JP6042383B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control apparatus including an automatic brake control unit that performs automatic brake control that automatically generates braking force on wheels without depending on a brake operation in the event of a vehicle collision.

  Conventionally, a gasoline vehicle that suppresses the leakage of fuel to the outside by shutting off the fuel supply at the time of a vehicle collision, or an electric leakage by cutting off the electrical connection between the battery and the motor generator (cutting off the high voltage circuit) at the time of the vehicle crash. An electric vehicle to be suppressed (see, for example, Patent Document 1) is known.

JP 2007-295784 A

  By the way, in the vehicle which performs automatic brake control at the time of a vehicle collision, automatic brake control may be stopped based on operation of an accelerator pedal or a brake pedal. When such control is applied to the electric vehicle described in Patent Document 1 described above, the vehicle does not accelerate even when the accelerator pedal is operated due to the high-power circuit being interrupted (the driving force of the vehicle is limited) in the event of a vehicle collision. There are cases where the driver depresses the accelerator pedal greatly, or the driver depresses the brake pedal greatly because the vehicle decelerates suddenly. Such depression of the accelerator pedal or the brake pedal may also occur when the fuel supply is cut off (the driving force of the vehicle is limited) in a gasoline vehicle other than the electric vehicle. As a result, the automatic brake control may be stopped although the driver does not intend.

  As a method of suppressing the stop of the automatic brake control not intended by the driver, the accelerator pedal operation amount (accelerator threshold) and the brake pedal operation amount (brake threshold) at which the automatic brake control stops are set to be relatively large. It is possible to keep it. However, in this case, when the automatic brake control is performed without any limitation on the driving force of the vehicle at the time of a vehicle collision, the driver may stop the automatic brake control by an appropriate operation of the accelerator pedal or the brake pedal. It may not be possible.

  The present invention has been made in consideration of such problems, and can suppress the stop of automatic brake control not intended by the driver when the driving force of the vehicle is limited at the time of a vehicle collision, Another object of the present invention is to provide a vehicle control device capable of stopping automatic brake control by an appropriate operation of an accelerator pedal or a brake pedal when the driving force of the vehicle is not limited.

  A vehicle control device according to the present invention is a vehicle control device including an automatic brake control unit that performs automatic brake control that automatically generates a braking force on wheels without depending on a brake operation in the event of a vehicle collision, A driving force limiting control unit that controls the driving device to limit the driving force of the vehicle, and the automatic brake control unit operates an accelerator pedal operation amount when the driving force of the vehicle is not limited at the time of a vehicle collision; If the automatic brake control is stopped when the vehicle is greater than or equal to the first accelerator threshold or the operation amount of the brake pedal is greater than or equal to the first brake threshold, and the driving force of the vehicle is limited at the time of a vehicle collision, The accelerator pedal operation amount is equal to or greater than a second accelerator threshold value that is greater than the first accelerator threshold value, or the brake pedal operation amount is equal to the first brake threshold value. Characterized by stopping the automatic brake control when it becomes more than a large second brake threshold.

  According to the vehicle control device of the present invention, when the driving force of the vehicle is limited at the time of a vehicle collision, the operation amount of the accelerator pedal becomes greater than or equal to the second accelerator threshold value greater than the first accelerator threshold value or the brake pedal. The automatic brake control is stopped when the operation amount becomes equal to or greater than a second brake threshold value that is greater than the first brake threshold value. Therefore, even when the driving force of the vehicle is limited at the time of the vehicle collision and the driver greatly depresses the accelerator pedal or the brake pedal, the stop of the automatic brake control not intended by the driver can be suppressed. In addition, when the driving force of the vehicle is not limited at the time of a vehicle collision, the automatic brake is applied when the operation amount of the accelerator pedal exceeds the first accelerator threshold value or the operation amount of the brake pedal exceeds the first brake threshold value. Control is stopped. Therefore, when the driving force of the vehicle is not limited at the time of a vehicle collision, the automatic brake control can be stopped by an appropriate operation of the accelerator pedal or the brake pedal.

