JP6559603B2 - Internal combustion engine control device - Google Patents

Description

  The present invention relates to a technique for controlling an internal combustion engine provided in a vehicle.

  The following Patent Document 1 describes a traveling vehicle that switches between manned driving and unmanned driving. In this document, it is described that an emergency stop control unit 700a is provided that puts the electromagnetic brake device 51 into a braking state based on a signal from at least one of the emergency stop switch SW4, the emergency stop receiver 570, and the system during unmanned operation. (See summary). A manned unmanned operation switching traveling vehicle as described in Patent Document 1 is considered to improve reliability because the electromagnetic brake device can be brought into a braking state during an unmanned operation to make an emergency stop.

  The following Patent Document 2 describes diagnosis of a vehicle steering device. In this document, the diagnosis by the clutch diagnosis unit 103 for confirming the operation of the clutch 11 is started when it is detected that the driver of the vehicle is not present in the vehicle (see summary). Since the vehicle steering apparatus as described in Patent Document 2 performs diagnosis when the driver of the vehicle is not present in the vehicle, for example, even if a contact sound is generated when confirming the operation of the backup clutch, discomfort is felt to the occupant. It seems that there is little uncomfortable feeling.

JP 2006-044620 A JP 2010-221918 A

  In the technique described in Patent Document 1, the same diagnosis is performed regardless of the presence or absence (manned / unmanned) of a passenger. Therefore, depending on the contents of diagnosis, for example, an operation that causes discomfort to the occupant may occur, and the psychological burden on the occupant may increase. Further, this document does not describe learning control parameters.

  In the technique described in Patent Document 2, since the clutch is diagnosed when there is no occupant in the vehicle, it is considered that the diagnosis is uniformly prohibited when the occupant is present. Although the document does not describe learning of control parameters, when the method described in the document is used for learning of control parameters, learning cannot be performed while an occupant is present. , Learning may be inadequate.

  The present invention has been made in view of the problems as described above, and provides an internal combustion engine control device capable of performing learning without deteriorating the ride comfort of an occupant even while the vehicle is traveling. Objective.

  The internal combustion engine control device according to the present invention selects one of a plurality of learning items according to the vehicle state. Not performing learning is also included as an option for the learning item.

  According to the internal combustion engine control device according to the present invention, learning can be performed without deteriorating the ride comfort of the occupant even while the vehicle is running by selecting a learning item according to the vehicle state.

1 is a configuration diagram of a vehicle 3 including a vehicle control device 1 according to Embodiment 1. FIG. 1 is a block diagram showing a configuration of a vehicle control device 1. FIG. 2 is a schematic diagram of an engine 4. FIG. 4 is a flowchart for explaining the operation of the vehicle control device 1. It is a block diagram which shows the structure of the vehicle control apparatus 1 which concerns on Embodiment 2. FIG. 6 is a flowchart illustrating an operation of the vehicle control device 1 according to a second embodiment. It is a figure explaining the learning range at the time of manned driving, and the learning range at the time of unmanned driving. 10 is a flowchart illustrating an operation of the vehicle control device 1 according to a third embodiment. 4 is a time chart showing a change in ignition timing accompanying learning of the engine 4. 10 is a flowchart illustrating an operation of the vehicle control device 1 according to a fifth embodiment.

<Embodiment 1>
FIG. 1 is a configuration diagram of a vehicle 3 including a vehicle control device 1 according to Embodiment 1 of the present invention. The vehicle 3 includes an internal combustion engine 4 (hereinafter referred to as the engine 4) as a driving power source, a clutch 16 that transmits / separates power of the engine 4, a transmission 5 (transmission), a propeller shaft 11, a differential gear 9, and a drive shaft 12. A passenger car equipped with wheels 2. The vehicle 3 further includes a vehicle control device 1 that controls each device such as the engine 4 and an actuator. The vehicle control device 1 controls acceleration / deceleration / steering of the vehicle 3, the rotational speed and driving force of the engine 4, and the like.

  For example, a stereo camera 7 is arranged at the front of the vehicle 3 to detect external information of the vehicle 3. The stereo camera 7 includes a control unit (not shown) incorporating a microcomputer. Based on the captured image, the control unit calculates the relative speed and relative acceleration of the preceding vehicle with the own vehicle, the distance between the preceding vehicle or the oncoming vehicle, the obstacle, the pedestrian, etc., and the own vehicle. Supplied to the vehicle control device 1. These processes performed by the control unit may be performed by the vehicle control device 1. The same applies to a stereo camera 17 described later.

