JP6045959B2 - Vehicle control device - Google Patents

Description

  The technology of the present disclosure relates to a vehicle control device that controls driving of a prime mover mounted on a vehicle.

  When the vehicle is accelerated, the accelerator pedal is depressed by the driver, and the accelerator position sensor detects the opening degree of the accelerator pedal. The vehicle control device calculates the opening degree of the throttle valve using the opening degree of the accelerator pedal input from the accelerator position sensor, the engine speed, and the like. The vehicle control device outputs a control signal corresponding to the opening to the throttle valve, and calculates a fuel injection amount corresponding to the amount of air sucked from the throttle valve. The vehicle is accelerated by injecting fuel corresponding to the calculated fuel injection amount into the engine (see, for example, Patent Document 1).

JP 2000-104603 A

  By the way, in the above-described vehicle control apparatus, since the opening degree of the accelerator pedal is used for calculation of the throttle opening degree, the fuel injection amount to the engine is proportional to the opening degree of the accelerator pedal. That is, the vehicle is accelerated in proportion to the amount of depression of the accelerator pedal by the driver. Therefore, when the accelerator pedal is suddenly greatly depressed by the driver, the speed of the vehicle is also suddenly increased. Further, for example, when a sudden accelerator pedal operation and a brake pedal operation by the driver are repeated in a short time, the vehicle is rapidly accelerated. As a result, since the amount of fuel injected into the engine increases every sudden acceleration, the fuel consumption of the vehicle decreases. Such a problem occurs not only when the prime mover of the vehicle is an engine but also when the engine is an engine and a motor.

  An object of the technology of the present disclosure is to provide a vehicle control device that can suppress sudden acceleration of the vehicle.

  One aspect of the vehicle control device according to the technology of the present disclosure includes an acquisition unit that acquires a detected value of an accelerator pedal opening, and a calculation that calculates a control value for controlling the output torque of the prime mover using the detected value. A section. When the current detection value is larger than the previous detection value, the calculation unit reduces the contribution of the detection value to the control value as the difference between the previous detection value and the current detection value increases. .

  According to one aspect of the vehicle control device in the technology of the present disclosure, the greater the difference between the current value and the previous value in the detected value of the opening, the smaller the contribution of the detected value in the control value. The output torque controlled by is also reduced. Therefore, the more the accelerator pedal depressed by the driver is steeper, the greater the difference between the accelerator pedal depression amount and the degree of acceleration of the vehicle. As a result, sudden acceleration of the vehicle can be suppressed even when the accelerator pedal is suddenly operated.

  In another aspect of the vehicle control device according to the technique of the present disclosure, the input value is an opening input value calculated from the detection value. The calculation unit increases the difference between the detection value and the opening input value as the time change rate of the detection value increases.

  According to another aspect of the vehicle control device in the technology of the present disclosure, the difference between the opening input value and the detected value increases as the difference between the previous value and the current value in the detected value increases. Therefore, the greater the difference between the previous value and the current value in the detected value, the greater the difference between the accelerator pedal depression amount and the degree of acceleration of the vehicle.

In another aspect of the vehicle control device according to the technology of the present disclosure, the calculation unit calculates a difference between the previous detection value and the current detection value in generating a difference between the detection value and the opening input value. Use.
According to another aspect of the vehicle control device according to the technology of the present disclosure, a difference between the detected value and the opening input value set according to the difference between the previous value and the current value in the detected value is not prepared in advance. In both cases, the difference between the detected value and the opening input value can be increased as the difference between the previous value and the current value in the detected value increases.

  In another aspect of the vehicle control device according to the technology of the present disclosure, the calculation unit calculates a predetermined coefficient from a value obtained by multiplying the detection value by a predetermined coefficient to a difference between the previous detection value and the current detection value. The opening degree input unit is calculated by subtracting the value multiplied by.

  According to another aspect of the vehicle control device according to the technology of the present disclosure, the larger the difference between the previous value and the current value in the detected value, the larger the value subtracted from the multiplied value of the detected value and the coefficient. . Therefore, while using a simple method of subtraction, the difference between the detected value and the opening input value can be surely increased as the difference between the previous value and the current value in the detected value increases.

  In another aspect of the vehicle control device according to the technology of the present disclosure, the calculation unit has no change between the previous detection value and the current detection value, and the opening input value is the detection value. The opening degree input value is gradually increased toward the detection value during the time period smaller than.

  According to another aspect of the vehicle control device of the technology of the present disclosure, the calculation unit calculates the opening degree input value as a value that gradually increases toward the detection value even if the detection value does not change. For this reason, since the opening degree input value is not calculated, it is possible to suppress a large difference between the previous opening degree input value and the current opening degree input value. Therefore, it is possible to suppress a sudden change in the acceleration of the vehicle due to the change in the detected value.

  Another aspect of the vehicle control device according to the technology of the present disclosure further includes a determination unit that determines whether to calculate the opening input value of the calculation unit. The determination unit prohibits the calculation of the opening input value by the calculation unit when the detected value is equal to or greater than a predetermined threshold. The calculation unit sets the detection value as the opening input value when the determination unit prohibits the calculation of the opening input value.

