JP5370568B2 - Body speed control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle body speed control device that can control the vehicle body speed so that a comfortable driving aid is rendered to a driver. <P>SOLUTION: As a brake control ECU 1 executes the speed control position setting processing, when the load is mounted in the load space (S12:Yes), the position of the load space is set as a position (control position) from which the wheel speed is operated (S13), and when the track of the vehicle is a narrow width road (S14:Yes, S15:Yes) and the position of the tip of a wing mirror outside of the turn is set as a position (control position) from which the wheel speed are operated. Thus, since an appropriate position to doing the driving aid to the occupant according to the situation and the environment in the vehicle can be set as a position that the vehicle body speed is controlled, the control of the vehicle body speed can be done so that a comfortable driving aid is done to the occupant. <P>COPYRIGHT: (C)2013,JPO&amp;INPIT

Description

  The present invention relates to a vehicle body speed control device that controls the vehicle body speed of a vehicle, and more particularly to a vehicle body speed control device that can control the vehicle body speed so that comfortable driving assistance is provided to a driver.

  In recent years, various driving support devices that support driving of a vehicle while controlling the vehicle body speed of the vehicle have been proposed. For example, Patent Document 1 describes a parking assistance control device that moves a vehicle along a previously obtained movement trajectory and stops the vehicle at a target parking position by controlling the vehicle body speed.

  In the parking assist control device described in Patent Document 1, as a vehicle body speed control process in a vehicle, a current vehicle body speed is calculated in advance by a method in which the earlier value of rolling wheel is used as the vehicle body speed, and the vehicle body speed is calculated. The braking force and driving force applied to the wheels are controlled so that the speed becomes the target speed. As described above, the vehicle body speed is generally controlled by obtaining the current vehicle body speed by a known calculation method and performing feedback control so that the vehicle body speed becomes the target speed.

JP 2007-30746 A

Now, when the vehicle is turning, it is known that the vehicle body speed is not the same at any position of the vehicle, but varies depending on the position of the vehicle. For example, the vehicle speed at the position outside the turn is larger than the vehicle speed at the position inside the turn.
On the other hand, in the vehicle body speed control in the parking assistance apparatus described in Patent Document 1, the current vehicle body speed is simply calculated by a known calculation method. In some cases, the vehicle body speed at the optimal vehicle position for control in driving assistance does not match. As a result, the vehicle speed is not controlled as expected by the driver in driving support, and the driver feels uncomfortable.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle body speed control device capable of controlling the vehicle body speed so that comfortable driving assistance is provided to the driver.

In order to achieve this object, a vehicle body speed control device according to claim 1 controls a vehicle body speed of a vehicle, and includes a wheel speed detection means for detecting a wheel speed of a wheel provided in the vehicle. , Vehicle environment detection means for detecting at least one of the vehicle travel status, the vehicle interior environment, and the vehicle exterior environment, and the vehicle travel status, vehicle interior environment, and vehicle exterior detected by the vehicle environment detection means. A specific position setting means for setting a specific position of the vehicle at which the vehicle body speed is controlled according to at least one of the environments, and a target speed for setting a target speed at the specific position set by the specific position setting means Based on the wheel speed detected by the setting means and the wheel speed detection means, the vehicle body speed at the specific position set by the specific position setting means is calculated. Based on the vehicle body speed calculation means and the vehicle body speed calculated by the vehicle body speed calculation means, the vehicle body speed of the vehicle is applied to the wheels so as to become the target speed set by the target speed setting means. A vehicle speed detecting means for controlling the driving force or the braking force, wherein the vehicle environment detecting means is a narrow road in which the distance on which the vehicle travels is less than a predetermined distance between the side surface of the vehicle and the obstacle. The specific position setting means detects that the road is a road, and when the vehicle environment detection means detects that the road on which the vehicle travels is a narrow road, the turning radius of the vehicle is the largest. Is set as the specific position.

The vehicle body speed control device according to claim 2 is the vehicle body speed control device according to claim 1, wherein the vehicle body speed control device acquires a current position of the vehicle and acquires information on a road on which the vehicle is traveling from the current position. The vehicle environment detection unit includes a travel route information acquisition unit, and the vehicle environment detection unit determines that the road on which the vehicle is traveling is a narrow road based on the information acquired by the travel route information acquisition unit. The road on which the vehicle travels is detected as a narrow road.

The vehicle body speed control device according to claim 3 is the vehicle body speed control device according to claim 1 or 2 , wherein the vehicle environment detection means has a predetermined amount of baggage mounted at a load mounting position of the vehicle. The specific position setting means detects the load mounting position when the vehicle environment detection means detects that a predetermined amount of load is mounted at the load mounting position of the vehicle. Set as.

A vehicle body speed control device according to a fourth aspect of the present invention is the vehicle body speed control device according to any one of the first to third aspects, wherein the vehicle body speed control device performs a control for preventing a load collapse of a load mounted at a load mounting position of the vehicle. If the vehicle environment detection means is received when performing control to prevent the collapse of the cargo by the load collapse prevention acceptance means, It is detected that the vehicle is in a state of performing control to prevent load collapse, and the specific position setting unit is in a state of performing control to prevent load collapse in the vehicle by the vehicle environment detection unit. Is detected as the specific position.

The vehicle body speed control device according to claim 5 is the vehicle body speed control device according to any one of claims 1 to 4 , wherein the vehicle environment detection means has a passenger boarding a rear seat position of the vehicle. The specific position setting means sets the rear seat position as the specific position when the vehicle environment detection means detects that a passenger is in the rear seat position of the vehicle. To do.

The vehicle body speed control device according to claim 6 is the vehicle body speed control device according to any one of claims 1 to 5 , wherein information indicating whether or not to perform control for improving riding comfort in a rear seat of the vehicle is boarded. The vehicle environment detecting means receives the control for improving the ride comfort in the rear seat by the ride comfort improvement accepting means. It is detected that the control is performed to improve the riding comfort in the seat, and the specific position setting unit is configured to perform control for improving the riding comfort in the rear seat in the vehicle by the vehicle environment detection unit. When it is detected that there is a seat, the rear seat position is set as the specific position.

The vehicle body speed control device according to claim 7 is the vehicle body speed control device according to any one of claims 1 to 6 , wherein the vehicle environment detection means is configured such that the driver's seat side of the vehicle is outside the turn in the vehicle. The specific position setting means detects that the vehicle environment detection means detects that the driver's seat side of the vehicle is located outside the turn in the vehicle. The position of the driver's seat of the vehicle is set as the specific position.

According to the vehicle body speed control device of claim 1, the vehicle whose vehicle body speed is controlled in accordance with at least one of the traveling state of the vehicle detected by the vehicle environment detection means, the vehicle interior environment, and the vehicle exterior environment. The specific position is set by the specific position setting means, and the target speed at the specific position is set by the target speed setting means. Based on the wheel speed detected by the wheel speed detecting means, the vehicle body speed at the specific position set by the specific position setting means is calculated by the vehicle body speed calculating means, and based on the calculated vehicle body speed, The driving force or braking force applied to the wheels is controlled by the vehicle body speed control means so that the vehicle body speed becomes the target speed set by the target speed setting means. Thereby, according to the situation and environment of a vehicle, the position suitable for performing the driving assistance with respect to a driver | operator can be set as a specific position, and the vehicle body speed in the specific position can be controlled. Therefore, there is an effect that the vehicle speed can be controlled so that comfortable driving assistance is provided to the driver.
In addition, the following effects are achieved. That is, when the vehicle travels on a narrow road, the vehicle environment detection means detects that the road on which the vehicle travels is a narrow road where the distance between the side surface of the vehicle and the obstacle is equal to or less than a predetermined distance. . Then, the position where the turning radius is the largest in the vehicle is set as the specific position where the vehicle body speed is controlled by the specific position setting means. As a result, it is possible to control the vehicle body speed at a position having the largest turning radius in the vehicle, which is a position where there is a high risk of collision with an object outside the vehicle. Therefore, there is an effect that the vehicle can safely travel on a narrow road. Further, if the vehicle speed at that position is controlled to be equal to or lower than a certain speed, there is an effect that a feeling of fear for a pedestrian outside the vehicle can be reduced.

According to vehicle speed control apparatus according to claim 2, in addition to the effects of vehicle speed control apparatus according to claim 1, the following effects can be obtained. That is, information on the road on which the vehicle is traveling is acquired from the current position of the vehicle by the traveling road information acquisition means, and the road on which the vehicle is traveling is a narrow road based on the acquired information. If it is determined that the road on which the vehicle travels is a narrow road, it is detected by the vehicle environment detection means. Thus, it is determined whether or not the road on which the vehicle is traveling is a narrow road without being conscious of the passenger, and according to the determination result, in the vehicle at a high risk of collision with an object outside the vehicle. The vehicle speed at the position where the turning radius is the largest can be controlled. Therefore, even if the vehicle enters a narrow road, there is an effect that the fear that the passenger feels by traveling on the road can be relieved naturally.

According to the vehicle body speed control device of the third aspect , in addition to the effect of the vehicle body speed control device of the first or second aspect , the following effect can be obtained. That is, when a predetermined amount of luggage is mounted at the load mounting position of the vehicle, it is detected by the vehicle environment detection means that a predetermined amount of luggage is mounted at the load mounting position of the vehicle. Then, the load position is set as a specific position where the vehicle body speed is controlled by the specific position setting means. Thereby, if the vehicle body speed is controlled so that the time change of the vehicle body speed at the luggage loading position is reduced, it is possible to prevent the collapse of the luggage loaded at the luggage loading position.

According to the vehicle body speed control apparatus of the fourth aspect , in addition to the effects exhibited by the vehicle body speed control apparatus according to any one of the first to third aspects, the following effects can be obtained. That is, when the control for preventing the collapse of the load loaded at the load mounting position of the vehicle is performed by the passenger's operation and the load collapse prevention receiving unit accepts the control, the vehicle environment detection unit causes the load collapse in the vehicle. It is detected that the situation is that the control to be prevented is performed. Then, the load position is set as a specific position where the vehicle body speed is controlled by the specific position setting means. As a result, when the passenger wants to prevent the collapse of the load loaded at the load carrying position, the vehicle speed is controlled so that the time change of the vehicle speed at the load loaded position is reduced by the operation performed by the rider. Can do. Therefore, there is an effect that it is possible to prevent the collapse of the luggage loaded at the luggage loading position according to the intention of the passenger.

According to the vehicle body speed control apparatus of the fifth aspect , in addition to the effects exhibited by the vehicle body speed control apparatus according to any one of the first to fourth aspects, the following effects are achieved. That is, when a passenger is in the rear seat position of the vehicle, it is detected by the vehicle environment detection means that the passenger is in the rear seat position of the vehicle. Then, the specific position setting means sets the rear seat position as the specific position where the vehicle body speed is controlled. As a result, if the vehicle body speed at the rear seat position is controlled so as to be small, the ride comfort of the passenger who has boarded the rear seat position can be improved.

According to the vehicle body speed control apparatus of the sixth aspect , in addition to the effects exhibited by the vehicle body speed control apparatus according to any one of the first to fifth aspects, the following effects can be obtained. That is, if control for improving the ride comfort in the rear seat is performed by the rider's operation and received by the ride comfort improvement acceptance means, the vehicle environment detection means performs control for improving the ride comfort in the rear seat in the vehicle. It is detected that the situation is Then, the specific position setting means sets the rear seat position as the specific position where the vehicle body speed is controlled. As a result, when the passenger wants to improve the riding comfort in the rear seat, the vehicle speed can be controlled by an operation performed by the passenger so that the temporal change in the vehicle speed at the rear seat position is reduced. Therefore, there is an effect that it is possible to improve the ride comfort of the passenger who has boarded the rear seat position in accordance with the intention of the passenger.
According to the vehicle body speed control apparatus of the seventh aspect , in addition to the effects exhibited by the vehicle body speed control apparatus according to any one of the first to sixth aspects, the following effects can be obtained. In other words, when the driver's seat side of the vehicle is located outside the turn, the vehicle environment detecting means detects that the vehicle's driver's seat side is located outside the turn in the vehicle. Then, the position of the driver's seat of the vehicle is set as the specific position where the vehicle body speed is controlled by the specific position setting means. Thereby, even when the position of the driver's seat of the vehicle is outside the turn, the vehicle body speed at the position of the driver's seat of the vehicle can be controlled so as not to increase. Therefore, it is possible to prevent the vehicle from turning at a faster vehicle speed than expected by the driver, and the driver can drive more safely.