  A stereo camera 17 that detects external information of the vehicle 3 is attached to the rear portion of the vehicle 3. The stereo camera 17 calculates a relative speed, a relative acceleration, a distance, and the like with a rear vehicle, a pedestrian, and the like, and supplies them to the vehicle control device 1.

  A handle 8 that controls the steering of the vehicle 3, an accelerator pedal 13 that adjusts the start and acceleration / deceleration of the vehicle, and a brake pedal 14 are arranged in the vehicle body of the vehicle 3. The permission button 19 will be described later in a second embodiment.

  The vehicle control device 1 detects a seat sensor 10 that detects the occupant's boarding, a wheel speed sensor 6 that detects the rotational speed of each wheel, an accelerator pedal sensor that detects the opening degree of the accelerator pedal 13, and a depression amount of the brake pedal 14. A detection signal is acquired from a brake pedal sensor that detects the vehicle, a gyro sensor 15 that detects the gradient of the host vehicle, and the like, and each control is performed using these detection signals. The seat sensor 10 can be mounted on a seat on which an occupant sits, for example.

  The vehicle control device 1 receives external input signals (for example, images taken from the front and rear of the vehicle, the position of the vehicle detected by the global positioning system, weather and traffic congestion around the vehicle, traffic accidents, road construction, etc.) ), The optimum route to the destination, the relative speed between the front and rear vehicles, the relative acceleration, and the like can be determined, and acceleration / deceleration / steering of the vehicle can be automatically performed according to them. That is, the vehicle 3 is a vehicle that can travel autonomously without necessarily requiring the occupant to perform all the operations related to the traveling of the vehicle 3.

  FIG. 2 is a block diagram illustrating a configuration of the vehicle control device 1. The vehicle control device 1 includes a learning diagnosis determination unit 105, a learning diagnosis execution unit 106, a learning diagnosis notification unit 107, and an actuator control unit 108. The actuator control unit 108 further includes an actuator diagnosis unit 109 and an actuator learning unit 110.

  The occupant detection unit 102 detects whether an occupant is present in the vehicle 3 based on the output from the seat sensor 10. The engine state detection unit 103 detects the operating state of the engine 4. The learning diagnosis determination unit 105 acquires these detection results, and determines whether or not to allow learning of control parameters of each functional unit (for example, the actuator 112) included in the vehicle 3 based on the detection results, or the vehicle 3 To decide whether or not to allow the diagnosis. The learning diagnosis execution unit 106 performs the learning or diagnosis, and stores the result in the storage device 113. The learning diagnosis notification unit 107 notifies the outside of the vehicle that learning or diagnosis is being performed.

  The actuator diagnosis unit 109 reflects the detection result of each sensor 104 in the diagnosis for the actuator 112. Each sensor 104 is, for example, a sensor (illustrated in FIG. 3 to be described later) mounted on the engine 4, the transmission 5, the brake pedal 14, the steering 20, and the like. The composition and the like can be detected. The actuator learning unit 110 reflects in the control of the actuator 112 based on the detection result of each sensor 104, and further updates the control parameter as necessary.

  The learning diagnosis notification unit 107 acquires a state indicating whether learning or diagnosis is being performed from the learning diagnosis execution unit 106 and notifies the state to the outside of the vehicle via the notification unit 111. For example, the hazard lamp 18 provided in the vehicle 3 is turned on. In addition, although not shown, a notification signal may be broadcast to other vehicles and peripheral facilities by wireless communication, or may be notified by bidirectional communication with other vehicles and peripheral facilities.

  The actuator 112 is an electrically controllable drive unit that is included in a device that is controlled by the vehicle control device 1. For example, when the vehicle control apparatus 1 controls the engine 4, each drive part with which the engine 4 is provided corresponds to this. In this case, the vehicle control device 1 controls the engine 4 by drivingly controlling the actuator 112.

  FIG. 3 is a schematic diagram of the engine 4. The vehicle control apparatus 1 includes various sensors (for example, a crank sensor 212, a throttle opening sensor 218, an intake pipe pressure sensor 206) arranged in the engine 4 in addition to signals and data from other control units such as a transmission control unit. In-cylinder pressure sensor 211, turbine rotation speed sensor 219, EGR sensor 220, knock sensor 207) detect signals such as engine speed, intake pipe pressure, in-cylinder pressure, turbine rotation, EGR rate, knocking intensity, or the like. The detection result is obtained by calculation based on the signal. The vehicle control device 1 controls actuators such as a throttle 201, a spark plug 208, a fuel injection valve 204, a waste gate 214, an EGR valve 217, an intake valve 203, and an exhaust valve 205 based on these signals.