  When the vehicle travels, there is a situation where the vehicle needs to be accelerated rapidly, for example, when entering a highway. In such a case, the amount of depression of the accelerator pedal by the driver is usually a predetermined amount or more. In this regard, according to another aspect of the vehicle control device of the technology of the present disclosure, when the detected value is equal to or greater than a predetermined threshold, the calculation of the opening input value by the calculating unit is prohibited, and the detected value is Since the value is set as the input value, it is possible to prevent the vehicle from being easily accelerated in a situation where the vehicle needs to be accelerated.

  Another aspect of the vehicle control device according to the technology of the present disclosure includes: a determination unit that determines whether to calculate the opening input value of the calculation unit; and an operation that acquires whether or not the direction indicator switch is operated And an acquisition unit. The determination unit prohibits the calculation of the opening input value by the calculation unit when the operation acquisition unit acquires a detection value of an ON operation of the direction indicator switch. The calculation unit sets the detection value as the opening input value when the determination unit prohibits the calculation of the opening input value.

  When the vehicle is running, there are situations in which sudden acceleration of the vehicle is required, for example when overtaking a vehicle traveling in front of the host vehicle. In such a case, the direction indicator switch is usually turned on by the driver. It will be in the state of. In this regard, according to another aspect of the vehicle control device according to the technology of the present disclosure, when the turn-on indicator switch is turned on, the control value calculation by the input value calculation unit is prohibited and the detection value is opened. Since it is set as the degree input value, it is possible to prevent the vehicle from being easily accelerated in a situation where the vehicle needs to be accelerated.

It is a block diagram which shows the structure of one Embodiment of the control apparatus of the vehicle of this indication. It is a figure which shows an example of a torque calculation map. It is a flowchart which shows the procedure of the calculation judgment process which a main control apparatus performs. It is a flowchart which shows the procedure of the opening degree input value calculation process which a main control apparatus performs. It is a graph which shows the relationship between the opening degree detected value Paacl and the opening degree input value Pin. It is a graph which shows the relationship between the opening degree detection value Paccl and the opening degree input value Pin.

  With reference to FIG. 1 to FIG. 6, an embodiment of a vehicle control device of the present disclosure will be described. In the present embodiment, the vehicle control device is embodied as a main control device of a hybrid vehicle. Moreover, below, it demonstrates in order of the structure of a main controller, and the calculation process of the opening degree input value which a main controller performs.

[Configuration of main controller]
The configuration of the main controller will be described with reference to FIGS. 1 and 2.
As shown in FIG. 1, a vehicle V is equipped with an engine 11 that constitutes a prime mover, an electric motor 12 that constitutes the prime mover, and a main controller 20 that controls driving of the engine 11 and the electric motor 12. The electric motor 12 is a motor generator that functions as an electric motor or a generator depending on the traveling state of the vehicle V. The vehicle V is equipped with an engine control device 31 that controls the drive of the engine 11 and an electric motor control device 32 that controls the drive of the electric motor 12.

  An engine control device 31 and an electric motor control device 32 are connected to the main control device 20, and the engine control device 31 controls the drive of the engine 11 based on a control signal input from the main control device 20, and the electric motor control device. 32 controls the drive of the electric motor 12 based on the control signal input from the main controller 20. A crank position sensor 41 that detects the number of revolutions of the engine 11, an accelerator position sensor 42 that detects the amount of depression of the accelerator pedal 51 by the driver as an opening, and a direction indicator switch 43 are connected to the main controller 20. Yes.

  Main controller 20 has a rotational speed acquisition unit 21 that acquires a rotational speed detection value input from crank position sensor 41, and an opening detection value Paccl that is a detection value of the opening that is input from accelerator position sensor 42. Is provided with an opening degree obtaining unit 22. The main controller 20 includes an operation acquisition unit 23 that acquires detection values of an on operation and an off operation of the direction indicator switch 43. The main controller 20 includes an input value calculation unit 24 that calculates an opening input value Pin as a control value for controlling the output torque using the detected opening value Paccl acquired by the opening acquisition unit 22. The main controller 20 detects the opening degree by the input value calculation unit 24 based on the opening degree detection value Paccl acquired by the opening degree acquisition unit 22 and the detection value of the turn-on indicator switch 43 acquired by the operation acquisition unit 23. A calculation determining unit 25 that determines whether or not to calculate the input value Pin is provided. The main controller 20 includes a torque calculation unit 26 that calculates an output torque output from the vehicle V, and a storage unit 27 that stores detection values acquired by the acquisition units 21 to 23, a torque calculation map, and the like. ing.

  As shown in FIG. 2, the torque calculation map is, for example, a two-dimensional map in which the rotational speed is set on the horizontal axis and the torque is set on the vertical axis. In the torque calculation map, for example, an upwardly convex curve 27a is described in a region where both the rotational speed and the torque are 0 or more, and each of the plurality of points on the curve 27a includes each of the points on the curve 27a. A straight line 27b extending in a direction in which the torque is smaller than the point and the rotational speed is increased is described. In each of the plurality of straight lines 27b, the straight line 27b described in the region where the rotational speed is small is associated with a smaller opening input value Pin.