  According to the present invention, when the vehicle driving force is limited at the time of a vehicle collision, it is possible to suppress the stop of automatic brake control not intended by the driver, and when the vehicle driving force is not limited. The automatic brake control can be stopped by an appropriate operation of the accelerator pedal or the brake pedal.

It is a block diagram of the vehicle provided with the vehicle control apparatus which concerns on one Embodiment of this invention. It is a flowchart explaining the automatic brake control by the vehicle control apparatus shown in FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a vehicle control apparatus according to the present invention will be described with reference to the accompanying drawings by giving preferred embodiments in relation to a vehicle equipped with the same.

  The vehicle 12 according to the present embodiment is configured as, for example, a gasoline vehicle, a diesel vehicle, or an electric vehicle (including a hybrid vehicle and a fuel cell vehicle). The vehicle 12 is configured as a four-wheel vehicle having a pair of left and right front wheels and a pair of left and right rear wheels. As shown in FIG. 1, the vehicle control device 10 performs various controls including automatic brake control of each wheel 14. It has.

  The vehicle control device 10 controls the brake pressure (braking hydraulic pressure) provided corresponding to the four brake parts 16 constituted by disc brakes and the like for generating a braking force on each wheel 14 and the brake parts 16. A brake actuator 18 for inflating the airbag 20, an inflator 22 for deploying the airbag 20, and an overall control unit 24.

  The brake actuator 18 generates a brake pressure having a magnitude corresponding to the amount of operation of the brake pedal 36. The brake actuator 18 generates a brake pressure having a magnitude corresponding to the automatic brake control signal output from the overall control unit 24 without depending on the operation of the brake pedal 36.

  The airbag 20 includes a driver seat front airbag, a passenger seat front airbag, a side airbag, a side curtain airbag, a pedestrian airbag, and the like. The inflator 22 generates gas for deploying the airbag 20 and is provided corresponding to the airbag 20.

  Various sensors such as a vehicle speed detection unit (vehicle speed detection means) 26, a collision detection sensor 28, an accelerator pedal operation amount sensor 30, and a brake pedal operation amount sensor 32 are connected to the overall control unit 24.

  The vehicle speed detection unit 26 can use, for example, a wheel speed sensor provided on each wheel 14. In this case, the average value of the wheel speeds detected by the four wheel speed sensors is detected as the vehicle speed. The collision detection sensor 28 detects a vehicle collision, and is provided in a pair of left and right frontal collision detection sensors provided in the front frame, a pair of left and right side collision detection sensors provided in the center frame, and a rear frame. And a pair of left and right rear collision detection sensors. However, the number or location of the collision detection sensors 28 can be arbitrarily set. As the collision detection sensor 28, for example, an acceleration sensor (G sensor) can be used.

  The accelerator pedal operation amount sensor 30 detects the operation amount of the accelerator pedal 34 (depression amount from the original position), and the brake pedal operation amount sensor 32 detects the operation amount of the brake pedal 36 (depression amount from the original position). Specifically, the accelerator pedal operation amount sensor 30 is, for example, a sensor that detects the operation angle (stroke amount) of the accelerator pedal 34, and the brake pedal operation amount sensor 32 is, for example, the operation angle (of the brake pedal 36). A sensor for detecting the stroke amount) or a sensor for detecting the brake fluid pressure is used.

  The overall control unit 24 includes an ECU (Electronic Control Unit). As is well known, the ECU is a computer including a microcomputer, and includes a memory 38 such as a CPU (Central Processing Unit), a ROM (Read Only Memory) and a RAM (Random Access Memory), an A / D converter, and a D / A. It has an input device such as a converter and a timer (timer) 40 as a clock unit. The ECU functions as various function realization units (function realization means), for example, a control unit, a calculation unit, a processing unit, and the like when the CPU reads and executes a program recorded in the ROM.

  The memory 38 stores a first accelerator threshold value Ac1, a second accelerator threshold value Ac2, a first brake threshold value Br1, a second brake threshold value Br2, and a braking duration time ta. The first accelerator threshold Ac1 and the second accelerator threshold Ac2 are the operation amounts of the accelerator pedal 34 at which the automatic brake control is stopped, and the first brake threshold Br1 and the second brake threshold Br2 are brakes at which the automatic brake control is stopped. This is the operation amount of the pedal 36.