It is the schematic diagram which showed typically the top view of the vehicle containing brake control ECU in one Embodiment of this invention. It is the block diagram which showed the electric structure of brake control ECU. It is explanatory drawing explaining the calculation principle of the vehicle body speed in the arbitrary positions of the vehicle VL. It is the schematic diagram which showed the content of the turning radius map typically. It is a flowchart which shows a vehicle body speed control process. It is a flowchart which shows a speed control position setting process. It is a flowchart which shows a vehicle body speed calculation process. It is a flowchart which shows a vehicle body speed calculation process.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram schematically showing a top view of a vehicle VL including a brake control ECU (Electronic Control Unit) 1 according to an embodiment of the present invention. The brake control ECU 1 provided in the vehicle VL is configured to be able to calculate the vehicle body speed at an arbitrary position and to control the vehicle body speed so that comfortable driving assistance is performed for the vehicle driver.

  An arrow FWD in FIG. 1 indicates the forward direction of the vehicle VL. Further, the components corresponding to the right front wheel, the left front wheel, the right rear wheel, and the left rear wheel of the wheel VL are indicated by FR, FL, RR, and RL, respectively.

  As shown in FIG. 1, the vehicle VL includes, in addition to the brake control ECU 1 described above, a hydraulic brake device 2, an electric parking brake (hereinafter referred to as “PBK”) 3, wheels 4 (4FR to 4RL), a wheel speed sensor 5. (5FR to 5RL), an in-vehicle LAN bus 6, an engine control ECU 7, a parking assist control ECU 8, a navigation device 9, a sensor group 50, and a switch group 60.

  Among these, the brake control ECU 1, the engine control ECU 7, the parking assist control ECU 8, the navigation device 9, the sensor group 50, and the switch group 60 are connected to each other via the in-vehicle LAN bus 6.

  The brake control ECU 1 is an electronic control device that controls the hydraulic brake device 2 and the PKB 3 to control the braking force applied to the wheels 4FR to 4RL. In the brake control ECU 1, the wheel speeds of the wheels 4FR to 4RL are monitored, and anti-lock brake control (ABS control) is performed to prevent the wheels from locking even when sudden braking is performed. The brake control ECU 1 also has a function of calculating a vehicle body speed at an arbitrary position of the vehicle VL and controlling the vehicle body speed at a desired position of the vehicle VL to a desired speed based on the calculation result. . The detailed configuration of the brake control ECU 1 will be described later with reference to FIG.

  The hydraulic brake device 2 is a braking force applying device that applies a braking force to the wheels 4FR to 4RL. When a brake pedal (not shown) provided on the vehicle VL is depressed by the driver, the depression force of the brake pedal is applied. The oil pressure is converted to oil pressure, and the oil pressure is transmitted to the wheel cylinders (not shown) provided in the wheels 4FR to 4RL via the first piping system 11 and the second piping system 21, respectively. Thereby, hydraulic pressure is converted into braking force by the wheel cylinder, and braking force is applied to the wheels 4FR to 4RL.

  Further, the first piping system 11 and the second piping system 21 are provided with a pressure increase control valve (not shown) and a pressure reduction control valve (not shown), respectively, based on a control signal from the brake control ECU 1. The hydraulic pressure transmitted to each wheel cylinder is adjusted by driving the pressure increase control valve and the pressure reduction control valve.

  The PKB 3 is a braking force applying device that applies a braking force to the rear wheels 4RL and 4RR to the parked vehicle VL, and is driven in response to an operation of a parking brake switch (not shown) by the driver. Even when the parking assistance control is performed by the parking assistance control ECU 8, the parking assistance control ECU 8 is driven via the brake control ECU 1.

  The PKB 3 is connected to brake calipers (not shown) provided on the rear wheels 4RL and 4RR via brake wires 31L and 31R. The PKB 3 is provided with an actuator (not shown).

  When the parking brake switch is operated or a vehicle stop signal is output from the parking assist control ECU 8 to the brake control ECU 1, a control signal is output from the brake control ECU 1 to the PKB 3. The PKB 3 drives the actuator based on this control signal, and drives the brake calipers of the left and right rear wheels 4RL and 4RR via the brake wires 31L and 31R. As a result, braking force is applied to the rear wheels 4RL and 4RR.

  The wheel 4 includes four wheels, that is, left and right front wheels 4FL and 4FR positioned on the front side in the traveling direction FWD of the vehicle VL and left and right rear wheels 4RL and 4RR positioned on the rear side in the traveling direction FWD. The left and right front wheels 4FL, 4FR are configured as steering wheels that are steered by a steering (not shown) provided in the vehicle VL, while the left and right rear wheels 4RL, 4RR are associated with the traveling of the vehicle VL. It is configured as a driven wheel to be driven.

  The wheel speed sensor 5 is a sensor that detects the wheel speed that is the rotational speed of each of the wheels 4FR to 4RR, and detects the wheel speed of the FR wheel speed sensor 5FR that detects the wheel speed of the right front wheel 4FR and the wheel speed of the left front wheel 4FL. The wheel speed sensor 5FL includes an FL wheel speed sensor 5FL, an RR wheel speed sensor 5RR that detects the wheel speed of the right rear wheel 4RR, and an RL wheel speed sensor 5RL that detects the wheel speed of the left rear wheel 4RL. The detection results of the wheel speed sensors 5FR to 5RL are input to the brake control ECU 1. As the wheel speed sensors 5FR to 5RL, for example, a semiconductor speed sensor using a Hall element is used, and an accurate wheel speed can be detected by obtaining a reliable wheel rotation pulse even at a low speed.

  The engine control ECU 7 is an electronic control device that controls the engine output of the engine (E / G) 70, and the amount of depression of an accelerator pedal (not shown) provided in the vehicle VL, the engine speed, and the engine coolant temperature The engine output is controlled by adjusting the fuel injection amount according to the running state based on the oxygen concentration in the exhaust gas and the like, and giving a command value to the engine (E / G) 70. As a result, the driving forces of the left and right front wheels 4FL and 4FR that are rotationally driven via the automatic transmission (AT) 71 and the axles 72L and 72R are adjusted.

  The parking assistance control ECU 8 is an electronic control device that performs parking assistance control for garage parking or parallel parking by the driver, and receives a command signal for executing parking assistance control for performing garage parking or parallel parking from the parking assistance switch 64. Upon receipt, the final target parking position for garage parking or parallel parking is obtained, and the movement locus to the target parking position is obtained. Then, a braking force control signal is output from the parking assist control ECU 8 to the brake control ECU 1 so that the vehicle VL moves at a desired vehicle speed along the determined movement locus, thereby controlling the braking force. Parking assist control is executed so that the vehicle stops at the target parking position.

  The navigation device 9 is a device that displays the current position of the vehicle VL, route guidance to the destination, etc., and a GPS receiver (not shown) that receives GPS signals (position information of the vehicle VL, etc.) from GPS satellites. An information reading device (not shown) for reading information on the road (identification information for identifying that the road is a narrow road) from a storage medium storing various types of information such as map data, an operation unit, It mainly includes a man-machine interface device (not shown) composed of an LCD, a speaker, and the like.

  The navigation device 9 obtains the current position of the vehicle VL in the wide-area coordinate system based on the GPS signal received by the GPS receiver, and based on the map data read by the information reading device, the travel route information ( Whether it is a narrow road, etc.). The information on the travel path is transmitted to the brake control ECU 1.

  The sensor group 50 includes a load sensor 51 for loading, a load sensor 52 for rear seats, and a steering angle sensor 53. The load sensor 51 for loading is a load sensor provided in a loading space such as a trunk room, and detects whether or not the load on the vehicle VL in the loading space is equal to or greater than a predetermined weight. The rear seat load sensor 52 is a load sensor provided in the rear seat of the vehicle VL, and detects whether or not the load on the vehicle VL in the rear seat is equal to or greater than a predetermined weight.

  Each of these load sensors includes a metal strain generating body and a strain gauge attached to the strain generating body, and detects strain of the strain generating body bent by the load by the strain gauge. And when distortion becomes more than predetermined, it detects that a load is more than predetermined weight, and outputs an ON signal. On the other hand, when the load is less than the predetermined weight and the strain is less than the predetermined, an off signal is output.

  The steering angle sensor 53 is a sensor that detects the steering angle of a steering (not shown) provided in the vehicle VL, and includes an angle sensor (not shown) that detects the rotation angle of the steering in association with the rotation direction. ing. This angle sensor is configured as a contact-type potentiometer using electrical resistance.

  The detection results of the load sensor 51, the rear seat load sensor 52, and the steering angle sensor 53 are all input to the brake control ECU 1 via the in-vehicle LAN bus.

  The switch group 60 includes a load collapse prevention switch 61, a narrow road switch 62, a rear seat ride comfort improvement switch 63, and a parking assistance switch 64, all of which are operated by a passenger of the vehicle VL.

  The load collapse prevention switch 61 is a switch for setting whether or not to enable speed control for preventing the load collapse of the load loaded in the load space. The narrow road switch 62 is a switch for setting whether or not to perform speed control on the assumption that the road currently being traveled is a narrow road. The rear seat ride comfort switch 63 is a switch for setting whether to enable speed control for improving the ride comfort of the rear seat.

  When the load collapse prevention switch 61, the narrow road switch 62, and the rear seat ride comfort improvement switch 63 are all turned on, the speed control corresponding to each of them is set to be effective. The contents set by these switches are all transmitted to the brake control ECU 1 as command signals.

  The parking assist switch 64 is a switch for setting whether to enable parking support control for garage parking or parallel parking, and “parking parking support on” for enabling the parking support control for garage parking. Three states of “Parallel parking support ON” for enabling the parking support control for the parallel parking and “OFF” for setting the parking support control to be invalid can be selected. The content set by the parking assistance switch 64 is transmitted to the parking assistance control ECU 8 as a command signal. Based on this command signal, the parking assist control ECU 8 obtains an appropriate target parking position and movement locus, and controls the brake control ECU 1 so that the vehicle VL moves at a desired speed along the movement locus.

  Next, a detailed configuration of the brake control ECU 1 will be described with reference to FIG. FIG. 2 is a block diagram showing an electrical configuration of the brake control ECU 1. As shown in FIG. 2, the brake control ECU 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a timing circuit 14, and an input / output port 15. These are connected to each other via a bus line 16.

  The input / output port 15 is connected to the hydraulic brake device 2, the PKB 3, and the wheel speed sensor 5 (FR to RL wheel speed sensors 5FR to 5RL) shown in FIG. 1, and the brake ECU 1 includes the wheel speed sensors 5FR to 5FR. Based on the wheel speeds of the wheels 4FR to 4RL detected by the 5RL, the vehicle body speed at an arbitrary position of the vehicle VL is calculated, and the hydraulic brake device 2 and the PKB 3 are set so that the calculated vehicle body speed becomes the target speed. By controlling, an appropriate braking force is applied to each of the wheels 4FR to 4RL.

  The input / output port 15 is also connected to the in-vehicle LAN bus 6, and the brake control ECU 1 includes an engine control ECU 7, a parking assist control ECU 8, a navigation device 9, a load sensor 51 for loading, Signals are transmitted and received among the rear seat load sensor 52, the steering angle sensor 53, the load collapse prevention switch 61, the narrow road switch 62, the rear seat ride comfort switch 63, and the parking assist switch 64.

  For example, the brake control ECU 1 applies an appropriate driving force to the left and right front wheels 4FL and 44FR, which are driving wheels, to the engine control ECU 7 so that the vehicle body speed calculated at an arbitrary position of the vehicle VL becomes the target speed. A command signal instructing this is output. The engine control ECU 7 applies an appropriate driving force to the front wheels 4FL and 4FR in accordance with the command signal.

