JP5967352B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

  Conventionally, as a driving support device for a vehicle using an accelerator reaction force that is a force repelling an operation force for operating an accelerator pedal, an accelerator pedal reaction force instruction value proportional to the vehicle speed is calculated. What controls an accelerator pedal so that it becomes is known. (For example, refer to Patent Document 1). In the driving support device described in Patent Document 1, excessive depression of the accelerator pedal is prevented and fuel consumption is improved by pushing the pedal back with the accelerator pedal reaction force when the accelerator pedal is depressed too much.

  Furthermore, in the driving assistance apparatus described in Patent Document 1, when starting from a stop on a slope, the accelerator pedal reaction force is strengthened to prevent the accelerator pedal from being depressed too much, thereby further improving the fuel consumption.

JP 2009-113556 A

  In this case, if the accelerator pedal reaction force is uniformly increased to prevent the accelerator pedal from being depressed too much, it is possible that the vehicle will not move forward, so it is not preferable to simply increase the accelerator pedal reaction force. .

  Accordingly, an object of the present invention is to solve the above-described problems of the prior art, and when starting on a slope, a driving support device that can appropriately regulate the accelerator pedal and assist the driver's driving. It is something to be offered.

The driving support device according to the present invention includes a slope detection unit that detects a slope of a road surface at a stop position when the vehicle stops, and a predetermined predetermined when the vehicle starts based on the detected slope. setting means for setting an accelerator opening of the accelerator pedal such that the vehicle speed, when the accelerator pedal is depressed by the driver, the so that it is not depressed or the accelerator opening, the accelerator by the operation reaction force Pedal control means for reducing the amount of depression of the pedal. In the present invention, the accelerator opening of the accelerator pedal is set by the setting means so that a predetermined vehicle speed is obtained when the vehicle starts based on the gradient, and the accelerator state requested by the driver is larger than the accelerator opening. The accelerator pedal is restricted when it is at a certain degree. As a result, even when the driver tries to depress more than necessary when starting on a slope, the driver's driving can be supported by an appropriate accelerator pedal reaction force.

The regulations A Kuserupedaru is also conceivable to lock so as not depresses above the set position of the accelerator pedal, by performing the driving support of the driver by hardly depression using the operation reaction force of the accelerator pedal, required In such a case, driving assistance can be provided while giving a degree of freedom to step over the set position.

  In a preferred embodiment of the present invention, the predetermined vehicle speed may be a speed in a speed region normally used when the vehicle starts.

  After the accelerator pedal is regulated by the pedal control means, if the driver further depresses the accelerator pedal so that the accelerator opening is equal to or greater than a predetermined accelerator opening, the regulation of the accelerator pedal may be released. preferable. By starting off in this way, when the driver requests a speed higher than a predetermined vehicle speed, this request can be met, and it is difficult for the driver to feel bothered.

  As a preferred embodiment of the present invention, it is mentioned that the speed in the speed region normally used when the vehicle starts is the vehicle speed when the vehicle travels by a creep phenomenon.

  According to the driving support device of the present invention, when starting on a slope, it is possible to achieve an excellent effect that the driver can be supported by appropriately regulating the accelerator pedal.

It is a block diagram which shows the driving assistance device of Embodiment 1. It is a figure which shows the map which the driving assistance apparatus of Embodiment 1 has. 4 is a flowchart illustrating a control flow of the driving support apparatus according to the first embodiment. 6 is a flowchart illustrating a control flow of the driving support apparatus according to the second embodiment.

(Embodiment 1)
The driving support device of the present invention will be described with reference to FIGS.
The vehicle I has a driving support device 10. When the vehicle is in a stopped state, the driving support device 10 detects the gradient of the road surface at the stop position, and sets the accelerator opening that becomes the creep speed when the vehicle starts based on this gradient. The accelerator pedal 21 is regulated so as to achieve this accelerator opening. The driving support device 10 will be described in detail below.

