JP4337706B2 - Vehicle travel control device - Google Patents

Description

  The present invention generally relates to a vehicular travel control device that controls the magnitude of an accelerator pedal reaction force in a vehicle, and more particularly to a vehicular travel control device that improves steering feeling during turning.

Conventionally, a device for controlling the magnitude of an accelerator pedal reaction force in a vehicle is known (for example, see Patent Documents 1 and 2).
JP-A-5-231194 JP-A-9-290443

  However, the conventional accelerator pedal reaction force control device does not perform special pedal reaction force control when the vehicle turns.

  When turning, the vehicle receives a running resistance (cornering drag). As a result, if the driver enters the corner with the accelerator pedal opening kept constant with the intention of maintaining a constant vehicle speed, the vehicle speed will drop due to cornering drag.

  An example of such a change in vehicle speed is shown in FIG. Here, it is assumed that the radius of curvature (R) of the corner is constant from the entrance to the exit. When the accelerator pedal reaction force is kept constant and the driver keeps the accelerator pedal opening constant, the vehicle speed decreases by the cornering drag when entering the corner, and after maintaining the constant, the cornering drag decreases. It will rise again and return to its original state.

  Thus, if the vehicle speed decreases when passing the corner, it may adversely affect the steering feeling of the driver who intended a constant vehicle speed.

  Patent Document 1 discloses that the accelerator pedal reaction force is controlled according to the steering angle (see paragraph [0039] and “fourth application example” in FIG. 12). The larger the value, the more the accelerator pedal reaction force is increased to encourage (invite) a decrease in the accelerator pedal opening, and a greater deceleration will occur when entering the corner with a certain accelerator pedal depression force. It can be said that it worsens.

  The present invention has been made to solve such problems, and it is a main object of the present invention to provide a vehicular travel control device that improves the steering feeling during turning.

One aspect of the present invention for achieving the above object is a vehicular travel control device for controlling the magnitude of an accelerator pedal reaction force in a vehicle, wherein the running resistance for estimating the magnitude of a running resistance when the vehicle is turning. An accelerator pedal reaction force control means for controlling the magnitude of the accelerator pedal reaction force based on the magnitude of the turning running resistance estimated by the running resistance estimation means, and the accelerator pedal reaction force force control means, the time when the vehicle turns, the running resistance estimating means controls the magnitude of the accelerator pedal reaction force as the accelerator pedal reaction force becomes smaller as the time has been greater turning during running resistance estimated by, when approaching the corner Until the accelerator pedal opening for generating the driving force corresponding to the magnitude of the running resistance during turning estimated by the running resistance estimating means is realized. Kuserupedaru reduce the magnitude of the reaction force, it is vehicle control system according to claim.
Alternatively, one aspect of the present invention for achieving the above object is a vehicular travel control device that controls the magnitude of an accelerator pedal reaction force in a vehicle, and estimates the magnitude of travel resistance when the vehicle is turning. A travel resistance estimating means; and an accelerator pedal reaction force control means for controlling the magnitude of the accelerator pedal reaction force based on the magnitude of the turning travel resistance estimated by the travel resistance estimation means. pedal reaction force control means, the time when the vehicle turns by controlling the magnitude of the accelerator pedal reaction force as the accelerator pedal reaction force becomes smaller as the time has been greater turning during running resistance estimated by the running resistance estimating means, an accelerator A map showing the relationship between the amount of change in pedal reaction force and the amount of change in accelerator pedal opening that is estimated to be achieved is stored in advance, and the corner is entered. The difference between the accelerator pedal opening for generating the driving force corresponding to the magnitude of the traveling resistance during turning estimated by the traveling resistance estimating means and the current accelerator pedal opening is obtained in light of the map. The vehicular travel control apparatus may reduce the magnitude of the accelerator pedal reaction force by the amount of change in the accelerator pedal reaction force .

  In this aspect, the magnitude of the running resistance when the vehicle is turning may be estimated, for example, from the magnitude of the steering angle of the steering wheel detected by the steering angle sensor, or the navigation system may It may be estimated from the road shape ahead of the host vehicle obtained by detecting the position and referring to the map data, or may be estimated by combining these.

  According to this aspect, when the vehicle is turning, the accelerator pedal reaction force can be set to a magnitude that takes into account the running resistance caused by the turning, so that the steering feeling is improved.

In this aspect, the accelerator pedal reaction force control means is such that the accelerator pedal reaction force becomes smaller as the turning resistance when turning estimated by the running resistance estimation means increases as the vehicle turns. By controlling the size of the vehicle, the driver who is stepping on the accelerator pedal with a constant pedaling force when entering the corner is not required to perform any special operation, but in a direction that increases the accelerator pedal opening in a natural flow. As a result, the vehicle driving force is increased, and a decrease in vehicle speed due to cornering drag is suppressed.

  In this case, of course, when exiting the corner, the accelerator pedal reaction force is restored (raised) to the original magnitude, and the driver who depresses the accelerator pedal with a constant depression force is guided in a direction to decrease the accelerator pedal opening. It is preferable.

