JP4646990B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device.

Conventionally, for example, when the host vehicle is present in various facilities or approaches various facilities, the throttle opening and the fuel consumption are controlled to be less than a predetermined upper limit value to prevent unnecessary acceleration, and There is known a control device that prohibits upshifting when the speed is a predetermined low speed and the speed is equal to or lower than a predetermined value (see, for example, Patent Document 1).
JP-A-10-272913

By the way, according to the control device according to the above-described prior art, since the travel mode of the host vehicle is merely restricted according to the facility, the fuel consumption of the host vehicle may be unnecessarily reduced.
For example, simply controlling the throttle opening and fuel consumption below a predetermined upper limit value will allow the throttle opening and fuel consumption to increase until the upper limit is reached, and unnecessary acceleration will be executed. There is a risk of being.
Further, for example, simply prohibiting an upshift permits an increase in the number of rotations at a low speed stage, which may cause an unnecessary increase in the number of rotations.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control device capable of preventing unnecessary fuel consumption of the host vehicle and improving fuel consumption.

  In order to solve the above problems and achieve the object, the vehicle control device according to the first aspect of the present invention is a vehicle speed detecting means for detecting the speed of the host vehicle (for example, the vehicle state sensor 13 in the embodiment). Vehicle position detection means for detecting the position of the vehicle (for example, the current position detection unit 21 in the embodiment), and vehicle stop position detection means for detecting a vehicle stop position that is ahead in the traveling direction of the vehicle. (For example, the stop position detecting unit 25 in the embodiment) and a speed change predicting means for predicting a speed change in a state where the host vehicle is traveling inertially based on the speed detected by the vehicle speed detecting means ( For example, the speed change prediction unit 23) in the embodiment, the vehicle stop position detected by the vehicle stop position detection means, the position detected by the own vehicle position detection means, and the speed change prediction means Based on the predicted change in speed, the speed at which the vehicle reaches the vehicle stop position when the host vehicle travels inertially from the position is determined as the first speed (for example, the speed VPs in the embodiment). , And the first speed calculated by the first speed calculating unit is a first predetermined value (for example, the first speed calculating unit 26 in the embodiment). Vehicle speed control means (for example, a vehicle speed control unit 28 in the embodiment) that prohibits the execution of acceleration control when it is equal to or greater than zero in the embodiment.

  Further, in the vehicle control device according to the second aspect of the present invention, the vehicle speed control means is configured to stop the vehicle when the first speed is equal to or higher than a first predetermined value and the predetermined braking is started from a predetermined braking start position. When the host vehicle can be stopped at the position, execution of the acceleration control is prohibited.

  Further, the vehicle control device according to the third aspect of the present invention includes a vehicle speed detection unit that detects the speed of the host vehicle, and a host vehicle position detection unit that detects the position of the host vehicle (for example, the vehicle state sensor in the embodiment). 13), vehicle stop position detection means (for example, current position detection unit 21 in the embodiment) for detecting a vehicle stop position existing ahead in the traveling direction of the host vehicle, and the speed detected by the vehicle speed detection means On the basis of the speed change predicting means (for example, the speed change predicting section 23 in the embodiment) for predicting the speed change in the state where the host vehicle performs inertial traveling, and the vehicle stop position detecting means Based on the vehicle stop position, the position detected by the own vehicle position detecting means, and the speed change predicted by the speed change predicting means, the own vehicle has made inertial travel from the position. In this case, second speed calculation means (for example, implementation) that calculates the speed at the time when the vehicle reaches the near position before the predetermined distance from the vehicle stop position as the second speed (for example, speed VPq, speed VAq in the embodiment) And the second speed calculated by the second speed calculation means is a second predetermined value (for example, the speed at the vehicle stop position in the inertial traveling in the embodiment). Vehicle speed control means (for example, a vehicle speed control unit 28 in the embodiment) that prohibits execution of acceleration control when V is equal to or greater than the speed at the near position corresponding to the case where V is zero.

  Furthermore, in the vehicle control apparatus according to the fourth aspect of the present invention, the vehicle speed control means is configured to stop the vehicle when the second speed is equal to or higher than a second predetermined value and the predetermined braking is started from a predetermined braking start position. When the host vehicle can be stopped at the position, execution of the acceleration control is prohibited.