  The driving support device 10 includes an inclination sensor 11, vehicle speed detection means 12, brake state detection means 13, and opening degree detection means 14 that detects the opening degree of an accelerator pedal. Further, the driving support device 10 includes a setting unit 15 and a pedal control unit 16.

  The inclination sensor 11 is a gradient detection unit that detects the gradient of the road surface at the stop position where the vehicle I is stopped. In the present embodiment, the inclination sensor 11 can directly detect the inclination of the road surface at the stop position. The inclination sensor 11 inputs the detected road inclination angle at the stop position to the setting means 15.

  The vehicle speed detection means 12 is a vehicle speed sensor that detects the vehicle speed of the vehicle I. The vehicle speed detection means inputs the detected vehicle speed to the setting means 15 and the pedal control means 16.

  The brake state detection means 13 detects whether or not the brake state, that is, the state where the brake is applied. The brake state detection unit 13 inputs the detected brake state to the setting unit 15.

  The opening degree detection means 14 detects the opening degree of the accelerator pedal 21. The opening degree detection means 14 inputs the opening degree of the accelerator pedal 21 to the pedal control means 16.

  The setting means 15 is for setting the accelerator opening so that the creep speed is obtained at the start from the gradient of the road surface at the stop position. Here, the creep speed refers to the vehicle speed when traveling by a creep phenomenon. The setting means 15 determines whether or not the vehicle I is stopped based on whether or not the input vehicle speed is 0 km / h and the input brake state is on. When the vehicle speed is 0 km / h and the brake is on, the setting means 15 determines that the vehicle I is stopped.

  When it is determined that the vehicle I is stopped, the setting means 15 determines whether the road surface at the stop position has a gradient from the inclination angle of the road surface input from the inclination sensor 11. In this case, the accelerator opening A, which is the creep speed when the vehicle starts, is calculated from the inclination angle of the gradient. In the present embodiment, a map is used to calculate the accelerator opening A. The map is shown in FIG. As shown in FIG. 2, the map shows the accelerator opening A with respect to the inclination angle. This map is obtained through experiments and the like. In the present embodiment, the inclination angle and the accelerator opening A are linearly dependent, but are not limited to this. For example, although it is set as appropriate depending on the vehicle type or the like, the accelerator opening A tends to increase as the inclination angle increases. The setting means 15 calculates an accelerator opening A which becomes a creep speed when the vehicle starts corresponding to the inclination angle from a map showing the relationship between the inclination angle and the accelerator opening. The setting means 15 inputs the set accelerator opening A to the pedal control means 16.

  The pedal control means 16 acquires the opening degree of the accelerator pedal 21 from the opening degree detection means 14. Then, when the accelerator pedal 21 is depressed and the vehicle I starts, when there is an input that causes the accelerator opening to be greater than the set accelerator opening A, the driver's depression. The depression of the accelerator pedal 21 is regulated by the operation reaction force so that the accelerator opening caused by the depression does not become larger than the accelerator opening A. Thereby, it can prevent that a driver | operator depresses the accelerator pedal 21 too much at the time of slope start.

  The pedal control means 16 continues the accelerator reaction force control until the vehicle speed detected from the vehicle speed detection means 12 exceeds a predetermined value. When the vehicle speed becomes equal to or higher than a predetermined value, the accelerator reaction force is gradually released so that the driver can gradually depress the accelerator pedal to travel at a desired vehicle speed.

  The vehicle having the driving support device of the present embodiment thus regulates the amount of depression of the driver's accelerator pedal by an appropriate accelerator pedal reaction force according to the slope when starting while stopping on a slope, You can start on a slope at an appropriate speed. In this case, if the accelerator opening is regulated without setting the accelerator opening in accordance with the gradient, it is conceivable that the depression amount is insufficient with the depression amount regulated when the gradient is steep, for example. On the other hand, in this embodiment, since an appropriate accelerator opening can be set according to the gradient, the amount of depression can be regulated appropriately. Therefore, the driver can easily operate the driver and reduce the burden without operating the accelerator pedal while searching when the vehicle starts to move.