  FIG. 4 is a flowchart for explaining the operation of the vehicle control device 1. The vehicle control device 1 repeatedly executes the flowchart of FIG. 4 in a predetermined program cycle. Hereinafter, each step of FIG. 4 will be described.

(FIG. 4: Step S101)
The vehicle control device 1 detects the traveling state of the preceding vehicle by detecting the speed and acceleration of the preceding vehicle and the distance between the preceding vehicle and the vehicle 3 based on the image captured by the stereo camera 7. The vehicle control device 1 detects the traveling state of the host vehicle by detecting the speed and load of the host vehicle based on signals from the wheel speed sensor 6 and the intake pipe pressure sensor 206.

(FIG. 4: Step S102)
The learning diagnosis determination unit 105 determines whether to permit learning or diagnosis of the actuator 112 based on the traveling state of the preceding vehicle and the traveling state of the host vehicle. If permitted, the process proceeds to step S103, and if not permitted, the process returns to step S101.

(FIG. 4: Step S102: Supplement)
For example, when learning the state of the engine 4 at the time of sudden acceleration at the time of vehicle transmission, the learning is not permitted unless the distance between the vehicle 3 and the preceding vehicle is too close to be suitable for sudden acceleration. Whether or not learning is permitted can also be determined for each learning item. For example, when learning the state of the engine 4 during steady operation, learning can be permitted even if the distance between the vehicle 3 and the preceding vehicle is short. The same applies to diagnosis.

(FIG. 4: Steps S103 to S104)
The occupant detection unit 102 detects whether there is an occupant in the vehicle 3 based on the detection result by the seat sensor 10 (S103). If an occupant is present, the process proceeds to step S105. If not present, the process proceeds to step S106 (S104).

(FIG. 4: Step S105)
The learning diagnosis determination unit 105 permits the actuator 112 to perform manned learning or manned diagnosis, and notifies the learning diagnosis execution unit 106 of the fact. The learning diagnosis execution unit 106 performs manned learning or manned diagnosis of the actuator 112. Manned learning / manned diagnosis refers to learning the control parameter by operating the actuator 112 so that a phenomenon that causes discomfort to the occupant does not occur (or at least hardly occurs). For example, learning in a steady operation state of the engine 4 corresponds to this.

(FIG. 4: Step S106)
The learning diagnosis determination unit 105 permits the actuator 112 to perform unattended learning or unattended diagnosis, and notifies the learning diagnosis execution unit 106 to that effect. The learning diagnosis execution unit 106 performs unattended learning or unattended diagnosis of the actuator 112. Unattended learning / unattended diagnosis refers to learning the control parameter by causing the actuator 112 to perform an operation including an operation (for example, rapid acceleration of the engine 4) that may cause discomfort to the passenger.

(FIG. 4: Steps S102 to S106: Supplement 1)
The learning diagnosis determination unit 105 internally holds a plurality of learning items that define learning procedures in advance, and selects one of them according to the state of the vehicle 3 (and the state of the preceding vehicle may be used). By doing so, these steps can be performed. For example, when learning or diagnosis is not performed in S102, no learning is selected as the learning item, and when learning is performed in S105, the learning item is selected.

(FIG. 4: Steps S102 to S106: Supplement 2)
The learning diagnosis determination unit 105 can also select non-learning as a learning item in manned learning. In other words, if the occupant does not want the engine 4 or the like to be changed to a state different from that during steady operation in the course of performing learning, it is possible to prevent learning from being performed at all. The content to be selected as a learning item in the manned / unmanned learning can be determined in advance as the specification of the vehicle control device 1 or can be selected by an occupant via an appropriate operation interface. The same applies to the following embodiments.

(FIG. 4: Step S107)
The learning diagnosis notification unit 107 notifies the outside of the vehicle that the learning or diagnosis of the actuator 112 is being performed by turning on the hazard lamp 18.

<Embodiment 1: Summary>
The vehicle control device 1 according to the first embodiment selects a learning item or does not perform learning according to the state of the vehicle 3. Thereby, since the learning suitable for the state of the vehicle 3 can be implemented, the utility of the learning can be enhanced.

