JP5056192B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that controls a vehicle based on a driving operation amount of the vehicle.

2. Description of the Related Art Conventionally, a fuel injection device is known in which a change rate of an accelerator opening read from an accelerator sensor is smoothed by an accelerator opening correcting means, and a fuel injection amount is calculated based on the smoothed accelerator opening ( For example, see Patent Document 1). This fuel injection device has a learning function that learns and stores the change rate of the accelerator opening, and changes the smoothing rate in the accelerator opening correction means based on the learned change rate.
JP 2003-328811 A

  However, in the above-described prior art, since the smoothing rate can be set according to the driver's accelerator operation trap, it is expected to eliminate the driver's driving trap, but the driver's driving operation is not necessarily optimal. Since it is not necessarily a driving operation, it can be considered that the vehicle is not optimally controlled depending on the learning result. As an example, when a driving operation with poor fuel efficiency is learned, the fuel efficiency of the vehicle may be deteriorated.

  Accordingly, an object of the present invention is to provide a vehicle control device that can provide driving assistance so that the vehicle is optimally controlled while matching the driving sensation of the driver.

In order to achieve the above object, a vehicle control device according to a first invention comprises:
A vehicle control device that controls a vehicle based on a driving operation amount of a driver,
Driving operation amount detecting means for detecting the driving operation amount;
Controlled amount estimation means for calculating an estimated value of the controlled amount of the vehicle based on the driving operation amount detected by the driving operation amount detection means;
The difference between the estimated value calculated by the controlled amount estimating unit and the recommended value of the controlled amount of the vehicle recommended at the time of the driving operation in which the driving operation amount is detected by the driving operation amount detecting unit is greater than or equal to a predetermined value. An interpolation value calculating means for calculating an interpolation value between the history value of the controlled amount of the vehicle and the recommended value according to the driving history information of the vehicle;
Vehicle control means for controlling the vehicle based on the interpolation value calculated by the interpolation value calculation means.

A second invention is a vehicle control device according to the first invention,
The interpolation value calculation means changes the interpolation value according to an operation history of past driving operations.

A third invention is a vehicle control device according to the second invention,
The interpolation value calculation means calculates the interpolation value in a direction in which the difference from the recommended value is smaller when the difference between the operation history and the current driving operation is small than when the difference is large.

4th invention is the control apparatus for vehicles which concerns on 2nd or 3rd invention, Comprising:
The interpolation value calculation means calculates the interpolation value in such a direction that the difference between the operation history and the current driving operation is smaller when the difference is smaller than when the difference is small.

A fifth invention is a vehicle control device according to any one of the first to fourth inventions,
The interpolation value calculation means varies the calculation of the interpolation value depending on the driving situation of the vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, a driving assistance can be performed so that a vehicle can be controlled optimally according to a driver | operator's driving sense.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a driving support device 100 which is an embodiment of a vehicle control device according to the present invention. The driving assistance device 100 assists the driving operation of the driver of the vehicle.

  The driving operation detection unit 1 detects a driving operation of a vehicle driver. The driving operation detection unit 1 corresponds to, for example, a sensor or a switch for detecting a driving operation amount generated by the driving operation of the driver. More specifically, an accelerator position sensor, an accelerator switch, a brake position sensor and a brake switch, and a driver's steering driving operation amount that can detect the driver's acceleration driving operation amount / deceleration driving operation amount are detected. Steering angle sensor that makes it possible, shift position sensor and clutch switch that make it possible to detect the amount of shift operation state of the driver, winker switch that makes it possible to detect the amount of state change operation state of the driver, etc. Is mentioned.