  The torque calculation unit 26 calculates the output torque by using the detected value of the rotation speed acquired by the rotation speed acquisition unit 21, the opening input value Pin calculated by the input value calculation unit 24, and the torque calculation map. The torque calculation unit 26 distributes the calculated output torque into the engine torque that is output to the engine 11 and the motor torque that is output to the motor 12 according to the traveling state of the vehicle V. The torque calculation unit 26 generates a torque signal based on the engine torque and outputs the torque signal to the engine control device 31, while generating a torque signal based on the motor torque and outputs the torque signal to the motor control device 32. The storage unit 27 stores the detection value acquired by each of the acquisition units 21 to 23 for each predetermined period, the value calculated by the input value calculation unit 24, and the like.

  The engine control device 31 calculates a fuel injection amount based on the torque signal input from the main control device 20, generates a control signal based on the fuel injection amount, and outputs the control signal to the engine 11. The motor control device 32 calculates the rotational speed based on the torque signal input from the main control device 20, generates a control signal based on the rotational speed, and outputs the control signal to the electric motor 12. Thereby, the speed of the vehicle V is accelerated according to the output torque calculated by the torque calculator 26.

[Opening value calculation process]
With reference to FIGS. 3 and 4, the procedure of the opening input value calculation process performed by the main controller 20 will be described. The opening input value calculation process includes a calculation determination process for determining whether or not to calculate the opening input value Pin, and an input value calculation process for calculating the opening input value. The calculation determination process is performed by the calculation determination unit 25, while the input value calculation process is performed by the input value calculation unit 24. In the following, after describing the calculation determination process with reference to FIG. 3, the input value calculation process will be described with reference to FIG. 4.

[Calculation judgment process]
The calculation determination process will be described with reference to FIG. The calculation determination unit 25 of the main controller 20 performs the calculation determination process at a predetermined cycle, for example, a cycle equal to or less than the cycle at which the torque calculation unit 26 calculates the output torque.

  As shown in FIG. 3, the calculation determination unit 25 determines whether or not the engine 11 is in an idle state (step S11). The calculation determination unit 25 determines that the engine 11 is detected when the rotation speed detection value acquired by the rotation speed acquisition unit 21 is a value included in a range indicating a predetermined rotation speed, for example, a value indicating 500 rpm or more and 600 rpm or less. Is determined to be idle.

  When the calculation determination unit 25 determines that the engine 11 is not in the idle state (step S11: NO), the calculation determination unit 25 determines whether or not the detected opening value Paccl is equal to or greater than a threshold value (step S12). ). As the threshold, for example, an opening detection value Paccl indicating that the opening of the accelerator pedal 51 is 90% or 100% is set.

  When the calculation determining unit 25 determines that the detected opening value Paccl is not greater than or equal to the threshold (step S12: NO), the calculation determining unit 25 determines whether or not the direction indicator switch 43 is turned on (step S13). ). The calculation determination unit 25 determines that the turn-on operation of the direction indicator switch 43 has been performed when the operation acquisition unit 23 has acquired the detection value of the turn-on operation of the direction indicator switch 43.

  When the calculation determination unit 25 determines that none of the determinations from step S11 to step S13 is established (step S11 to step S13: NO), the input value calculation unit 24 calculates the opening detection value Paccl. (Step S14). On the other hand, when the calculation determining unit 25 determines that any of the determinations from step S11 to step S13 is established (any of step S11 to step S13 is YES), the calculation determining unit 25 is the input value calculating unit 24. The calculation of the opening input value Pin by is prohibited (step S15). When the calculation of the input value by the input value calculation unit 24 is prohibited, the input value calculation unit 24 does not perform the process of calculating the opening input value Pin using the detected opening value Paccl, and the opening degree The detection value Paccl is set as the opening degree input value Pin. When the calculation determination unit 25 performs the process of step S14 or step S15, the calculation determination process ends.

  According to the calculation determination process, when the engine 11 is in an idle state, the opening input value Pin is not calculated. Therefore, by using the opening input value Pin smaller than the opening detection value Paccl, it is possible to suppress the amount of fuel injected into the engine 11 in the idle state from decreasing. Therefore, the rotation of the engine 11 in the idle state can be suppressed from becoming unstable.

  When the vehicle V travels, for example, when entering the expressway, there is a situation where the vehicle V needs to be accelerated suddenly. In such a case, the depression amount of the accelerator pedal 51 by the driver is usually greater than or equal to a predetermined amount. Become. In this regard, when the opening degree detection value Paccl is equal to or greater than the threshold value, the input value calculation unit 24 is prohibited from calculating the opening degree input value Pin, and the opening degree detection value Paccl is set as the opening degree input value Pin. . Therefore, in a situation where acceleration of the vehicle V is required, it is possible to prevent the vehicle V from being easily accelerated.