  The first accelerator threshold Ac1 is preferably set to an operation amount in the range of 10% to 30% of the maximum operation amount of the accelerator pedal 34, and more preferably set to an operation amount of 20% of the maximum operation amount of the accelerator pedal 34. The Accordingly, the operation amount Ac of the accelerator pedal 34 can be set to be equal to or greater than the first accelerator threshold Ac1 by an appropriate operation of the accelerator pedal 34 by the driver.

  The second accelerator threshold Ac2 is larger than the first accelerator threshold Ac1. The second accelerator threshold Ac2 is preferably set to an operation amount in the range of 70% to 90% of the maximum operation amount of the accelerator pedal 34, and more preferably set to an operation amount of 80% of the maximum operation amount of the accelerator pedal 34. The As a result, even when the driver depresses the accelerator pedal 34 to some extent, the operation amount Ac of the accelerator pedal 34 can be suppressed from being equal to or greater than the second accelerator threshold value Ac2.

  The first brake threshold value Br1 is preferably set to an operation amount in the range of 10% to 30% of the maximum operation amount of the brake pedal 36, and more preferably set to an operation amount of 20% of the maximum operation amount of the brake pedal 36. The Thereby, the operation amount Br of the brake pedal 36 can be set to be equal to or greater than the first brake threshold value Br1 by an appropriate operation of the brake pedal 36 by the driver.

  The second brake threshold value Br2 is larger than the first brake threshold value Br1. The second brake threshold value Br2 is preferably set to an operation amount in the range of 70% to 90% of the maximum operation amount of the brake pedal 36, and more preferably set to an operation amount of 80% of the maximum operation amount of the brake pedal 36. The As a result, even when the driver depresses the brake pedal 36 to some extent, the operation amount Br of the brake pedal 36 can be suppressed from being greater than or equal to the second brake threshold value Br2. However, the first accelerator threshold Ac1, the second accelerator threshold Ac2, the first brake threshold Br1, and the second brake threshold Br2 can be arbitrarily set.

  The braking continuation time ta is a time during which braking force is continuously generated on each wheel 14 after the vehicle stops after a vehicle collision. The braking duration time ta can be set arbitrarily. The timer 40 measures an elapsed time after stopping after the vehicle collision.

  The overall control unit 24 is provided with an acceleration sensor (not shown) such as an orthogonal three-axis G sensor, a roll rate sensor, and a yaw rate sensor. These sensors can sense the posture and behavior of the host vehicle 12.

  The overall control unit 24 includes a collision determination unit 42, an airbag control unit 44, an airbag deployment determination unit 46, an automatic brake control unit 48, a driving force limit control unit 50, a threshold setting unit 52, a pedal operation amount determination unit 54, and A time determination unit 56 is provided.

  The collision determination unit 42 determines the presence or absence of a vehicle collision based on the output signal from the collision detection sensor 28. Specifically, the collision determination unit 42 determines the presence or absence of a vehicle collision by comparing the output signal of the collision detection sensor 28 and the output signal of the orthogonal three-axis G sensor, and the collision mode (front collision, side collision). , Rear collision).

  The airbag control unit 44 controls the deployment / non-deployment of the airbag 20. In other words, the airbag 20 is deployed by controlling the inflator 22 based on the output signal of the collision detection sensor 28 and the collision mode determined by the collision determination unit 42. In other words, the airbag control unit 44 undeploys the airbag 20 when the output signal of the collision detection sensor 28 is less than the threshold value (the collision energy is relatively small), and the output signal of the collision detection sensor 28 exceeds the threshold value. If there is, the airbag 20 corresponding to the collision mode is deployed.

  The airbag deployment determination unit 46 determines whether or not the airbag 20 has been deployed (deployment status of the airbag 20) based on an output signal from the airbag control unit 44 to the inflator 22.