  Also, the brake control ECU 1 is based on the parking assistance control ECU 8, the navigation device 9, and signals input from the various sensors 51 to 53 and the various switches 61 to 64. The environment is determined, a position for calculating the vehicle body speed is set according to the determination result, and the vehicle body speed at that position is controlled.

  The CPU 11 performs arithmetic operations for controlling the hydraulic brake device 2, the PKB 3, and the engine control ECU 7 in accordance with programs and data stored in the ROM 12 and RAM 13, and signals input from each unit connected to the input / output port 15 and the in-vehicle LAN bus 16. Device.

  The ROM 12 is a non-rewritable memory that stores fixed value data including a control program 12a executed by the CPU 11 and a turning radius map 12b. The control program 12a includes the program shown in the flowcharts of FIGS.

  This program sets the position of the vehicle for calculating the vehicle body speed in accordance with the traveling state of the vehicle VL, the environment inside the vehicle, and the environment outside the vehicle, and the vehicle body speed at that position is set to 1 common to each wheel 4FR-4RL. Based on the Ackermann geometry of turning with the point as the turning center, the calculation is performed using the wheel speeds of two or more wheels in a normal rotation state. Based on the calculation result, the braking force or driving force applied to each of the wheels 4FR to 4RL is controlled so that the vehicle body speed at the position becomes the target speed. The calculation principle of the vehicle body speed at an arbitrary position of the vehicle VL based on the Ackermann geometry will be described later with reference to FIG.

  When calculating the vehicle body speed at an arbitrary position of the vehicle VL, the turning radius map 12b is calculated based on the ratio of the vehicle body speed specified based on the wheel speeds of two or more wheels in which the rotation state of the wheels is normal. It is a map for calculating | requiring the turning radius of the position which specified the vehicle body speed. Details of the turning map 12b will be described later with reference to FIG.

  The RAM 13 is a rewritable and volatile memory for temporarily storing data necessary for the CPU 11 to execute various programs. For example, the wheel speeds of the wheels 4FR to 4RL detected by the wheel speed sensors 5FR to 5RL at regular intervals over a predetermined period are stored in the RAM 13, respectively. The wheel speeds of the wheels 4FR to 4RL stored in the RAM 13 are used when determining whether the rotational state of the wheels 4FR to 4RL is normal or abnormal.

  The clock circuit 14 has an internal clock that records the current date and time, and is a known circuit that calculates the required time by comparing the date and time when clocking is started with the current date and time. The CPU 11 takes in the wheel speeds of the wheels 4FR to 4RL detected by the wheel speed sensors 5FR to 5RL at predetermined time intervals measured by the time measuring circuit 14 and stores them in the RAM 13.

  Next, the calculation principle of the vehicle body speed at an arbitrary position of the vehicle VL will be described with reference to FIG. FIG. 3 is an explanatory diagram for explaining the calculation principle. Here, the arrow FWD in FIG. 3 indicates the forward direction of the vehicle VL, as in FIG. Also, the four squares in the figure indicate the wheels 4FR to 4RL, and the vehicle VL will be described as turning rightward. That is, the left and right front wheels 4FL, 4FR, which are the steering wheels, are given a steering angle in the right direction, the right wheels 4FR, 4RR are turning inner wheels, and the left wheels 4FL, 4RL are turning outer wheels. The case where the vehicle VL is turning leftward is the same as FIG. 3 except that the left wheels 4FL and 4RL are turning inner wheels and the right wheels 4FR and 4RR are turning outer wheels. Description is omitted. The turning direction of the vehicle VL can be determined by the output of the steering angle sensor 53, and can also be determined by comparing the magnitude relationship between the wheel speeds of the left and right wheels 4FR to 4RL.

  In general, the vehicle VL is configured so that each wheel 4FR to 4RL is centered on a common point (point O) in an ideal state where no centrifugal force is applied in order to prevent a side slip from occurring in each wheel 4FR to 4RL during turning. The steering geometry is designed to satisfy as much as possible the “Ackermann geometry” that swivels. Therefore, in the present embodiment, the geometric position of the center of rotation (point O) defined by the Ackermann geometry is obtained from the wheel speeds of two or more wheels and the geometric positions of the wheels. Based on the geometric positional relationship from the turning center (point O), the vehicle body speed at an arbitrary position of the vehicle VL is calculated.

  Here, in the vehicle VL, the left and right front wheels 4FL and 4FR are steered while the vehicle is turning, and the left and right rear wheels 4RL and 4RR are not steered. Therefore, in a situation where the Ackermann geometry is satisfied, as shown in FIG. The turning center of ˜4RL is on the extension line of the rear wheel shaft 81 in the left and right rear wheels 4RL, 4RR, and the turning centers of all the wheels 4FR to 4RL coincide with the same point (point O).

  Therefore, at the time of turning, all the positions in the vehicle VL move at the same angular velocity around the point O. Therefore, the ratio of the vehicle body speeds at the respective positions is the distance between the position and the point O due to the geometric relationship. Is equal to the ratio of the turning radii. In the present embodiment, the vehicle body speed at an arbitrary position (point Pd) is calculated using this fact.

  For example, when the rotational state is normal in all the wheels 4FR to 4RL, the vehicle body speed at an arbitrary position (point Pd) is calculated as follows. That is, the average wheel speed Vfc between the wheel speed Vfi of the right front wheel 4FR that is the turning inner wheel and the wheel speed Vfo of the left front wheel 4FL that is the turning outer wheel is calculated, and the wheel speed Vfc is an intermediate point between the left and right front wheels 4FL and 4FR. It is specified as the vehicle body speed at the point Fc. Further, an average wheel speed Vrc between the wheel speed Vri of the right rear wheel 4RR that is the turning inner wheel and the wheel speed Vro of the left rear wheel 4RL that is the turning outer wheel is calculated, and the wheel speed Vrc is calculated as the left and right rear wheels 4RL, 4RR. Is specified as a vehicle body speed at a point Rc which is an intermediate point between the two.

  As described above, the vehicle body speed ratio (Vfc / Vrc) at the point Fc and the point Rc is equal to the ratio of the turning radius OFc at the point Fc and the turning radius ORc at the point Rc (OFc / ORc). On the other hand, since the distance (wheelbase length) L between the point Fc and the point Rc is a fixed and known value determined by the vehicle VL, from the geometric shape of the triangle O-Fc-Rc, the side O-Fc and the side O The turning angle γ with respect to −Rc can be uniquely determined, whereby the geometric position of the turning center (point O) can be uniquely determined. Accordingly, the length of the turning radius OFc at the point Fc and the turning radius ORc at the point Rc at which the vehicle body speed is specified based on the wheel speed is also uniquely specified. In the present embodiment, the lengths of the turning radii OFc and ORc corresponding to the turning radius ratio OFc / ORc are obtained from the turning radius map 12b.

  If the lengths of the turning radius OFc and the turning radius ORc can be specified, the turning radius OPd at an arbitrary position (point Pd) can also be calculated based on the geometric positional relationship. For example, when the point Pd is the distance Ld from the rear wheel shaft 81 and the distance Hd from the vehicle center shaft 82, the turning radius OPd is calculated by the following equation (1).

OPd = (Ld ² + (ORc−Hd) ² ) ^1/2 (1)

  The vehicle speed V at the point Pd can be calculated by the following equation (2) using the fact that the ratio of the vehicle speed at an arbitrary position is equal to the ratio of the turning radius.

  V = Vrc × (OPd / ORc) (2)

  Thus, the vehicle body speed at an arbitrary position can be calculated from the wheel speed of two or more wheels and the geometric positional relationship using Ackermann geometry.

  If there are at least two wheel speeds, the vehicle speed at an arbitrary position can be calculated using Ackermann geometry. However, in actual driving, each wheel 4FR to 4RL has a slight side slip even at a low speed. In this embodiment, when the rotational state of all the wheels 4FR to 4RL is normal, the vehicle body speed at an arbitrary position is determined using the wheel speeds of all the wheels 4FR to 4RL. Is calculated. As a result, the error due to the side slip occurring in each of the wheels 4FR to 4RL at the time of turning is averaged, and the influence of the side slip can be reduced, so that the calculation accuracy can be improved.

  In the present embodiment, the average wheel speed Vfc of the left and right front wheels 4FL, 4FR and the average wheel speed Vrc of the left and right rear wheels 4RL, 4RR are calculated, and each average wheel speed is intermediate between the left and right front wheels 4FL, 4FR. The calculation is performed after specifying the vehicle body speed at the point Fc, which is a point, and the vehicle body speed at the point Rc, which is an intermediate point between the left and right rear wheels 4RL, 4RR. Accordingly, the turning radius can be easily obtained as compared with the case of obtaining the turning radius of each point from the vehicle body speed ratio of four points (that is, the turning radius ratio).

  On the other hand, in the present embodiment, when there is a wheel in which the rotational state is abnormal due to the slip state or the locked state among the wheels 4FR to 4RL, two or more wheels excluding the wheel determined to be abnormal. The vehicle body speed at an arbitrary position (point Pd) is obtained.

  For example, when it is determined that the rotation state of the right front wheel 4FR, which is the front wheel of the turning inner wheel, is abnormal, any position is determined using the wheel speeds of the left front wheel 4FL and the left and right rear wheels 4RL and 4RR except the right front wheel 4FR. Calculate body speed at. In this case, for the left and right rear wheels 4RL, 4RR, the average wheel speed Vrc is calculated and specified as the vehicle speed at the point Rc. Further, the wheel speed Vfo of the left front wheel 4FL is specified as the vehicle body speed at the point Fo which is the position of the front wheel of the turning outer wheel. Then, by setting the ratio (Vfo / Vrc) of the vehicle body speed at the point Fo to the vehicle body speed at the point Rc as the turning radius ratio (OFo / ORc) at each point, the turning angle γ is based on the geometrical relationship. Since the wheel base length L is a fixed and known value, the turning center (point O) can be uniquely determined. Therefore, the turning radius at the point Fo and the point Rc where the vehicle body speed is specified based on the wheel speed is uniquely specified.

  Similarly, when it is determined that the rotation state of the left rear wheel 4RL, which is the rear wheel of the turning outer wheel, is abnormal, the wheel speeds of the left and right front wheels 4FL, 4FR and the right rear wheel 4RR except for the left rear wheel 4RL are used. To calculate the vehicle speed at any position. In this case, for the left and right front wheels 4FL, 4FR, their average wheel speed Vfc is calculated and specified as the body speed at the point Fc, and the wheel speed Vri of the left front wheel 4RR is determined as the rear wheel of the turning inner wheel. Is specified as the vehicle speed of the point Ri which is the position of. The ratio of the vehicle body speed at the point Fc and the vehicle body speed at the point Ri (Vfc / Vri) is set to the turning radius ratio (OFc / ORi) at each point, thereby specifying the vehicle body speed based on the wheel speed. The turning radius at Fc and point Ri can be uniquely specified.

  In addition, when it is determined that the rotational state of the two wheels except for the combination of the left front wheel 4FL which is the front wheel of the turning outer wheel and the right rear wheel 4RL which is the rear wheel of the turning inner wheel is abnormal, it is determined to be abnormal. The position where the vehicle speed is specified based on the wheel speed by specifying the wheel speed of the two wheels excluding the wheels as the vehicle speed at the position of the wheel and the ratio of the vehicle speeds as the turning radius ratio at each position. The turning radius can be uniquely specified.

  In addition, when the rotation state of three or more wheels is abnormal among the wheels 4FR to 4RL, the wheel speed of the two or more wheels having a normal rotation state cannot be secured, so the vehicle turns based on the Ackermann geometry. It is not possible to calculate the vehicle speed at an arbitrary angle position. Accordingly, in this case, the calculation of the vehicle body speed based on the Ackermann geometry is skipped and not executed, and the calculation is prohibited.

