JP5288289B2 - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve safety when a brake pedal and an accelerator pedal of a vehicle are depressed simultaneously. <P>SOLUTION: This vehicle includes an accelerator sensor 12 for detecting an accelerator opening and two brake switches 13 and 14 for detecting a braking operation. When either one of the two brake switches 13 and 14 is turned OFF due to a failure, the brake switch being turned OFF due to the failure is maintained in an OFF state even if a driver depresses the brake pedal, but when the driver depresses the brake pedal, a non-faulty brake switch is turned ON. At the time, if the accelerator sensor 12 detects the accelerator opening larger than a prescribed opening, it is determined that both of the accelerator pedal and the brake pedal are simultaneously depressed and an output limit execution condition is established, and an output of a driving source 11 (an engine and/or a motor) is limited to a prescribed value or below. <P>COPYRIGHT: (C)2012,JPO&amp;INPIT

Description

  The present invention relates to a vehicle control device that improves safety when a brake and an accelerator of a vehicle on which at least one of an engine and a motor is mounted as a vehicle drive source is simultaneously depressed.

  For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2005-291030), an accelerator pedal and a brake pedal are provided for the purpose of preventing the vehicle from running away due to a driver making a mistake and simultaneously pressing the accelerator pedal and the brake pedal. At the same time, it is described that the engine is forcibly brought into an idle state when it is detected that the engine is depressed more than a predetermined value.

  Further, in Patent Document 2 (Japanese Patent Publication No. 2-502558), even when the brake operation is detected in a safety circuit that reduces the drive output to a predetermined small value when the brake and the accelerator are operated simultaneously. In addition, it is described that the safety circuit is not operated when it is detected from the time differential value of the output of the accelerator sensor that the driver has newly depressed the accelerator pedal.

  Patent Document 3 (US Pat. No. 6,881,174) discloses that the engine output is suppressed when it is determined that the brake request is larger than the accelerator request based on the respective operation amounts when the brake and the accelerator are operated simultaneously. Have been described.

JP 2005-291030 A Japanese National Patent Publication No. 2-502558 US68881174

  However, in the safety techniques disclosed in Patent Documents 1 to 3, when the brake operation detection means (switch, sensor, etc.) for detecting the brake operation fails, the engine output cannot be suppressed as intended or the output suppression is not intended. On the other hand, there are problems such as execution or the failure to obtain an optimal control effect.

In order to solve the above-mentioned problem, an invention according to claim 1 is directed to a vehicle control device equipped with at least one of an engine and a motor as a vehicle drive source, and an accelerator operation detecting means for detecting an accelerator operation, and a brake operation. A plurality of brake operation detecting means to detect, and the driving when the accelerator operation detecting means detects an accelerator operation and any one of the plurality of brake operation detecting means detects a brake operation. Output limiting means for limiting the output of the source, and the output limiting means does not execute the output limitation of the drive source when the accelerator operation amount detected by the accelerator operation detecting means is less than a predetermined value. Is . In this configuration, even if a failure occurs in which any of the plurality of brake operation detecting means cannot detect the brake operation, any other brake operation detecting means detects the brake operation and the accelerator. If the operation detection means detects the accelerator operation, the output of the drive source can be limited. In addition, when the accelerator operation amount detected by the accelerator operation detecting means is less than or equal to a predetermined value, the output limitation of the drive source is not executed. This is because, when the accelerator operation amount is small, the driver simultaneously This is because if the brake is stepped on, it is possible to prevent the vehicle from starting and accelerating which the driver does not intend, so there is no need to limit the output of the drive source.

Further, as in claim 2, when a plurality of brake operation detecting means are provided, the accelerator operation detecting means detects the accelerator operation, and all of the plurality of brake operation detecting means detect the brake operation. However, when the accelerator operation amount detected by the accelerator operation detecting means is less than or equal to a predetermined value, the output of the drive source may not be limited . In this way, when the driver depresses the accelerator even when a failure occurs in which one of the plurality of brake operation detection means erroneously detects the brake operation when the driver is not operating the brake In addition, it is possible to prevent the output of the drive source from being unintentionally limited due to erroneous detection of a brake operation due to a failure.