  When the vehicle V travels, for example, when the vehicle traveling in front of the host vehicle is overtaken, there is a situation in which the vehicle V needs to be accelerated rapidly. 43 is turned on by the driver. When the turning operation of the direction indicator switch 43 is performed, the calculation of the opening input value Pin by the input value calculation unit 24 is prohibited, and the opening detection value Paccl is set as the opening input value. Therefore, in a situation where acceleration of the vehicle V is required, it is possible to prevent the vehicle V from being easily accelerated.

[Input value calculation processing]
The input value calculation process will be described with reference to FIG. The input value calculation unit 24 of the main controller 20 performs the input value calculation process in a predetermined cycle, for example, a cycle equal to or less than the cycle in which the torque calculation unit 26 calculates the output torque. . The input value calculation process may be performed after the calculation determination process, or may be performed in parallel with the calculation determination process. When the input value calculation process and the calculation determination process are performed in parallel, the cycles of the two processes may or may not be synchronized.

  As shown in FIG. 4, the input value calculation unit 24 determines whether or not the calculation determination unit 25 determines prohibition of calculation of the opening input value Pin (step S21). When the input value calculation unit 24 determines that the calculation determination unit 25 has not determined that the calculation is prohibited (step S21: NO), the input value calculation unit 24 stores the latest value stored in the storage unit 27. Using the current opening degree detection value (Paccl) n, which is the opening degree detection value, and the previous opening degree detection value (Paccl) n-1, which is the opening degree detection value immediately before the latest opening degree detection value. Then, the time change rate of the opening detection value Paccl is calculated (step S22). When the vehicle V is started, when a predetermined value, for example, 0 is set as the previous opening detection value (Paccl) n−1, and the accelerator pedal 51 is depressed by the driver, The opening degree detection value Paccl at this time is set as the previous opening degree detection value (Paccl) n-1.

  The input value calculation unit 24 calculates, for example, the difference between the previous opening detection value (Paccl) n−1 and the current opening detection value (Paccl) n as the time change rate of the opening detection value Paccl as follows. Calculate using the formula.

[d (Paccl) / dt] n = [(Paccl) n- (Paccl) n-1]
The input value calculation unit 24 determines whether or not the time change rate [d (Paccl) / dt] n of the opening detection value Paccl calculated in step S22 is 0 or less (step S23). When the input value calculation unit 24 determines that the time change rate [d (Paccl) / dt] n is not less than or equal to 0 (step S23: NO), the input value calculation unit 24 calculates the opening degree detection value (Paccl). The opening input value (Pin) n is calculated using n (step S24). The input value calculation unit 24 calculates the opening input value (Pin) n using, for example, the following calculation formula.

(Pin) n = A * (Paccl) n-B * [d (Paccl) / dt] n
The coefficient A and the coefficient B are constants larger than 0, for example. The coefficient A and the coefficient B are not limited to constants, and may be variables that change according to the driving state of the vehicle V, for example. In each of the coefficient A and the coefficient B, a value at which the calculated opening input value (Pin) n is equal to or less than the opening detection value (Paccl) n is set. When the input value calculation unit 24 performs the process of step S24, the input value calculation process ends.

  According to the input value calculation process, the larger the time change rate [d (Paccl) / dt] of the detected opening value Paccl of the accelerator pedal 51, the greater the calculation from the coefficient B and the time change rate [d (Paccl) / dt] n. The value to be increased. Therefore, the difference between the opening detection value (Paacl) n and the opening input value (Pin) n smaller than the opening detection value (Paccl) n increases. That is, the more the accelerator pedal 51 is depressed by the driver, the greater the difference between the amount of depression of the accelerator pedal 51 and the degree of acceleration of the vehicle V. Therefore, even if the accelerator pedal 51 is suddenly depressed, sudden acceleration of the vehicle V can be suppressed.

  In addition, the time change rate [d (Paccl) / dt] of the detected opening value Paccl is used to calculate a value to be subtracted from the value obtained by multiplying the coefficient A and the detected opening value Paccl. Therefore, even if the subtraction value corresponding to the opening degree of the accelerator pedal 51 is not prepared in advance, the larger the time change rate [d (Paccl) / dt] of the opening degree detection value Paccl of the accelerator pedal 51, the larger the corresponding value. The attached subtraction value can be calculated reliably.

  When the input value calculation unit 24 determines in step S23 that the rate of time change [d (Paccl) / dt] n of the opening detection value Paccl is 0 or less (step S23: YES), the input value The calculation unit 24 determines whether or not the time change rate [d (Paccl) / dt] n calculated in step S23 is smaller than 0 (step S31). When the input value calculation unit 24 determines that the time change rate [d (Paccl) / dt] n is not smaller than 0 (step S31: NO), the input value calculation unit 24 calculates in the previous cycle. It is determined whether or not the input opening value (Pin) n−1 thus made is equal to the detected opening value (Paccl) n−1 used in the previous cycle (step S32). When the input value calculating unit 24 determines that the opening input value (Pin) n-1 and the opening (Paccl) n-1 are not equal (step S32: NO), the input value calculating unit 24 The time change rate [d (Paccl) / dt] m immediately before becoming 0 stored in the storage unit 27 is set to the current time change rate [d (Paccl) / dt] n (step S33). In addition, while Step S23, Step S31, and Step S32 are established, the time change rate [d (Paccl) / dt] m immediately before becoming 0 becomes the current time change rate [d (Paccl) / dt. ] Continues to be set as n.