  The accelerator position sensor and the brake position sensor are installed in a pedal portion operated by a driver's foot seated in the driver's seat and detect a pedal stroke (angle). Based on the detected value, the amount of depression of the driver's pedal can be calculated. The accelerator switch detects the depression operation of the accelerator pedal. For example, the accelerator switch detects that the accelerator pedal is depressed, and detects that the accelerator pedal is not depressed. Based on the detected value, the driver's intention to accelerate can be detected. The brake switch detects a depression operation of the brake pedal. For example, the brake switch detects that the brake pedal is depressed, and detects that the brake pedal is not depressed. Based on the detected value, the driver's intention to decelerate can be detected. The steering angle sensor is installed in the steering section of the driver's seat and detects the steering angle of the steering. Based on the detected value, the steering amount of the driver can be calculated. The shift position sensor can detect a shift position operated by the driver (for example, a shift gear position such as a D range, an R range, and 1st to 6th gears). The clutch switch can detect the clutch operation of the driver. Further, the winker switch can detect a right / left turn operation or a lane change operation.

  The controlled amount estimation unit 2 calculates an estimated value of the controlled amount of the vehicle based on the driving operation amount detected by the driving operation detection unit 1. The vehicle is controlled by various vehicle controls such as engine control, brake control, steering control, inter-vehicle distance control, and lane keeping control, and a vehicle control computer (ECU (Electronic Control Unit: electronic control) for performing such vehicle control). Device)). These ECUs perform calculation processing for performing predetermined vehicle control based on an input signal input to the ECU, so that a vehicle to be controlled (display device such as an engine, actuator, motor, display, speaker, etc.) Control signals for operating a vehicle component such as an audio output device) are determined and output. In other words, the controlled variable estimation unit 2 represents the controlled variable of the vehicle (representing the vehicle motion state) controlled according to the control signal output from the ECU using the driving operation amount detected by the driving operation detection unit 1 as an input signal. Estimate the actual state quantity). For example, the controlled amount estimating unit 2 controls the engine speed (controlled) according to a control signal output from an engine ECU (ECU that performs engine control) that uses an accelerator pedal stroke amount (driving operation amount) as an input signal. Control value) is calculated. As specific examples of the controlled amount of the vehicle, in addition to the engine speed, the vehicle speed, the acceleration / deceleration of the vehicle, the steering angle of the vehicle, the inter-vehicle distance with the surrounding vehicle, the inter-vehicle time with the surrounding vehicle, and the lane with the road marking line State quantities such as distance are listed.

  The controlled amount estimation unit 2 calculates the estimated value of the controlled amount of the vehicle based on, for example, an estimated value calculation standard (for example, a map or an arithmetic expression) that defines the relationship between the driving operation amount and the controlled amount. be able to. To give a more specific example, the controlled variable estimation unit 2 is an accelerator that is detected by the driving operation detection unit 1 based on an estimated value calculation criterion that defines a relationship between the stroke amount of the accelerator pedal and the engine speed. An estimated value of the engine speed (controlled amount) with respect to the pedal stroke amount (driving operation amount) is calculated. The estimated value calculation reference may be set in advance by simulation or evaluation test, or may be set by learning, for example.

  The controlled amount estimation unit 2 calculates an estimated value of the controlled amount of the vehicle based on the vehicle state amount detected by the vehicle state detection unit 3 and the driving operation amount detected by the driving operation detection unit 1. May be. The vehicle state quantity detected by the vehicle state detection unit 3 is detected by a sensor (including a switch or ECU) mounted on the vehicle, etc., and is a current state quantity indicating the running state of the vehicle, the running environment of the vehicle, and the like. It is equivalent. More specifically, vehicle speed, vehicle acceleration / deceleration, engine speed, steering angle, roll angle, yaw rate, vehicle tilt angle, battery status, inter-vehicle distance, inter-vehicle time, weather conditions such as outside temperature and weather, etc. . Similar to the above, the controlled amount estimation unit 2 controls the vehicle based on an estimated value calculation criterion (for example, a map or an arithmetic expression) that defines the relationship between the driving operation amount, the vehicle state amount, and the controlled amount. What is necessary is just to calculate the estimated value of quantity.

  In addition, the controlled variable estimation unit 2 uses the control theory such as model control, feedforward control, and Kalman filter, and the vehicle state quantity detected by the vehicle state detection unit 3 and the driving operation detected by the driving operation detection unit 1. The estimated value of the controlled amount of the vehicle may be calculated based on the amount.