  Further, among the wheels 4FR to 4RL, when the rotation state of the left front wheel 4FL that is the front wheel of the turning outer wheel and the right rear wheel 4RR that is the rear wheel of the turning inner wheel is abnormal, the right front wheel 4FR that is the front wheel of the turning inner wheel and From the wheel speed of the left rear wheel 4RL that is the rear wheel of the turning outer wheel, the turning radius ratio (OFi / ORo) at the point Fi that is the position of the front wheel of the turning inner wheel and the point Ro that is the position of the rear wheel of the turning outer wheel is obtained. However, due to the geometric positional relationship between these points, the turning radius at the point Fi and the point Ro cannot be uniquely specified only by the turning radius ratio. Therefore, in this embodiment, even in this case, the calculation of the vehicle body speed based on the Ackermann geometry is skipped, is not executed, and the calculation is prohibited. Thereby, in order to uniquely specify the turning radius at the point Fi and the point Ro, a complicated calculation process is performed, thereby suppressing an increase in the load on the CPU 11.

  Further, among the wheels 4FR to 4RL, even if the rotation state of any of the left front wheel 4FL that is the front wheel of the turning outer wheel and the right rear wheel 4RR that is the rear wheel of the turning inner wheel is abnormal, it is also the front wheel of the turning inner wheel. Even if the vehicle body speed of two points is specified from the wheel speeds of normal three wheels including the right front wheel 4FR and the left rear wheel 4RL which is the rear wheel of the turning outer wheel, and the turning radius ratio of the two points is obtained, The turning radius at two points where the vehicle body speed is specified based on the wheel speed is uniquely specified by the geometric positional relationship between the point Fi that is the position of the front wheel of the turning inner wheel and the point Ro that is the position of the rear wheel of the turning outer wheel. I can't. Therefore, in this embodiment, in such a case, by specifying the vehicle body speed at the position of each wheel from the wheel speeds of the two wheels of the turning outer wheel or the turning inner wheel and obtaining the turning radius ratio, The turning radius at the position is uniquely identified. Thereby, the vehicle body speed at an arbitrary position can be calculated while suppressing an increase in processing load due to complicated calculations.

  Next, the details of the turning radius map 12b will be described with reference to FIG. FIG. 4 is a schematic diagram schematically showing the contents of the turning radius map 12b. As shown in FIG. 4, the turning radius map 12 b is associated with the turning angle γ (see FIG. 3), and the turning radius OFc at the point Fc that is an intermediate point between the left and right front wheels 4 FL and 4 FR (see FIG. 3. And the turning radius ORc at the point Rc, which is an intermediate point between the left and right rear wheels 4RL, 4RR, the turning radius OFi at the point Fi that is the position of the front wheel of the turning inner wheel, and the point Fo that is the position of the front wheel of the turning outer wheel. Is a map showing a turning radius OFo, a turning radius ORi at a point Ri that is the position of the rear wheel of the turning inner wheel, and a turning radius ORo at a point Ro that is the position of the rear wheel of the turning outer wheel.

  The turning angle γ is divided into predetermined intervals (in FIG. 4, 5 ° intervals) from 0 °, which is the turning angle when the vehicle VL is not turning, to 45 °, which is the maximum turning angle of the vehicle VL. . Then, for each turning radius OFc, ORc, OFi, OFo, ORi, ORo, the values calculated by the following equations (3) to (8) based on the magnitude of the turning angle γ are the respective turning angles γ. Stored in association.

OFc = L / sinγ (3)
ORc = L / tanγ (4)
OFi = (L ² + (ORc− (Hf / 2)) ² ) ^1/2 (5)
OFo = (L ² + (ORc + (Hf / 2)) ² ) ^1/2 (6)
ORi = ORc− (Hr / 2) (7)
ORo = ORc + (Hr / 2) (8)

  Here, L is the wheel base length (distance between point Fc and point Rc), Hf is the distance between the wheel rotation centers of the left and right front wheels 4FL and 4FR, and Hr is the wheel of the left and right rear wheels 4RL and 4RR. The distance between the centers of rotation. In the example of the turning radius map 12b shown in FIG. 4, the wheel base length L is 2.78 m, the wheel rotation center distance Hf on the front wheel side is 1.465 m, and the wheel rotation center distance Hr on the rear wheel side is 1.41 m. The values of the respective turning radii OFc, ORc, OFi, OFo, ORi, ORo corresponding to the respective turning angles γ are shown.

  In the turning radius map 12b, the turning radius ratio OFc / ORc at a point Fc that is an intermediate point between the left and right front wheels 4FL and 4FR and a point Rc that is an intermediate point between the left and right rear wheels 4RL and 4RR is used as a ratio of the respective turning radii. (See FIG. 3, the same applies hereinafter), the turning radius ratio OFc / ORi at the point Ri which is the position of the point Fc and the rear wheel 4RR of the turning inner wheel, the point Fo which is the position of the front wheel 4FL of the turning outer wheel, and the front wheel 4FR of the turning inner wheel. The turning radius ratio OFo / OFi at the point Fi, the turning radius ratio OFc / ORc at the points Fo and Rc, the turning radius ratio ORo / ORi at the point Ro and the point Ri of the rear wheel 4RL of the turning outer wheel, Turning radius ratio OFo / ORo at point Fo and point Ro, turning radius ratio OFo / ORi at point Fo and point Ri, point Fi and point Ri Kicking turning radius ratio OFi / ORi is calculated based on the turning radius at each point are stored in association with each pivoting angle gamma.

  The CPU 11 uses the turning radius map 12b to calculate the two points corresponding to the turning radius ratio from the turning radius ratios at two predetermined points calculated based on the wheel speeds of two or more wheels whose rotation state is normal. Find the turning radius.

  For example, the turning radius ratio OFc / ORc at the point Fc and the point Rc is calculated on the basis of the wheel speeds of two or more wheels whose rotation state is normal, and when the value is 1.004, the CPU 11 Obtains 31.897 m as the turning radius OFc corresponding to the value “1.004” and 31.776 m as the turning radius ORc from the turning radius ratio OFc / ORc stored in the turning radius map 12 b.

  Further, the turning radius ratio OFc / ORi at the point Fc and the point Ri is calculated on the basis of the wheel speeds of two or more wheels whose rotation state is normal, and when the value is 1.400, the CPU 11 Is calculated from the turning radius ratio OFc / ORi stored in the turning radius map 12b as 5.560m and 4.847m as turning radius OFc corresponding to "1.353" and "1.484" close to the value of 1.400. 4.110 m and 3.265 m are obtained as the turning radius ORi. Then, as shown in the following formulas (9) and (10), the turning radius OFc and the turning radius ORi when the turning radius ratio OFc / ORi is 1.400 are obtained by linear interpolation.

OFc: 4.847+ (5.560-4.847) * (1.484-1.400) / (1.484-1.353) = 5.304 [m] (9)
ORi: 3.265+ (4.110-3.265) * (1.484-1.400) / (1.484-1.353) = 3.807 [m] (10)

  Next, a vehicle body speed control process executed by the brake control ECU 1 will be described with reference to FIG. FIG. 5 is a flowchart showing the vehicle body speed control process. This process is a process of calculating the vehicle body speed at a position set according to the traveling state of the vehicle VL, the environment inside the vehicle, and the environment outside the vehicle, and controlling the calculated vehicle body speed to be the target speed. It is repeatedly executed by the CPU 11 at predetermined time intervals (for example, 10 milliseconds).

  In this process, first, a speed control position setting process (see FIG. 6), which will be described later, is executed (S1), and the position at which the vehicle body speed is to be calculated according to the traveling state of the vehicle VL, the in-vehicle environment, and the outside environment. Set. Next, the target speed V0 at the position set in S1 is set according to the traveling state of the vehicle VL (S2).

  Then, a vehicle body speed calculation process (see FIGS. 7 and 8) described later is executed (S3), and the vehicle body speed V at the position set in S1 is calculated based on the Ackermann geometry shown in FIG.

  Thereafter, a difference between the vehicle body speed V calculated by the process of S3 and the target speed V0 set by the process of S2 is obtained, and according to this difference, the vehicle body speed V at the position set in S1 becomes the target speed V0. In this manner, control signals are output to the hydraulic brake device 2, the PKB 3 and the engine control ECU 7 to control the braking force or driving force applied to the wheels 4FR to 4RL (S4). And this vehicle body speed calculation process is complete | finished.

  As described above, when the CPU 11 executes the vehicle body speed control process, the position at which the vehicle body speed V is calculated is set according to the traveling state of the vehicle VL, the environment inside the vehicle, and the environment outside the vehicle. The vehicle speed at the position to be controlled can be accurately calculated according to the situation and environment, and the vehicle speed at the position can be accurately controlled using the calculated vehicle speed.

  Next, a speed control position setting process executed by the brake control ECU 1 will be described with reference to FIG. FIG. 6 is a flowchart showing the speed control position setting process. This process is executed in the process of S1 of the vehicle body speed control process as described above, and the position at which the vehicle body speed should be calculated in accordance with the traveling state of the vehicle VL, the vehicle interior environment, and the vehicle exterior environment, that is, the vehicle body speed. A control position, which is a position where is controlled, is set.

  In this process, it is first determined whether or not the cargo collapse prevention switch 61 is turned on (S11). When it is determined that the load collapse prevention switch 61 is turned on (S11: Yes), in the vehicle VL, speed control for preventing the collapse of the load in the load space provided in the vehicle VL. However, it is detected that the situation is set effectively by the passenger of the vehicle VL, and the process proceeds to S13.

  On the other hand, when it is determined that the load collapse prevention switch 61 is turned off (S11: No), it is then determined whether or not the load sensor 51 for loading is turned on (S12). As a result, when it is determined that the load sensor 51 for loading is on (S12: Yes), it is detected that a load of a predetermined weight or more is loaded in the loading space, and the process proceeds to S13. To do.

  In the process of S13, the position (control position) where the vehicle body speed is calculated is set in the cargo space, and this speed control position setting process is terminated. Thereby, when speed control for preventing the collapse of the load space is effectively set by the passenger of the vehicle VL, the vehicle body in the load space is set regardless of the weight of the load mounted on the load space. The speed is calculated, and the vehicle speed at that position can be controlled. Therefore, if the vehicle body speed is controlled so that the time change of the vehicle body speed in the cargo space is reduced, the collapse of the cargo loaded in the cargo space can be prevented according to the intention of the passenger.

  Further, when a load having a predetermined weight or more is loaded in the loading space, the vehicle body speed in the loading space is calculated and the vehicle body speed at that position can be controlled regardless of the setting of the passenger. Therefore, if the vehicle body speed is controlled so that the time change of the vehicle body speed in the cargo space is reduced, the collapse of the cargo loaded in the cargo space can be prevented also in this case.

  On the other hand, when it is determined by the processing of S12 that the load sensor 51 for loading is off (S12: No), it is then determined whether or not the narrow road switch 62 is turned on (S14). If it is determined that the narrow road switch 62 is turned on (S14: Yes), the speed control is performed by the passenger of the vehicle VL assuming that the road currently being traveled is narrow. Therefore, it is detected that the road on which the vehicle VL travels is a narrow road, and the process proceeds to S16.

  On the other hand, if it is determined that the narrow road switch 62 is turned off (S14: No), then, the information on the currently traveling road that is transmitted from the navigation device 9 to the brake control ECU 1 is displayed. Based on this, it is determined whether or not the traveling road is a narrow road (S15). As a result, when it is determined that the road is a narrow road (S15: Yes), it is detected that the currently traveling road is a narrow road, and the process proceeds to S16.

  In the process of S16, the position (control position) at which the vehicle body speed is calculated is set at the tip of the fender mirror outside the turn, and the speed control position setting process ends. The tip of the fender mirror outside the turn corresponds to the position where the turning radius is the largest in the vehicle VL.

  As a result, when the passenger of the vehicle VL feels that the road currently being traveled is narrow, if the narrow road switch 62 is turned on, the vehicle body speed at the tip of the fender mirror outside the turn is calculated. The vehicle speed at the position can be controlled. Also, based on objective travel path information by the navigation device 9, even when the travel path is a narrow road, the vehicle speed at the tip of the fender mirror outside the turn is calculated, and the vehicle speed at that position is calculated. Can be controlled. Therefore, if the vehicle body speed is controlled so that the time change of the vehicle body speed at the position of the tip of the fender mirror outside the turn, which is the position where the turning radius of the vehicle VL is the largest, during the turn, the narrow road can be made safer. You can travel to. Further, if the vehicle speed at that position is controlled to be equal to or lower than a certain speed, fear of pedestrians outside the vehicle traveling on a narrow road can be reduced.