  Furthermore, the vehicle control device according to the fifth aspect of the present invention includes map information storage means (for example, the map storage unit 22 in the embodiment) for storing map information, and the speed change prediction means is configured to detect the vehicle speed. The speed change is predicted based on the speed detected by the means and the map information stored in the map information storage means.

  Furthermore, in the vehicle control apparatus according to the sixth aspect of the present invention, the vehicle stop position detection means detects the vehicle stop position based on the map information stored in the map information storage means.

  Furthermore, the vehicle control device according to the seventh aspect of the present invention includes traffic light state acquisition means (for example, a traffic light state acquisition unit 24 in the embodiment) that acquires the state of a traffic signal that exists ahead of the traveling direction of the host vehicle. The vehicle stop position detection means detects the vehicle stop position based on the state of the traffic light acquired by the traffic light state acquisition means.

  Furthermore, the vehicle control device according to the eighth aspect of the present invention includes an operation switch (for example, the input device 14 in the embodiment) that permits execution of predetermined fuel consumption priority traveling according to an input operation of the operator, The vehicle speed control means prohibits execution of the acceleration control when execution of the fuel efficiency priority traveling is permitted by the operation switch.

  Furthermore, the vehicle control apparatus according to the ninth aspect of the present invention includes a shut-off control means (for example, the shift control unit 29 in the embodiment) that shuts off the connection between the drive source of the own vehicle and the drive wheels in the inertial running. Prepare.

According to the vehicle control device of the first aspect of the present invention, when the first speed at the time of reaching the vehicle stop position in the inertial running state is not less than a first predetermined value (for example, zero), Since the vehicle stop position can be reached without the need for acceleration, prohibiting the execution of acceleration control can prevent unnecessary fuel consumption of the host vehicle and improve fuel efficiency. Further, unnecessary acceleration and deceleration are prevented from being executed, and the running behavior of the vehicle can be changed smoothly.
Furthermore, according to the vehicle control device of the second aspect of the present invention, execution of acceleration control is prohibited when the host vehicle can be stopped at the vehicle stop position by starting predetermined braking from the predetermined braking start position. As a result, it is possible to prevent the speed of the host vehicle from excessively decreasing near the vehicle stop position, compared to the case where the execution of acceleration control is prohibited when the first speed is equal to or higher than the first predetermined value. It is possible to prevent a subsequent vehicle or the like from feeling uncomfortable with the deceleration traveling behavior of the host vehicle.

Further, according to the vehicle control device of the third aspect of the present invention, the second speed at the time when the vehicle reaches the near position before the predetermined distance from the vehicle stop position in the execution state of the inertial traveling is the second predetermined value, for example, If the vehicle stop position is equal to or greater than the value corresponding to the state where the speed is zero, the vehicle stop position can be reached without the need for acceleration. It is possible to prevent unnecessary fuel consumption and improve fuel consumption. Further, unnecessary acceleration and deceleration are prevented from being executed, and the running behavior of the vehicle can be changed smoothly.
Further, according to the vehicle control device of the fourth aspect of the present invention, the execution of the acceleration control is prohibited when the host vehicle can be stopped at the vehicle stop position by starting the predetermined braking from the predetermined braking start position. As a result, it is possible to prevent the speed of the host vehicle from excessively decreasing near the vehicle stop position, compared to the case where the execution of acceleration control is prohibited when the second speed is equal to or higher than the second predetermined value. It is possible to prevent a subsequent vehicle or the like from feeling uncomfortable with the deceleration traveling behavior of the host vehicle.

Furthermore, according to the vehicle control apparatus which concerns on the 5th aspect of this invention, after a predetermined time passes in the state which can acquire road gradient, a curve shape, etc. based on map information, for example, the own vehicle is carrying out inertial driving | running | working Can be accurately predicted according to the shape of the road.
Furthermore, according to the vehicle control apparatus which concerns on the 6th aspect of this invention, the vehicle stop position which the own vehicle should stop based on map information can be detected accurately.
Furthermore, according to the vehicle control apparatus of the seventh aspect of the present invention, it is necessary to stop at the stop line of the traffic light according to the state of the traffic light, for example, the type of the signal light that is lit or the timing at which the signal light is switched on. It is possible to accurately determine whether or not there is a vehicle stop position, and it is possible to accurately detect the vehicle stop position at which the host vehicle should stop.

