, and the traveling environment detection means includes a luminance detection means that detects an average luminance of an image taken by the camera. has the evaluation value setting means, wherein said in response to the detected luminance by the luminance detection means, and having a fourth evaluation value correcting means for setting an evaluation value to the reference evaluation value based on Item 6. The vehicle control device according to Item 5 . The vehicle control apparatus according to claim 1, wherein the detection state detection unit includes an accuracy detection unit that detects a detection accuracy of an output of the detection unit. One of the plurality of detection means is a laser radar that detects an inter-vehicle distance, and the accuracy detection means includes a light amount detection means that detects a light emission amount of a light emitting element of the laser radar, and the evaluation value setting means 8. The vehicle control device according to claim 7 , further comprising a fifth evaluation value correcting means for setting an evaluation value in accordance with the light emission amount of the light emitting element of the laser radar detected by the light quantity detecting means. The control pattern selection means includes selection prohibition means for prohibiting selection of control pattern candidates for which a selection prohibition flag is set, and the selection prohibition means includes control pattern candidates for which the selection prohibition flag is set. The vehicle control device according to claim 4, further comprising a display unit that notifies the driver that selection has been prohibited. The control pattern selection unit includes a total evaluation value calculation unit that calculates a total evaluation value for each control pattern candidate from detection results of the plurality of detection units and the evaluation value, and a control pattern candidate having the largest total evaluation value The vehicle control apparatus according to claim 1, further comprising a selection unit that selects the control pattern as a control pattern. When the control pattern selection means selects a control pattern different from the control pattern executed by the vehicle control means, the control action based on the executed control pattern is changed to the different control pattern. The vehicle control device according to claim 1, further comprising a control pattern connection unit that gradually changes to a control operation based on the control operation.

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