  Further, when the passenger operates the narrow road switch 62, the vehicle body speed at the tip of the fender mirror outside the turn, which is the position where the turning radius of the vehicle VL is the largest, is controlled. It is possible to relieve the fear of the passengers of the vehicle in question.

  Moreover, since the determination of the narrow road is performed based on the objective information by the navigation device 9 without being conscious of the passenger, even if the vehicle enters the narrow road, the passenger can The feeling of fear can be softened naturally.

  On the other hand, if it is determined that the road is not a narrow road as a result of the process of S15 (S15: No), then, a braking force control signal is output from the parking support control ECU 8 to the brake control ECU 1 so as to perform the parking support control. It is determined whether it has been performed (S17). And when it is judged that the braking force control signal is output so that parking assistance control may be performed (S17: Yes), it detects that it is the situation where parking assistance control is performed in the vehicle VL. The position (control position) at which the vehicle body speed is calculated is set in the driver's seat (S18), and this speed control position setting process is terminated.

  Thereby, when parking assistance control is performed, the vehicle body speed at the driver's seat is calculated, and the parking assistance control can be performed while controlling the vehicle body speed at that position. Therefore, the speed sensation felt by the driver in the driver's seat at the time of turning coincides with the vehicle body speed controlled by the parking assistance control means, so that the driver can safely receive the driving assistance by the parking assistance control, Can be parked.

  On the other hand, as a result of the process of S17, when it is determined that the parking force control signal is not output from the parking support control ECU 8 to the brake control ECU 1 so as to perform the parking support control (S17: No), then Then, it is determined whether or not the rear seat riding comfort improvement switch 63 is turned on (S19). If it is determined that the rear seat ride comfort switch 63 is turned on (S19: Yes), the speed control for improving the ride comfort in the rear seat of the vehicle VL is performed by the passenger of the vehicle VL. Since it is set to be effective, it is detected in the vehicle VL that the control for improving the riding comfort in the rear seat is being implemented, and the process proceeds to S21.

  On the other hand, if it is determined that the rear seat ride comfort switch 63 is turned off (S19: No), it is then determined whether or not the rear seat load sensor 52 is turned on (S20). As a result, when it is determined that the rear seat load sensor 52 is on (S20: Yes), a load of a predetermined weight or more is applied to the rear seat. In this case as well, the process proceeds to S21.

  In the process of S21, the position (control position) where the vehicle body speed is calculated is set to the rear seat, and this speed control position setting process is terminated. Thereby, when speed control for improving the riding comfort in the rear seat is effectively set by the passenger of the vehicle VL, the vehicle body speed in the rear seat is calculated, and the vehicle speed at that position can be controlled. . Therefore, when the vehicle body speed is controlled so that the time change of the vehicle body speed at the rear seat becomes small during a turn, the ride comfort of the passenger riding in the rear seat can be improved according to the intention of the passenger.

  Also, when a passenger gets on the rear seat, the vehicle speed at the rear seat is calculated, and the vehicle speed at that position can be controlled. Therefore, when the vehicle body speed is controlled so that the time change of the vehicle body speed at the rear seat becomes small during a turn, the ride comfort of the passenger riding in the rear seat can be improved.

  On the other hand, when it is determined that the rear seat load sensor 52 is off by the process of S20 (S20: No), the steering of the steering provided in the vehicle VL that is the detection result of the steering angle sensor 53 is then performed. Based on the corner, it is determined whether or not the driver's seat side is located outside the turn (S22). If it is determined that the driver's seat side is located outside the turn (S22: Yes), the vehicle VL detects that the driver's seat side is located outside the turn and detects the vehicle speed (the vehicle speed is calculated). The control position is set to the driver's seat (S23), and the speed control position setting process is terminated.

  Thereby, when the driver's seat side is located outside the turn, the vehicle body speed at the driver's seat is calculated, and the vehicle body speed at that position can be controlled. Therefore, even if the position of the driver's seat is outside the turn, if the vehicle speed is controlled so that the vehicle speed at the position of the driver's seat does not increase, the vehicle can turn at a faster vehicle speed than the driver expected. It can be prevented and the driver can drive more safely.

  On the other hand, if it is determined by the processing of S22 that the driver's seat side is not located outside the turn (S22: No), the position at which the vehicle body speed is calculated (control position) is set as the vehicle body center of gravity (S24). Then, the speed control position setting process is terminated. Thereby, when the traveling state of the vehicle VL, the in-vehicle environment, and the outside environment are normal, the vehicle body speed at the position of the center of gravity of the vehicle body is calculated, and the vehicle body speed at that position can be controlled. Thereby, the vehicle body speed of the whole vehicle VL can be controlled stably.

  As described above, the speed control position setting process is executed by the CPU 11, so that an appropriate position for driving support for the driver is determined according to the traveling state of the vehicle VL, the environment inside the vehicle, and the environment outside the vehicle. Since it is set as the position to be controlled, the vehicle speed at that position can be controlled to be the target speed. Therefore, the vehicle body speed can be controlled so that comfortable driving assistance is provided to the driver.

  In addition, the determination of the traveling state of the vehicle VL, the environment inside the vehicle, and the environment outside the vehicle is performed according to a priority order determined in advance by the speed control position setting process. In other words, a plurality of positions where the vehicle body speed is controlled are prioritized, and the positions where the vehicle body speed is controlled are set according to the priorities. Accordingly, it is possible to adaptively set a position suitable for providing driving assistance to the driver in accordance with the priority order in response to various situations and environments surrounding the vehicle VL. Therefore, the vehicle body speed can be controlled so that more comfortable driving assistance is provided to the driver.

  Next, with reference to FIGS. 7 and 8, the vehicle speed calculation process executed by the brake control ECU 1 will be described. 7 and 8 are flowcharts showing the vehicle body speed calculation process. This process is executed in the process of S3 of the vehicle body speed control process as described above, and the vehicle body speed V at the position set in the speed control position setting process (the process of S1 of the vehicle body speed control process) is shown in FIG. Calculate based on Ackermann geometry.

  In the description of FIGS. 7 and 8, the description will be made assuming that the vehicle VL is turning rightward when the vehicle VL is turning. That is, the right front wheel 4FR and the right rear wheel 4RR are turning inner wheels, and the left front wheel 4FL and the left rear wheel 4RL are turning outer wheels. When the vehicle VL is turning leftward, the left front wheel 4FL and the left rear wheel 4RL are turning inner wheels, and the right front wheel 4FR and the right rear wheel 4RR are turning outer wheels. Therefore, illustration and description thereof are omitted.

  In this process, first, it is determined whether the rotational state is normal or abnormal for each of the wheels 4FR to 4RL (S30). In this determination, the wheel speeds of the wheels 4FR to 4RL stored in the RAM 13 are read, and the temporal change is calculated. If there is a wheel whose wheel speed is changing rapidly, it is determined that the wheel is in a slip state or a locked state, and the rotation state is determined to be abnormal. Further, the wheels that are controlled by the ABS control performed by the brake control ECU 1 are also determined to have an abnormal rotational state. About other wheels, it determines with a rotation state being normal.

  Next, it is determined from the detection result of the steering angle sensor 53 whether or not the vehicle VL is turning (S31). If it is determined that the vehicle VL is turning (S31: Yes), the processing of S32 to S60 is executed, and the vehicle body speed V at an arbitrary position in the turning vehicle is calculated.

  In the process of S32, it is determined from the result of the process of S30 whether or not the rotational state of each of the wheels 4FR to 4RL is normal. If it is determined that all four wheels are normal (S32: Yes), the average wheel speed Vfc of the left and right front wheels 4FL, 4FR and the average wheel speed Vrc of the left and right rear wheels 4RL, 4RR are calculated. These are specified as the vehicle body speed at the point Fc that is the midpoint between the left and right front wheels 4FL and 4FR and the point Rc that is the midpoint between the left and right rear wheels 4RL and 4RR (S33).

  Thereafter, the vehicle body speed ratio Vfc / Vrc is calculated, and the value is stored in the RAM 13 as the value of the turning radius ratio OFc / ORc at the point Fc and the point Rc (S34). Then, the process proceeds to S58.

  As described above, when the rotational states of all the wheels 4FR to 4RL are normal, the calculation is performed using the wheel speeds of all the wheels 4FL to 4RL. Therefore, the side slip generated in each wheel 4FR to 4RL at the time of turning. Can be reduced, and the calculation accuracy can be improved.

  On the other hand, as a result of the process of S32, when it is determined that the rotation state of any of the wheels 4FR to 4RL is abnormal (S32: No), the rotation of the left and right front wheels 4FL, 4FR is then performed. It is determined whether or not all the states are normal (S35). If it is determined that the rotation states of the left and right front wheels 4FL and 4FR are both normal (S35: Yes), it is further determined whether or not the rotation state of the rear wheel 4RR of the turning inner wheel is normal. (S36).

  As a result, when it is determined that the rotation state of the rear wheel 4RR of the turning inner wheel is normal (S36: Yes), among the wheels 4FR to 4RL, the left and right front wheels 4FL, 4FR and the rear wheel 4RR of the turning inner wheel rotate. It can be determined that the state is normal and the rotational state of the rear wheel 4RL of the turning outer wheel is abnormal. Accordingly, the average wheel speed Vfc of the left and right front wheels 4FL, 4FR is calculated and specified as the vehicle body speed at the point Fc, which is the midpoint between the left and right front wheels 4FL, 4FR (S37). Then, the vehicle body speed at the point Ri which is the position of the rear wheel 4RR of the turning inner wheel is specified as the wheel speed Vri of the rear wheel 4RR of the turning inner wheel, and the vehicle body speed ratio Vfc / Vri is calculated. The value of the turning radius ratio OFc / ORi at Ri is stored in the RAM 13 (S38). Thereafter, the process proceeds to S58.

  As described above, when it is determined that the rotation states of the left and right front wheels 4FL, 4FR and the rear wheel 4RR of the turning inner wheel are normal, the wheels 4FL except the rear wheel 4RL of the turning outer wheel whose rotation state is determined to be abnormal are determined. , 4FR, and 4RR are used for calculation, so that the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal. Further, in this case, since the calculation is performed using the wheel speeds of all the wheels that are determined to be in the normal rotation state, the calculation accuracy can be further improved.

  On the other hand, if it is determined that the rotation state of the rear wheel 4RR of the inner turning wheel is abnormal as a result of the process of S36 (S36: No), then, is the rotation state of the rear wheel 4RL of the outer turning wheel normal? It is determined whether or not (S39). When it is determined that the rotation state of the rear wheel 4RL of the turning outer wheel is normal (S39: Yes), among the wheels 4FR to 4RL, the left and right front wheels 4FL, 4FR and the rear wheel 4RL of the turning outer wheel It can be determined that the rotation state is normal and the rotation state of the rear wheel 4RR of the turning inner wheel is abnormal.

  Therefore, the vehicle body speed at the point Fo which is the position of the front wheel 4FL of the turning outer wheel is specified as the wheel speed Vfo of the front wheel 4FL of the turning outer wheel, and the vehicle speed at the point Ro which is the position of the rear wheel 4RL of the turning outer wheel is determined after the turning outer wheel. The vehicle speed ratio Vfo / Vro is calculated by specifying the wheel speed Vro of the wheel 4RL, and the value is stored in the RAM 13 as the value of the turning radius ratio OFo / ORo at the point Fo and the point Ro (S40). Thereafter, the process proceeds to S58.

  As described above, when it is determined that the rotation states of the left and right front wheels 4FL, 4FR and the rear wheel 4RL of the turning outer wheel are normal, the wheels 4FL excluding the rear wheel 4RR of the turning inner wheel whose rotation state is determined to be abnormal are determined. , 4RL is used for calculation, so that the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal.