According to a third aspect of the present invention, there is provided a risk evaluation parameter for detecting a risk evaluation parameter comprising at least one of a plurality of brake operation detecting means and a traveling state of the vehicle, an output state of the driving source, and a traveling road state. A plurality of brake operation detecting means in a state in which the accelerator operation detecting means detects an accelerator operation when the risk evaluation parameter detected by the risk evaluation parameter detecting means is in a risk area greater than or equal to a predetermined value. Any one of the first output limiting means for limiting the output of the drive source when the brake operation is detected, and the risk evaluation parameter detected by the risk evaluation parameter detection means is a predetermined value. The accelerator operation detecting means detects the accelerator operation in the case of a risk area of less than all of the plurality of brake operation detecting means It may be configured to include a second output limiting means for limiting the output of the driving source only when in a state of detecting a braking operation.

Here, as the risk evaluation parameters, for example, the vehicle speed, the rotational speed of the drive source, the turbine rotational speed of the torque converter, the intake air amount, the load of the drive source, the slipperiness of the road surface, the slope of the downhill, the steering of the steering wheel Examples include corners. In the invention according to claim 3 , when the degree of danger is high, it is possible to limit the output of the drive source even if a failure occurs in which any of the plurality of brake operation detecting means cannot detect the brake operation. When the degree of danger is low, when the driver depresses the accelerator, the output of the drive source can be prevented from being unintentionally limited due to erroneous detection of the brake operation due to a failure of one of the brake operation detection means. .

In this case, as described in claim 4 , after the output of the drive source is limited by the first output limiting means, the risk evaluation parameter is not changed even if the risk evaluation parameter changes to a risk level area below a predetermined value. The control by the first output restricting means may be continued assuming that the risk area is equal to or greater than a predetermined value, and the state in which the second output restricting means is invalidated may be continued. In this way, when the output of the drive source is restricted in a high risk area, even if the risk is reduced, the first output restricting means gives priority to safety and the drive power of the drive source is reduced. The output limit can be continued.

In the inventions according to claims 3 and 4 , as in claim 6, when the accelerator operation amount detected by the accelerator operation detecting means is less than or equal to a predetermined value, it is preferable not to limit the output of the drive source. As described above, when the accelerator operation amount is small, if the driver steps on the brake at the same time, the vehicle can be prevented from starting and accelerating unintentionally.

Further, as in claim 6 , when the accelerator operation detecting means detects the accelerator operation and the brake operation detecting means detects the brake operation, the output restriction control for restricting the output of the drive source is executed. Output limiting means and a plurality of vehicle speed detecting means for detecting the vehicle speed, and determining an execution condition of the output limiting control using the highest vehicle speed among the plurality of vehicle speeds respectively detected by the plurality of vehicle speed detecting means. And / or control characteristics of the output restriction control may be set. In this way, even if any of the plurality of vehicle speed detecting means breaks down, the output restriction control can be controlled to the safe side according to the degree of danger due to the vehicle speed.

Specifically, for example, as in claim 7 , using the highest vehicle speed among the plurality of vehicle speeds respectively detected by the plurality of vehicle speed detection means, the output limit value of the output limit control and the execution of the output limit control It is only necessary to set at least one of the delay time and the output gradual change amount to the output limit value. Regardless of the output limit value, execution delay time, and output gradual change amount set according to the vehicle speed, the output limit control can be controlled to the safe side according to the vehicle speed.

In the inventions according to claims 6 and 7 , as in the case of claim 8 , when the accelerator operation amount detected by the accelerator operation detecting means is less than or equal to a predetermined value, it is preferable not to limit the output of the drive source. As described above, when the accelerator operation amount is small, if the driver steps on the brake at the same time, the vehicle can be prevented from starting and accelerating unintentionally.

FIG. 1 is a block diagram showing the system configuration of the first to third embodiments of the present invention. FIG. 2 is a flowchart illustrating a flow of processing of the output restriction control program according to the first embodiment. FIG. 3 is a time chart illustrating an execution example of the output restriction control according to the first embodiment. FIG. 4 is a flowchart illustrating a flow of processing of the output restriction control program according to the second embodiment. FIG. 5 is a time chart for explaining an execution example of the output restriction control according to the second embodiment. FIG. 6 is a flowchart illustrating a flow of processing of the output restriction control program according to the third embodiment. FIG. 7 is a block diagram illustrating a system configuration of the fourth embodiment. FIG. 8 is a flowchart illustrating a flow of processing of the output restriction control program according to the fourth embodiment. FIG. 9 is a time chart illustrating an execution example of output restriction control according to the fourth embodiment.

  Hereinafter, four Examples 1 to 4 embodying a mode for carrying out the present invention will be described.

A first embodiment of the present invention will be described with reference to FIGS.
First, the system configuration of the first embodiment of the present invention will be described with reference to FIG.
The vehicle is equipped with either or both of an engine and a motor as the drive source 11. For example, any of a vehicle using only the engine as the drive source 11, a hybrid vehicle using both the engine and the motor as the drive source 11, and an electric vehicle using only the motor as the drive source 11 may be used.