Furthermore, according to the vehicle control apparatus which concerns on the 8th aspect of this invention, an operator's intention can be appropriately reflected with respect to control which prohibits execution of acceleration control.
Furthermore, according to the vehicle control device of the ninth aspect of the present invention, the operation of the internal combustion engine and the shift operation and the torque transmission in the transmission are cut off by disconnecting the connection between the drive source of the own vehicle and the drive wheels in the inertial running. The timing at which the inertial running is started can be prevented by preventing the speed of the host vehicle from being lowered in accordance with the friction loss related to The fuel consumption can be improved.

Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, for example, the vehicle control apparatus 10 according to the present embodiment is applied to a vehicle that transmits a driving force of an internal combustion engine (E) to a driving wheel (not shown) of the vehicle via a transmission (T / M). It is mounted and includes an external sensor 11, a communication device 12, a vehicle state sensor 13, an input device 14, an output device 15, a processing device 16, and a brake actuator 17.
Furthermore, the processing device 16 includes, for example, a current position detection unit 21, a map storage unit 22, a speed change prediction unit 23, a traffic light state acquisition unit 24, a stop position detection unit 25, a first speed calculation unit 26, The second speed calculation unit 27, the vehicle speed control unit 28, the shift control unit 29, and the braking control unit 30 are configured.

The external sensor 11 includes, for example, a camera (not shown) and an image processing unit (not shown) capable of imaging in the visible light region and the infrared region, a radar (not shown) such as a laser beam and a millimeter wave, and a radar control unit (not shown). (Not shown).
For example, the image processing unit performs predetermined image processing such as filtering and binarization processing on an image of the outside world in the traveling direction of the host vehicle obtained by photographing with a camera, and is an image composed of pixels of a two-dimensional array. Data is generated and output to the processing device 16.
Further, for example, the radar control unit divides the detection target region set in front of the traveling direction of the host vehicle into a plurality of regions along the angular direction, and scans each region, for example, a millimeter wave transmission signal. And a reflection signal generated by reflection of each transmission signal by an object outside the host vehicle is received, and the beat signal is generated by mixing the reflection signal and the transmission signal and output to the processing device 16 To do.

  The communication device 12 transmits information transmitted from an information transmission device provided outside the host vehicle, for example, a road-to-vehicle communication device (road vehicle) disposed on the roadside or the like, or a vehicle-to-vehicle communication device mounted on another vehicle. Receive.

  The vehicle state sensor 13 is, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, and a gyro that detects the posture and traveling direction of the vehicle body. A positioning signal such as a sensor, a yaw rate sensor that detects the yaw rate (rotational angular velocity around the vertical axis of the center of gravity of the vehicle), or a GPS (Global Positioning System) signal for measuring the position of the vehicle using, for example, an artificial satellite It is configured with a receiver for receiving.

  The input device 14 includes an operation switch that can be operated by the operator, and a signal corresponding to various input operations by the operator, for example, a signal that permits execution of predetermined fuel consumption priority traveling, Are output to the processing device 16 such as a signal indicating the state of the traffic light existing in the vehicle (for example, the type of the signal light that is lit, the timing at which the signal light is switched on, etc.), and the signal indicating various vehicle states of the host vehicle. .

  The output device 15 includes a monitor, a speaker, and the like. Under the control of the processing device 16, for example, the driver is notified of a driving operation instruction for predetermined fuel efficiency priority traveling, or the detection result by the external sensor 11 is displayed, for example.

  The current position detection unit 21 of the processing device 16 is based on a positioning signal such as a GPS (Global Positioning System) signal output from the vehicle state sensor 13, or a vehicle speed sensor, a gyro sensor, a yaw rate sensor, or the like of the vehicle state sensor 13, for example. Information obtained by calculation processing of autonomous navigation based on detection signals output from each sensor, or based on information acquired by the communication device 12, or calculation processing of positioning signals and autonomous navigation, and information acquired by the communication device 12. The current position of the host vehicle is detected by appropriately combining at least two of the two, and map matching is performed on the map information stored in the map storage unit 22 based on the current position.

