JP6604368B2 - Vehicle control device - Google Patents

Vehicle control device Download PDF

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JP6604368B2
JP6604368B2 JP2017185763A JP2017185763A JP6604368B2 JP 6604368 B2 JP6604368 B2 JP 6604368B2 JP 2017185763 A JP2017185763 A JP 2017185763A JP 2017185763 A JP2017185763 A JP 2017185763A JP 6604368 B2 JP6604368 B2 JP 6604368B2
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speed
vehicle
control
speed limit
limit
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JP2019059361A (en
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昂 尾▲崎▼
諒 佐藤
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マツダ株式会社
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Description

  The present invention relates to a vehicle control device, and more particularly, to a vehicle control device that performs vehicle control using a speed limit set for a travel path.
  In recent years, various driving support modes have been provided to drivers by driving support control devices mounted on vehicles. For example, there is known a driving support mode in which vehicle control is performed so that a preceding vehicle is followed with a preset vehicle speed set as an upper limit speed (see Patent Document 1). Further, in Patent Document 1, a speed limit (marking speed) is detected from a speed sign imaged by a camera, and after a predetermined time (3 seconds), the set vehicle speed is replaced by the detected speed limit. Thus, in Patent Document 1, when a speed sign is detected, this speed limit (mark speed) is used as the set vehicle speed.
  The driver can disable the set speed from switching to the sign speed by operating a resume switch provided on the steering wheel within a predetermined time. In general, the resume switch is a switch for switching the driving support mode from the standby state to the active state. When the set speed is stored in the memory, the driving support mode is resumed using this set speed by operating the resume switch.
JP 2012-206594 A
  However, the cited document 1 only describes the process for the case where the speed indicator displays one speed limit, and does not consider the case where the speed indicator displays two or more speed limits.
  The present invention has been made to solve such a problem, and when two or more speed limit speeds are set on the traveling road, an appropriate speed limit is acquired as the set speed, and safety is improved. An object of the present invention is to provide a vehicle control device that can be secured.
In order to achieve the above object, the present invention provides a control unit that executes speed control of a vehicle according to a stored set vehicle speed during execution of the driving support mode, and a limit that acquires a speed limit for the travel path. A vehicle control device comprising: a speed recognition unit; and a traveling vehicle detection unit that detects a following vehicle traveling behind the vehicle, wherein the control unit stores the speed limit acquired by the speed limit recognition unit as a set vehicle speed. When the speed limit recognizing unit acquires two speed limits, the control unit detects the two speed limits acquired depending on whether or not the following vehicle is detected by the traveling vehicle detection unit. Is selected and stored as the set vehicle speed . Further, when the succeeding vehicle is detected, the control unit selects the larger one of the obtained two speed limits. The following vehicle is not detected Case, selects the speed limit of the smaller of the two speed limit acquired.
According to the present invention configured as described above, when two speed limits are set for the travel path, one of the speed limits is set to the set speed according to the presence or absence of the following vehicle. Speed control can be performed. Thereby, in this invention, either speed limit can be selected from two speed limits, avoiding the approach with a succeeding vehicle.
If a small speed limit is selected and this selection is incorrect, the vehicle may suddenly approach the following vehicle if the following vehicle travels at a large speed limit that is a correct selection. On the other hand, in the present invention, as long as the vehicle travels based on at least the selected large speed limit, it is possible to avoid the approach with the following vehicle regardless of whether this selection is correct or incorrect.
Further, even if the smaller speed limit is selected incorrectly and the vehicle travels based on the smaller speed limit, there is no possibility that the vehicle will approach the succeeding vehicle because there is no subsequent vehicle. Further, even when there is a preceding vehicle, as long as the vehicle travels based on the smaller speed limit, approaching with the preceding vehicle can be avoided.
In the present invention, preferably, an operation unit operable by the driver is further provided, and the control unit selects one speed limit from the acquired two speed limits and stores it as a set vehicle speed, and then operates the operation unit. If there is, stored by replacing the set speed which is stored in the selected did not speed limit.
According to the present invention configured as described above, even if the vehicle speed limit is incorrectly selected, the driver can easily switch to the correct vehicle speed limit by operating the operation unit.
  According to the vehicle control device of the present invention, it is possible to improve the operability and safety in the input operation of the set speed used in the driving support mode by the driver.
It is a block diagram of the vehicle control apparatus by embodiment of this invention. It is explanatory drawing of the operation part by embodiment of this invention. It is explanatory drawing at the time of speed limit acquisition by embodiment of this invention. It is explanatory drawing of the display part by embodiment of this invention. It is a processing flow of the vehicle control processing by embodiment of this invention.