  The vehicle control apparatus 1 according to the first embodiment notifies the outside of the vehicle that the actuator 112 is being learned. Therefore, even if the vehicle speed and steering may change during the learning process, the possibility can be shared with the driver of the succeeding vehicle and peripheral equipment. As a result, the following vehicle can take appropriate measures such as avoiding the risk of collision with the vehicle 3. For example, when the signal is installed in the peripheral equipment, the vehicle control device 1 acquires the switching time of the signal, and calculates the time required to perform the learning and the time required to move from the traveling vehicle speed to the signal. The learning diagnosis determining unit 105 can postpone the learning with acceleration / deceleration when it is predicted that the signal is switched during the learning. Thereby, the effect of learning can be improved.

  The vehicle control device 1 according to the first embodiment selects a learning item depending on whether or not an occupant is present in the vehicle 3. As a result, for example, a learning item with a passenger's psychological burden can be prohibited when the passenger is present. Therefore, the utility of learning of the actuator 112 can be enhanced while suppressing the psychological burden on the passenger.

<Embodiment 2>
FIG. 5 is a block diagram illustrating a configuration of the vehicle control device 1 according to the second embodiment of the present invention. The vehicle control apparatus 1 according to the second embodiment includes a learning diagnosis setting unit 114 in addition to the configuration described in the first embodiment. The learning diagnosis setting unit 114 can be configured by, for example, a permission button 19 provided in the driver's seat. Operations related to the permission button 19 will be described with reference to FIG.

  FIG. 6 is a flowchart for explaining the operation of the vehicle control device 1 according to the second embodiment. Compared with the first embodiment, the flowchart of FIG. 6 includes S201 and S202 instead of steps S103 and S104. Other steps are the same as those in the first embodiment.

(FIG. 6: Steps S201 to S202)
The learning diagnosis determination unit 105 detects whether or not the permission button 19 is pressed (S201). If it has been pressed, the process proceeds to step S105, and if it has not been pressed, the process proceeds to step S106 (S202).

(FIG. 6: Steps S201 to S202: Supplement 1)
When the learning diagnosis determining unit 105 permits learning or diagnosis in step S102, the learning diagnosis determining unit 105 may prompt the operation by turning on / flashing the permission button 19, for example. The occupant can grasp that the vehicle control device 1 is about to perform learning / diagnosis from now on when the permission button 19 is lit, and can operate the permission button 19 in accordance with the state of the vehicle 3 or the occupant himself. That is, in the process in which the vehicle control device 1 performs learning / diagnosis, the engine 4 is changed to various operating states, so that the traveling state of the vehicle 3 becomes slightly unstable. For example, the occupant can specify whether or not to allow such an unstable operation according to the current riding activity (racing, watching movies or music, sleeping, etc.).

(FIG. 6: Steps S201 to S202: Supplement 2)
Steps S105 and S106 are interchanged, and when the permission button 19 is pressed, manned learning may be performed, and when the permission button 19 is not pressed, unmanned learning may be performed. In this case, the initial state (not pressed) of the permission button 19 specifies that unattended learning is always performed, and the permission button 19 is pressed only when the occupant does not permit this.

(FIG. 6: Steps S201 to S202: Supplement 3)
Even during the learning or diagnosis, the occupant can operate the permission button 19 to stop or temporarily stop it. In view of the convenience of the passenger's operation, a stop operation button, an interrupt operation button, and a pause / resume button may be provided.

<Embodiment 2: Summary>
The vehicle control apparatus 1 according to the second embodiment performs learning when learning is permitted by the operation of the learning diagnosis setting unit 114, and does not perform when learning is not permitted. Thus, the occupant can decide by himself whether or not to perform learning (or diagnosis, the same applies hereinafter). That is, the occupant can know in advance that learning is about to be performed. Therefore, learning can be performed while suppressing the psychological burden on the passenger. Moreover, this can be stopped or temporarily interrupted by the occupant's intention during the execution of learning. As a result, when a psychological burden is generated on the occupant, the learning can be stopped immediately to eliminate the psychological burden.