  When the rate of time change [d (Paccl) / dt] n is set, the input value calculator 24 calculates the opening input value (Pin) n (step S34). The input value calculation unit 24 adds the time change rate [d (Paccl) / dt] n set in step S33 to the opening input value (Pin) n−1 calculated in the previous cycle. The opening input value (Pin) n in the current cycle is calculated. When the calculated opening input value (Pin) n is larger than the opening (Paccl) n, the input value calculation unit 24 uses the opening detection value (Paccl) n as the opening input value (Pin). Set as n.

  According to the processing from step S31 to step S34, even if the input value calculation unit 24 does not change the opening degree detection value Paccl, while the opening degree input value Pin is smaller than the opening degree detection value Paccl, the opening degree input value. Pin is calculated as a value that gradually increases toward the opening degree detection value Paccl. Therefore, since the opening degree input value Pin is not calculated, it is possible to prevent the previous opening degree input value (Pin) n−1 and the current opening degree input value (Pin) n from greatly deviating from each other. Therefore, the acceleration of the vehicle V can be prevented from changing suddenly because there is no change in the detected opening value Paccl. In addition, while the time change rate [d (Paccl) / dt] of the opening detection value Paccl is kept at 0, the time change rate described above with respect to the previous opening input value (Pin) n−1 [ d (Paccl) / dt] m is added. For this reason, the time change rate [d (Paccl) / dt] of the detected opening value Paccl is maintained at the same value until the opening input value (Pin) n becomes equal to or higher than the detected opening value (Paccl) n. Therefore, since the time change rate in the speed of the vehicle V is easily kept the same, the driver of the vehicle V can be prevented from feeling uncomfortable due to a sudden change in the time change rate of the speed of the vehicle V.

  When the input value calculation unit 24 determines in step S31 that the rate of time change [d (Paccl) / dt] n is smaller than 0 (step S31: YES), the input value calculation unit 24 opens The degree detection value (Paccl) n is set as the opening degree input value (Pin) n (step S35). Even when the input value calculation unit 24 determines in step S32 that the opening input value (Pin) n-1 and the opening (Paccl) n-1 are equal (step S32: YES), the input value calculation is performed. The unit 24 sets the opening degree detection value (Paccl) n as the opening degree input value (Pin) n (step S35). When the input value calculation unit 24 performs the process of step S35, the input value calculation process ends. Note that 0 in step S23 may be a value including a predetermined range in which the opening degree detection value Paccl can be regarded as not changing.

[Operation of main controller]
The operation of the main controller will be described with reference to FIGS. FIG. 5 shows the relationship between the opening detection value Paccl and the opening input value Pin when the time change rate [d (Paccl) / dt] of the opening detection value Paccl is relatively large. FIG. 6 shows the relationship between the opening detection value Paccl and the opening input value Pin when the time change rate [d (Paccl) / dt] of the opening detection value Paccl is relatively small.

  As shown in FIG. 5, the driver starts the depression of the accelerator pedal 51 at the timing t11, and gradually increases the depression amount of the accelerator pedal 51 from the timing t11 to the timing t12. The driver keeps the depression amount of the accelerator pedal 51 substantially constant after the timing t12. As a result, the detected opening value Paccl of the accelerator pedal 51 detected by the accelerator position sensor 42 also gradually increases from timing t11 to timing t12, and after timing t12, until the driver depresses the accelerator pedal 51 again. The detection value Paccl is kept at a constant value. Similarly, after time t12, the time change rate [d (Paccl) / dt] of the opening detection value Paccl is also kept at zero.

  On the other hand, the opening input value Pin calculated by the input value calculation unit 24 gradually increases from timing t11 to timing t12, similarly to the opening detection value Paccl. However, since the time change rate [d (Paccl) / dt] of the opening detection value Paccl is large, the inclination of the opening input value Pin from timing t11 to timing t12 is much larger than the inclination of the opening detection value Paccl. Small. The opening input value Pin at timing t12 is significantly smaller than the opening detection value Paccl. After all, the opening input value Pin becomes equal to the opening detection value Paccl at timing t13, which is a time significantly later than timing t12.

  As shown in FIG. 6, the driver starts the depression of the accelerator pedal 51 at the timing t21, and gradually increases the depression amount of the accelerator pedal 51 from the timing t21 to the timing t22. As a result, the detected opening value Paccl of the accelerator pedal 51 detected by the accelerator position sensor 42 gradually increases from timing t21 to timing t22. After timing t22, the opening degree until the driver steps on the accelerator pedal 51 again. The detection value Paccl is kept at a constant value. The time from the timing t21 to the timing t22 is, for example, several times longer than the time from the timing t11 to the timing t12 in FIG. 5, and the value reached by the opening detection value Paccl is as shown in FIG. 5 and FIG. Suppose they are the same.