  Hereinafter, a vehicle control apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings. First, with reference to FIG.1 and FIG.2, the structure of a vehicle control apparatus is demonstrated. FIG. 1 is a configuration diagram of the vehicle control device, and FIG. 2 is an explanatory diagram of an operation unit.
  The vehicle control device 100 of the present embodiment is mounted on the vehicle 1 (see FIG. 3), and is configured to execute predetermined driving support control according to the driving support mode selected by the driver. .
  In the present embodiment, the driving support mode includes a preceding vehicle following mode and a speed limit mode. The preceding vehicle follow-up mode is a mode in which vehicle control is performed so that the vehicle travels to maintain the set vehicle speed when there is no preceding vehicle, and follows the preceding vehicle with the set vehicle speed as the upper limit when there is a preceding vehicle. Then, speed control and steering control of the vehicle 1 are executed. In this speed control, the vehicle control device 100 automatically controls the engine output via the engine control system 40 and automatically controls the braking force via the brake control system 42. In the steering control, the vehicle control device 100 automatically controls the steering angle by the steering wheel via the steering control system.
  The speed limit mode is a mode for executing vehicle control (speed control) so that the speed of the vehicle 1 does not exceed the set vehicle speed. In this mode, when the driver operates the accelerator pedal, the engine output is controlled according to the depression amount of the accelerator pedal. However, when the speed of the vehicle 1 exceeds the set speed, the vehicle control device 100 limits the speed of the vehicle 1 to the set speed regardless of the amount of depression of the accelerator pedal. In this case, the vehicle control device 100 restricts the engine output via the engine control system 40 and applies a braking force via the brake control system 42 as necessary.
  As shown in FIG. 1, the vehicle control device 100 includes a control unit (ECU) 10, various sensors / input / output units, and a predetermined vehicle system. In the sensor / input / output unit, a camera 20 for imaging outside the vehicle, a radar device 22 for detecting other vehicles in front of and behind the vehicle, a vehicle speed sensor 23 for detecting the speed of the vehicle 1, and user input for driving support control. An operation unit 24, a navigation device 26, a display unit 28 for presenting information to the driver, a speaker 29, other sensors, and the like are included. The vehicle system includes an engine control system 40 and a brake control system 42.
  The ECU 10 includes a CPU, a memory 11 that stores various programs and data, and a computer that includes an input / output device. The ECU 10 includes various functions, for example, functions as a control unit 10a and a speed limit recognition unit 10b.
  The ECU 10 (control unit 10a) displays predetermined information on the display unit 28 based on a signal received from the outside during the operation of the driving support mode, and a vehicle system (engine control system 40, brake control system 42, etc.). ) To output a request signal and execute a vehicle control process. Further, the data stored in the memory 11 includes a set speed used for speed control during execution of the driving support mode and the speed limit acquired by the speed limit recognition unit 10b. Since a plurality of speed limits may be set in the same section of the travel path, the memory 11 can store a plurality of speed limits.
  The ECU 10 (control unit 10a) monitors the current vehicle speed of the vehicle 1 detected by the vehicle speed sensor 23, and generates an overspeed warning from the speaker 29 (notification unit) when the current vehicle speed exceeds the threshold speed. Execute alarm processing. Further, in addition to the speaker 29, an overspeed warning may be displayed on a display included in the navigation device 26, the display unit 28, or the like.
  The ECU 10 (restricted speed recognizing unit 10b) performs a speed limit recognizing process for acquiring a speed limit (signed speed) indicated by a speed sign in the image by analyzing the image data captured by the camera 20. . The camera 20 images the front of the vehicle 1 and transmits the captured image data to the ECU 10. The speed limit recognition unit 10b may include the camera 20 as a component.
  The radar 22 transmits radio waves (transmitted waves) toward the front and rear of the vehicle 1 and receives the reflected waves. Based on the transmitted wave and the reflected wave, the radar 22 obtains measurement data related to the inter-vehicle distance between the other vehicle and the vehicle 1 existing in front and rear of the vehicle 1 and measurement data related to the relative speed of the other vehicle. Output signal including. A sensor such as a laser radar or sonar may be used instead of the radar 22 and / or instead of the radar 22.
  The operation unit 24 is provided on the steering wheel of the vehicle 1 and includes a plurality of switches. As shown in FIG. 2, the operation unit 24 includes on switches 24a and 24b that are start switches in the driving support mode, an off switch 24c that is a stop switch, a cancel switch 24d, speed setting switches 24e and 24f, and a resume (resume) switch. 24g.