  The vehicle includes at least one accelerator sensor 12 (accelerator operation detecting means) that detects an accelerator operation amount (accelerator opening), and a plurality of (for example, two) brake switches 13 that are turned on / off in response to brake operation / release. , 14 (brake operation detecting means), at least one vehicle speed sensor 15 for detecting the vehicle speed, a rotation speed sensor 16 for detecting the rotation speed of the drive source 11, and the like. 11 is input to an electronic control unit (hereinafter, referred to as “ECU”) 17 that controls the output of 11.

  The ECU 17 sets a target output based on the accelerator opening (accelerator operation amount) detected by the accelerator sensor 12 during vehicle operation, and operates the output adjusting means 18 so that the output of the drive source 11 becomes the target output. The output of the drive source 11 is adjusted to the target output. For example, in a vehicle using only the engine as the drive source 11, the output adjusting means 18 is an electronic throttle system that electronically controls the throttle opening, a fuel injection control system that controls the fuel injection amount, and the like, and only the motor is used as the drive source. In the electric vehicle 11, the output adjusting means 18 is an inverter device that adjusts the motor output. In the hybrid vehicle, both engine and motor output adjusting means 18 are provided.

  In the first embodiment, when the ECU 17 determines that both the accelerator and the brake are depressed at the same time based on the signals from the accelerator sensor 12 and the two brake switches 13 and 14, a command to be output to the output adjusting means 18. The output (target output) is limited to a predetermined value or less, and the output of the drive source 11 is limited to a predetermined value or less. Here, the output limit value of the drive source 11 is larger than the output value at the time of idling, and is set so as to ensure an output capable of relatively safe low-speed traveling.

  In the first embodiment, when it is determined that both the accelerator and the brake are depressed simultaneously, the control accelerator opening used for the calculation of the command output is set to a predetermined limit value cACCREST. The output is limited to a predetermined value or less. Alternatively, the command output to be output to the output adjusting unit 18 may be set to a predetermined limit value.

  Furthermore, in the first embodiment, in order to improve safety, two brake switches 13 and 14 for detecting a brake operation are provided, and one of the two brake switches 13 and 14 cannot detect the brake operation. Even if a malfunction occurs, when the driver depresses the brake, the brake switch that is not malfunctioning detects the brake operation, and the accelerator sensor 12 detects the accelerator operation exceeding the predetermined opening cACCTHRESH. For example, the output of the drive source 11 is limited. When the actual accelerator opening detected by the accelerator sensor 12 is less than or equal to the predetermined opening cACCTHRESH, the output restriction of the drive source 11 is not executed. However, when the actual accelerator opening is small, the driver This is because if the brakes are depressed at the same time, it is possible to prevent the vehicle from starting and accelerating unintentionally.

  The output restriction control of the first embodiment described above is executed by the ECU 17 as follows according to the output restriction control program of FIG. The output restriction control program of FIG. 2 is repeatedly executed at a predetermined period during the power-on period of the ECU 17, and serves as output restriction means in the claims.

  When this program is started, first, at step 101, it is determined whether or not the actual accelerator opening detected by the accelerator sensor 12 is larger than a predetermined opening cACCTHRESH. Here, the predetermined opening degree cACCTHRE is set to a value that is the same as or slightly larger than a predetermined limit value cACCREST described later.

If it is determined in this step 101 that the actual accelerator opening is equal to or smaller than the predetermined opening cACCTHRESH, the actual accelerator opening is small even when the brake and the accelerator are depressed simultaneously, so that it is not necessary to limit the output of the drive source 11. In step 104, the actual accelerator opening detected by the accelerator sensor 12 is set to the control accelerator opening used for the calculation of the command output as it is.
Control accelerator opening = actual accelerator opening

  On the other hand, if it is determined in step 101 that the actual accelerator opening is larger than the predetermined opening cACCTHRESH, the process proceeds to step 102, and at least one of the two brake switches 13 and 14 is ON. If the two brake switches 13 and 14 are both determined to be off (OFF), it is determined that there is no need to limit the output of the drive source 11 because the brake is not depressed. In step 104, the actual accelerator opening detected by the accelerator sensor 12 is set to the control accelerator opening as it is.