  ADVANTAGE OF THE INVENTION According to this invention, the traveling control apparatus for vehicles which improves the steering feeling at the time of turning driving | running | working can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. The basic concept of the accelerator pedal reaction force control device, the main hardware configuration, the operating principle, the basic control method, and the like are known to those skilled in the art, and thus detailed description thereof is omitted.

  An embodiment of the present invention will be described with reference to FIGS. FIG. 2 shows a schematic configuration of the vehicle travel control apparatus 200 according to the present embodiment.

  The vehicle travel control device 200 uses, for example, an actuator to generate an accelerator pedal reaction force control unit 201 that generates an operation reaction force on an accelerator pedal, and an accelerator pedal reaction force generated by the accelerator pedal reaction force control unit 201. And a control unit 202 for instructing.

  Various proposals have already been made regarding the specific structure and mechanism by which the accelerator pedal reaction force control unit 201 generates an operation reaction force on the accelerator pedal, and the description thereof will be omitted because it is known to those skilled in the art. In this embodiment, any structure / mechanism can be adopted.

  The vehicle travel control device 200 further includes a storage unit 203 that stores and holds various data used by the control unit 202. In the present embodiment, the storage unit 203 particularly stores and holds a driving force map of the host vehicle. The driving force map will be described later.

  The vehicular travel control apparatus 200 further includes a travel resistance estimation unit 204 that estimates the magnitude of a travel resistance (cornering drag) during turning that occurs in the host vehicle. For example, the travel resistance estimation unit 204 detects the magnitude of the steering angle of the steering wheel and the vehicle speed detected by a steering angle sensor (not shown), and a navigation system (not shown) detects the current position of the host vehicle, and obtains it by comparing it with map data. From the information such as the shape of the road ahead of the host vehicle, the radius of curvature of the corner is obtained, for example, and the magnitude of running resistance that the host vehicle receives when entering the corner is estimated.

  The vehicle travel control apparatus 200 further includes an accelerator pedal opening detection unit 205 that detects the accelerator pedal opening, and an accelerator pedal reaction force detection unit 206 that detects the magnitude of the accelerator pedal reaction force.

  Further, in the vehicle travel control apparatus 200, the vehicle speed detected by a vehicle speed sensor (for example, a wheel speed sensor) (not shown) and the current gear ratio (or shift position) are transmitted to the control unit 202.

  Next, the accelerator pedal reaction force control operation of the vehicle travel control apparatus 200 having such a configuration will be described.

  When the control unit 202 receives from the travel resistance estimation unit 204 the estimation that the host vehicle has entered or entered the corner, and the estimated value of the travel resistance at the time of turning that accompanies the vehicle, the control unit 202 determines that By subtracting the running resistance up to, i.e., the running resistance during straight running, the amount of increase in running resistance due to turning is obtained.

  Then, the amount of change (increase) in the accelerator pedal opening required to generate the drive torque that compensates (cancels) the increase in travel resistance is obtained.

Specifically, first, the magnitude of the axle portion torque corresponding to the travel resistance increase amount resulting from the turning travel obtained above is obtained by calculation. Axle torque is
Since it can be expressed as axle portion torque = drive torque × gear ratio, the control unit 202 can obtain the drive torque corresponding to the travel resistance increase amount from the axle portion torque and the gear ratio.

  The control unit 202 illuminates the driving force map stored in the storage unit 203 with the driving torque thus obtained. An example of the driving force map is shown in FIG. The driving force map is a graph showing the relationship between the accelerator pedal opening at each vehicle speed and the driving torque generated at that time.

  The control unit 202 compares the driving torque and the vehicle speed necessary to compensate for the increase in running resistance caused by the cornering drag obtained above with reference to the driving force map, and an accelerator pedal necessary to generate the driving torque. Obtain the opening (target accelerator pedal opening).

  Next, the control unit 202 subtracts the current accelerator pedal opening from the target accelerator pedal opening obtained above to change the accelerator pedal opening required to compensate for the increase in travel resistance caused by the cornering drag. Find the amount (increase).

  Thus, when the change amount of the accelerator pedal opening required when entering the corner is obtained, the control unit 202 next controls the accelerator pedal reaction force control so that the change amount of the accelerator pedal opening is realized. The unit 201 is instructed to control the accelerator pedal reaction force.

  The state of the accelerator pedal reaction force control is shown in FIG. The control unit 202 gradually decreases the accelerator pedal reaction force from the time of entering the corner while monitoring the magnitude of the accelerator pedal opening detected by the accelerator pedal opening detection unit 205, so The accelerator pedal reaction force reduction is stopped when the required amount of change is increased.

  The vehicle driver is not required to perform any particular operation on the accelerator pedal, but if the accelerator pedal is depressed with a constant pedaling force with the intention of maintaining a constant vehicle speed, the reduction of the above-mentioned accelerator pedal reaction force It is guided in a direction that increases the accelerator pedal opening in a natural manner.

  As a result of this guidance, the increase in driving torque due to the increase in the accelerator pedal opening cancels out the increase in travel resistance caused by cornering drag, so that the decrease in vehicle speed due to travel resistance during turning is suppressed.