  In this case, as described above, when calculation is performed using the wheel speeds of the front wheel 4FR of the turning inner wheel and the rear wheel 4RL of the turning outer wheel whose rotation state is normal, the positions of the wheels (point Fi and point Ro) are calculated. ), The turning radius cannot be uniquely specified in the processing of S58 described later, and the calculation becomes complicated. On the other hand, in the process of S38, the calculation is performed using the wheel speeds of the wheels 4FL and 4RL, so that the turning radius can be uniquely specified by the process of S58, and an increase in the processing load due to complicated calculation is suppressed. However, computation can be performed.

  On the other hand, when it is determined that the rotation state of the rear wheel 4RL of the turning outer wheel is abnormal as a result of the process of S39 (S39: No), the rotation of the left and right front wheels 4FL, 4FR among the wheels 4FR to 4RL is determined. It can be determined that the state is normal and the rotational states of the left and right rear wheels 4RL, 4RR are abnormal.

  Therefore, the vehicle body speed at the point Fo that is the position of the front wheel 4FL of the turning outer wheel is specified as the wheel speed Vfo of the front wheel 4FL of the turning outer wheel, and the vehicle body speed at the point Fi that is the position of the front wheel 4FR of the turning inner wheel is the front wheel 4FR of the turning inner wheel. Vehicle speed ratio Vfo / Vfi is calculated, and the value is stored in RAM 13 as the value of turning radius ratio OFo / OFi at point Fo and point Fi (S41). Thereafter, the process proceeds to S58.

  As described above, when it is determined that the rotation states of the left and right front wheels 4FL and 4FR are normal, the wheel speeds of the wheels 4FL and 4FR except for the left and right rear wheels 4RL and 4RR whose rotation state is determined to be abnormal are determined. Therefore, even if there is a wheel whose rotational state is determined to be abnormal, the calculation accuracy can be improved.

  On the other hand, when it is determined as a result of the process of S35 that the rotation state of any of the left and right front wheels 4FL, 4FR is abnormal (S35: No), the process proceeds to S42 shown in FIG.

  Next, referring to FIG. 8, in the process of S42, it is determined whether or not the rotation states of the left and right rear wheels 4RL, 4RR are both normal. When it is determined that the rotation states of the left and right rear wheels 4RL and 4RR are both normal (S42: Yes), it is further determined whether or not the rotation state of the front wheel 4FL of the turning outer wheel is normal. (S43).

  As a result, when it is determined that the rotation state of the front wheel 4FL of the turning outer wheel is normal (S43: Yes), among the wheels 4FR to 4RL, the rotation state of the front wheel 4FL of the turning outer wheel and the left and right rear wheels 4RL, 4RR. Is normal, and it can be determined that the rotational state of the front wheel 4FR of the turning inner wheel is abnormal. Therefore, the average wheel speed Vrc of the left and right rear wheels 4RL, 4RR is calculated and specified as the vehicle body speed at the point Rc, which is an intermediate point between the left and right rear wheels 4RL, 4RR (S44). Then, the vehicle body speed at the point Fo which is the position of the front wheel 4FL of the turning outer wheel is specified as the wheel speed Vfo of the front wheel 4FL of the turning outer wheel, and the vehicle body speed ratio Vfo / Vrc is calculated, and the value is calculated at the points Fo and Rc. The value is stored in the RAM 13 as the value of the turning radius ratio OFo / ORc (S45). Thereafter, the process proceeds to S58 shown in FIG.

  As described above, when it is determined that the rotation state of the front wheel 4FL of the turning outer wheel and the left and right rear wheels 4RL, 4RR is normal, the wheels 4FL except for the front wheel 4FR of the turning inner wheel whose rotation state is determined to be abnormal are determined. Since the calculation is performed using the wheel speeds of 4RL and 4RR, the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal. Further, in this case, since the calculation is performed using the wheel speeds of all the wheels that are determined to be in the normal rotation state, the calculation accuracy can be further improved.

  On the other hand, if it is determined as a result of the processing of S43 that the rotation state of the front wheel 4FL of the turning outer wheel is abnormal (S43: No), then, whether the rotation state of the front wheel 4FR of the turning inner wheel is normal or not. Is determined (S46). When it is determined that the rotation state of the front wheel 4FR of the turning inner wheel is normal (S46: Yes), among the wheels 4FR to 4RL, the rotation of the front wheel 4FR of the turning inner wheel and the left and right rear wheels 4RL, 4RR. It can be determined that the state is normal and the rotational state of the front wheel 4FL of the turning outer wheel is abnormal.

  Therefore, the vehicle body speed at the point Fi that is the position of the front wheel 4FR of the turning inner wheel is specified as the wheel speed Vfi of the front wheel 4FR of the turning inner wheel, and the vehicle body speed at the point Ri that is the position of the rear wheel 4RR of the turning inner wheel is The vehicle body speed ratio Vfi / Vri is calculated by specifying the wheel speed Vri of the wheel 4RR, and the value is stored in the RAM 13 as the value of the turning radius ratio OFi / ORi at the point Fi and the point Ri (S47). Thereafter, the process proceeds to S58 shown in FIG.

  As described above, when it is determined that the rotation state of the front wheel 4FR of the turning inner wheel and the left and right rear wheels 4RL, 4RR is normal, the wheels 4FR, excluding the front wheel 4FL of the turning outer wheel whose rotation state is determined to be abnormal, Since the calculation is performed using the wheel speed of 4RR, the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal.

  In this case, as described above, when calculation is performed using the wheel speeds of the front wheel 4FR of the turning inner wheel and the rear wheel 4RL of the turning outer wheel whose rotation state is normal, the positions of the wheels (point Fi and point Ro) are calculated. ), The turning radius cannot be uniquely specified in the processing of S58 described later, and the calculation becomes complicated. On the other hand, in S47, the calculation is performed using the wheel speeds of the wheels 4FR and 4RR. Therefore, the turning radius can be uniquely specified by the process of S58, and an increase in the processing load due to the complicated calculation is suppressed. , Arithmetic can be performed.

  On the other hand, if it is determined that the rotation state of the front wheel 4FR of the turning inner wheel is abnormal as a result of the process of S46 (S46: No), the rotation of the left and right rear wheels 4RL and 4RR among the wheels 4FR to 4RL. It can be determined that the state is normal and the rotational states of the left and right front wheels 4FL, 4FR are abnormal.

  Accordingly, the vehicle body speed at the point Ro, which is the position of the rear wheel 4RL of the turning outer wheel, is specified as the wheel speed Vro of the rear wheel 4RL of the turning outer wheel, and the vehicle speed at the point Ri, which is the position of the rear wheel 4RR of the turning inner wheel, is determined. The vehicle speed ratio Vro / Vri is calculated by specifying the wheel speed Vri of the rear wheel 4RR, and the value is stored in the RAM 13 as the value of the turning radius ratio ORo / ORi at the point Ro and the point Ri (S48). Thereafter, the process proceeds to S58 shown in FIG.

  As described above, when it is determined that the rotational states of the left and right rear wheels 4RL and 4RR are normal, the wheel speeds of the wheels 4RL and 4RR except for the left and right front wheels 4FL and 4FR whose rotational state is determined to be abnormal are determined. Therefore, even if there is a wheel whose rotational state is determined to be abnormal, the calculation accuracy can be improved.

  On the other hand, as a result of the processing of S42, when it is determined that the rotation state of any of the left and right rear wheels 4RL, 4RR is abnormal (S42: No), the rotation state of each of the wheels 4FR to 4RL is The number of normal wheels is 2 or less.

  Therefore, this time, it is determined whether or not the rotation state of the front wheel 4FL of the turning outer wheel is normal (S49). If it is determined that the rotation state of the front wheel 4FL of the turning outer wheel is normal (S49: Yes), it is further determined whether or not the rotation state of the rear wheel 4RL of the turning outer wheel is normal (S50). ).

  As a result, when it is determined that the rotation state of the rear wheel RL of the turning outer wheel is normal (S50: Yes), among the wheels 4FR to 4RL, the front wheel 4FL of the turning outer wheel and the rear wheel 4RL of the turning outer wheel are determined. It can be determined that the rotation state is normal, and the rotation states of the front wheel 4FR of the turning inner wheel and the rear wheel 4RR of the turning inner wheel are abnormal.

  Therefore, the vehicle body speed at the point Fo which is the position of the front wheel 4FL of the turning outer wheel is specified as the wheel speed Vfo of the front wheel 4FL of the turning outer wheel, and the vehicle speed at the point Ro which is the position of the rear wheel 4RL of the turning outer wheel is determined after the turning outer wheel. The vehicle body speed ratio Vfo / Vro is calculated by specifying the wheel speed Vro of the wheel 4RL, and the value is stored in the RAM 13 as the value of the turning radius ratio OFo / ORo at the point Fo and the point Ro (S51). Thereafter, the process proceeds to S58 shown in FIG.

  As described above, when it is determined that the rotation state of the front wheel 4FL of the turning outer wheel and the rear wheel 4RL of the turning outer wheel is normal, the front wheel 4FR of the turning inner wheel and the rear wheel of the turning inner wheel whose rotation state is determined to be abnormal. Since the calculation is performed using the wheel speeds of the wheels 4FL and 4RL excluding 4RR, the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal.

  On the other hand, if it is determined as a result of the processing of S50 that the rotation state of the rear wheel RL of the outer turning wheel is abnormal (S50: Yes), is the rotation state of the rear wheel 4RR of the inner turning wheel normal? It is determined whether or not (S52). As a result, when it is determined that the rotation state of the rear wheel 4RR of the turning inner wheel is normal (S52: Yes), of the wheels 4FR to 4RL, the front wheel 4FL of the turning outer wheel and the rear wheel 4RR of the turning inner wheel It can be determined that the rotation state is normal, and the rotation states of the front wheel 4FR of the turning inner wheel and the rear wheel 4RL of the turning outer wheel are abnormal.

  Therefore, the vehicle body speed at the point Fo that is the position of the front wheel 4FL of the turning outer wheel is specified as the wheel speed Vfo of the front wheel 4FL of the turning outer wheel, and the vehicle speed at the point Ri that is the position of the rear wheel 4RR of the turning inner wheel is determined after the turning inner wheel. The vehicle body speed ratio Vfo / Vri is calculated by specifying the wheel speed Vri of the wheel 4RR, and the value is stored in the RAM 13 as the value of the turning radius ratio OFo / ORi at the point Fo and the point Ri (S53). Thereafter, the process proceeds to S58 shown in FIG.

  As described above, when it is determined that the rotation state of the front wheel 4FL of the turning outer wheel and the rear wheel 4RR of the turning inner wheel is normal, the front wheel 4FR of the turning inner wheel and the rear wheel of the turning outer wheel whose rotation state is determined to be abnormal. Since the calculation is performed using the wheel speeds of the wheels 4FL and 4RR excluding 4RL, the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal.

  On the other hand, as a result of the processing of S52, when it is determined that the rotation state of the rear wheel 4RR of the turning inner wheel is abnormal (S52: No), only the front wheel 4FL of the turning outer wheel rotates among the wheels 4FR to 4RL. Since it can be determined that the state is normal, the vehicle body speed at an arbitrary position cannot be calculated based on the Ackermann geometry shown in FIG. 3 as described above. Therefore, in this case, the processes of S58 and S59 shown in FIG. 7 are skipped and not executed, the execution of these processes is prohibited, and the process proceeds to the process of S60 shown in FIG.

  On the other hand, if it is determined that the rotation state of the front wheel 4FL of the turning outer wheel is abnormal as a result of the process of S49 (S49: No), then, is the rotation state of the front wheel 4FR of the turning inner wheel normal? It is determined whether or not (S54). And when it is judged that the rotation state of the front wheel 4FR of the turning inner wheel is abnormal (S54: No), it can be judged that the rotation state of all the wheels 4FR to 4RR is abnormal. Based on the Ackermann geometry shown in FIG. 3, the vehicle body speed at an arbitrary position cannot be calculated. Accordingly, in this case as well, the processes of S58 and S59 shown in FIG. 7 are skipped and not executed, the execution of these processes is prohibited, and the process proceeds to the process of S60 shown in FIG.