<Embodiment 3>
The vehicle control device 1 according to the third embodiment of the present invention learns the ignition timing at which knocking occurs by changing the ignition timing of the engine 4 and operating. However, knocking causes discomfort to the occupant, so if there is an occupant in the vehicle 3, the engine 4 is operated within the ignition timing range where the possibility of knocking is low (normal operation), and there is no occupant. In this case, it is desirable to specify the ignition timing at which knocking occurs by changing the ignition timing beyond the range of normal operation. Since other configurations are the same as those in the first and second embodiments, an operation example for learning mainly the knocking occurrence condition will be described below.

  The knocking of the engine 4 is an abnormal combustion that occurs in the cylinder, and a pressure wave is generated with a sudden increase in pressure and in-cylinder temperature. The temperature rise causes the piston to melt, or the piston vibrates and damages the inner wall of the cylinder. If this is serious, the engine 4 will be destroyed. Therefore, it is desirable to specify a condition for causing knocking by learning and to avoid this.

  When the engine 4 is operated at high load and low rotation, the occurrence rate of knocking increases. That is, knocking is likely to occur when the occupant repeats hunting such as suddenly depressing and returning the accelerator pedal 13 and suddenly accelerates from a low-speed running state. Therefore, when the vehicle 3 is driven by an occupant, the engine 4 repeats sudden load fluctuations according to the operation of the accelerator pedal 13, and therefore it is difficult to specify the knocking occurrence condition from that. On the other hand, when the vehicle 3 travels autonomously regardless of the operation of the occupant, the load variation of the engine 4 can be scheduled by the vehicle control device 1, so that sudden load variation is not predicted to occur. By intentionally generating this during the period, the knocking occurrence condition can be learned. In the third embodiment, the knocking occurrence condition is learned using this fact.

  FIG. 7 is a diagram illustrating a learning range during manned driving and a learning range during unmanned driving. The upper half of FIG. 7 shows the relationship between knocking strength and ignition timing. The lower half of FIG. 7 shows the relationship between combustion efficiency and ignition timing.

  When the occupant is in the vehicle 3, a certain margin is provided for the ignition timing at which knocking occurs so as not to increase the psychological burden on the occupant. In general, knocking occurs in the vicinity of the maximum efficiency point, and therefore the state (knocking level and combustion efficiency) of the engine 4 in the region near the optimal ignition timing is not learned during manned learning (during normal operation).

  If the occupant is not in the vehicle, even if small knocking occurs, there is no risk of discomfort to the occupant, so the ignition timing is advanced beyond the upper limit during normal operation and knocking is performed over a wider range of conditions. The generation conditions can be learned. However, since strong knocking may lead to failure of the engine 4, it is desirable not to advance the ignition timing to a state range where strong knocking of a certain degree or more is expected.

  FIG. 8 is a flowchart for explaining the operation of the vehicle control device 1 according to the third embodiment. In the flowchart of FIG. 8, compared to the first embodiment, S107 moves after S102, and S301 to S306 are provided instead of S105 to S106. Other steps are the same as those in the first embodiment.

(FIG. 8: Step S107)
In the third embodiment, since the engine 4 is operated within an ignition timing range where at least some knocking may occur in both manned learning and unmanned learning, the traveling of the vehicle 3 may be somewhat unstable. There is sex. Therefore, by carrying out this step before the start of learning, the subsequent vehicle or the like is notified to that effect.

(FIG. 8: Step S301)
The learning diagnosis execution unit 106 starts unattended learning. The learning diagnosis execution unit 106 advances the ignition timing of the engine 4 based on the operating state (rotation speed and load) of the engine 4.

(FIG. 8: Step S302)
The learning diagnosis execution unit 106 detects whether or not knocking has occurred based on the detection result of the knock sensor 207. If the occurrence of knocking is detected, the process proceeds to step S306, and if not detected, the process returns to step S301 to further advance the ignition timing. By repeating this, it is possible to specify the ignition timing at which knocking occurs.

(FIG. 8: Step S302: Supplement)
If knocking occurs before the ignition timing reaches the maximum efficiency point in FIG. 7, the process proceeds to step S306 at that time, and this step is not necessarily intended to search for the maximum efficiency point.

(FIG. 8: Steps S303 to S305)
The learning diagnosis execution unit 106 starts manned learning. In manned learning, the ignition timing is advanced until knocking occurs as in unmanned learning. However, it differs from unattended learning in that when the ignition timing reaches the upper limit for manned operation shown in FIG. 7, the learning is terminated without further advancement of the ignition timing. The ignition timing upper limit can be determined in advance according to the characteristics of the engine 4, for example.