On the other hand, if it is determined in step 102 that at least one of the two brake switches 13 and 14 is on (ON), the brake is depressed and output in a state where the accelerator is depressed more than a predetermined opening cACCTHRESH. It is determined that the limit execution condition is satisfied, and the process proceeds to step 103 where the control accelerator opening used for the calculation of the command output is set to a predetermined limit value cACCREST, so that the output of the drive source 11 is less than the predetermined value. Restrict to.
Accelerator opening for control = Limit value cACCREST

  It should be noted that a predetermined execution delay time may be provided after the output restriction execution condition is satisfied until the output restriction of the drive source 11 is actually started. Similarly, the normal control is restored from the output restriction. In this case, a predetermined execution delay time may be provided. Here, the execution delay time is a time for preventing malfunction of output limitation due to chattering or the like when the brake switches 13 and 14 are switched on / off.

An execution example of the output restriction control of the first embodiment described above will be described with reference to FIG.
In the example of FIG. 3, at time t1, an off failure of the first brake switch 13 occurs, and the first brake switch 13 is maintained in the off state even when the driver steps on the brake. Even in this case, when the driver depresses the brake, the second brake switch 14 that is not in the off-failure state is turned on. Therefore, if the accelerator sensor 12 detects that the accelerator depresses more than the predetermined opening cACCTHRESH. Then, it is determined that both the accelerator and the brake are depressed at the same time and the output restriction execution condition is satisfied, and the output restriction of the drive source 11 is executed after a predetermined execution delay time has elapsed.

  Note that before the first brake switch 13 is turned off, when the driver depresses the brake, the two brake switches 13 and 14 are both turned on. If it is detected that the accelerator is depressed more than cACCTHRESH, it is determined that both the accelerator and the brake are depressed simultaneously, and the output restriction execution condition is satisfied, and the output restriction of the drive source 11 is performed after a predetermined execution delay time elapses. Is executed.

  According to the first embodiment described above, even if any one of the two brake switches 13 and 14 is off-failed, the brake switch that is not off-failure detects the brake operation, and the accelerator. If the sensor 12 detects an accelerator operation with a predetermined opening degree cACCTHRESH or more, the output of the drive source 11 can be limited.

Next, Embodiment 2 of the present invention will be described with reference to FIGS.
The system configuration is the same as the configuration of FIG. 1 described in the first embodiment.
Also in the second embodiment, at least one accelerator sensor 12 (accelerator operation detecting means) that detects an accelerator operation amount (accelerator opening) and a plurality of (for example, two) brakes that are turned on / off in response to brake operation / release. Although the switches 13 and 14 (brake operation detecting means) are provided, the specifications of the output restriction control are different from those of the first embodiment.

  That is, in the second embodiment, only when the accelerator sensor 12 detects an accelerator operation with a predetermined opening degree cACCTHRESH or more and the two brake switches 13 and 14 both detect a brake operation, the drive source 11 The output limit is executed.

  The output restriction control of the second embodiment is executed by the ECU 17 according to the output restriction control program of FIG. The output restriction control program of FIG. 4 is repeatedly executed at a predetermined period during the power-on period of the ECU 17, and serves as output restriction means in the claims.

  When this program is started, first, in step 201, it is determined whether or not the actual accelerator opening detected by the accelerator sensor 12 is larger than the predetermined opening cACCTHRESH, and the actual accelerator opening is less than or equal to the predetermined opening cACCTHRESH. If it is determined, it is determined that it is not necessary to limit the output of the drive source 11, and the process proceeds to step 204 where the actual accelerator opening detected by the accelerator sensor 12 is used as it is for the calculation of the command output. Set to.

  On the other hand, if it is determined in step 201 that the actual accelerator opening detected by the accelerator sensor 12 is larger than the predetermined opening cACCTHRESH, the process proceeds to step 202, and both the two brake switches 13, 14 are turned on. If it is determined whether or not there is any one of the two brake switches 13 and 14, it is determined that there is no need to limit the output of the drive source 11, and the routine proceeds to step 204. The actual accelerator opening detected by the accelerator sensor 12 is set to the control accelerator opening as it is.

  On the other hand, if it is determined in step 202 that the two brake switches 13 and 14 are both turned on (ON), the brake is depressed and the output restriction execution condition is satisfied while the accelerator is depressed more than the predetermined opening cACCTHRESH. Is established, the process proceeds to step 203, where the control accelerator opening used for calculating the command output is set to a predetermined limit value cACCREST, thereby limiting the output of the drive source 11 to a predetermined value or less. .

  It should be noted that a predetermined execution delay time may be provided after the output restriction execution condition is satisfied until the output restriction of the drive source 11 is actually started. Similarly, the normal control is restored from the output restriction. In this case, a predetermined execution delay time may be provided.

