JP6070045B2 - Vehicle travel control device - Google Patents

Description

  The present invention relates to a vehicular travel control apparatus that controls acceleration / deceleration of a vehicle.

  Patent Document 1 discloses a technique in which an area where the pedal stroke is larger than a predetermined value is set as an acceleration area, and an area where the pedal stroke is smaller than a predetermined value is set as a deceleration area, and acceleration / deceleration of the vehicle is controlled with one pedal.

  In this technique, the acceleration of the vehicle increases as the pedal stroke increases in the acceleration region, and the deceleration of the vehicle increases as the pedal stroke decreases in the deceleration region. A relationship is set.

JP 2006-168497 A

  However, the above technique has a problem that when the pedal is operated in the deceleration region, the pedal stroke is not stable and a desired deceleration cannot be obtained.

  This is because if the inertial force acting on the foot (the part below the ankle) changes due to the deceleration change of the vehicle, the foot will move against the driver's intention and the pedal stroke will change. It will occur. In particular, when the pedal reaction force is set so that the pedal reaction force becomes smaller as the pedal stroke is smaller, the force applied to the foot by the driver in the deceleration region is reduced and the foot rigidity is lowered, so this problem is remarkable. It becomes.

  The present invention has been made in view of such technical problems, and an object of the present invention is to obtain a desired deceleration in a technique for controlling acceleration / deceleration of a vehicle with one pedal.

According to an aspect of the present invention, there is provided a vehicle travel control device that controls acceleration / deceleration of a vehicle in accordance with a pedal stroke of one pedal. The apparatus refers to a base table that defines the relationship between the pedal stroke and the deceleration command when the pedal stroke is in a deceleration region that is a stroke range for decelerating the vehicle. A deceleration command setting means for setting a deceleration command for increasing the speed is provided. In addition, when the pedal is operated in the deceleration region, the apparatus suppresses a change in the deceleration command due to a change in the pedal stroke caused by a driver's foot moving due to a change in the vehicle deceleration. Table offset means for offsetting the base table in a direction to be moved. Further, the apparatus includes a braking force control unit that controls a braking force of the vehicle so that the deceleration command is realized , and the pedal is a pedal whose pedal reaction force changes according to a pedal stroke, The table offset means increases the offset amount of the base table as the pedal reaction force decreases.

  According to the above aspect, even if the foot moves due to a change in inertial force due to a change in deceleration and the pedal stroke changes, the base table is offset and the change in the deceleration command is suppressed. Can be suppressed.

1 is a schematic configuration diagram of a vehicle travel control device according to an embodiment of the present invention. It is the table which prescribed | regulated the relationship of the acceleration / deceleration instruction | command and pedal reaction force with respect to a pedal stroke. It is the flowchart which showed the control content of the controller. It is a table for setting an offset amount. It is a figure for demonstrating the effect of embodiment of this invention. It is a figure for demonstrating the effect of embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, a portion below the ankle is defined as “foot”.

  FIG. 1 shows a schematic configuration of a vehicular travel control apparatus 1 according to an embodiment of the present invention. The vehicle travel control device 1 includes a pedal 2, a spring member 3, an actuator 4, a stroke sensor 5, a vehicle speed sensor 6, and a controller 7.

  The pedal 2 is a stepping type operation unit for controlling the acceleration / deceleration of the vehicle. If the driver puts his foot on the pedal 2 and adjusts the pedaling force, the pedal stroke (the amount of operation of the pedal 2, more specifically, the amount of displacement of the portion on which the foot is placed) will change. The vehicle accelerates or decelerates.

  The spring member 3 is provided between the pedal 2 and the floor surface 8. The spring member 3 generates a pedal reaction force (force acting on the foot from the pedal 2) according to the pedal stroke when the pedal 2 is depressed.

  The actuator 4 is provided between the pedal 2 and the floor surface 8 in parallel with the spring member 3. The actuator 4 can generate a force in either the direction of increasing the pedal reaction force or the direction of decreasing the pedal reaction force, and functions as a mechanism for adjusting the pedal reaction force.

  The stroke sensor 5 is a sensor that detects the pedal stroke of the pedal 2.

  The vehicle speed sensor 6 is a sensor that detects the vehicle speed, and is, for example, a wheel speed sensor.

  The controller 7 includes a CPU, a ROM, a RAM, an input / output interface, and the like. Based on the detection value of the stroke sensor 5, the controller 7 sets an acceleration / deceleration command with reference to the SG base table that defines the relationship between the pedal stroke and the vehicle acceleration / deceleration shown in the upper part of FIG.

  According to the S-G base table, when the pedal stroke is in the deceleration region from 0 to S0, the acceleration / deceleration command becomes deceleration, and the deceleration of the vehicle increases as the pedal stroke decreases. On the other hand, when the pedal stroke is in the acceleration region from S0 to the maximum stroke Smax, the acceleration / deceleration command is acceleration, and the acceleration of the vehicle increases as the pedal stroke increases.