  In addition, the driving support device 100 includes a driving situation determination unit 4 and a map information storage unit 5 as means for detecting driving situation information indicating a situation in which the driver performs a driving operation. The driving situation determination unit 4 includes a host vehicle position detection unit that detects the host vehicle position based on a position signal acquired from a GPS receiver that receives a trajectory signal from a GPS satellite. On the other hand, the map information storage unit 5 stores high-precision map information. The high-precision map information includes, for example, road type information such as general roads and toll roads, straight roads, curves, branch roads, intersections, road shape information such as uphills and downhills, tunnels, railroad crossings, bridges, buildings, Structure information such as parking lots, toll road tolls, ETC lanes, and the like are included along with the coordinate data of each point. In addition, the map information includes various information such as the radius of the curve, curvature, cant, road gradient, road lane number, lane width, stop line position, right / left turn lane, altitude, legal information such as legal speed, etc. Detailed ancillary information about the point may be included. The map information in the map information storage unit 5 may be updated in real time through vehicle-to-vehicle communication, road-to-vehicle communication, communication with the outside such as a predetermined management center, or a medium such as a CD or DVD. It may be possible to update it via Therefore, the driving state determination unit 4 determines where the vehicle is located on the map based on the vehicle position detected by the vehicle position detection unit and the map information in the map information storage unit 5. You can see if you are. That is, the driving situation determination unit 4 can determine the coordinate data, the road type, the road shape, and the like as the driving situation when the driving operation is detected by the driving operation detection unit 1. In addition, the driving condition determination unit 4 determines the vehicle state quantity such as the vehicle speed and the vehicle inclination angle, the driving date and time, the weather condition, etc. as the driving condition when the driving operation is detected by the driving operation detection unit 1. Also good.

  In addition, the driving support device 100 may include a traffic jam information accumulation unit 6. The traffic information when the driving operation is detected by the driving operation detection unit 1 is stored in the traffic information storage unit 6. The traffic jam information can be provided from, for example, VICS (Vehicle Information and Communication System) or data broadcasting. Therefore, the driving situation determination unit 4 can determine the traffic jam situation as the driving situation when the driving operation is detected by the driving operation detection unit 1.

  In addition, the driving support device 100 serves as an authentication unit for authenticating the driver, an authentication information acquisition unit 7 for acquiring authentication information for specifying the driver from the driver side, and a driver-specific information for checking the driver. An authentication information storage unit 8 that stores authentication specific information, and a driver that identifies the driver based on the authentication information acquired by the authentication information acquisition unit 7 and the authentication specific information stored in the authentication information storage unit 8 And a specific unit 9. The driver specifying unit 9 may specify the driver by, for example, key authentication using an immobilizer or the like, biometric authentication such as iris authentication, face authentication, voice print authentication, fingerprint authentication, and vein authentication.

  In addition, the driving support device 100 includes a driving history accumulating unit 10 that stores driving history information related to driving conditions and driving operations for each driver, and a driving history as means for analyzing driving tendency such as a driver's habit and driving skill. And an operation history analysis unit 11 that analyzes operation history information stored in the storage unit 10. In the driving history accumulating unit 10, the driving operation amount detected by the driving operation detecting unit 1 is stored for each driving situation as one of the driving history information.

  For example, when a statistical value such as an average value for each driving situation of the driving operation amount detected by the driving operation detection unit 1 is stored in the driving history storage unit 10 as driving history information, the driving history analysis unit 11 By referring to a statistical value such as an average value of the operation amount for each driving situation, it is possible to grasp what kind of driving operation the driver performs for each driving situation. That is, the driving tendency of the driver for each driving situation can be analyzed. For example, if the average value of the accelerator stroke when stopping or starting a hill is larger than a predetermined reference value, it is analyzed that the driver operating the vehicle tends to drive the accelerator too much when the vehicle is stopped or starting a hill. can do.