  The opening input value Pin calculated by the input value calculation unit 24 gradually increases from timing t21 to timing t22, as in the case shown in FIG. Moreover, since the time change rate of the opening detection value Paccl is small, the difference between the inclination of the opening input value Pin from the timing t21 to the timing t22 and the inclination of the opening detection value Paccl is small. Then, the opening input value Pin at the timing t22 is smaller than the opening detection value Paccl. However, since the time change rate [d (Paccl) / dt] of the opening detection value Paccl is smaller than that shown in FIG. 5, the difference between the opening detection value Paccl and the opening input value Pin at the timing t22. Is much smaller than that shown in FIG. Although the opening input value Pin becomes equal to the opening detection value Paccl at timing t23, which is later than timing t12, the time between timing t22 and timing t23 is between timing t12 and timing t13. Will be significantly shorter than the time.

  Thus, as the time change rate [d (Paccl) / dt] of the detected opening value Paccl of the accelerator pedal 51 is larger, that is, as the accelerator pedal 51 is depressed more rapidly by the driver, the accelerator pedal is depressed. The amount and the degree to which the vehicle V is accelerated greatly deviate. Therefore, even if the accelerator pedal 51 is suddenly depressed, sudden acceleration of the vehicle V can be suppressed, and as a result, fuel consumption and travel safety can be suppressed.

  Even if the accelerator pedal 51 is suddenly depressed, the main controller 20 deviates from the amount of depression of the accelerator pedal 51 and the acceleration of the vehicle V. The driver can learn that the acceleration degree of the vehicle V approaches. Therefore, it is possible to suppress the driver from stepping on the accelerator pedal 51 suddenly. Furthermore, since it is possible to suppress a sudden depression of the accelerator pedal 51 by the driver, it is possible to suppress the driver from performing a wavy operation that repeats a sudden acceleration and deceleration, and thus a decrease in fuel consumption can be suppressed.

As described above, according to one embodiment of the vehicle control apparatus, the effects listed below can be obtained.
(1) Since the contribution of the opening detection value Paccl to the opening input value Pin decreases as the difference between the current value and the previous value in the opening detection value Paccl increases, the opening detection value Paccl is controlled by the opening input value Pin. The output torque is also reduced. Therefore, the more the accelerator pedal 51 is depressed by the driver, the greater the difference between the amount of depression of the accelerator pedal 51 and the degree of acceleration of the vehicle V. As a result, even if the accelerator pedal 51 is suddenly operated, sudden acceleration of the vehicle can be suppressed.

  (2) The greater the difference between the current value and the previous value of the detected opening value Paccl, the greater the difference between the opened input value Pin for controlling the output torque and the detected opening value Paccl. Therefore, as the difference between the current value and the previous value in the detected opening value Paccl becomes larger, the amount of depression of the accelerator pedal 51 and the degree of acceleration of the vehicle V are greatly different.

  (3) The difference between the current value and the previous value in the opening detection value Paccl is used to generate the difference between the opening detection value Paccl and the opening input value Pin. Therefore, even if the difference between the opening detection value Paccl and the opening input value Pin set in accordance with the difference between the current value and the previous value in the opening detection value Paccl is not prepared in advance, As the time change rate increases, the above-described difference can be increased.

  (4) As the difference between the current value and the previous value of the opening detection value Paccl is larger, the current value and the previous value of the opening detection value Paccl subtracted from the value obtained by multiplying the opening detection value Paccl by the coefficient A The value obtained by multiplying the difference from the value by the coefficient B becomes larger. Therefore, the difference between the opening detection value Paccl and the opening input value Pin is surely increased as the difference between the current value and the previous value in the opening detection value Paccl increases while using a simple method of subtraction. can do.

  (5) The input value calculation unit 24 calculates the opening input value Pin as a value that gradually increases toward the opening detection value Paccl even if the opening detection value Paccl of the accelerator pedal 51 does not change. Therefore, since the opening degree input value Pin is not calculated, it is possible to prevent the previous opening degree input value (Pin) n−1 and the current opening degree input value (Pin) n from greatly deviating from each other. Therefore, the acceleration of the vehicle V can be prevented from changing suddenly because there is no change in the detected opening value Paccl.

  (6) When the detected opening value Paccl is greater than or equal to the threshold value, the calculation of the opening input value Pin by the input value calculation unit 24 is prohibited, and the detected opening value Paccl is set as the opening input value Pin. Therefore, in a situation where acceleration of the vehicle V is required, it is possible to prevent the vehicle V from being easily accelerated.

  (7) When the turn-on of the direction indicator switch 43 is performed, calculation of the opening input value Pin by the input value calculation unit 24 is prohibited, and the opening detection value Paccl is set as the opening input value Pin. Therefore, in a situation where acceleration of the vehicle V is required, it is possible to prevent the vehicle V from being easily accelerated.

The embodiment described above can be implemented with appropriate modifications as follows.
The calculation determining unit 25 may be configured not to prohibit the calculation of the opening input value Pin even if the turn-on operation of the direction indicator switch 43 is performed.