  On the other hand, if it is determined as a result of the processing of S54 that the rotation state of the front wheel 4FR of the turning inner wheel is normal (S54: Yes), whether or not the rotation state of the rear wheel 4RL of the turning outer wheel is normal. Is determined (S55). When it is determined that the rotation state of the rear wheel 4RL of the turning outer wheel is normal (S55: Yes), the rotation state of the front wheel 4FR of the turning inner wheel and the rear wheel 4RL of the turning outer wheel among the wheels 4FR to 4RL. It can be determined that the rotation state of the front wheel 4FL of the outer turning wheel and the rear wheel 4RR of the inner turning wheel is abnormal.

  In this case, as described above, when calculation is performed using the wheel speeds of the front wheel 4FR of the turning inner wheel and the rear wheel 4RL of the turning outer wheel whose rotation state is normal, the positions of the wheels (point Fi and point Ro) are calculated. Due to the geometric positional relationship, the turning radius cannot be uniquely specified in the processing of S58 described later, and the calculation becomes complicated. Therefore, also in this case, the processes of S58 and S59 shown in FIG. 7 are skipped and not executed, the execution of these processes is prohibited, and the process proceeds to the process of S60 shown in FIG. Thereby, it is possible to suppress an increase in processing load due to complicated calculations.

  On the other hand, if it is determined as a result of the processing of S55 that the rotation state of the rear wheel 4RL of the outer turning wheel is abnormal (S55: No), is the rotation state of the rear wheel 4RR of the inner turning wheel normal? It is determined whether or not (S56). If it is determined that the rotation state of the rear wheel 4RR of the turning inner wheel is normal (S56: Yes), the rotation of the front wheel 4FR of the turning inner wheel and the rear wheel 4RR of the turning inner wheel among the wheels 4FR to 4RL. It can be determined that the state is normal and the rotational state of the front wheel 4FL of the turning outer wheel and the rotation state of the rear wheel 4RL of the turning outer wheel are abnormal.

  Therefore, the vehicle body speed at the point Fi that is the position of the front wheel 4FR of the turning inner wheel is specified as the wheel speed Vfi of the front wheel 4FR of the turning inner wheel, and the vehicle body speed at the point Ri that is the position of the rear wheel 4RR of the turning inner wheel is The vehicle body speed ratio Vfi / Vri is calculated by specifying the wheel speed Vri of the wheel 4RR, and the value is stored in the RAM 13 as the value of the turning radius ratio OFi / ORi at the point Fi and the point Ri (S57). Thereafter, the process proceeds to S58 shown in FIG.

  As described above, when it is determined that the rotation state of the front wheel 4FR of the turning inner wheel and the rear wheel 4RR of the turning inner wheel is normal, the front wheel 4FL of the turning outer wheel and the rear wheel of the turning outer wheel whose rotation state is determined to be abnormal. Since the calculation is performed using the wheel speeds of the wheels 4FR and 4RR excluding 4RL, the calculation accuracy can be improved even if there is a wheel whose rotation state is determined to be abnormal.

  On the other hand, as a result of the processing of S56, when it is determined that the rotation state of the rear wheel 4RR of the turning inner wheel is abnormal (S56: No), only the front wheel 4FR of the turning inner wheel rotates among the wheels 4FR to 4RL. Since it can be determined that the state is normal, the vehicle body speed at an arbitrary position cannot be calculated based on the Ackermann geometry shown in FIG. 3 as described above. Accordingly, in this case as well, the processes of S58 and S59 shown in FIG. 7 are skipped and not executed, the execution of these processes is prohibited, and the process proceeds to the process of S60 shown in FIG.

  Returning to FIG. 7, in the process of S58, based on the turning radius ratio stored in the RAM 13, the turning speed map 12b is used to specify the vehicle body speed based on the wheel speed of the wheel in the normal rotation state ( The turning radius of the points Fi, Fc, Fo, Ri, Rc, Ro) is determined (S58). Then, based on the vehicle body speed specified based on the wheel speed and the turning radius obtained in S58, the speed control position setting process (the process of S1 of the vehicle body speed control process) is performed using the Ackermann geometry shown in FIG. The vehicle body speed V at the set position is calculated (S59), and the vehicle body speed calculation process is terminated.

  Thus, based on the wheel speeds of two or more wheels, the vehicle body speed at an arbitrary position set in the speed control position setting process is calculated using the Ackermann geometry. Conventionally, in order to calculate the vehicle body speed, A lateral acceleration sensor or a yaw rate sensor to be used is not necessary. Therefore, the vehicle body speed at an arbitrary position can be calculated while suppressing an increase in cost.

  In addition, since the wheel speeds of two or more wheels excluding the wheel determined to be abnormal in rotation state are used for the calculation of the vehicle body speed, any wheel speed of a wheel in which the rotation state is normal can be determined arbitrarily. The vehicle body speed at the position is calculated. Thereby, calculation accuracy can be improved. As a result, the vehicle speed at an arbitrary position can be accurately calculated while suppressing an increase in cost.

  On the other hand, in the process of S60, instead of the processes of S58 and S59, the calculation result of the vehicle body speed calculated at the position previously set in the speed control position setting process (the process of S1 of the vehicle body speed control process) is extrapolated. Linear interpolation is performed to estimate the vehicle speed V at the current position. Then, the vehicle body speed calculation process ends.

  Further, in the process of S31, when it is determined that the vehicle VL is not turning (S31: No), the average of the wheel speeds of the wheels excluding the wheel in which the rotational state is abnormal is determined as a speed control position setting process ( The vehicle body speed V at the position set in the vehicle body speed control process S1) is set (S61), and the vehicle body speed calculation process is terminated.

  Although the present invention has been described based on the embodiments, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. Can be inferred. For example, the numerical values given in the above embodiment are merely examples, and other numerical values can naturally be adopted.

  In addition, each determination process of the speed control position setting process in the above embodiment may be appropriately replaced or removed depending on the characteristics of the vehicle VL. Further, in the speed control position setting process in the above embodiment, a case has been described in which a plurality of determination processes for determining the traveling state of the vehicle, the environment inside the vehicle, and the environment outside the vehicle are provided. The position at which the vehicle body speed is controlled may be set according to the determination result.

  In the above embodiment, the case where the left and right front wheels 4FL, 4FR are used as steering wheels has been described. However, the present invention is not necessarily limited to this, and the case where the left and right rear wheels 4RL, 4RR are used as steering wheels is not limited to this. The present invention can also be applied to a vehicle having a plurality of wheels.

  In the above embodiment, among the wheels 4FR to 4RL, when the rotational state of any of the left front wheel 4FL that is the front wheel of the turning outer wheel and the right rear wheel 4RR that is the rear wheel of the turning inner wheel is abnormal, The case where the vehicle body speed at the position of each wheel is specified from the wheel speeds of the two wheels or the turning inner wheel and the turning radius ratio is obtained to uniquely identify the turning radius at those positions has been described. It is not limited to this. For example, in such a case, the vehicle body speed at each wheel position is identified from the wheel speeds of the two front wheels or the two rear wheels, and the turning radius ratio is obtained to uniquely determine the turning radius at those positions. You may specify. This also makes it possible to calculate the vehicle speed at an arbitrary position while suppressing an increase in processing load due to complicated calculations.

  In the above embodiment, when the passenger of the vehicle VL feels that the road on which the vehicle is currently traveling is narrow, or based on the information on the objective travel path by the navigation device 9, the travel path is a narrow road. The case where the position (control position) at which the vehicle body speed is calculated is set at the tip of the fender mirror outside the turn has been described in some cases, but the turning radius is the largest in the vehicle VL other than the tip of the fender mirror outside the turn. When a large position exists, the position may be set to a position (control position) where the vehicle body speed is calculated. For example, when the left or right tip of the bonnet is the position where the turning radius is the largest in the vehicle VL, the left or right tip of the bonnet may be set to a position (control position) where the vehicle body speed is calculated. .