  In addition, the driving history analysis unit 11 calculates the average value of the driving operation amounts corresponding to the driving situation that is the same as or similar to the driving situation when the current driving operation amount is detected by the driving operation detection unit 1. Whether the current driving operation is caused by driving tendency such as the driver's habits and driving technology by comparing the average value of the driving operation amount read out and the current driving operation amount Can be determined. If the difference between the average value of the driving operation amount in the same or similar driving situation and the current driving operation amount is within a predetermined reference range, the current driving operation is estimated from the past history. It is possible to determine that the current driving operation is a driving operation caused by a driving tendency such as a driver's habit, assuming that the driving operation is close to the tendency. On the other hand, if the difference between the average value of the driving operation amount in the same or similar driving situation and the current driving operation amount is outside the predetermined reference range, the driving operation in which the current driving operation is estimated from the past history It is possible to determine that the current driving operation is a driving operation that does not result from a driving tendency such as a driver's habit. The driving operation not caused by the driving tendency of the driver can be assumed to be a temporary driving operation such as an accident avoidance or an emergency.

  Further, the recommended value of the controlled amount recommended in the driving situation in which the driving operation is detected by the driving operation detecting unit 1 may be stored in the driving history accumulating unit 10 for each driving situation. The recommended value of the controlled amount varies depending on the recommended purpose and the type of controlled amount. For example, when the controlled amount is the engine speed, the vehicle speed, or the acceleration / deceleration of the vehicle, the recommended value of the controlled amount is set to a value that optimizes the energy efficiency and fuel efficiency in the driving situation. When the controlled variable is the steering angle of the vehicle, the optimal steering angle is set for the driving situation. When the controlled variable is the inter-vehicle distance or inter-vehicle time, the optimal inter-vehicle distance for the driving situation is set. It is good to set it to a value that will be the time between cars. The recommended value of the controlled amount may be set in advance by simulation or an evaluation test, or may be set by learning, for example.

  The driving history storage unit 10 provides driving support based on the driving operation amount detected by the driving operation detection unit 1 and the driving support command from the driving support determination unit 12, as will be described in detail later as driving history information. The measured value of the controlled amount when controlled according to the control signal output from the execution unit 13 is stored for each driving situation.

  The driving support determination unit 12 includes an estimated value of the controlled amount calculated by the controlled amount estimation unit 2, a driving state determined by the driving state determination unit 4, and driver information specified by the driver specifying unit 9. Based on the driving history information stored in the driving history accumulating unit 10, the support control content for supporting the driving operation of the driver is determined, and the driving support command corresponding to the determination is output to the driving support executing unit 13. To do.

  The driving support execution unit 13 controls the vehicle based on the driving support command from the driving support determination unit 12. The driving support execution unit 13 is an ECU for performing the above-described vehicle control and a vehicle part that operates according to a control signal output from the ECU.

  Next, the operation of the driving support device 100 will be described. FIG. 2 is a flowchart showing the operation of the driving support device 100.

  The controlled amount estimation unit 2 calculates an estimated value of the controlled amount of the vehicle based on at least the driving operation amount detected by the driving operation detection unit 1 (step 10) (step 12). For example, the controlled amount estimation unit 2 calculates an estimated value of the engine speed (controlled amount) based on the stroke amount (driving operation amount) of the accelerator pedal.

  The driving status determination unit 4 determines the driving status when the driving operation amount is detected this time by the driving operation detection unit 1 using at least the map information in the map information storage unit 5 (step 14). For example, the driving state determination unit 4 uses the map information in the map information storage unit 5 and the traffic information in the traffic information storage unit 5 to use the coordinate data of the driving point, the road type (whether it is a general road), the road A driving situation when the driving operation amount is detected this time by the driving operation detection unit 1 such as a shape (whether it is an uphill) or a traffic jam situation (whether it is in a traffic jam) is determined and specified.

  Based on the authentication information acquired by the authentication information acquisition unit 7 and the authentication specific information stored in the authentication information storage unit 8, the driver identification unit 9 determines the driving operation detected this time by the driving operation detection unit 1. The driver who performed is specified (step 16). Thereby, driving operation can be distinguished for every driver.

  The driving support determination unit 12 reads the recommended value of the controlled amount recommended in the current driving situation specified in step 14 for the driver specified in step 16 from the driving history accumulation unit 10, and the controlled amount Based on the recommended value and the estimated value of the controlled amount of the vehicle calculated in step 12, the support control content for assisting the driving operation detected in step 10 is determined (step 18).