  The calculation determining unit 25 is configured to prohibit the calculation of the opening input value Pin when both the condition of the opening detection value Paccl in step S12 and the condition of the direction indicator switch 43 in step S13 are satisfied. Good. When only one of the two conditions is satisfied, a case where acceleration of the vehicle V is not necessarily required is included. On the other hand, if the calculation determination unit 25 is configured to prohibit the calculation only when both of the two conditions are satisfied, the case where only one of the conditions is satisfied is excluded from the prohibition target. Acceleration is suppressed.

  The calculation determination unit 25 performs the opening by the input value calculation unit 24 when the detected value of the operated angle of the steering wheel is a value indicating a predetermined angle or more in addition to the turning-on operation of the direction indicator switch 43. The configuration may be such that calculation of the input value Pin is prohibited. According to such a configuration, the calculation determination unit 25 can more accurately determine whether or not it is necessary to prohibit the calculation because the calculation determination unit 25 determines that the calculation is prohibited using the detected angle value. it can.

  The calculation determining unit 25 may be configured not to use the opening detection value Paccl for determining whether to calculate the opening input value Pin. That is, in the calculation determination process, the process of step S12 may be omitted.

  The calculation determination unit 25 is configured to input the input value calculation unit 24 when the detected value of the operated angle of the steering wheel is a value indicating a predetermined angle or more in addition to the detected opening value Paccl being equal to or greater than the threshold value. The configuration may be such that the calculation of the opening input value Pin by is prohibited. According to such a configuration, the calculation determination unit 25 can more accurately determine whether or not it is necessary to prohibit the calculation because the calculation determination unit 25 determines that the calculation is prohibited using the detected angle value. it can.

  The calculation determination unit 25 inputs the input value when all of the conditions of the opening detection value Paccl in step S12, the conditions of the direction indicator switch 43 in step S13, and the detection value of the steering wheel angle are satisfied. The calculation unit 24 may prohibit the calculation of the opening input value Pin. According to such a configuration, since the calculation determination unit 25 prohibits the calculation only when all three conditions are satisfied, compared to the configuration in which the calculation is prohibited when at least one of the three conditions is satisfied, The sudden acceleration of the vehicle V can be suppressed as much as one or two of the conditions are satisfied.

The main controller 20 may be configured not to include the calculation determination unit 25.
The input value calculation unit 24 may be configured to perform processing after the time change rate of the opening detection value Paccl becomes 0, that is, processing in which the processing from step S31 to step S35 is changed as follows. In the following, changes from the above-described embodiment will be described in detail.

  When step S31 and step S32 are established (step S31, step S32: YES), the input value calculation unit 24 determines the time change rate [d (Paccl) / dt] A correction coefficient Bn that is a value to be multiplied by n is calculated. The correction coefficient Bn is calculated as a value obtained by subtracting a predetermined numerical value α from the correction coefficient Bn−1 used in the previous cycle. In the first cycle after the rate of time change [d (Paccl) / dt] n becomes 0, the correction coefficient Bn is calculated by subtracting the numerical value α from the correction coefficient B described above. The input value calculation unit 24 calculates the opening input value (Pin) n using the time change rate [d (Paccl) / dt] n set in step S32 and the correction coefficient Bn calculated in step S33. The input value calculation unit 24 calculates the opening input value (Pin) n using the following calculation formula.

(Pin) n = (Paccl) n-Bn * [d (Paccl) / dt] n
Even with such a configuration, the effect according to the above (4) can be obtained. In short, the input value calculation unit 24 does not change between the previous opening degree detection value (Paccl) n-1 and the current opening degree detection value (Paccl) n, and is more than the opening degree detection value Paccl. While the opening input value Pin is small, the opening input value Pin may be configured to gradually approach the opening detection value Paccl.

  The input value calculation unit 24 may be configured to set the opening detection value Paccl as the opening input value Pin after the time change rate of the opening detection value Paccl becomes zero. Even in such a configuration, the input value calculating unit 24 suppresses the sudden acceleration of the vehicle V as much as the opening input value Pin is calculated over a period in which the time change rate of the opening detection value Paccl is greater than zero. I can.

  The input value calculation unit 24 may be configured to calculate the difference between the opening detection value Paccl and the opening input value Pin using the time change rate of the opening detection value Paccl. For example, the opening detection value Paccl Alternatively, the coefficient to be multiplied by may be calculated from the time change rate. In such a configuration, for example, if the input value calculation unit 24 calculates using the reciprocal of the time change rate, the difference between the opening detection value Paccl and the opening input value Pin increases as the time change rate increases. Is possible. Or the input value calculation part 24 may be the structure which calculates the coefficient which divides the opening degree detection value Paccl from a time change rate. Even with these configurations, the difference between the opening detection value Paccl and the opening input value Pin is generated using the time change rate of the opening detection value Paccl, so that the time change rate of the opening detection value Paccl increases. The difference between the opening detection value Paccl and the opening input value Pin can be increased.

  The input value calculation unit 24 does not have to calculate a value to be subtracted from the value obtained by multiplying the coefficient A and the opening detection value Paccl by using the time change rate of the opening detection value Paccl. A configuration may be used in which the detected opening value Paccl of the accelerator pedal 51 is corrected using a subtraction value set in advance according to the detected value Paccl.