  The preceding vehicle following mode is activated by the operation (pressing) of the on switch 24a. Further, the speed limit mode is activated by operating the on switch 24b. The operating state of each driving support mode includes an active state and a standby state. In the active state, control (speed control) for changing the vehicle behavior is executed via the engine control system 40 and the brake control system 42. The standby state is a state in which the vehicle behavior change control is temporarily disabled.
By operating the off switch 24c, the currently operating driving support mode is stopped regardless of the active state or the standby state. During operation of the driving support mode, the set speed stored in the memory 11 of the ECU 10 is used, but the set speed stored in the memory 11 is cleared (erased) by operating the off switch 24c.
By operating the cancel switch 24d, the driving support mode is switched from the active state to the standby state.
  The set speed can be increased from the current value by operating the speed setting switch 24e. Further, the set speed can be reduced from the current value by operating the speed setting switch 24f. When the set speed is input by the driver, the set speed is stored in the memory 11 of the ECU 10. For example, the driver can input the current vehicle speed of the vehicle 1 as the set speed by pressing one of the speed setting switches 24e and 24f after pressing the on switches 24a and 24b. Furthermore, the set speed can be increased or decreased by operating the speed setting switches 24e and 24f with the set speed stored in the memory 11.
  As a basic operation function, the resume switch 24g is operated when the driving support mode is in the standby state, so that the driving support mode in operation is set using the set speed stored in the memory 11 of the ECU 10. Used to resume (active state).
  The navigation device 26 can acquire the current position of the vehicle 1 using GPS or the like, and can specify the position of the vehicle 1 on the map based on the stored map information or map information of an external source. Moreover, the navigation apparatus 26 can also acquire the speed limit (marking speed) of the travel path on which the vehicle 1 is traveling from the current position on the map. Therefore, the navigation device 26 may be used as the speed limit recognition unit.
  The display unit 28 is arranged on an instrument panel or the like, and includes an operation status display field 28a, a set speed display field 28b, and a speed limit display field 28c (see FIG. 4). In FIG. 4, only one operation status display column 28a is displayed for easy understanding, but an operation status display column can be provided corresponding to each of a plurality of driving support modes.
The operation status display column 28a indicates the operation status in the driving support mode. In the operation status display field 28a, the execution state of the driving support mode is displayed as “blank (off)”, “active”, or “standby”.
The set speed display field 28b displays a set speed (for example, “80”) stored in the memory 11 of the ECU 10. If the set speed is not stored in the memory 11, “blank (---)” is displayed in the set speed display field 28b.
The speed limit display field 28c displays the acquired speed limit (for example, “50”). When the speed limit is not acquired, “blank” is displayed in the speed limit display field 28c.
Next, vehicle control according to the present embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is an explanatory diagram when the speed limit is acquired, and FIG. 4 is an explanatory diagram of the display unit.
In FIG. 3, the vehicle 1 is traveling on the traveling path 3 at a speed of 80 km / h (V = 80) (position A). At position A, the speed limit is 80 km / h. A rear vehicle 2 is traveling behind the vehicle 1.
  In addition, the preceding vehicle follow-up mode or the speed limit mode is selected as the driving support mode. In the speed control in the preceding vehicle following mode, the vehicle 1 is automatically accelerated and decelerated. On the other hand, in the speed control in the speed limit mode, only the automatic deceleration of the vehicle 1 is executed, and the vehicle 1 can be accelerated by operating the accelerator pedal by the driver.
  In the present embodiment, the vehicle 1 is accelerated or decelerated to a new set speed (= limit speed) by speed control associated with the change in the set speed, but if the new set speed is greater than the current vehicle speed of the vehicle 1, the vehicle 1 is increased (only the preceding vehicle follow-up mode), and if the new set speed is smaller than the current vehicle speed of the vehicle 1, the vehicle 1 is decelerated (preceding vehicle follow-up mode, speed limit mode).
  At the position A, the information is displayed on the display unit 28 of the vehicle 1 as shown in FIG. At this time, the driving support mode is in an active state (“active”), the set speed is 80 km / h (“80 km / h”), and the speed limit is 80 km / h (“80”).
  A speed sign 5 is installed in the vicinity of the travel path 3. The speed indicator 5 has two indicator portions 5a and 5b. For example, the upper sign portion 5a (restricted speed “70 km / h”) is a display for passenger cars, and the lower sign portion 5b (restricted speed “50 km / h”) is a display for trucks.
  The vehicle 1 detects the speed limits “70 km /” and “50 km / h” from the speed indicator 5 at a position B before the speed indicator 5. When the speed limit is obtained from the detected speed indicator 5, the ECU 10 updates the current value (80 km / h) of the speed limit stored in the memory 11 with the obtained two speed limits (70 km / h, 50 km / h). These are stored in the memory 11. Thereby, in response to the detection of the speed indicator 5, the display unit 28 displays as shown in FIG. That is, two new speed limits (“70”, “50”) are displayed in the speed limit display field 28c.