(FIG. 8: Step S306)
The learning diagnosis execution unit 106 learns the ignition timing at the time when occurrence of knocking is detected as a knocking generation limit, and reflects the learned ignition timing on the ignition timing map stored in the storage device 113.

<Embodiment 3: Summary>
In order to perform learning or diagnosis of the engine 4, an operation different from that during normal operation is required for the actuator constituting the engine 4. For example, a plurality of openings are selected for diagnosing deterioration or sticking of the throttle 201, or the amount of passing air when the maximum opening is set is measured. As a result, the operating point of the engine 4 changes, so that the vehicle 3 intermittently repeats acceleration / deceleration, causing a behavior that gives unpleasant feeling such as the vehicle 3 swinging back and forth. The vehicle control apparatus 1 according to the third embodiment can perform the learning diagnosis at an appropriate timing by permitting the learning diagnosis only when the vehicle 3 is in an acceleration state in step S102, for example.

  The vehicle control device 1 according to the third embodiment learns the conditions for causing knocking while changing the ignition timing of the engine 4. By learning the knocking occurrence condition, the knocking occurrence rate can be controlled, the thermal efficiency of the engine 4 can be increased, and the fuel consumption of the vehicle 3 can be improved.

  The vehicle control apparatus 1 according to the third embodiment controls the ignition timing within a preset upper limit for normal operation when there is an occupant in the vehicle 3, and when there is no occupant, Advance beyond the upper limit. Thereby, it is possible to learn the knocking occurrence condition while suppressing the psychological burden on the occupant due to the sound of the knocking and the vibration of the engine 4. Specifically, the knocking occurrence condition can be learned at an appropriate timing according to the load fluctuation schedule in the autonomous driving mode. Furthermore, in the process of searching for the knocking occurrence condition, when the maximum efficiency point can be found as shown in FIG. 7, the fuel consumption is improved by running the vehicle 3 in the driving state with high combustion efficiency. be able to.

<Embodiment 4>
In the fourth embodiment of the present invention, in addition to the operation of the vehicle control device 1 described in the third embodiment, the operation state of the engine 4 is retarded by retarding the ignition timing of the engine 4 from the ignition timing during learning after completion of learning. To the state before learning started. Since the other configuration is the same as that of the third embodiment, the following mainly describes returning the ignition timing.

  FIG. 9 is a time chart showing a change in the ignition timing accompanying the learning of the engine 4. The learning diagnosis execution unit 106 causes knocking by advancing the ignition timing of the engine 4. If the occurrence of knocking is detected or the ignition timing reaches the upper limit during normal operation, the ignition timing cannot be advanced any further, and learning ends. Thereafter, the learning diagnosis execution unit 106 retards the ignition timing and returns it to the state before the start of learning.

  According to the vehicle control device 1 according to the fourth embodiment, by returning the ignition timing promptly after the end of learning, it is possible to suppress the psychological burden on the occupant and improve the safety of the engine 4. It is not always necessary to accurately return to the ignition timing before the start of learning, and even if the ignition timing is retarded to some extent, the possibility of knocking can be suppressed accordingly, so that a corresponding effect can be exhibited. Can do.

<Embodiment 5>
In the fifth embodiment of the present invention, an operation example in which the result of unmanned learning is reflected on the control during manned driving will be described. Since other configurations are the same as those in the first to fourth embodiments, the following mainly describes differences.

  FIG. 10 is a flowchart showing the operation of the vehicle control device 1 in the fifth embodiment. In the flowchart of FIG. 10, compared with the first embodiment, S401 to S402 are provided after S106. S107 may be performed at any time point as long as it can indicate to the outside of the vehicle that learning is being performed, but in FIG. 10, it is performed between S102 and S103. Other steps are the same as those in the first embodiment.

(FIG. 10: Step S401)
The learning diagnosis execution unit 106 determines whether or not the unmanned learning or the unattended diagnosis has shifted to the manned driving state. For example, this can be determined by the same procedure as in steps S103 to S104, or this can be triggered when the vehicle 3 shifts to a manual operation from a state where an occupant is present and autonomously operates. . If the state is shifted to the manned operation state, step S402 is executed, and if not, the present flowchart is ended.

(FIG. 10: Step S402)
The learning diagnosis execution unit 106 reflects the result of unattended learning or unattended diagnosis in the control content of the actuator 112. Specifically, the control parameter acquired in the process of unattended learning or unattended diagnosis is reflected on the control parameter used during manned driving. The control parameters used during unmanned operation are already reflected in the learning diagnosis process.