  When the absolute value of the difference between the recommended value and the estimated value of the controlled amount in the current driving situation is smaller than the predetermined value ε (step 18, Yes), the driving support determination unit 12 determines that the driving operation detected this time is Assuming that the driving operation is capable of optimal vehicle control, the recommended value of the controlled amount (or the estimated value of the controlled amount) is transmitted to the driving support execution unit 13 as a target command value for driving support (step 20). . For example, when the recommended value of the engine speed (controlled amount) at the start of a hill is 3000 rpm, if the estimated value is 3000 rpm or an approximate value thereof, 3000 rpm or the approximate value is transmitted as a target command value.

  The driving support execution unit 13 controls the vehicle by operating vehicle components such as an engine so that the target command value from the driving support determination unit 12 is obtained (step 22). For example, when the target command value is 3000 rpm, the engine ECU controls the engine speed so as to be 3000 rpm.

  The driving history analyzing unit 11 reflects the current driving pattern caused by the driving operation detected in step 10 in the storage area of the driving history accumulating unit 10 relating to the driver specified in step 16 (step 24). For example, as the current driving pattern, the driving history analysis unit 11 determines the driving operation amount detected by the driving operation detection unit 1, the driving situation when the driving operation amount is detected, and the driving operation in the driving situation. The measured value of the controlled amount when controlled according to the control signal output from the driving support execution unit 13 based on the amount is reflected in the driving history storage unit 10 and stored. For example, the accelerator pedal stroke amount as the driving operation amount, the coordinate data of the driving point when the stroke amount is detected as the driving situation, the driving state amount such as the driving date and time, the vehicle speed, the road type such as general road, The road shape such as a slope and the measured value of the engine speed are reflected and stored as the measured value of the controlled amount. In addition, since the amount of data becomes enormous when each amount of driving operation is stored, it is preferable that the amount is stored as a statistical value such as an average value with the past driving operation amount.

  On the other hand, when the absolute value of the difference between the recommended value and the estimated value of the controlled amount in the current driving situation is greater than or equal to the predetermined value ε (step 18, No), the driving support determination unit 12 determines the driving detected this time. It is determined that the operation is not a driving operation capable of optimal vehicle control. When it is determined by the driving support determination unit 12 that the driving operation is not capable of optimal vehicle control, the driving history analysis unit 11 compares the driving operation detected this time with the past driving pattern to support driving. In order to determine the support control content, the past driving pattern is read from the driving history accumulating unit 10 (step 30). Then, as described above, the driving history analysis unit 11 determines whether or not the current driving operation is caused by a driving tendency such as a driver's habit or driving skill (step 32).

  When it is determined by the driving history analysis unit 11 that the driving operation detected in the current driving situation is caused by the driving tendency, the driving support determination unit 12 determines the recommended value of the controlled amount (or the estimation of the controlled amount). Value) as the target command value for driving assistance, and the actual measured value of the past controlled quantity when controlled according to the control signal output from the driving assistance execution unit 13 based on the driving operation quantity in the driving situation. The interpolation value obtained by interpolating the (history value) and the recommended value of the current controlled amount is transmitted to the driving support execution unit 13 as a driving support target command value (step 34). Thereby, the uncomfortable feeling of the driving operation of the driver due to the recommended value of the controlled amount being set as the target command value for the driving operation of the driver can be suppressed.

  FIG. 3 is a diagram showing the relationship between the recommended value of the engine speed and the history value in each driving situation. In the driving situation A, the recommended value of the engine speed is 3000 rpm, and the past average value of the engine speed is 5000 rpm. The same applies to other driving situations. When the difference between the past driving operation and the current driving operation is within a predetermined reference range, the driving support determination unit 12 calculates the interpolation value so that the difference between the recommended value of the controlled amount and the interpolation value decreases. To do. In the case of the driving situation A in FIG. 3, the center value (4000 rpm) of the recommended value of the controlled amount and the history value is calculated as an interpolation value. As the interpolation method, any appropriate method may be used in which the interpolation value gradually approaches the recommended value of the controlled amount by repeating the interpolation between the recommended value of the controlled amount and the history value. Further, the speed at which the driver becomes familiar with the driving support control can be adjusted by changing the interpolation interval.