  In response to the detection of the speed indicator 5, the ECU 10 rewrites the set speed (80 km / h) stored in the memory 11 with one of the two speed limits selected. In the present embodiment, one speed limit is selected from two speed limits based on a predetermined condition (presence / absence of a following vehicle). For example, when there is a following vehicle, the maximum speed limit is selected from among a plurality of vehicles, and when there is no following vehicle, the minimum speed limit is selected from among a plurality of vehicles.
  In the example of FIG. 3, since the following vehicle 2 is detected, the larger speed limit “70 km / h” is selected. Thereby, at the position C, it is displayed on the display unit 28 as shown in FIG. That is, a new set speed (“70 km / h”) is displayed in the set speed display field 28b. The ECU 10 may switch the display at the position B or after a predetermined time from the detection of the speed indicator 5.
  In this embodiment, in response to the detection of the speed indicator 5, the replacement is automatically performed at the speed limit with the larger set speed. However, the replacement is not limited to this, and the replacement is executed in response to the driver's operation. May be. For example, when the driver operates (presses) the resume switch 24g at the position B, the larger speed limit is stored in the memory 11 as the set speed in accordance with the operation of the resume switch 24g, thereby the set speed display field 28b. Will display the new set speed.
  When the set speed is changed from 80 km / h to 70 km / h, the vehicle control device 100 executes speed control via the engine control system 40 and the brake control system 42 using the new set speed as the target speed. In this case, the speed of the vehicle 1 is reduced from 80 km / h to 70 km / h.
  When a plurality of speed limits are displayed on the speed indicator, the driver can determine which speed limit should be observed. However, in program processing by a computer, it may be difficult to select an appropriate speed limit. For this reason, in this embodiment, even if a non-optimal speed limit is selected, one speed limit is selected so that the safety of the vehicle 1 and surrounding vehicles can be ensured. .
  Suppose that the larger speed limit (“70 km / h”) should be selected when there is a following vehicle, but the smaller speed limit (“50 km / h”) is selected. In this case, the vehicle 1 is greatly decelerated to the set speed (small speed limit) by the speed control. On the other hand, the following vehicle 2 tries to decelerate toward the correct speed limit (“70 km / h”). As a result, the vehicle 1 may suddenly approach the following vehicle 2 and the safety may be reduced.
  On the other hand, in this embodiment, when there is a following vehicle, the larger speed limit (“70 km / h”) is selected, and the set speed is set to this speed limit. Even if this selection is wrong, if the driver resets the set speed or reduces the speed of the vehicle 1 by operating the brake pedal, the safety is not impaired. As described above, in the present embodiment, in order to prevent the vehicle 1 from approaching the following vehicle due to an erroneous selection of the speed limit, the larger speed limit is selected when there is a following vehicle. It is configured.
  Further, when the selection is incorrect, the set vehicle speed stored in the memory 11 may be replaced with a speed limit that has not been selected and stored by an operation by the driver (for example, operation of the resume switch 24g). As a result, the driver can set the set vehicle speed by sequentially switching a plurality of speed limits.
Next, with reference to FIG. 5, the process flow of the vehicle control process by this embodiment is demonstrated.
ECU10 (control part 10a) repeatedly performs the processing flow of FIG. 5 for every predetermined time. In addition, ECU10 (control part 10a) as a traveling vehicle detection part always calculates the presence or absence of other vehicles (preceding vehicle and subsequent vehicle), the inter-vehicle distance, and the relative speed from the measurement data of the radar 22, and uses these data. The memory 11 stores only for a predetermined period. Further, the ECU 10 (restricted speed recognizing unit 10 b) executes a restricted speed recognition process by another process, and stores the restricted speed in the memory 11.
  First, when the process is started, the ECU 10 determines whether or not the driving support mode is in operation (including a standby state) (S10). When the driving support mode is not in operation (S10; No), the ECU 10 ends the process. On the other hand, when the driving support mode is in operation (S10; Yes), the ECU 10 determines whether or not a plurality of speed limits (marking speeds) have been acquired (S11).
  When a plurality of speed limits are not acquired (S11; No), ECU10 ends processing. When only one speed limit is acquired, the set speed is replaced with the acquired speed limit in another process. On the other hand, when a plurality of speed limits are acquired (S11; Yes), the ECU 10 determines whether or not the subsequent vehicle exists within a predetermined distance (S12).