  The control flow of the present invention will be described with reference to FIG.

First, when the vehicle I stops, control starts and the process proceeds to step S1.
In step S1, the setting means determines whether the vehicle speed is 0 km / h and the brake state is on. If the vehicle speed is 0 km / h and the brake state is on (YES), the process proceeds to step S2. In other cases, the (NO) process ends.

  In step S2, the setting means determines whether or not the road surface at the stop position has a slope, that is, whether it is a slope, from the input inclination angle. If there is a gradient (YES), that is, if the stop position is a slope, the process proceeds to step S3. If there is no gradient (NO), that is, if the stop position is not a slope, the process ends.

  In step S3, the accelerator opening A is calculated from the gradient, that is, the inclination angle of the slope at the stop position, using the map shown in FIG. Proceed to step S4.

  In step S4, the setting means inputs the accelerator opening A to the pedal control means. Proceed to step S5.

Step S5 and subsequent steps are control at the start.
In step S5, when the accelerator pedal is depressed by the driver, the pedal control means determines whether or not the accelerator opening by the depression is equal to or greater than the accelerator opening A. When the accelerator opening degree by depression is smaller than the accelerator opening degree A (NO), it returns to step S5. That is, this step is repeated until the accelerator opening degree by depression becomes larger than the accelerator opening degree A, and the accelerator reaction force is not generated. When the accelerator opening degree by stepping on is more than the accelerator opening degree A (YES), it progresses to step S6.

  In step S6, the pedal control means generates an accelerator reaction force to prevent the driver from depressing the accelerator pedal too much. As a result, the vehicle travels at a creep speed. Proceed to step S7.

  In step S7, the pedal control means determines whether or not the vehicle speed is equal to or higher than a predetermined value (for example, a value slightly faster than the creep speed). If the vehicle speed is equal to or higher than the predetermined value (YES), the process proceeds to step S8. If the vehicle speed is less than the predetermined value (NO), the process returns to step S6, and the pedal control means repeats the control for generating the reaction force. That is, the pedal control means controls the accelerator pedal with a reaction force until the predetermined vehicle speed is reached.

  In step S8, the pedal control means gradually releases the accelerator reaction force. That is, when the vehicle speed exceeds a predetermined vehicle speed, the reaction force is released and the driver gradually depresses the accelerator, whereby the vehicle can be driven at a desired speed.

  As described above, the driving support device of the present embodiment can calculate an appropriate accelerator pedal opening according to the gradient of the road surface when starting from a stop on a hill, and thereby the driver can react with the accelerator pedal reaction force. By restricting the amount of depression of the accelerator pedal, driving assistance can be performed so that the vehicle can start on a slope at an appropriate speed.

(Embodiment 2)
In this embodiment, the pedal control means 16 controls the accelerator reaction force so that the driver does not bother the accelerator reaction force. Specifically, the control flow shown in FIG. 3 is different from the first embodiment in that steps S11 and S12 are added as shown in FIG.

  That is, in the present embodiment, the pedal control means has an accelerator opening degree B (B> A) that is greater than a predetermined accelerator opening degree A, which is an accelerator pedal opening degree that is a depression amount of the accelerator pedal after the reaction force is generated. If it is, release the accelerator reaction force. Thus, the vehicle starts with acceleration according to the accelerator opening.

  In the present embodiment, after the accelerator reaction force is generated in step S6, the process proceeds to step S11. In step S <b> 11, it is determined whether or not the accelerator opening degree due to the driver's stepping is greater than or equal to the accelerator opening degree B. If the accelerator opening is equal to or greater than the accelerator opening B (YES), the process proceeds to step S12. If the accelerator opening is less than the accelerator opening B (NO), the process proceeds to step S7. That is, the control is the same as usual.