  On the other hand, when it is determined by the driving history analysis unit 11 that the driving operation detected in the current driving situation is not caused by the driving tendency, the driving support determination unit 12 determines that the driver's intention is a temporary driving operation. And the estimated value of the controlled amount calculated in step 12 is transmitted to the driving support execution unit 13 as a target command value for driving support (step 40). If the difference between the past driving operation and the current driving operation is outside the predetermined reference range, the estimated value of the controlled amount is not set as the target command value as in step 40, but the same as described above. Furthermore, in order to suppress the driver's uncomfortable feeling of driving operation, the interpolation value may be calculated in a direction in which the difference between the estimated value of the controlled amount and the interpolation value decreases. As an interpolation method at this time, any appropriate method may be used in which the interpolation value gradually approaches the recommended value of the controlled amount by repeating interpolation between the estimated value of the controlled amount and the history value.

  After step 34 or step 40, as described above, the driving support execution unit 13 executes the operation of step 22, and the driving history analysis unit 11 executes the operation of step 24.

  Therefore, according to the above-described embodiment, the interpolation value approaches the recommended value in a stepwise manner, and the vehicle is controlled based on the interpolation value, so that the vehicle is optimally controlled in accordance with the driving feeling of the driver. So that driving assistance can be provided. In other words, even the same amount of driving operation gradually approaches the above recommended value, so even a driver who is not good at recommended driving operation can improve fuel efficiency without changing the way of normal driving operation. It can be automatically adjusted to be an effective recommended controlled amount.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, although the average value of data is used for analysis of driving tendency, a standard deviation or a regression curve may be used.

  The driving support determination unit 12 stores the number of driving operations for each driving situation, and sets the interpolation value in a direction in which the difference between the recommended value of the controlled variable and the interpolation value decreases as the number of operations increases. It may be calculated.

1 is a block diagram illustrating a configuration of a driving support device 100 that is an embodiment of a vehicle control device according to the present invention. FIG. 3 is a flowchart showing the operation of the driving support device 100. It is the figure which showed the relationship between the recommended value of engine speed in each driving | running condition, and a history value.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Driving operation detection part 2 Controlled quantity estimation part 3 Vehicle state detection part 4 Driving condition judgment part 5 Map information storage part 6 Congestion information storage part 7 Authentication information acquisition part 8 Authentication information storage part 9 Driver specification part 10 Driving history storage Unit 11 Driving history analysis unit 12 Driving support determination unit 13 Driving support execution unit

Claims (5)

A vehicle control device that controls a vehicle based on a driving operation amount of a driver,
Driving operation amount detecting means for detecting the driving operation amount;
Controlled amount estimation means for calculating an estimated value of the controlled amount of the vehicle based on the driving operation amount detected by the driving operation amount detection means;
The difference between the estimated value calculated by the controlled amount estimating unit and the recommended value of the controlled amount of the vehicle recommended at the time of the driving operation in which the driving operation amount is detected by the driving operation amount detecting unit is greater than or equal to a predetermined value. An interpolation value calculating means for calculating an interpolation value between the history value of the controlled amount of the vehicle and the recommended value according to the driving history information of the vehicle;
A vehicle control device comprising vehicle control means for controlling the vehicle based on the interpolation value calculated by the interpolation value calculation means.   The vehicle control device according to claim 1, wherein the interpolation value calculation unit changes the interpolation value according to an operation history of a past driving operation.   The said interpolation value calculation means calculates the said interpolation value in the direction in which the difference with the said recommended value becomes small compared with the case where it is large when the difference between the said operation history and this driving | operation operation is small. Vehicle control device.   The interpolated value calculating means calculates the interpolated value in a direction in which the difference between the estimated value and the estimated value is smaller when the difference between the operation history and the current driving operation is small than when the difference is small. The vehicle control device described. The interpolated value calculating means, varying the calculation of the interpolation value according to the operating conditions of the vehicle, the vehicle control device according to any one of claims 1 to 4.

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