When the succeeding vehicle exists within a predetermined distance (S12; Yes), the ECU 10 selects the largest speed limit from among a plurality (or two) speed limits acquired and stored in the memory 11, and the set speed Is replaced with the speed limit (S13), and the process is terminated.
On the other hand, when the following vehicle does not exist within the predetermined distance (S12; No), the ECU 10 selects the smallest speed limit among a plurality (or two) speed limits acquired and stored in the memory 11, The set speed is replaced with the speed limit (S14), and the process ends.
As described above, an operation by the driver (for example, an operation of the resume switch 24g) may be set as the execution condition of steps S13 and S14.
Next, the operation of the driving support control device of this embodiment will be described.
The vehicle control apparatus 100 according to the present embodiment acquires a control unit (ECU 10) that executes speed control of the vehicle 1 according to the stored set vehicle speed and a speed limit for the travel path 3 during execution of the driving support mode. A speed limit recognizing unit (ECU 10, navigation device 26) and a traveling vehicle detecting unit (ECU 10) for detecting a succeeding vehicle 2 traveling behind the vehicle 1, and the control unit (ECU 10) is a speed limit recognizing unit. Is stored as the set vehicle speed, and the control unit (ECU 10) (2) when the speed limit recognition unit acquires two speed limits ("70", "50") ( (S11; Yes), depending on whether the following vehicle 2 is detected by the traveling vehicle detection unit (S12), one of the acquired two speed limits is selected and stored as the set vehicle speed (S 3, S14).
  As described above, in the present embodiment, when two speed limits are detected for the travel path 3, one of the speed limits is set to the set speed according to the presence or absence of the following vehicle, and the speed control is performed. Can be executed. Thereby, in this embodiment, either speed limit can be selected from two speed limits, avoiding the approach with a succeeding vehicle.
  Moreover, in this embodiment, when the following vehicle 2 is detected (S12; Yes), a control part (ECU10) is large among two acquired speed limit ("70", "50"). One speed limit (“70”) is selected (S13). If a small speed limit is selected and this selection is incorrect, the vehicle 1 may approach the following vehicle 2 rapidly when the subsequent vehicle 2 travels at a large speed limit that is a correct selection. On the other hand, in this embodiment, as long as the vehicle travels based on at least the selected large speed limit, it is possible to avoid the approach with the following vehicle 2 regardless of whether this selection is correct or incorrect.
  Moreover, in this embodiment, when the following vehicle 2 is not detected (S12; No), a control part (ECU10) is small among two acquired speed limit ("70", "50"). One speed limit (“50”) is selected (S14). As a result, in this embodiment, if the smaller speed limit is selected incorrectly and there is no subsequent vehicle even if the vehicle travels based on the smaller speed limit, there is no possibility that the vehicle will approach the subsequent vehicle. . Furthermore, even when there is a preceding vehicle, as long as the vehicle travels based on the smaller speed limit, approaching with the preceding vehicle can be avoided.
Further, in the present embodiment, an operation unit (resume switch 24g) that can be operated by the driver is further provided, and the control unit (ECU 10) selects one speed limit from the acquired two speed limits as the set vehicle speed. after storing, when there is an operation of the operation unit (resume switch 24 g), and stores replacing set speed which is stored in the selected did not speed limit. Thereby, in this embodiment, even if selection of the limit vehicle speed is incorrect, the driver can easily switch to the correct limit speed by operating the operation unit.
1 Vehicle 10 Control Unit 100 Vehicle Control Device

Claims (2)

  1. A control unit that executes speed control of the vehicle according to the stored set vehicle speed during execution of the driving support mode;
    A speed limit recognition unit for acquiring a speed limit for the travel path;
    A traveling vehicle detection unit for detecting a subsequent vehicle traveling behind the vehicle;
    A vehicle control device comprising:
    The control unit is configured to store the speed limit acquired by the speed limit recognition unit as the set vehicle speed,
    When the speed limit recognizing unit acquires two speed limits, the control unit determines one of the two speed limits acquired according to whether the traveling vehicle detection unit detects the following vehicle. Select one and store it as the set vehicle speed ,
    Further, the control unit selects the larger speed limit of the two speed limits acquired when the following vehicle is detected, and is acquired when the following vehicle is not detected. A vehicle control device that selects a lower speed limit of two speed limits .
  2. It further includes an operation unit that can be operated by the driver,
    The control unit selects one speed limit from the acquired two speed limits and stores it as the set vehicle speed, and then, if there is an operation of the operation unit, the control unit does not select the stored set vehicle speed. The vehicle control device according to claim 1 , wherein the vehicle control device is stored by replacing with a speed limit .
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