  In step S12, the accelerator reaction force is released. Thus, the vehicle I starts with acceleration according to the accelerator opening.

  In the present embodiment, after the accelerator reaction force is generated by stepping on the accelerator opening larger than the accelerator opening A, the driver further depresses the accelerator opening to be greater than or equal to the accelerator opening B. Since it is considered that the driver does not want to start at the creep speed, the vehicle is started at an acceleration according to the accelerator opening in this case.

  Thus, according to this embodiment, when starting from a stop on a slope, not only can the driver's driving be supported with an appropriate accelerator pedal reaction force, but also when the driver requests acceleration at the start Since the accelerator reaction force can be released, the driver does not feel bothered during driving. In addition, by restricting the accelerator pedal by the accelerator reaction force, it is possible to easily provide driving assistance to the driver, and when the driver has a sudden acceleration intention, the intention can be taken and given priority. Can do.

The present invention is not limited to the embodiment described above.
In the present invention, the accelerator opening is set by the map shown in FIG. 2, but the present invention is not limited to this. For example, the engine torque required to start the gradient at the creep speed may be calculated from vehicle information such as the vehicle weight, tire radius, and gear ratio, and the required accelerator opening may be calculated based on this.

  In the present invention, in order to suppress excessive depression of the accelerator pedal, the depression of the accelerator pedal is controlled by the accelerator reaction force, but the present invention is not limited to this. What is necessary is just to be able to control the depression of an accelerator pedal with respect to a driver, for example, you may comprise so that an accelerator pedal may be vibrated. Further, the depression amount of the accelerator pedal may be regulated by displaying the amount of depression of the accelerator pedal on the display unit of the vehicle and allowing the driver to recognize the depression amount of the accelerator pedal.

  In the present invention, the tilt sensor is exemplified as the gradient detecting means, but the present invention is not limited to this. Anything that can detect the gradient at the stop position may be used. For example, map data may be registered in advance, the current position of the vehicle may be acquired, and the road surface gradient of the current position may be detected from the map data. . Further, the gradient may be estimated by combining values of various sensors mounted in advance in the vehicle.

  In the present embodiment, the accelerator opening is controlled so that the speed at the start becomes the creep speed, but the present invention is not limited to this. You may prescribe | regulate so that it may become predetermined | prescribed predetermined speed (speed of the speed area | region which a vehicle normally utilizes at the time of start).

  The vehicle having the driving support device of the present invention can appropriately control the accelerator pedal to support the driving of the driver. Therefore, it can be used in the vehicle manufacturing industry.

DESCRIPTION OF SYMBOLS 10 Driving assistance apparatus 11 Inclination sensor 12 Vehicle speed detection means 13 Brake state detection means 14 Opening degree detection means 15 Setting means 16 Pedal control means 21 Accelerator pedal I Vehicle

Claims (4)

Slope detecting means for detecting the slope of the road surface at the stop position when the vehicle stops;
Setting means for setting an accelerator opening of an accelerator pedal based on the detected gradient so that a predetermined vehicle speed is obtained when the vehicle starts,
When the accelerator pedal is depressed by the driver, the so that it is not depressed or the accelerator opening, and characterized in that it comprises a pedal control means for reducing the amount of depression of the accelerator pedal by the operation reaction force Driving assistance device. The driving assistance apparatus according to claim 1, wherein the predetermined vehicle speed is a speed in a speed region normally used when the vehicle starts. The driving assistance device according to claim 2 , wherein a speed in a speed region normally used when the vehicle starts is a vehicle speed when the vehicle travels by a creep phenomenon.   After the accelerator pedal is regulated by the pedal control means, when the driver further depresses the accelerator pedal so that the accelerator opening is equal to or higher than a predetermined accelerator opening, the regulation of the accelerator pedal is released. The driving support device according to any one of claims 1 to 3, wherein

Images