In the above embodiment, the case where the determination as to whether or not the travel path of the vehicle VL is a narrow road has been made based on the travel path information by the navigation device 9 is not necessarily limited thereto. For example, when a distance sensor is mounted on both sides of the vehicle VL, the distance between the vehicle VL and the obstacle is detected by the distance sensor, and the detected distance is a predetermined distance or less for a certain period of time. The traveling road may be determined to be a narrow road. Further, it may be determined whether or not the traveling road is a narrow road by mounting a camera in front of the vehicle VL and analyzing an image captured by the camera.
<Others>
<Means>
The vehicle body speed control device of the technical idea 1 controls a vehicle body speed of a vehicle, and includes a wheel speed detection means for detecting a wheel speed of a wheel provided in the vehicle, a traveling state of the vehicle, a vehicle interior According to at least one of an environment and vehicle environment detection means for detecting at least one of the environment outside the vehicle, and the vehicle traveling state detected by the vehicle environment detection means, the environment inside the vehicle, and the environment outside the vehicle, Specific position setting means for setting a specific position of the vehicle in which the vehicle body speed is controlled, target speed setting means for setting a target speed at the specific position set by the specific position setting means, and wheel speed detection means Vehicle body speed calculating means for calculating the vehicle body speed at the specific position set by the specific position setting means based on the wheel speed detected by the vehicle, and the vehicle Based on the vehicle speed calculated by the speed calculation means, the driving force or braking force applied to the wheels is controlled so that the vehicle body speed of the vehicle becomes the target speed set by the target speed setting means. Vehicle body speed control means, wherein the vehicle environment detection means detects that the road on which the vehicle travels is a narrow road, and the specific position setting means uses the vehicle environment detection means to When it is detected that the road on which the vehicle travels is a narrow road, a position where the turning radius is the largest in the vehicle is set as the specific position.
The vehicle body speed control device according to technical idea 2 is the vehicle body speed control device according to technical idea 1, in which the information on whether the road on which the vehicle is traveling is a narrow road is received by a passenger's operation. Wide road information receiving means, wherein the vehicle environment detecting means receives the information that the road on which the vehicle is running is a narrow road by the narrow road information receiving means. It is characterized by detecting that the traveling road is a narrow road.
The vehicle body speed control device according to technical idea 3 is a vehicle body speed control device according to technical idea 1, wherein the vehicle body speed control device acquires a current position of the vehicle and acquires information on a road on which the vehicle is traveling from the current position. Road information acquisition means, and when the vehicle environment detection means determines that the road on which the vehicle is traveling is a narrow road based on the information acquired by the road information acquisition means, It is detected that the road on which the vehicle travels is a narrow road.
The vehicle body speed control device according to the technical idea 4 is the vehicle body speed control device according to any one of the technical ideas 1 to 3, wherein the vehicle environment detection unit has a predetermined amount of luggage mounted at a load mounting position of the vehicle. The specific position setting means detects the load mounting position when the vehicle environment detection means detects that a predetermined amount of the load is mounted on the load mounting position of the vehicle. The specific position is set.
The vehicle body speed control device according to technical idea 5 is the vehicle body speed control device according to any one of technical ideas 1 to 4, wherein the vehicle body speed control device performs control for preventing the collapse of the load mounted at the load mounting position of the vehicle. If the vehicle environment detection means is received when performing control to prevent the collapse of the cargo by the load collapse prevention acceptance means, It is detected that the vehicle is in a state of performing control to prevent load collapse, and the specific position setting unit is in a state of performing control to prevent load collapse in the vehicle by the vehicle environment detection unit. When the item is detected, the load carrying position is set as the specific position.
The vehicle body speed control device according to the technical idea 6 is the vehicle body speed control device according to any one of the technical ideas 1 to 5, wherein the vehicle environment detection means is that a passenger is in the rear seat position of the vehicle. The specific position setting means sets the rear seat position as the specific position when the vehicle environment detection means detects that a passenger is in the rear seat position of the vehicle. It is characterized by doing.
The vehicle speed control device according to the technical idea 7 is the vehicle speed control device according to any one of the technical ideas 1 to 6, wherein information indicating whether or not the control for improving the riding comfort in the rear seat of the vehicle is performed. When the vehicle environment detecting means is received by the ride comfort improvement receiving means to perform control for improving the ride comfort in the rear seat, the vehicle environment detecting means is received by the operation of the passenger, in the vehicle, A situation in which it is detected that the control for improving the ride comfort in the rear seat is performed, and the specific position setting means performs a control for improving the ride comfort in the rear seat in the vehicle by the vehicle environment detection means. When it is detected that the seat position is, the rear seat position is set as the specific position.
The vehicle body speed control device according to technical idea 8 is the vehicle body speed control device according to any one of technical ideas 1 to 7, wherein the vehicle environment detection means is configured such that the driver's seat side of the vehicle is outside the turn in the vehicle. The specific position setting means detects that the vehicle environment detection means detects that the driver's seat side of the vehicle is located outside the turn in the vehicle. The position of the driver's seat of the vehicle is set as the specific position.
<Effect>
According to the vehicle body speed control apparatus described in the technical idea 1, the vehicle body speed is controlled in accordance with at least one of the vehicle traveling state, the vehicle interior environment, and the vehicle exterior environment detected by the vehicle environment detection means. The specific position of the vehicle is set by the specific position setting means, and the target speed at the specific position is set by the target speed setting means. Based on the wheel speed detected by the wheel speed detecting means, the vehicle body speed at the specific position set by the specific position setting means is calculated by the vehicle body speed calculating means, and based on the calculated vehicle body speed, The driving force or braking force applied to the wheels is controlled by the vehicle body speed control means so that the vehicle body speed becomes the target speed set by the target speed setting means. Thereby, according to the situation and environment of a vehicle, the position suitable for performing the driving assistance with respect to a driver | operator can be set as a specific position, and the vehicle body speed in the specific position can be controlled. Therefore, there is an effect that the vehicle speed can be controlled so that comfortable driving assistance is provided to the driver.
In addition, the following effects are achieved. That is, when the vehicle travels on a narrow road, the vehicle environment detection means detects that the road on which the vehicle travels is a narrow road. Then, the position where the turning radius is the largest in the vehicle is set as the specific position where the vehicle body speed is controlled by the specific position setting means. As a result, it is possible to control the vehicle body speed at a position having the largest turning radius in the vehicle, which is a position where there is a high risk of collision with an object outside the vehicle. Therefore, there is an effect that the vehicle can safely travel on a narrow road. Further, if the vehicle speed at that position is controlled to be equal to or lower than a certain speed, there is an effect that a feeling of fear for a pedestrian outside the vehicle can be reduced.
According to the vehicle body speed control device described in the technical idea 2, in addition to the effects exhibited by the vehicle body speed control device described in the technical idea 1, the following effects can be obtained. That is, when the information that the road on which the vehicle is traveling is a narrow road by the operation of the passenger is received by the narrow road information receiving means, the road on which the vehicle is traveling is a narrow road. Detected by the vehicle environment detecting means. As a result, the vehicle speed at the position where the turning radius is the largest in the vehicle, which is a position where there is a high risk of colliding with an object outside the vehicle, is controlled by an operation performed by the passenger when the traveling road is felt to be narrow. be able to. Therefore, there is an effect that the fear feeling felt by the passenger of the vehicle traveling on the narrow road can be surely relieved.
According to the vehicle body speed control device described in the technical idea 3, in addition to the effects exhibited by the vehicle body speed control device described in the technical idea 1, the following effects can be obtained. That is, information on the road on which the vehicle is traveling is acquired from the current position of the vehicle by the traveling road information acquisition means, and the road on which the vehicle is traveling is a narrow road based on the acquired information. If it is determined that the road on which the vehicle travels is a narrow road, it is detected by the vehicle environment detection means. Thus, it is determined whether or not the road on which the vehicle is traveling is a narrow road without being conscious of the passenger, and according to the determination result, in the vehicle at a high risk of collision with an object outside the vehicle. The vehicle speed at the position where the turning radius is the largest can be controlled. Therefore, even if the vehicle enters a narrow road, there is an effect that the fear that the passenger feels by traveling on the road can be relieved naturally.
According to the vehicle body speed control device described in the technical idea 4, in addition to the effects exhibited by the vehicle body speed control device described in any of the technical ideas 1 to 3, the following effects can be obtained. That is, when a predetermined amount of luggage is mounted at the load mounting position of the vehicle, it is detected by the vehicle environment detection means that a predetermined amount of luggage is mounted at the load mounting position of the vehicle. Then, the load position is set as a specific position where the vehicle body speed is controlled by the specific position setting means. Thereby, if the vehicle body speed is controlled so that the time change of the vehicle body speed at the luggage loading position is reduced, it is possible to prevent the collapse of the luggage loaded at the luggage loading position.
According to the vehicle speed control device described in the technical idea 5, in addition to the effects exhibited by the vehicle speed control device described in any of the technical ideas 1 to 4, the following effects can be obtained. That is, when the control for preventing the collapse of the load loaded at the load mounting position of the vehicle is performed by the passenger's operation and the load collapse prevention receiving unit accepts the control, the vehicle environment detection unit causes the load collapse in the vehicle. It is detected that the situation is that the control to be prevented is performed. Then, the load position is set as a specific position where the vehicle body speed is controlled by the specific position setting means. As a result, when the passenger wants to prevent the collapse of the load loaded at the load carrying position, the vehicle speed is controlled so that the time change of the vehicle speed at the load loaded position is reduced by the operation performed by the rider. Can do. Therefore, there is an effect that it is possible to prevent the collapse of the luggage loaded at the luggage loading position according to the intention of the passenger.
According to the vehicle body speed control device described in the technical idea 6, in addition to the effects exhibited by the vehicle body speed control device described in any of the technical ideas 1 to 5, the following effects are achieved. That is, when a passenger is in the rear seat position of the vehicle, it is detected by the vehicle environment detection means that the passenger is in the rear seat position of the vehicle. Then, the specific position setting means sets the rear seat position as the specific position where the vehicle body speed is controlled. As a result, if the vehicle body speed at the rear seat position is controlled so as to be small, the ride comfort of the passenger who has boarded the rear seat position can be improved.
According to the vehicle body speed control device described in the technical idea 7, in addition to the effects exhibited by the vehicle body speed control device described in any of the technical ideas 1 to 6, the following effects can be obtained. That is, if control for improving the ride comfort in the rear seat is performed by the rider's operation and received by the ride comfort improvement acceptance means, the vehicle environment detection means performs control for improving the ride comfort in the rear seat in the vehicle. It is detected that the situation is Then, the specific position setting means sets the rear seat position as the specific position where the vehicle body speed is controlled. As a result, when the passenger wants to improve the riding comfort in the rear seat, the vehicle speed can be controlled by an operation performed by the passenger so that the temporal change in the vehicle speed at the rear seat position is reduced. Therefore, there is an effect that it is possible to improve the ride comfort of the passenger who has boarded the rear seat position in accordance with the intention of the passenger.
According to the vehicle body speed control device described in the technical idea 8, in addition to the effects exhibited by the vehicle body speed control device described in any of the technical ideas 1 to 7, the following effects can be obtained. In other words, when the driver's seat side of the vehicle is located outside the turn, the vehicle environment detecting means detects that the vehicle's driver's seat side is located outside the turn in the vehicle. Then, the position of the driver's seat of the vehicle is set as the specific position where the vehicle body speed is controlled by the specific position setting means. Thereby, even when the position of the driver's seat of the vehicle is outside the turn, the vehicle body speed at the position of the driver's seat of the vehicle can be controlled so as not to increase. Therefore, it is possible to prevent the vehicle from turning at a faster vehicle speed than expected by the driver, and the driver can drive more safely.

VL Vehicle 1 Brake control ECU (an example of a vehicle body speed control device)
4FR to 4RL Wheel 5FR to 5RL Wheel speed sensor (an example of wheel speed detection means)
9 Navigation device (an example of travel route information acquisition means)
61 Unloading prevention switch (an example of means for preventing unloading)
63 Rear seat ride quality improvement switch (an example of ride quality improvement reception means)
S2 (an example of target speed setting means)
S3 (an example of vehicle speed calculation means)
S4 (an example of vehicle speed control means)
S11, S12, S14 (an example of vehicle environment detection means)
S15, S17, S19 (an example of vehicle environment detection means)
S20, S22 (an example of vehicle environment detection means)
S13, S16, S18 (an example of specific position setting means)
S21, S23, S24 (an example of specific position setting means)

Claims (7)

A vehicle body speed control device for controlling the vehicle body speed of a vehicle,
Wheel speed detecting means for detecting the wheel speed of the wheel provided in the vehicle;
Vehicle environment detection means for detecting at least one of the traveling state of the vehicle, the environment inside the vehicle, and the environment outside the vehicle;
Specific position setting means for setting the specific position of the vehicle where the vehicle body speed is controlled in accordance with at least one of the traveling state of the vehicle, the in-vehicle environment, and the outside environment detected by the vehicle environment detecting means. When,
Target speed setting means for setting a target speed at the specific position set by the specific position setting means;
Vehicle body speed calculating means for calculating the vehicle speed at the specific position set by the specific position setting means based on the wheel speed detected by the wheel speed detecting means;
Based on the vehicle body speed calculated by the vehicle body speed calculating means, the driving force or braking force applied to the wheels so that the vehicle body speed of the vehicle becomes the target speed set by the target speed setting means. Vehicle body speed control means for controlling
The vehicle environment detection means detects that the road on which the vehicle travels is a narrow road where the distance between the side surface of the vehicle and the obstacle is a predetermined distance or less ,
The specific position setting means sets, as the specific position, a position at which the turning radius is maximum in the vehicle when the vehicle environment detection means detects that the road on which the vehicle travels is a narrow road. A vehicle body speed control device. The vehicle includes a travel path information acquisition unit that acquires a current position of the vehicle and acquires information on a road on which the vehicle is traveling from the current position.
The vehicle environment detection means determines whether the road on which the vehicle is traveling when the road on which the vehicle is traveling is determined to be a narrow road based on the information acquired by the travel path information acquisition means. The vehicle body speed control device according to claim 1, wherein the vehicle body speed control device detects a narrow road. The vehicle environment detection means detects that a predetermined amount of luggage is loaded at the luggage loading position of the vehicle,
The specific position setting means sets the luggage loading position as the specific position when the vehicle environment detection means detects that a predetermined amount of luggage is loaded at the luggage loading position of the vehicle. vehicle speed control apparatus according to claim 1 or 2, characterized in. A load collapse prevention receiving means for receiving information on whether or not to perform control for preventing load collapse of the load mounted at the load mounting position of the vehicle by a passenger's operation,
The vehicle environment detection means detects that the vehicle is in a situation where control is performed to prevent load collapse in the vehicle when it is accepted that the load collapse prevention reception means performs control to prevent load collapse.
The specific position setting means sets the load mounting position as the specific position when it is detected by the vehicle environment detection means that the vehicle is in a situation where control for preventing cargo collapse is performed. The vehicle body speed control device according to any one of claims 1 to 3 , wherein The vehicle environment detection means detects that a passenger is in the rear seat position of the vehicle;
The specific position setting means sets the rear seat position as the specific position when the vehicle environment detection means detects that a passenger is in the rear seat position of the vehicle. The vehicle body speed control device according to any one of claims 1 to 4 . Riding comfort improvement receiving means for receiving information on whether or not to implement control for improving the riding comfort in the rear seat of the vehicle by a passenger's operation,
In the situation where the vehicle environment detecting means performs control for improving the ride comfort in the rear seat in the vehicle when the vehicle comfort detection accepting means receives the control for improving the ride comfort in the rear seat. Detect that there is
The specific position setting means sets a rear seat position as the specific position when the vehicle environment detection means detects that the vehicle is in a situation where control for improving riding comfort in a rear seat is performed in the vehicle. The vehicle body speed control device according to any one of claims 1 to 5 , wherein The vehicle environment detection means detects that the driver's seat side of the vehicle is located outside the turn in the vehicle,
The specific position setting means determines the position of the driver's seat of the vehicle when the vehicle environment detection means detects that the driver's seat side of the vehicle is located outside the turn in the vehicle. The vehicle body speed control device according to any one of claims 1 to 6 , wherein the vehicle body speed control device is set as a position.

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