  The speed change prediction unit 23 includes vehicle state information such as the speed (vehicle speed) of the host vehicle detected by the vehicle speed sensor of the vehicle state sensor 13 and map information (for example, travel) stored in the map storage unit 22. The state of performing inertial driving based on the road gradient (road gradient) or the shape of the curve (curve shape, etc.), for example, the accelerator opening related to the driver's accelerator operation is zero, and the driving source of the host vehicle A speed change is predicted in a traveling state where the driving force is not transmitted to the driving wheels.

  As an example of this speed change, for example, in the inertial traveling speed change VA (low speed) and the inertial traveling speed change VB (high speed) shown in FIG. 2, the host vehicle traveling at a predetermined speed limit VU is moved from an appropriate position LA or position LB. When the inertial running is started, the gradient of the running road, the friction loss between the road surface and the wheels, and the operation of the internal combustion engine when the internal combustion engine (E) and the transmission (T / M) are connected to the drive wheel In addition, the speed V of the host vehicle changes to a predetermined decreasing tendency in accordance with a friction loss related to a speed change operation and torque transmission in the transmission (T / M).

  Further, for example, in the ideal travel speed change VP shown in FIG. 2, the host vehicle that has reached a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2) during inertial traveling is subjected to predetermined braking (for example, normal braking by the driver). If the host vehicle that travels at a predetermined speed limit VU starts inertial travel from an appropriate position LP on the premise of starting the operation etc.), the gradient of the travel path, the friction loss between the road surface and the wheels, and the internal combustion According to the friction loss related to the operation of the internal combustion engine when the engine (E) and the transmission (T / M) and the drive wheels are connected, the shift operation in the transmission (T / M), the torque transmission, etc. The speed V of the host vehicle changes to a predetermined decreasing tendency. When the host vehicle reaches a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2), the host vehicle stops at a vehicle stop position (for example, the stop position LS shown in FIG. 2). Braking (for example, a normal braking operation by the driver) is started.

  For example, the traffic light state acquisition unit 24 uses the map information stored in the map storage unit 22, the current position of the host vehicle detected by the current position detection unit 21, the detection result by the external sensor 11, and the communication device 12. The state of a traffic light existing in front of the traveling direction of the host vehicle (for example, a lit signal light), by any one or an appropriate combination of information acquired and information input from an operator via the input device 14 And the timing at which the signal light is switched on).

  The stop position detection unit 25 includes, for example, map information stored in the map storage unit 22, the current position of the host vehicle detected by the current position detection unit 21, a detection result by the external sensor 11, and a traffic light state acquisition unit. The position (vehicle stop position) at which the host vehicle existing ahead in the traveling direction of the host vehicle should be stopped is estimated or detected by any one or an appropriate combination with the state of the traffic light acquired by 24. The vehicle stop position is, for example, a predetermined stop position (such as a stop line of a traffic light or a temporary stop line) on the travel path, or a position that is a predetermined distance away from a preceding vehicle or a pedestrian. For example, the stop position detection unit 25 determines whether or not it is necessary to stop at a stop line of a traffic signal existing ahead in the traveling direction of the host vehicle.

The first speed calculation unit 26 includes a vehicle stop position detected by the stop position detection unit 25, a current position of the host vehicle detected by the current position detection unit 21, and a speed change predicted by the speed change prediction unit 23. Based on the above, when the inertial running is started from the current position of the host vehicle, the speed at the time of reaching the vehicle stop position is calculated as the first speed.
For example, as shown in FIG. 2, the first speed becomes the speed VAs at the stop position LS when the host vehicle starts inertial travel from an appropriate position LA, and the host vehicle travels inertial from an appropriate position LP. When the vehicle starts, the speed VPs at the stop position LS is obtained. When the host vehicle starts inertial running from the appropriate position LB, the speed VBs at the stop position LS is obtained.