  When the acceleration / deceleration command is acceleration, the controller 7 controls the driving force of the driving unit 11 so that the acceleration is realized. The drive unit 11 is an engine and its control unit if it is an engine vehicle, an engine and motor and these control units if it is HEV, and a motor and its control unit if it is EV. On the other hand, when the acceleration / deceleration command is deceleration, the controller 7 controls the braking force of the braking unit 12 so that the deceleration is realized. The brake unit 12 is a brake and its control unit in the case of an engine vehicle, and a brake, a motor, and these control units in the case of HEV and EV that can be braked by the regenerative torque of the motor.

  Further, the controller 7 sets the pedal reaction force with reference to a table (SF table) that defines the relationship between the pedal stroke and the pedal reaction force shown in the lower part of FIG. 2 based on the detection value of the stroke sensor 5. . According to the SF table, a smaller pedal reaction force is set as the pedal stroke becomes smaller, and the controller 7 controls the actuator 4 so that the set pedal reaction force is realized.

  By the way, when the pedal 2 is operated in a state where the pedal stroke is already in the deceleration region, the driver's foot moves due to a change in inertia force due to a change in deceleration, and the pedal stroke changes. If no allowance is made for this pedal stroke change, the acceleration / deceleration command changes, resulting in a deceleration change not intended by the driver.

  Therefore, in the present embodiment, in the deceleration region, the SG base table is offset according to the pedal operation (pedal stroke and its change amount), and the acceleration / deceleration command is issued even if the foot moves due to the inertial force change due to the deceleration change. To keep from changing.

  FIG. 3 is a flowchart showing the control contents of the controller 7. Hereinafter, the control contents of the controller 7 will be described with reference to this.

  First, the controller 7 reads the pedal stroke detected by the stroke sensor 5 (S11), and sets an acceleration / deceleration command with reference to the SG base table shown in FIG. 2 (S12).

  Next, the controller 7 determines whether the acceleration / deceleration command is acceleration or deceleration (S13). When the acceleration / deceleration command is acceleration, the process proceeds to S14, and the controller 7 controls the drive unit 11 so that the acceleration of the acceleration / deceleration command is realized.

  On the other hand, when the acceleration / deceleration command is a deceleration, the process proceeds to S15, and the controller 7 controls the braking unit 12 so that the deceleration of the acceleration / deceleration command is realized. Further, the controller 7 further reduces the deceleration of the vehicle so that the deceleration of the vehicle does not change even if the pedal 2 is operated in the deceleration region to change the deceleration of the vehicle and the foot moves due to the inertial force change. Base table offset processing (S16 to S21).

  In the base table offset process, the controller 7 determines whether the pedal 2 is operated in the pedal stroke decreasing direction, the pedal stroke increasing direction, or none (S16, S17).

  When the pedal 2 is operated in the pedal stroke decreasing direction, the process proceeds from S16 to S18, and the controller 7 sets the offset amount with reference to the table of FIG. The offset amount is set to a larger value as the change amount of the pedal stroke (difference between the previous value and the current value of the pedal stroke) is larger and the pedal stroke is smaller.

  This corresponds to the unintended foot movement of the driver when the pedal stroke is reduced, and the greater the change in the pedal stroke, the greater the deceleration change, that is, the greater the inertial force change, and the greater the foot movement. It is. Also, the smaller the pedal stroke and the smaller the pedal reaction force, the smaller the force that the driver puts into the foot, resulting in lower foot stiffness and greater foot movement when subjected to inertial force changes due to deceleration changes. It is.

  Then, the controller 7 offsets the SG base table to the large pedal stroke by the offset amount set in S18 (S19).

  “Offset to the large pedal stroke side” means to shift the line representing the SG base table to the large pedal stroke side. When the table after the offset is used, even if the pedal stroke is increased by the offset amount as compared with that before the offset, the acceleration / deceleration command has the same value.

  FIG. 5 shows how the SG base table is offset. The effect by offsetting the SG base table to the pedal stroke large side is demonstrated referring this.

  When the pedal 2 is operated in the pedal stroke decreasing direction in the deceleration region, the acceleration / deceleration command changes in the deceleration increasing direction, and the vehicle deceleration increases. Therefore, the foot moves in the pedal stroke increasing direction due to the inertia force change, The pedal stroke increases (S1 → S2 in FIG. 5). For this reason, when the SG base table is used as it is when the acceleration / deceleration command is set in S12 next time, the acceleration / deceleration command changes from A1 to A1 ', and a deceleration change not intended by the driver occurs.

  However, in this embodiment, the S-G base table is offset to the larger side of the pedal stroke in S19. Therefore, even if the pedal stroke changes from S1 to S2, the acceleration / deceleration command set in the next S12 remains A1. Thus, the change in deceleration of the vehicle is suppressed.