  The automatic brake control unit 48 outputs an automatic brake control signal to the brake actuator 18 at the time of a vehicle collision, so that a predetermined braking force is automatically applied to the wheel 14 without depending on the operation (brake operation) of the brake pedal 36 by the driver. Automatic brake control is generated. Further, the automatic brake control unit 48 stops the automatic brake control based on the operation of the accelerator pedal 34 or the brake pedal 36.

  The driving force limit control unit 50 controls the driving device 58 based on the output signal (collision energy) of the collision detection sensor 28 to limit the driving force of the vehicle 12.

  The threshold setting unit 52 sets a threshold for an operation amount of the accelerator pedal 34 at which the automatic brake control is stopped and a threshold for an operation amount of the brake pedal 36 at which the automatic brake control is stopped. In the present embodiment, the first accelerator threshold Ac1 and the first brake threshold Br1 are set as defaults. However, as a matter of course, the second accelerator threshold Ac2 and the second brake threshold Br2 may be set as defaults instead of the first accelerator threshold Ac1 and the first brake threshold Br1.

  The pedal operation amount determination unit 54 determines whether or not the operation amount Ac of the accelerator pedal 34 is equal to or greater than the first accelerator threshold Ac1 or the second accelerator threshold Ac2, and the operation amount Br of the brake pedal 36 is the first brake threshold Br1 or It is determined whether or not the value is equal to or greater than the 2 brake threshold value Br2. The time determination unit 56 determines whether or not the measurement time t of the timer 40 has passed the braking duration time ta.

  The vehicle 12 including the vehicle control device 10 according to the present embodiment is basically configured as described above. Next, automatic brake control by the vehicle control device 10 will be described.

  As shown in FIG. 2, first, the collision determination unit 42 determines the presence or absence of a vehicle collision based on the output signal of the collision detection sensor 28 (step S1). If the collision determination unit 42 determines that there is no vehicle collision (step S1: NO), the process of step S1 is repeated.

  If the collision determination unit 42 determines that a vehicle collision has occurred (step S1: YES), the airbag control unit 44 disables the airbag 20 when the output signal of the collision detection sensor 28 is less than the threshold value. When the output signal of the collision detection sensor 28 is greater than or equal to the threshold value, the airbag 20 corresponding to the collision mode is deployed.

  The airbag deployment determination unit 46 determines whether the airbag 20 has been deployed (deployment status of the airbag 20) (step S2). When the airbag deployment determination unit 46 determines that the airbag 20 is not deployed (step S2: NO), the current flowchart ends.

  If the airbag deployment determination unit 46 determines that the airbag 20 has been deployed (step S2: YES), the automatic brake control unit 48 performs automatic brake control (step S3).

Specifically, the automatic brake control unit 48 outputs an automatic brake control signal to the brake actuator 18. Then, the brake actuator 18 outputs a brake pressure having a magnitude corresponding to the magnitude of the automatic brake control signal to each brake unit 16, so that a braking force is generated on each wheel 14. At this time, for example, a braking force is generated at each wheel 14 such that the deceleration of the vehicle 12 is 0.5G. 1G is 9.8 m / s ² . However, the magnitude of the braking force of each wheel 14 by the automatic brake control unit 48 can be arbitrarily set. Thus, the vehicle 12 is automatically decelerated at a predetermined deceleration without depending on the driver's operation of the brake pedal 36.

  Further, the driving force limit control unit 50 controls the driving device 58 based on the output signal of the collision detection sensor 28 to limit the driving force of the vehicle 12. That is, the driving force limit control unit 50 limits the driving force of the vehicle 12 when the output signal of the collision detection sensor 28 is equal to or greater than a predetermined value, and drives the driving force of the vehicle 12 when the output signal is less than the predetermined value. Do not limit.

  Specifically, when the vehicle 12 is configured as a gasoline vehicle or a diesel vehicle, the driving force restriction control unit 50 restricts the driving force by cutting off the fuel supply to the cylinders constituting the driving device 58. To do. Thereby, it is suppressed that a fuel leaks outside at the time of a vehicle collision. When the vehicle 12 is configured as an electric vehicle, the driving force limit control unit 50 is driven by cutting off the electrical connection between the battery constituting the driving device 58 and the rotating electrical machine (cutting off the high voltage circuit). Limit power. Thereby, it is suppressed that electricity leaks at the time of a vehicle collision.