(FIG. 10: Step S402: Supplement)
If the control parameters used during manned operation and the control parameters used during unmanned operation are the same and only the operating region of the engine 4 is different, for example, this step is performed implicitly during the unattended learning process. This step is not necessary.

  The vehicle control apparatus 1 according to the fifth embodiment reflects the result of unattended learning or unattended diagnosis in the control content during manned driving. As a result, the results of learning or diagnosis that cannot be performed while the occupant is present in the vehicle 3 can be used effectively, so that the driving of the vehicle 3 (for example, fuel consumption) can be optimized without increasing the psychological burden on the occupant. it can.

<Modification of the present invention>
The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  The vehicle 3 shown in FIG. 1 is an example of the vehicle 3 to which the present invention can be applied, and does not limit the configuration of the vehicle 3 to which the present invention can be applied. For example, the vehicle 3 may be a vehicle 3 that employs a hybrid system having two or more power sources such as the engine 4 and a motor instead of the engine 4, or may be a vehicle 3 that employs a continuously variable transmission instead of the transmission 5. Instead of the stereo camera 7 as an external environment recognition sensor, one or a combination of laser radar / millimeter wave radar / mono camera and the like may be used to obtain the relative speed, the inter-vehicle distance, and the like.

  In the above-described embodiment, the actuator 112 is absolutely an ignition device for an internal combustion engine, but may be a compression ignition ignition device (for example, using a diesel engine or premixed compression ignition).

  Each of the above-described configurations, functions, processing units, processing means, and the like may be realized in hardware by designing a part or all of them, for example, with an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

1: Vehicle control device 2: Wheel 3: Vehicle 4: Engine 5: Transmission 6: Wheel speed sensor 7: Stereo camera 8: Handle 9: Differential gear 10: Seat sensor 11: Propeller shaft 12: Drive shaft 13: Accelerator pedal 14: brake pedal 15: gyro sensor 16: clutch 17: stereo camera 18: hazard lamp 19: permission button 20: steering 201: throttle 203: intake valve 204: fuel injection valve 205: exhaust valve 206: intake pipe pressure sensor 207: Knock sensor 208: Spark plug 211: In-cylinder pressure sensor 212: Crank sensor 213: Intake air amount 214: Wastegate 215: Turbine speed 217: EGR valve 218: Throttle opening sensor 219: Turbine speed sensor 220: EGR sensor

Claims (8)