  As shown in FIG. 4, when the control unit 202 receives an estimation from the running resistance estimation unit 204 that the host vehicle will escape from the corner, the control unit 202 instructs the accelerator pedal reaction force control unit 201 to change the accelerator pedal reaction force to the original value. Return to the size.

  As a result, the driver who depresses the accelerator pedal with a constant depressing force is guided in a direction to reduce the accelerator pedal opening in a natural manner, and returns to the accelerator pedal opening before entering the corner. By exiting the corner, the vehicle speed naturally returns to the speed before entering the corner.

  As described above, according to the present embodiment, the accelerator pedal reaction force control induces an increase / decrease in the accelerator pedal opening, so that the driver keeps pressing the accelerator pedal with a constant pedaling force with the intention of maintaining a constant vehicle speed. Even if the vehicle travels around a corner, a reduction in vehicle speed due to running resistance during turning is suppressed to a minimum, so that a smooth steering feeling without a sense of incongruity can be obtained.

  In the above embodiment, when lowering the accelerator pedal reaction force when entering the corner, the accelerator pedal opening is monitored and gradually lowered until the target accelerator pedal opening is achieved. It is not limited to this.

  For example, as a simpler method, the correspondence between the amount of change in the accelerator pedal reaction force and the amount of change in the accelerator pedal opening is previously determined with respect to the relationship between how much the accelerator pedal reaction force is lowered and how much the accelerator pedal opening increase is induced. Is stored as a map, and the required amount of change in the accelerator pedal opening obtained as described above is compared with this map, and the accelerator pedal reaction force is simply lowered by the amount of change in the obtained accelerator pedal reaction force. You may do it.

  Further, as a modification of the above-described embodiment, when the accelerator pedal reaction force reduction is stopped because the accelerator pedal opening has reached the target accelerator pedal opening, the accelerator pedal opening “overshoot” (increase / excessive) In order to prevent (guidance), as shown in FIG. 5, when stopping the reduction of the accelerator pedal reaction force, the accelerator pedal reaction force is once lowered below the target accelerator pedal reaction force (A) and then gradually increased. The target accelerator pedal reaction force may be set to (B) and then constant.

  INDUSTRIAL APPLICABILITY The present invention can be used for a vehicle travel control device that controls the magnitude of an accelerator pedal reaction force in a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

It is a figure which shows the relationship between the accelerator pedal reaction force control at the time of the conventional vehicle turning, and a vehicle speed. 1 is a schematic configuration diagram of a vehicle travel control apparatus according to an embodiment of the present invention. It is a graph which shows an example of the relationship between an accelerator pedal opening degree and drive torque. It is a figure which shows the relationship between the accelerator pedal reaction force control at the time of vehicle turning in one Example of this invention, and a vehicle speed. It is a figure which shows the relationship between the accelerator pedal reaction force control at the time of vehicle turning in one Example of this invention, and a vehicle speed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 200 Vehicle travel control apparatus 201 Accelerator pedal reaction force control part 202 Control part 203 Memory | storage part 204 Travel resistance estimation part 205 Accelerator pedal opening degree detection part 206 Accelerator pedal reaction force detection part

Claims (2)

A vehicle travel control device for controlling the magnitude of an accelerator pedal reaction force in a vehicle,
Traveling resistance estimation means for estimating the magnitude of traveling resistance during vehicle turning;
An accelerator pedal reaction force control means for controlling the magnitude of the accelerator pedal reaction force based on the magnitude of the turning running resistance estimated by the running resistance estimation means;
The accelerator pedal reaction force control means, the time when the vehicle turns by controlling the magnitude of the accelerator pedal reaction force as the accelerator pedal reaction force becomes smaller as the time has been greater turning during running resistance estimated by the running resistance estimating means When the vehicle enters the corner, the magnitude of the accelerator pedal reaction force is decreased until the accelerator pedal opening for generating the driving force corresponding to the magnitude of the turning running resistance estimated by the running resistance estimating means is realized. the vehicular running control apparatus characterized by. A vehicle travel control device for controlling the magnitude of an accelerator pedal reaction force in a vehicle,
Traveling resistance estimation means for estimating the magnitude of traveling resistance during vehicle turning;
An accelerator pedal reaction force control means for controlling the magnitude of the accelerator pedal reaction force based on the magnitude of the turning running resistance estimated by the running resistance estimation means;
The accelerator pedal reaction force control means, the time when the vehicle turns by controlling the magnitude of the accelerator pedal reaction force as the accelerator pedal reaction force becomes smaller as the time has been greater turning during running resistance estimated by the running resistance estimating means , A map indicating the relationship between the change amount of the accelerator pedal reaction force and the change amount of the accelerator pedal opening estimated to be realized thereby is held in advance, and the turning estimated by the running resistance estimation means when entering the corner The difference between the accelerator pedal opening for generating the driving force corresponding to the magnitude of the running resistance and the current accelerator pedal opening is determined by the amount of change in the accelerator pedal reaction force obtained by referring to the map. A vehicular travel control device that reduces the magnitude of force .

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