  Then, the overall control unit 24 determines whether or not the driving force of the vehicle 12 is restricted by the driving force restriction control unit 50 (step S4). When it is determined by the overall control unit 24 that the driving force of the vehicle 12 is not limited (step S4: NO), the pedal operation amount determination unit 54 determines that the operation amount Ac of the accelerator pedal 34 is equal to the first accelerator threshold value. It is determined whether or not it is greater than or equal to Ac1 (step S5).

  When the pedal operation amount determination unit 54 determines that the operation amount Ac of the accelerator pedal 34 is less than the first accelerator threshold value Ac1 (step S5: NO), the pedal operation amount determination unit 54 It is determined whether the operation amount Br is greater than or equal to the first brake threshold value Br1 (step S6).

  When the pedal operation amount determination unit 54 determines that the operation amount Br of the brake pedal 36 is less than the first brake threshold value Br1 (step S6: NO), the overall control unit 24 receives the signal from the vehicle speed detection unit 26. It is determined whether or not the host vehicle 12 has stopped based on the output signal (step S7).

  If the overall control unit 24 determines that the host vehicle 12 is not stopped (step S7: NO), the process returns to step S3, and the automatic brake control unit 48 continues the automatic brake control. When it is determined by the overall control unit 24 that the host vehicle 12 has stopped (step S7: YES), the time determination unit 56 determines whether or not the measurement time t of the timer 40 has passed the braking duration time ta. Determination is made (step S8).

  If the time determination unit 56 determines that the measurement time t of the timer 40 has not passed the braking duration time ta (step S8: NO), the process returns to step S3, and the automatic brake control unit 48 Continue control. Thereby, it is avoided that the vehicle 12 moves against the driver's intention immediately after stopping.

  When the time determination unit 56 determines that the measurement time t of the timer 40 has passed the braking continuation time ta (step S8: YES), the automatic brake control unit 48 stops the automatic brake control (step S9). ). That is, the automatic brake control unit 48 stops the output of the automatic brake control signal to the brake actuator 18 and releases the braking force of each wheel 14. Thereafter, the current flowchart ends. However, after step S <b> 9, the driving force restriction control unit 50 may release the restriction on the driving force of the vehicle 12 under the control of the driving device 58. Thereby, after the vehicle stops, the vehicle 12 can be moved to a safe place.

  When the pedal operation amount determination unit 54 determines that the operation amount Ac of the accelerator pedal 34 is greater than or equal to the first accelerator threshold value Ac1 (step S5: YES), or the pedal operation amount determination unit 54 operates the brake pedal 36. When it is determined that the amount Br is greater than or equal to the first brake threshold value Br1 (step S6: YES), the automatic brake control unit 48 stops the automatic brake control (step S9). Thereby, when the driving force of the vehicle 12 is not limited, the automatic brake control is stopped by an appropriate operation of the accelerator pedal 34 or the brake pedal 36. Thereafter, the current flowchart ends.

  When it is determined by the overall control unit 24 that the driving force of the vehicle 12 is limited (step S4: YES), the threshold value setting unit 52 is a threshold value for the operation amount of the accelerator pedal 34 that stops the automatic brake control. Is set from the first accelerator threshold value Ac1 to the second accelerator threshold value Ac2, and the threshold value of the operation amount of the brake pedal 36 for stopping the automatic brake control is set from the first brake threshold value Br1 to the second brake threshold value Br2 (step S10).

  Subsequently, the pedal operation amount determination unit 54 determines whether or not the operation amount Ac of the accelerator pedal 34 is greater than or equal to the second accelerator threshold value Ac2 (step S11). When the pedal operation amount determination unit 54 determines that the operation amount Ac of the accelerator pedal 34 is less than the second accelerator threshold value Ac2 (step S11: NO), the pedal operation amount determination unit 54 It is determined whether the operation amount Br is greater than or equal to the second brake threshold value Br2 (step S12).