An execution example of the output restriction control of the second embodiment described above will be described with reference to FIG.
In the example of FIG. 5, at time t2, an on failure of the first brake switch 13 occurs, and the first brake switch 13 changes to the on state even if the driver does not step on the brake. Even if such an on-failure occurs, the second brake switch 14 that is not on-failure is maintained in the off state, so that the accelerator sensor 12 detects the depression of the accelerator more than the predetermined opening cACCTHRESH. However, the output limitation of the drive source 11 is not executed, and the output of the drive source 11 is controlled according to the actual accelerator opening detected by the accelerator sensor 12.

  Before the on-failure of the first brake switch 13 occurs, the two brake switches 13 and 14 are both turned on when the driver depresses the brake. If depression of the accelerator equal to or greater than cACCTHRESH is detected, it is determined that both the accelerator and the brake are depressed simultaneously, and the output restriction execution condition is satisfied, and the output restriction of the drive source 11 is executed.

  In the second embodiment described above, only when the accelerator sensor 12 detects an accelerator operation with a predetermined opening degree cACCTHRESH or more and both of the two brake switches 13 and 14 detect a brake operation, the drive source Therefore, when the driver is not operating the brake, any one of the two brake switches 13 and 14 is in a state where the brake operation is erroneously detected (ON state) (ON state). Even if an on failure occurs, it is possible to prevent the output of the drive source 11 from being unintentionally restricted due to erroneous detection of a brake operation due to a failure of one of the brake switches when the driver depresses the accelerator. .

Next, Embodiment 3 of the present invention will be described with reference to FIG.
The system configuration is the same as the configuration of FIG. 1 described in the first embodiment.
Also in the third embodiment, at least one accelerator sensor 12 (accelerator operation detecting means) that detects an accelerator operation amount (accelerator opening) and a plurality of (for example, two) brakes that are turned on / off in response to brake operation / release. The switches 13 and 14 (brake operation detecting means) and at least one vehicle speed sensor 15 (risk degree evaluation parameter detecting means) for detecting the vehicle speed are provided, but the specifications of the output restriction control are different.

  In the third embodiment, when the vehicle speed (risk degree evaluation parameter) detected by the vehicle speed sensor 15 exceeds the predetermined value cSELECTSPD, the output restriction control similar to that in the first embodiment (FIG. 2) is executed, When the accelerator sensor 12 detects an accelerator operation with a predetermined opening degree cACCTHRESH or more and when either one of the two brake switches 13 and 14 detects a brake operation, the output of the drive source 11 is limited. If the vehicle speed (risk degree evaluation parameter) detected by the vehicle speed sensor 15 is equal to or less than the predetermined value cSELECTSPD, the same output restriction control as in the second embodiment (FIG. 4) is executed. It is driven only when the accelerator sensor 12 detects an accelerator operation with a predetermined opening cACCTHRESH or more and both brake switches 13 and 14 detect a brake operation. The “second output restriction” for restricting the output of the source 11 is executed. However, once the first output restriction is executed in the region where the vehicle speed exceeds the predetermined value cSELECTSPD, even if the vehicle speed falls below the predetermined value cSELECTSPD, the control of the first output restriction is continued. 2 is not switched to the output limit control.

  The output restriction control of the third embodiment is executed by the ECU 17 according to the output restriction control program of FIG. The output restriction control program of FIG. 6 is repeatedly executed at a predetermined cycle during the power-on period of the ECU 17, and the processing of steps 101 to 103 serves as the first output restriction means, and the processing of steps 201 to 203 is the first. It serves as a second output limiting means.

  When this program is started, first, at step 80, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 15 exceeds a predetermined value cSELECTSPD. If the vehicle speed exceeds the predetermined value cSELECTSPD, step 101 and subsequent steps are executed. When the actual accelerator opening detected by the accelerator sensor 12 is greater than the predetermined opening cACCTHRESH and one of the two brake switches 13 and 14 is on, the first output restriction execution condition is executed. Is established, the first output restriction flag is set to “1”, the accelerator opening for control used for the calculation of the command output is set to a predetermined restriction value cACCREST, and the first output restriction is executed (step) 101 → 102 → 102a → 103).

  When the actual accelerator opening detected by the accelerator sensor 12 is equal to or smaller than the predetermined opening cACCTHRESH or when both the brake switches 13 and 14 are off, the actual accelerator opening detected by the accelerator sensor 12 is controlled as it is. The accelerator opening is set (step 104).