An internal combustion engine control device for controlling an internal combustion engine provided in a vehicle,
A storage unit for storing control parameters used when controlling the internal combustion engine;
A learning execution unit that learns the control parameter and stores it in the storage unit,
A learning determination unit for determining a learning item when the learning execution unit performs the learning;
With
The learning determination unit selects one of a plurality of items including an item designating that the learning is not permitted as the learning item according to the state of the vehicle ,
The internal combustion engine control device includes an occupant detection unit that detects whether a person is in the vehicle as the state of the vehicle,
When the occupant detection unit detects that no person is in the vehicle, the learning determination unit selects, as the learning item, an unmanned learning item that defines content to be learned in an unmanned state,
When the occupant detection unit detects that a person is in the vehicle, the learning determination unit selects, as the learning item, a manned learning item that defines content to be learned when manned,
The internal combustion engine control apparatus according to claim 1, wherein a state range of the internal combustion engine to be learned in the unmanned learning item is configured wider than a state range of the internal combustion engine to be learned in the manned learning item . An internal combustion engine control device for controlling an internal combustion engine provided in a vehicle,
A storage unit for storing control parameters used when controlling the internal combustion engine;
A learning execution unit that learns the control parameter and stores it in the storage unit,
A learning determination unit for determining a learning item when the learning execution unit performs the learning;
With
The learning determination unit selects one of a plurality of items including an item designating that the learning is not permitted as the learning item according to the state of the vehicle ,
The internal combustion engine control device includes an occupant detection unit that detects whether a person is in the vehicle as the state of the vehicle,
When the occupant detection unit detects that no person is in the vehicle, the learning determination unit selects, as the learning item, an unmanned learning item that defines content to be learned in an unmanned state,
When the occupant detection unit detects that a person is in the vehicle, the learning determination unit selects, as the learning item, a manned learning item that defines content to be learned when manned,
The internal combustion engine control apparatus according to claim 1, wherein a state range of the internal combustion engine to be learned in the unmanned learning item is configured wider than a state range of the internal combustion engine to be learned in the manned learning item . An internal combustion engine control device for controlling an internal combustion engine provided in a vehicle,
A storage unit for storing control parameters used when controlling the internal combustion engine;
A learning execution unit that learns the control parameter and stores it in the storage unit,
A learning determination unit for determining a learning item when the learning execution unit performs the learning;
With
The learning determination unit selects one of a plurality of items including an item designating that the learning is not permitted as the learning item according to the state of the vehicle ,
The learning item is configured to specify a condition in which knocking occurs in the internal combustion engine by operating while changing the state of the internal combustion engine,
The learning execution unit is operated while changing the state of the internal combustion engine according to the learning item, and stores the state of the internal combustion engine when the knocking occurs as the control parameter in the storage unit,
The internal combustion engine control device includes an occupant detection unit that detects whether a person is in the vehicle as the state of the vehicle,
The learning determination unit is configured to generate the knocking by advancing the ignition timing of the internal combustion engine when the occupant detection unit detects that no person is in the vehicle. Select the learning item,
The learning execution unit specifies a condition for causing the knocking by advancing the ignition timing of the internal combustion engine according to the learning item, and the state of the internal combustion engine at that time is stored in the storage unit as the control parameter. An internal combustion engine control device characterized by storing . An internal combustion engine control device for controlling an internal combustion engine provided in a vehicle,
A storage unit for storing control parameters used when controlling the internal combustion engine;
A learning execution unit that learns the control parameter and stores it in the storage unit,
A learning determination unit for determining a learning item when the learning execution unit performs the learning;
With
The learning determination unit selects one of a plurality of items including an item designating that the learning is not permitted as the learning item according to the state of the vehicle ,
The learning item is configured to specify a condition in which knocking occurs in the internal combustion engine by operating while changing the state of the internal combustion engine,
The learning execution unit is operated while changing the state of the internal combustion engine according to the learning item, and stores the state of the internal combustion engine when the knocking occurs as the control parameter in the storage unit,
The learning item is configured to generate the knocking by advancing the ignition timing of the internal combustion engine to an upper limit value or more during steady operation,
The learning execution unit specifies a condition for causing the knocking by advancing the ignition timing of the internal combustion engine to the upper limit value or more according to the learning item, and determines the state of the internal combustion engine at that time as the control parameter. Is stored in the storage unit as
The learning execution unit, after finishing the learning, delays the ignition timing of the internal combustion engine from the ignition timing during execution of the learning, thereby setting the ignition timing of the internal combustion engine before the start of the learning. An internal combustion engine control device characterized by returning to a state . The internal combustion engine control device includes a learning setting unit that sets which of the unmanned learning item and the manned learning item is selected by an operation of a person riding in the vehicle.
The learning setting unit is set, as an initial state, either a state of specifying that the manned learning item is selected or a state of selecting the unmanned learning item,
When the state for selecting the unmanned learning item is set as the initial state of the learning setting unit, the learning determination unit is only operated when the learning setting unit is operated to select the manned learning item. While selecting a manned learning item and not being operated, always select the unmanned learning item,
When the state for selecting the manned learning item is set as the initial state of the learning setting unit, the learning determination unit is only operated when the learning setting unit is operated to select the unattended learning item. internal combustion engine controller according to claim 1, wherein the selecting the unmanned learning objects. The learning item is configured to specify a condition in which knocking occurs in the internal combustion engine by operating while changing the state of the internal combustion engine,
The learning execution unit operates while changing the state of the internal combustion engine according to the learning item, and stores the state of the internal combustion engine when the knocking occurs as the control parameter in the storage unit. The internal combustion engine control device according to claim 1 or 2 . The learning determination unit selects the learning item configured to generate the knocking by advancing the ignition timing of the internal combustion engine,
The learning execution unit specifies a condition for causing the knocking by advancing the ignition timing of the internal combustion engine according to the learning item, and the state of the internal combustion engine at that time is stored in the storage unit as the control parameter. The internal combustion engine controller according to claim 3, wherein the internal combustion engine controller is stored. The learning execution unit performs the learning performed when the occupant detection unit detects that a person is not in the vehicle, and the learning result performed when the occupant detection unit detects that the person is not in the vehicle. The internal combustion engine control apparatus according to claim 1 , wherein the internal combustion engine control apparatus reflects the result.

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