The second speed calculation unit 27 includes the vehicle stop position detected by the stop position detection unit 25, the current position of the host vehicle detected by the current position detection unit 21, and the speed change predicted by the speed change prediction unit 23. When the inertial running is started from the current position of the host vehicle, the speed at the time when the vehicle reaches a position before the predetermined distance from the vehicle stop position (for example, the braking start position LQ shown in FIG. 2) is set to the second speed. Calculate as
For example, as shown in FIG. 2, the second speed is the speed VAq at the braking start position LQ when the host vehicle starts inertial travel from an appropriate position LA, and the host vehicle travels inertially from the appropriate position LP. When the vehicle starts, the speed VPq at the braking start position LQ is obtained. When the host vehicle starts inertial running from the appropriate position LB, the speed VBq at the braking start position LQ is obtained.

  The vehicle speed control unit 28 is configured such that the first speed calculated by the first speed calculation unit 26 is the first speed in a state where a signal permitting execution of predetermined fuel efficiency priority traveling is output from the input device 14 by an input operation by the operator. When the second speed calculated by the second speed calculation unit 27 is equal to or greater than one predetermined value (for example, zero) or the second speed is the second predetermined value (for example, the first speed is the first speed at the vehicle stop position during inertial traveling of the host vehicle). 1) When the speed is equal to or higher than the speed at the near position corresponding to the state where the predetermined value is reached, the execution of the acceleration control is prohibited.

  For example, when the host vehicle that travels at a predetermined speed limit VU starts inertial travel from an appropriate position LA, such as the inertia travel speed change VA (low speed) shown in FIG. 2, the vehicle stop position (for example, FIG. The speed VAS at the stop position LS shown in FIG. 2 becomes zero, and the speed V at the front position a predetermined distance before the vehicle stop position (for example, the braking start position LQ shown in FIG. 2) corresponds to the speed VAS. Thus, the vehicle stop position (for example, the stop position LS shown in FIG. 2) can be reached from the position LA without the need for acceleration. For this reason, the first speed calculated by the first speed calculation unit 26 is equal to or higher than the speed VAS (= zero), or a position before the predetermined distance from the vehicle stop position calculated by the second speed calculation unit 27 (for example, When the second speed at the braking start position LQ) shown in FIG. 2 is equal to or higher than the speed VAq, execution of acceleration control is prohibited.

  Further, the vehicle speed control unit 28 is more preferably calculated by the second speed calculation unit 27 when the first speed calculated by the first speed calculation unit 26 is equal to or greater than a first predetermined value (for example, zero). The second speed is equal to or higher than a second predetermined value (for example, a speed at a front position corresponding to a state in which the first speed becomes the first predetermined value at the vehicle stop position during inertial traveling of the host vehicle) and predetermined braking Stops at a vehicle stop position (for example, stop position LS shown in FIG. 2) by starting predetermined braking (for example, a normal braking operation by the driver) from the start position (for example, braking start position LQ shown in FIG. 2). Execution of acceleration control is prohibited when possible.

  For example, when the own vehicle that travels at a predetermined speed limit VU starts inertial travel from an appropriate position LP as in the ideal travel speed change VP illustrated in FIG. 2, a predetermined braking start position (for example, illustrated in FIG. 2). The speed VPq at the braking start position LQ) becomes the speed VQ immediately before the ideal braking, and the vehicle is started at the predetermined braking start position from the state of the speed VQ immediately before the ideal braking by a predetermined braking (for example, a normal braking operation by the driver). The speed VPs1 at the stop position (for example, the stop position LS shown in FIG. 2) becomes zero, and the vehicle stop position (for example, the stop position LS shown in FIG. 2) can be reached without acceleration from the position LP. Therefore, if it is assumed that predetermined braking (for example, a normal braking operation by the driver) is started from a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2), the first speed The first speed calculated by the calculation unit 26 is the speed VPs2 corresponding to the speed VPq, that is, the speed when the inertial running is continued from the position LP and reaches the vehicle stop position (for example, the stop position LS shown in FIG. 2). If equal, or the second speed at a position before a predetermined distance from the vehicle stop position calculated by the second speed calculation unit 27 (for example, the braking start position LQ shown in FIG. 2) has reached the speed VPq. In such a case, execution of acceleration control is prohibited.