  On the other hand, if it is determined in step 80 that the vehicle speed detected by the vehicle speed sensor 15 is less than or equal to the predetermined value cSELECTSPD, the process proceeds to step 90, and whether or not the output restriction flag is “1” depends on whether the steps 101 to It is determined whether or not the first output limit 103 is executed, and if it is determined that the output limit flag is “1”, the vehicle speed is detected even if the vehicle speed detected by the vehicle speed sensor 15 is less than or equal to the predetermined value cSELECTSPD. Similarly to the case where the value exceeds the predetermined value cSELECTSPD, the processing after step 101 is executed. Thus, after the first output restriction is executed once in the region where the vehicle speed exceeds the predetermined value cSELECTSPD, the control of the first output restriction is continued even if the vehicle speed falls below the predetermined value cSELECTSPD. .

  On the other hand, when it is determined in step 90 that the output restriction flag is not “1” (when the first output restriction has not been executed so far), the processing after step 201 is executed, When the actual accelerator opening detected by the accelerator sensor 12 is greater than the predetermined opening cACCTHRESH and the two brake switches 13 and 14 are both on (ON), the second output restriction execution condition is satisfied, The control accelerator opening used for the calculation of the command output is set to a predetermined limit value cACCREST, and the second output limit is executed (step 201 → 202 → 203).

  When the actual accelerator opening detected by the accelerator sensor 12 is equal to or smaller than the predetermined opening cACCTHRESH, or when one of the two brake switches 13 and 14 is off, the actual accelerator opening detected by the accelerator sensor 12 is used as it is. The accelerator opening for control is set (step 204).

In both cases of the first output restriction and the second output restriction, a predetermined execution delay time may be provided at the start and return of the output restriction.
In the third embodiment described above, when the vehicle speed is high and the degree of danger is high, it becomes possible to limit the output of the drive source 11 even if one of the two brake switches 13 and 14 is in an off-failure state. When the degree of danger is low, when the driver depresses the accelerator, the output of the drive source 11 is unintentionally limited due to erroneous detection of a brake operation due to an on failure of one of the two brake switches 13 and 14. Can be prevented.

  In the third embodiment, the vehicle speed detected by the vehicle speed sensor 15 is used as the risk evaluation parameter. However, the rotational speed of the drive source 11 (engine or motor), the turbine rotational speed of the torque converter, the intake air amount, At least one of the load of the drive source 11, the ease of slipping on the road surface, the slope of the downhill, the steering angle of the steering wheel, etc. may be used as the risk evaluation parameter.

  In the first to third embodiments, the two brake switches 13 and 14 are provided, but it goes without saying that three or more brake switches may be provided.

  Further, the number of accelerator sensors 12 is not limited to one, and a plurality of accelerator sensors may be provided. In the case of providing a plurality of accelerator sensors, for example, by monitoring the presence or absence of a failure of each accelerator sensor and detecting a failure of any accelerator sensor, the accelerator opening degree detected by the accelerator sensor in which no failure is detected ( In the case where there are a plurality of accelerator sensors in which no failure is detected, the minimum accelerator opening) among the plurality of accelerator openings detected by them may be used. In addition, when no failure is detected in any of the plurality of accelerator sensors, the accelerator opening detected by the specific accelerator sensor is used, or the plurality of accelerator openings detected by the plurality of accelerator sensors are used. You may make it use the minimum accelerator opening.

  Next, a fourth embodiment of the present invention will be described with reference to FIGS. However, substantially the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted or simplified, and different parts are mainly described.

In the fourth embodiment, for example, two vehicle speed sensors 15a and 15b (vehicle speed detection means) are provided, but the number of brake switches 13 may be one (may be plural).
The ECU 17 determines the output restriction execution condition using the higher one of the two vehicle speeds detected by the two vehicle speed sensors 15a and 15b, and sets the execution delay time tDELAY of the output restriction control to the higher vehicle speed. It is set according to a table or the like accordingly.

  The output restriction control of the fourth embodiment is executed by the ECU 17 according to the output restriction control program of FIG. The output restriction control program of FIG. 8 is repeatedly executed at a predetermined cycle during the power-on period of the ECU 17, and serves as output restriction means in the claims.

  When this program is started, first, in step 301, the two vehicle speeds SP1 and SP2 detected by the two vehicle speed sensors 15a and 15b are compared, and the higher vehicle speed is set as the control vehicle speed used for the output restriction control. To do. For example, if the vehicle speed SP1 is higher than the vehicle speed SP2, the vehicle speed SP1 is set as the control vehicle speed (step 302). If the vehicle speed SP2 is higher than the vehicle speed SP1, the vehicle speed SP2 is set as the control vehicle speed (step 303). ).