  The input value calculation unit 24 may not be configured to calculate the opening input value Pin using the calculation formula used in step S24, for example, the opening detection value Paccl is multiplied by a coefficient greater than 0 and less than 1. By doing so, the opening input value Pin may be calculated. In this case, the coefficient may be set to a smaller value as the time change rate of the opening detection value Paccl is larger.

  The main control device 20 does not have to be a control device mounted on a hybrid vehicle, and may be a control device mounted on an automobile including only a gasoline engine or a diesel engine.

  If the control device is mounted on an automobile having only a gasoline engine or a diesel engine, the control device calculates the opening of the throttle valve from the detected opening value Paccl, and uses the opening of the throttle valve for fuel. The structure which calculates injection quantity may be sufficient. In such a configuration, since the output torque of the gasoline engine or diesel engine that is the prime mover is controlled by the fuel injection amount, the fuel injection amount becomes the control value. Therefore, the control device detects that the current opening degree detection value (Paccl) n is larger than the previous opening degree detection value (Paccl) n-1, and the opening degree detection value (Paccl) n and the opening degree detection value (Paccl) n. The larger the difference of −1, the smaller the contribution of the opening detection value Paccl in the fuel injection amount may be. According to such a structure, the effect according to said (1) can be acquired.

  ・ Similarly, if the control device is installed in an automobile having only a gasoline engine or a diesel engine, the control device calculates the opening of the throttle valve from the detected opening value Paccl and sets the target opening of the throttle valve. The fuel injection amount may be calculated from the corresponding intake air amount. Even in such a configuration, the fuel injection amount, and thus the output torque of the gasoline engine or diesel engine, which is the prime mover, is indirectly controlled by the throttle valve opening calculated by the control device. That is, in this configuration, the opening degree of the throttle valve becomes a control value. Therefore, the control device detects that the current opening degree detection value (Paccl) n is larger than the previous opening degree detection value (Paccl) n-1, and the opening degree detection value (Paccl) n and the opening degree detection value (Paccl) n. As long as the difference from −1 is larger, the contribution of the opening detection value Paccl in the opening of the throttle valve may be reduced. According to such a structure, the effect according to said (1) can be acquired.

  The calculation determination unit 25 may not be configured to determine in step S11 that the engine 11 is in the idle state based on the detected value of the rotational speed, for example, the engine 11 is in the idle state based on the vehicle speed or the like. The structure which judges that there exists may be sufficient. In this case, for example, the calculation determination unit 25 may determine that the engine 11 is in an idle state when the vehicle speed is several kilometers or less.

  DESCRIPTION OF SYMBOLS 11 ... Engine, 12 ... Electric motor, 20 ... Main controller, 21 ... Revolution number acquisition part, 22 ... Opening degree acquisition part, 23 ... Operation acquisition part, 24 ... Input value calculation part, 25 ... Calculation judgment part, 26 ... Torque Calculation unit, 27 ... storage unit, 31 ... engine control device, 32 ... electric motor control device, 41 ... crank position sensor, 42 ... accelerator position sensor, 43 ... direction indicator switch, 51 ... accelerator pedal, V ... vehicle.

Claims (7)

An acquisition unit for acquiring the detected value of the accelerator pedal opening;
A calculation unit for calculating a control value for controlling the output torque of the prime mover using the detected value,
The calculation unit includes:
A vehicle control device that reduces the contribution of the detection value to the control value as the difference between the previous detection value and the current detection value increases when the current detection value is greater than the previous detection value. The control value is an opening input value calculated from the detected value,
The calculation unit includes:
The vehicle control device according to claim 1, wherein a difference between the detection value and the opening input value is increased as a difference between the previous detection value and the current detection value is larger. The calculation unit includes:
The vehicle control device according to claim 2, wherein a difference between the previous detection value and the current detection value is used to generate a difference between the detection value and the opening input value. The calculation unit includes:
4. The opening input value is calculated by subtracting a value obtained by multiplying a difference between the previous detection value and the current detection value by a predetermined coefficient from a value obtained by multiplying the detection value by a predetermined coefficient. The vehicle control device described. The calculation unit includes:
While there is no change between the previous detection value and the current detection value, and the opening input value is smaller than the detection value, the opening input value is gradually increased toward the detection value. The vehicle control device according to any one of claims 2 to 4. A determination unit for determining whether to calculate the opening input value of the calculation unit;
The determination unit
When the detection value is equal to or greater than a predetermined threshold, the calculation of the opening input value by the calculation unit is prohibited,
The calculation unit includes:
The vehicle control device according to any one of claims 2 to 5, wherein when the determination unit prohibits calculation of the opening input value, the detection value is set as the opening input value. A determination unit for determining whether to calculate the opening input value of the calculation unit;
An operation acquisition unit for acquiring presence / absence of operation of the direction indicator switch,
The determination unit
When the operation acquisition unit acquires the detected value of the turn-on switch operation, the calculation unit prohibits the calculation of the opening input value,
The calculation unit includes:
The vehicle control device according to any one of claims 2 to 6, wherein when the determination unit prohibits calculation of the opening input value, the detection value is set as the opening input value.

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