  On the other hand, when the pedal 2 is operated in the pedal stroke increasing direction, the process proceeds from S17 to S20. Then, the controller 7 sets an offset amount with reference to the table of FIG. 4 (S20), and offsets the SG base table to the pedal stroke small side by the set offset amount (S21).

  “Offset to the small side of the pedal stroke” means to shift the line representing the SG base table to the small side of the pedal stroke. When the table after the offset is used, the acceleration / deceleration command becomes the same value even if the pedal stroke is reduced by the offset amount compared to before the offset.

  FIG. 6 shows how the SG base table is offset. The effect by offsetting the SG base table to the pedal stroke small side is demonstrated referring this.

  When the pedal 2 is operated in the deceleration stroke increasing direction in the deceleration region, the acceleration / deceleration command changes in the deceleration decreasing direction, and the vehicle deceleration decreases. Movement and pedal stroke decrease (S1 → S3 in FIG. 6). For this reason, when the SG base table is used as it is when the acceleration / deceleration command is set in S12 next time, the acceleration / deceleration command changes from A2 to A2 ', and a deceleration change not intended by the driver occurs.

  However, in the present embodiment, the S-G base table is offset to the small side of the pedal stroke in S21. Therefore, even if the pedal stroke is changed from S1 to S3, the acceleration / deceleration command set in the next S12 remains A2. Thus, the change in deceleration of the vehicle is suppressed.

  In S16 and S17, when the pedal 2 is not operated in either the pedal stroke decreasing direction or the pedal stroke increasing direction, the offset of the SG base table is not performed. This is because if the pedal 2 is not operated, there is no change in inertial force due to a change in the deceleration of the vehicle, and therefore the above problem does not occur without changing the pedal stroke.

  As described above, according to the present embodiment, when the pedal 2 is operated in the deceleration region, the change in the deceleration command due to the change in the pedal stroke caused by the driver's foot moving due to the change in the deceleration occurs. The SG base table is offset in the suppressed direction (FIGS. 5 and 6). Thus, even if the foot moves due to a change in inertial force due to a change in deceleration and the pedal stroke changes, a change in the acceleration / deceleration command can be suppressed, and a change in deceleration unintended by the driver can be suppressed.

  How much the foot moves due to the change in inertial force due to the change in deceleration, and how much the pedal stroke changes accordingly, is the amount of change in pedal stroke (= change in vehicle deceleration) and pedal reaction force (= pedal stroke) by. In the present embodiment, as described above, since the offset amount is set based on these (FIG. 4, S18, S20), the offset amount for suppressing the unintended deceleration change of the driver is appropriately set regardless of the driving state. can do.

  As mentioned above, although embodiment of this invention was described, the said embodiment showed only a part of application example of this invention, and is not the meaning which limits the technical scope of this invention concretely of the said embodiment. .

  For example, in the above embodiment, the offset amount of the SG base table is increased as the change amount of the pedal stroke in the deceleration region increases (FIG. 4), but the change amount of the pedal stroke (the previous value of the pedal stroke and the current time). Since there is a correlation between the change speed and the change speed, the offset amount of the SG base table may be increased as the change speed of the pedal stroke is increased in S18 and S19. Even in this case, the offset amount for suppressing the deceleration change not intended by the driver can be appropriately set regardless of the driving state.

2 Pedal 7 Controller (Deceleration command setting means, table offset means, braking force control means)

Claims (5)

A vehicle travel control device that controls acceleration / deceleration of a vehicle according to a pedal stroke of one pedal,
When the pedal stroke is in the deceleration region that is the stroke range for decelerating the vehicle, the base table that defines the relationship between the pedal stroke and the deceleration command is referred to, and the deceleration of the vehicle is increased as the pedal stroke is decreased. Deceleration command setting means for setting a deceleration command;
When the pedal is operated in the deceleration region, the base in a direction in which a change in the deceleration command due to a change in the deceleration of the vehicle and a change in the pedal stroke due to a change in the pedal stroke is suppressed. Table offset means for offsetting the table;
Braking force control means for controlling the braking force of the vehicle so that the deceleration command is realized;
Equipped with a,
The pedal is a pedal whose pedal reaction force changes according to the pedal stroke,
The table offset means increases the offset amount of the base table as the reaction force of the pedal is smaller.
A vehicular travel control device. The vehicle travel control device according to claim 1,
The table offset means, when the pedal is operated in a direction in which the pedal stroke decreases in the deceleration region, offsets the base table to the pedal stroke large side,
A vehicular travel control device. The vehicle travel control device according to claim 1 or 2,
The table offset means, when the pedal is operated in the direction in which the pedal stroke increases in the deceleration region, the base table is offset to the pedal stroke small side;
A vehicular travel control device. The vehicle travel control device according to any one of claims 1 to 3 ,
Increasing the amount of offset as the amount of change in the pedal stroke increases.
A vehicular travel control device. The vehicle travel control device according to any one of claims 1 to 3 ,
Increasing the offset amount as the change speed of the pedal stroke increases.
A vehicular travel control device.

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