  Thereafter, the process proceeds to step 304, where the control vehicle speed, which is the higher of the two vehicle speeds SP1 and SP2, is compared with the execution determination threshold cSPDTHRESH, and if the control vehicle speed is equal to or less than the execution determination threshold cSPDTHRESH, When it is determined that the output restriction execution condition is not satisfied, the process proceeds to step 310, and the actual accelerator opening detected by the accelerator sensor 12 is set as the control accelerator opening as it is.

  If it is determined in step 304 that the control vehicle speed is higher than the execution determination threshold cSPDTHRESH, the process proceeds to step 305, where it is determined whether the actual accelerator opening detected by the accelerator sensor 12 is larger than a predetermined opening cACCTHRESH. If the actual accelerator opening is equal to or smaller than the predetermined opening cACCTHRESH, it is determined that the output restriction execution condition is not satisfied, and the routine proceeds to step 310 where the actual accelerator opening detected by the accelerator sensor 12 is used as it is. Set to degrees.

  If it is determined in step 305 that the actual accelerator opening is larger than the predetermined opening cACCTHRESH, the process proceeds to step 306, where it is determined whether the brake switch 13 is on (ON), and the brake switch 13 is on. Otherwise, it is determined that the output restriction execution condition is not satisfied, and the routine proceeds to step 310, where the actual accelerator opening detected by the accelerator sensor 12 is set as the control accelerator opening as it is.

  If all of the above steps 304 to 306 are determined as “Yes”, that is, it is determined that the vehicle speed for control> the execution determination threshold cSPDTHRESH, the actual accelerator opening> the predetermined opening cACCTHRESH, and the brake switch 13 is turned on. If so, it is determined that the output restriction execution condition is satisfied, the process proceeds to step 307, the execution condition satisfaction flag is set to “1”, and in the next step 308, the execution condition satisfaction flag is set to “1”. It is determined whether or not the elapsed time after being set exceeds the execution delay time tDELAY of output restriction control. Here, the output delay control execution delay time tDELAY is a delay time from when the execution condition satisfaction flag is set to “1” to when the output limit control is actually started, and is set by a table or the like according to the control vehicle speed. Is done.

  If it is determined in step 308 that the elapsed time after the execution condition satisfaction flag is set to “1” does not exceed the execution delay time tDELAY of the output restriction control, the process proceeds to step 310 and detected by the accelerator sensor 12. The actual accelerator opening is set as the control accelerator opening as it is.

  Thereafter, when the elapsed time after the execution condition satisfaction flag is set to “1” exceeds the execution delay time tDELAY of the output restriction control, the process proceeds from step 308 to step 309 to control accelerator used for calculation of command output By setting the opening degree to the limit value cACCREST, the output of the drive source 11 is limited. Here, the limit value cACCREST may be a preset fixed value, but may be set by a table or the like according to the control vehicle speed.

An execution example of the output restriction control of the fourth embodiment described above will be described with reference to FIG.
In the example of FIG. 9, at the time t3, the first vehicle speed sensor 15a breaks down and the detected vehicle speed SP1 of the first vehicle speed sensor 15a falls below the execution determination threshold cSPDTHRESH, but the detected vehicle speed SP2 of the second vehicle speed sensor 15b. Is set as the control vehicle speed, the control vehicle speed becomes higher than the execution determination threshold cSPDTHRESH. Therefore, if the brake switch 13 is turned on in a state where the actual accelerator opening is larger than the predetermined opening cACCTHRESH, the output restriction execution condition is satisfied, and the control accelerator opening is limited after the execution delay time tDELAY has elapsed. The output of the drive source 11 is limited by setting the value cACCREST.

In the fourth embodiment described above, even if one of the two vehicle speed sensors 15a and 15b breaks down, the output restriction control can be controlled to the safe side according to the degree of danger due to the vehicle speed.
In the fourth embodiment, the output delay control execution delay time is set using the higher vehicle speed (control vehicle speed) of the two vehicle speeds SP1 and SP2 detected by the two vehicle speed sensors 15a and 15b, respectively. However, the higher vehicle speed (control vehicle speed) may be used to set one of the output limit value, the execution delay time, and the output gradual change amount to the output limit value in the output limit control. Regardless of the output limit value, execution delay time, and output gradual change amount set according to the control vehicle speed, the output limit control can be controlled to the safe side according to the vehicle speed.

  In the fourth embodiment, two vehicle speed sensors 15a and 15b are provided, but three or more vehicle speed sensors may be provided. In this case, the highest vehicle speed of the three or more vehicle speeds respectively detected by the three or more vehicle speed sensors is used as the control vehicle speed to determine the output restriction execution condition, the output restriction value of the output restriction control, It is sufficient to set at least one of the output delay control execution delay time and the output gradual change amount to the output limit value.