  If the pedal operation amount determination unit 54 determines that the operation amount Br of the brake pedal 36 is less than the second brake threshold value Br2 (step S12: NO), the measured time after the host vehicle 12 stops. The automatic brake control is stopped after t has elapsed the braking duration time ta (steps S7 to S9).

  When the pedal operation amount determination unit 54 determines that the operation amount Ac of the accelerator pedal 34 is greater than or equal to the second accelerator threshold value Ac2 (step S11: YES), or the operation amount Br of the brake pedal 36 is the second brake threshold value Br2. When it determines with it being above (step S12: YES), the automatic brake control part 48 stops automatic brake control (step S9). Thereafter, the current flowchart ends.

  By the way, when the braking force of the vehicle 12 is restricted by the driving force restriction control unit 50, even if the accelerator pedal 34 is operated, the vehicle 12 does not accelerate, so that the driver depresses the accelerator pedal 34 greatly or the vehicle 12 suddenly decelerates. Therefore, the driver may depress the brake pedal 36 greatly.

  However, according to the present embodiment, when the driving force of the vehicle 12 is limited at the time of a vehicle collision, is the operation amount Ac of the accelerator pedal 34 equal to or greater than the second accelerator threshold Ac2 that is greater than the first accelerator threshold Ac1? Alternatively, the automatic brake control is stopped when the operation amount Br of the brake pedal 36 becomes equal to or greater than the second brake threshold value Br2 that is larger than the first brake threshold value Br1. Therefore, even when the driving force of the vehicle 12 is limited at the time of a vehicle collision and the driver greatly depresses the accelerator pedal 34 or the brake pedal 36, the stop of the automatic brake control not intended by the driver can be suppressed. .

  Further, when the driving force of the vehicle 12 is not limited at the time of a vehicle collision, the operation amount Ac of the accelerator pedal 34 is equal to or greater than the first accelerator threshold Ac1, or the operation amount Br of the brake pedal 36 is equal to or greater than the first brake threshold Br1. The automatic brake control is stopped when Therefore, when the driving force of the vehicle 12 is not restricted at the time of a vehicle collision, the automatic brake control can be stopped by an appropriate operation of the accelerator pedal 34 or the brake pedal 36.

  The vehicle control device according to the present invention is not limited to the above-described embodiment, but can of course adopt various configurations without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Vehicle control apparatus 12 ... Vehicle 24 ... Overall control unit 28 ... Collision detection sensor 30 ... Accelerator pedal operation amount sensor 32 ... Brake pedal operation amount sensor 34 ... Accelerator pedal 36 ... Brake pedal 42 ... Collision judgment part 48 ... Automatic brake control Unit 50 ... Driving force limit control unit 52 ... Threshold setting unit 54 ... Pedal operation amount determination unit Ac1 ... First accelerator threshold Ac2 ... Second accelerator threshold Br1 ... First brake threshold Br2 ... Second brake threshold

Claims (1)

A vehicle control device including an automatic brake control unit that performs automatic brake control that automatically generates a braking force on a wheel without depending on a brake operation at the time of a vehicle collision,
A driving force limiting control unit that controls the driving device to limit the driving force of the vehicle at the time of a vehicle collision;
When the driving force of the vehicle is not restricted at the time of a vehicle collision, the automatic brake control unit is configured such that an accelerator pedal operation amount is equal to or greater than a first accelerator threshold value or a brake pedal operation amount is equal to or greater than a first brake threshold value. When the automatic brake control is stopped when the vehicle becomes a collision and the driving force of the vehicle is limited at the time of a vehicle collision, the operation amount of the accelerator pedal becomes equal to or greater than a second accelerator threshold value that is larger than the first accelerator threshold value. Or when the amount of operation of the brake pedal is equal to or greater than a second brake threshold value that is greater than the first brake threshold value, the automatic brake control is stopped.
The vehicle control apparatus characterized by the above-mentioned.

Images