  Further, the vehicle speed control unit 28 starts the predetermined braking operation when the host vehicle reaches a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2), thereby causing the vehicle stop position (for example, FIG. 2). The execution of the acceleration control may be permitted on the assumption that the vehicle can be stopped at the stop position LS) (that is, the speed V at the stop position LS is zero). This acceleration control is an acceleration control necessary for performing constant speed traveling that maintains a speed equal to or higher than a predetermined ideal braking speed VQ, such as ideal acceleration traveling VC shown in FIG. The acceleration control is performed when the combination of the speed V and the position L by the ideal acceleration travel VC matches the combination of the speed V and the position L in the ideal travel speed change VP (for example, 2 is prohibited at the time when the host vehicle reaches the position LD shown in FIG. 2, and predetermined braking (for example, a normal braking operation by the driver) is performed from a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2). It is assumed that the vehicle is started, and inertial running is started from this position L.

Further, the vehicle speed control unit 28 controls the transmission (T / M) by the shift control unit 29 in a state in which the execution of the acceleration control is prohibited and the own vehicle is traveling in an inertial manner, and the drive source (that is, the internal combustion engine) of the own vehicle is controlled. The connection between the engine (E) and the drive wheel is cut off.
Further, the vehicle speed control unit 28 displays, for example, a graph of each speed change shown in FIG. 2 on the monitor of the output device 15 as information on the predetermined fuel consumption priority traveling, or outputs that execution of acceleration control is prohibited. A notification is given to the driver by the device 15 or an instruction for driving operation, for example, an instruction to start the driving operation for predetermined braking when a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2) is reached. The driver is notified by the output device 15.

Further, the vehicle speed control unit 28 assumes that the predetermined braking is started when the host vehicle reaches a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2) (for example, FIG. In the driving state indicating the speed change due to the ideal driving speed change VP, the brake control unit 30 may control the brake actuator 17 to automatically generate the braking force.
Note that the vehicle speed control unit 28 prohibits execution of acceleration control even when the speed V of the host vehicle is greater than a predetermined speed limit VU, for example.

  The vehicle control apparatus 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle control apparatus 10, particularly the operation for prohibiting the acceleration control of the host vehicle in accordance with the ideal travel speed change VP is attached. Will be described with reference to FIG.

First, for example, in step S01 shown in FIG. 3, it is determined whether or not the operator is permitted to execute predetermined fuel consumption priority traveling.
If the determination result is “NO”, the determination process of step S01 is repeatedly executed.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
In step S02, information on the vehicle state (for example, vehicle speed) of the own vehicle is acquired from the vehicle state sensor 13, and information on the external state of the own vehicle (for example, the own vehicle) is obtained from the external sensor 11 or the communication device 12. Information on other vehicles, pedestrians, traffic lights, predetermined stop positions, etc.) existing in the forward direction of the travel.

In step S03, for example, vehicle state information such as the speed (vehicle speed) of the host vehicle detected by the vehicle speed sensor of the vehicle state sensor 13 and map information (for example, travel) stored in the map storage unit 22 are used. Based on the road gradient, the shape of the curve, etc., a speed change (for example, inertial running speed change VA (low speed), etc.) in a state where inertial running is performed is predicted.
In step S04, various information according to the input operation by the operator, for example, information such as the type of the signal light that is lit in the traffic light existing ahead in the traveling direction of the host vehicle, the timing at which the lighting of the signal light is switched, and the like is acquired. To do.

In step S05, a position (vehicle stop position) at which the host vehicle existing ahead in the traveling direction of the host vehicle is to be estimated is estimated.
In step S06, when a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2), that is, predetermined braking (for example, a normal braking operation by the driver) is started, a vehicle stop position (for example, The position at which the vehicle can be stopped at the stop position LS shown in FIG. 2 (that is, the speed V at the stop position LS is zero) is estimated.
In step S07, when the ideal travel speed change VP, that is, the host vehicle reaches a predetermined braking start position (for example, the braking start position LQ shown in FIG. 2), the predetermined braking is started, whereby the vehicle stop position ( For example, the vehicle travels at a predetermined speed (for example, the speed limit VU shown in FIG. 2) on the assumption that the vehicle can be stopped at the stop position LS shown in FIG. 2 (that is, the speed V at the stop position LS is zero). A speed change at the time when the execution of the acceleration control is prohibited is estimated at the time when the host vehicle reaches a predetermined position L (for example, the position LA shown in FIG. 2).