  DESCRIPTION OF SYMBOLS 11 ... Drive source, 12 ... Accelerator sensor (accelerator operation detection means), 13 ... 1st brake switch (brake operation detection means), 14 ... 2nd brake switch (brake operation detection means), 15 ... Vehicle speed sensor (danger) Degree evaluation parameter detection means), 15a ... first vehicle speed sensor (vehicle speed detection means), 15b ... second vehicle speed sensor (vehicle speed detection means), 16 ... rotational speed sensor, 17 ... ECU (output limiting means, first Output limiting means, second output limiting means), 18 ... output adjusting means

Claims (8)

In a vehicle control device equipped with at least one of an engine and a motor as a vehicle drive source,
An accelerator operation detecting means for detecting an accelerator operation;
A plurality of brake operation detecting means for detecting a brake operation;
An output limiting means for limiting the output of the drive source when the accelerator operation detecting means detects an accelerator operation and any one of the plurality of brake operation detecting means detects a brake operation; equipped with a,
The vehicle control apparatus according to claim 1, wherein the output limiting means does not execute the output limitation of the drive source when the accelerator operation amount detected by the accelerator operation detecting means is equal to or less than a predetermined value . In a vehicle control device equipped with at least one of an engine and a motor as a vehicle drive source,
An accelerator operation detecting means for detecting an accelerator operation;
A plurality of brake operation detecting means for detecting a brake operation;
Output limiting means for limiting the output of the drive source only when the accelerator operation detecting means detects an accelerator operation and all of the plurality of brake operation detecting means are in a state of detecting a brake operation ,
The vehicle control apparatus according to claim 1, wherein the output limiting means does not execute the output limitation of the drive source when the accelerator operation amount detected by the accelerator operation detecting means is equal to or less than a predetermined value . In a vehicle control device equipped with at least one of an engine and a motor as a vehicle drive source,
An accelerator operation detecting means for detecting an accelerator operation;
A plurality of brake operation detecting means for detecting a brake operation;
A risk evaluation parameter detection means for detecting a risk evaluation parameter consisting of at least one of a vehicle running state, an output state of the drive source, and a running road state;
Any one of the plurality of brake operation detecting means in a state where the accelerator operation detecting means detects an accelerator operation when the risk evaluation parameter detected by the risk evaluation parameter detecting means is in a risk area of a predetermined value or more. First output limiting means for limiting the output of the drive source when one of the brake operations is detected;
When the risk evaluation parameter detected by the risk evaluation parameter detection means is in a risk area less than a predetermined value, the accelerator operation detection means detects an accelerator operation and all of the plurality of brake operation detection means are braked. And a second output limiting means for limiting the output of the drive source only when an operation is detected. After the output of the drive source is limited by the first output limiting means, even if the risk evaluation parameter changes to a risk level area below a predetermined value, the risk level parameter is a risk level area above the predetermined value. 4. The vehicle control according to claim 3 , further comprising means for continuing the control by the first output restricting means and continuing the state in which the second output restricting means is invalidated. apparatus. The first output restricting means and the second output restricting means do not execute the output restriction of the driving source when the accelerator operation amount detected by the accelerator operation detecting means is less than a predetermined value. The vehicle control device according to claim 3 or 4 . In a vehicle control device equipped with at least one of an engine and a motor as a vehicle drive source,
An accelerator operation detecting means for detecting an accelerator operation;
Brake operation detecting means for detecting the brake operation;
Output limiting means for executing output limiting control for limiting the output of the drive source when the accelerator operation detecting means detects an accelerator operation and the brake operation detecting means detects a brake operation;
A plurality of vehicle speed detecting means for detecting the vehicle speed,
The output restriction means determines the execution condition of the output restriction control and / or sets the control characteristic of the output restriction control using the highest vehicle speed among the plurality of vehicle speeds respectively detected by the plurality of vehicle speed detection means. A control apparatus for a vehicle. The output restriction means uses the highest vehicle speed of the plurality of vehicle speeds detected by the plurality of vehicle speed detection means, using the output restriction value of the output restriction control, the execution delay time of the output restriction control, the output restriction The vehicle control device according to claim 6 , wherein at least one of output gradual change amounts to values is set. The vehicle control according to claim 6 or 7 , wherein the output limiting means does not execute the output limitation of the driving source when the accelerator operation amount detected by the accelerator operation detecting means is equal to or less than a predetermined value. apparatus.

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