In step S08, for example, it is determined whether or not the combination of the speed V of the host vehicle and the current position (position L) matches any of the combinations of the speed V and the position L in the ideal travel speed change VP. By doing so, it is determined whether or not the execution of the acceleration control is prohibited.
If this determination is “NO”, the flow returns to step S 01 described above.
On the other hand, if this determination is “YES”, the flow proceeds to step S 09, where execution of acceleration control is prohibited and the series of processes is terminated.

  As described above, according to the vehicle control apparatus 10 according to the present embodiment, the first speed at the time when the vehicle stop position is reached in the inertial running state is greater than or equal to the first predetermined value (for example, zero). Since it is possible to reach the vehicle stop position without the need for acceleration, prohibiting the execution of acceleration control can prevent unnecessary fuel consumption of the host vehicle and improve fuel efficiency. Further, unnecessary acceleration and deceleration are prevented from being executed, and the running behavior of the vehicle can be changed smoothly. Further, when the host vehicle can be stopped at the vehicle stop position by starting predetermined braking from the predetermined braking start position, the first speed is simply greater than or equal to the first predetermined value by prohibiting execution of acceleration control. Compared to prohibiting the execution of acceleration control in this case, it is possible to prevent the speed of the host vehicle from excessively decreasing near the vehicle stop position. It can be prevented from feeling.

  In addition, the second speed when the inertial running state reaches the near position before the predetermined distance from the vehicle stop position is a second predetermined value, for example, a value corresponding to a state where the speed at the vehicle stop position is zero. If this is the case, it is possible to reach the vehicle stop position without the need for acceleration. By prohibiting execution of acceleration control, unnecessary fuel consumption of the host vehicle is prevented and fuel consumption is improved. Can do. Further, unnecessary acceleration and deceleration are prevented from being executed, and the running behavior of the vehicle can be changed smoothly. Further, when the host vehicle can be stopped at the vehicle stop position by starting predetermined braking from the predetermined braking start position, the second speed is simply greater than or equal to the second predetermined value by prohibiting execution of acceleration control. Compared to prohibiting the execution of acceleration control in this case, it is possible to prevent the speed of the host vehicle from excessively decreasing near the vehicle stop position. It can be prevented from feeling.

Furthermore, the speed change prediction unit 23 can acquire, for example, a road gradient, a curve shape, and the like based on the map information stored in the map storage unit 22, and can detect the speed change in a state where the host vehicle performs inertial traveling. In addition, it can be accurately predicted according to the shape of the road.
Furthermore, the stop position detection unit 25 can accurately detect the vehicle stop position at which the host vehicle should stop based on the map information.
Furthermore, the stop position detection unit 25 accurately determines whether or not it is necessary to stop at the stop line of the traffic light according to the state of the traffic light, for example, the type of the signal light that is lit or the timing when the signal light is switched on. The vehicle stop position where the host vehicle should stop can be detected with high accuracy.

Furthermore, since the execution of the acceleration control is prohibited when a signal permitting the execution of the predetermined fuel efficiency priority traveling is output from the input device 14 by the input operation by the operator, the control for prohibiting the execution of the acceleration control is prohibited. Therefore, the intention of the operator can be appropriately reflected.
Further, in inertial traveling, the connection between the drive source (internal combustion engine (E)) and the drive wheels of the host vehicle is cut off by the transmission (T / M), thereby driving the internal combustion engine (E) and the transmission (T / M). It is possible to prevent the speed of the host vehicle from decreasing according to the friction loss related to the speed change operation and torque transmission, and to increase the distance that can be traveled by inertial travel before reaching the vehicle stop position. The timing at which the inertial running is started can be advanced, and the fuel consumption can be improved.

  In the above-described embodiment, the speed change prediction unit 23 predicts the speed change based on the vehicle speed and the map information. However, the present invention is not limited to this, and the internal combustion engine (E) and the transmission (T / M) are driven. When a wheel is connected, the speed change may be predicted based on the gear ratio in the transmission (T / M).

  In the above-described embodiment, the position before the predetermined distance from the vehicle stop position is the same as the predetermined braking start position. However, the present invention is not limited to this, and the position before the predetermined distance from the vehicle stop position is predetermined. The braking start position may be different from each other.

It is a lineblock diagram of the vehicle control device concerning an embodiment of the invention. It is a figure which shows the example of the speed change of the own vehicle which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the vehicle control apparatus which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle control apparatus 13 Vehicle state sensor (vehicle speed detection means)
14 Input device (operation switch)
21 Current position detection unit (own vehicle position detection means)
22 Map storage unit (map information storage means)
23 Speed change prediction unit (speed change prediction means)
24 traffic light state acquisition unit (traffic light state acquisition means)
25 Stop position detector (vehicle stop position detection means)
26 1st speed calculation part (1st speed calculation means)
27 Second speed calculation unit (second speed calculation means)
28 Vehicle speed control unit (vehicle speed control means)
29 Shift control unit (cut-off control means)

Claims (9)

Vehicle speed detecting means for detecting the speed of the host vehicle;
Own vehicle position detecting means for detecting the position of the own vehicle;
Vehicle stop position detecting means for detecting a vehicle stop position existing ahead in the traveling direction of the host vehicle;
Based on the speed detected by the vehicle speed detecting means, a speed change predicting means for predicting a speed change in a state where the host vehicle is inertial traveling;
Based on the vehicle stop position detected by the vehicle stop position detection means, the position detected by the own vehicle position detection means, and the speed change predicted by the speed change prediction means, from the position First speed calculating means for calculating, as the first speed, the speed at which the host vehicle reaches the vehicle stop position when the vehicle travels inertially;
A vehicle control apparatus comprising: vehicle speed control means for prohibiting execution of acceleration control when the first speed calculated by the first speed calculation means is equal to or greater than a first predetermined value. The vehicle speed control means accelerates the host vehicle when the first speed is equal to or higher than a first predetermined value and the host vehicle can be stopped at the vehicle stop position by the start of predetermined braking from the predetermined braking start position. The vehicle control device according to claim 1, wherein execution of control is prohibited. Vehicle speed detecting means for detecting the speed of the host vehicle;
Own vehicle position detecting means for detecting the position of the own vehicle;
Vehicle stop position detecting means for detecting a vehicle stop position existing ahead in the traveling direction of the host vehicle;
Based on the speed detected by the vehicle speed detecting means, a speed change predicting means for predicting a speed change in a state where the host vehicle is inertial traveling;
Based on the vehicle stop position detected by the vehicle stop position detection means, the position detected by the own vehicle position detection means, and the speed change predicted by the speed change prediction means, from the position Second speed calculating means for calculating, as a second speed, a speed at which the host vehicle reaches the near position before the predetermined distance from the vehicle stop position when the vehicle has performed inertial traveling;
A vehicle control apparatus comprising: vehicle speed control means for prohibiting execution of acceleration control when the second speed calculated by the second speed calculation means is equal to or greater than a second predetermined value. The vehicle speed control means accelerates the host vehicle when the second speed is greater than or equal to a second predetermined value and the host vehicle can be stopped at the vehicle stop position by starting predetermined braking from a predetermined braking start position. 4. The vehicle control device according to claim 3, wherein execution of control is prohibited. Comprising map information storage means for storing map information;
The speed change predicting means predicts the speed change based on the speed detected by the vehicle speed detecting means and the map information stored in the map information storing means. The vehicle control device according to any one of claims 1 to 4. 6. The vehicle control device according to claim 5, wherein the vehicle stop position detection means detects the vehicle stop position based on the map information stored in the map information storage means. A traffic light state acquisition means for acquiring the state of a traffic light existing ahead of the traveling direction of the host vehicle;
The vehicle stop position detection unit detects the vehicle stop position based on the state of the traffic signal acquired by the traffic signal state acquisition unit. Vehicle control device. An operation switch that permits execution of predetermined fuel consumption priority driving according to an operator's input operation,
The vehicle speed control means prohibits execution of the acceleration control when execution of the fuel consumption priority traveling is permitted by the operation switch. Vehicle control device. The vehicle control device according to any one of claims 1 to 8, further comprising: a cutoff control unit that cuts off a connection between a drive source and a drive wheel of the host vehicle during the inertial running.

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