JP7091985B2 - Vehicle control unit - Google Patents

Description

The present disclosure relates to a vehicle control device.

Conventionally, in order to prevent the vehicle from suddenly starting against the driver's will, if there is an obstacle in the direction of travel of the vehicle and the accelerator pedal is suddenly depressed, the acceleration of the vehicle is suppressed (hereinafter). Then, the technology to shift to the acceleration suppression state) is known.

Patent Document 1 discloses a technique for releasing the acceleration suppression state when the accelerator opening degree is continuously equal to or more than a predetermined amount for a predetermined time or longer in the acceleration suppression state.

Japanese Patent No. 5550629

Although the conditions for releasing the acceleration suppression state are satisfied, the acceleration suppression state may not be released due to a failure or the like. In addition, when it should not originally shift to the acceleration suppression state, it may shift to the acceleration suppression state due to a reason such as a failure. Conventionally, the vehicle could not run on its own while the acceleration was suppressed. For example, if the vehicle is located in a dangerous place such as inside a railroad crossing and remains in the acceleration suppression state, the vehicle could not evacuate from the dangerous place.

One aspect of the present disclosure is to provide a vehicle control device capable of self-propelling a vehicle even in an acceleration suppressed state.

One aspect of the present disclosure is a vehicle control device for controlling a vehicle, the first accelerator opening acquisition unit configured to acquire a first signal representing the first accelerator opening from an accelerator pedal sensor, and a first accelerator opening acquisition unit. An output unit configured to output an output signal indicating the accelerator opening to a driving force control unit that controls the driving force of the vehicle according to the accelerator opening, and obstacles existing in the traveling direction of the vehicle. An obstacle detection unit configured to detect the above, a vehicle speed detection unit configured to detect the vehicle speed of the vehicle, and (A) the accelerator opening represented by the output signal is the first accelerator opening. At one time, when the following first to third conditions are satisfied, the first switching process of switching the accelerator opening represented by the output signal to the second accelerator opening smaller than the first accelerator opening is performed (B). ) When the accelerator opening represented by the output signal is the second accelerator opening, if a predetermined return condition is satisfied, the accelerator opening represented by the output signal is switched to the first accelerator opening. When the accelerator opening setting unit configured to perform processing and the accelerator opening set by the accelerator opening setting unit should be the first accelerator opening, the accelerator opening represented by the output signal is the said. When the switching determination unit is configured to determine whether or not it is the second accelerator opening, and the switching determination unit determines that the accelerator opening represented by the output signal is the second accelerator opening. A second accelerator opening degree increasing unit that increases the second accelerator opening degree as compared with the case where the switching determination unit determines that the accelerator opening degree represented by the output signal is not the second accelerator opening degree is provided. It is a vehicle control device.

First condition: The obstacle detection unit has detected the obstacle.
Second condition: The first accelerator opening degree is equal to or larger than a preset first reference opening degree.

Third condition: The vehicle speed detected by the vehicle speed detection unit is equal to or lower than a preset reference vehicle speed.

The vehicle control device, which is one aspect of the present disclosure, can self-propell the vehicle even in the acceleration suppression state.

It is explanatory drawing which shows the structure of the vehicle control device 1 and the like. It is a block diagram which shows the functional structure of a control unit 13. It is a flowchart which shows the process which the vehicle control device 1 executes.

An exemplary embodiment of the present disclosure will be described with reference to the drawings.
<First Embodiment>
1. 1. Configuration of the vehicle control device 1 and the like The configuration of the vehicle control device 1 and the configuration of other members included in the vehicle will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the vehicle includes a vehicle control device 1, an accelerator pedal sensor 3, a front monitoring sensor 5, a rear monitoring sensor 7, a vehicle speed sensor 9, a shift sensor 10, and a driving force control unit 11. , Equipped with.

The vehicle control device 1 includes a control unit 13, a relay switch 15, a second signal generation unit 17, and a coil power supply 19.
The control unit 13 includes a microcomputer having a CPU 21 and, for example, a semiconductor memory such as RAM or ROM (hereinafter referred to as memory 23). Each function of the control unit 13 is realized by the CPU 21 executing a program stored in a non-transitional substantive recording medium. In this example, the memory 23 corresponds to a non-transitional substantive recording medium in which a program is stored. In addition, when this program is executed, the method corresponding to the program is executed. The control unit 13 may include one microcomputer or a plurality of microcomputers.

As shown in FIG. 2, the control unit 13 includes an obstacle detection unit 25, a vehicle speed detection unit 27, an accelerator opening setting unit 29, a shift detection unit 30, a switching determination unit 32, and a second accelerator opening. The augmentation unit 34 is provided. The method for realizing the functions of each part included in the control unit 13 is not limited to software, and some or all of the functions may be realized by using one or a plurality of hardware. For example, when the above function is realized by an electronic circuit which is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.

As shown in FIG. 1, the relay switch 15 includes a first contact 31, a second contact 33, an output side contact 35, a movable piece 37, and a coil 39. The first contact 31 is connected to the signal line 41. The signal line 41 transmits the first signal from the accelerator pedal sensor 3 to the first contact 31. The first signal is a signal representing the accelerator opening degree (hereinafter referred to as the first accelerator opening degree) detected by the accelerator pedal sensor 3. The unit of accelerator opening is%. The accelerator opening is 0% when the driver does not step on the accelerator at all. The accelerator opening when the driver is stepping on the accelerator to the upper limit is 100%.

The second contact 33 is connected to the signal line 43. The signal line 43 transmits the second signal from the second signal generation unit 17 to the second contact 33. The second signal is a signal generated by the second signal generation unit 17. The second signal is a signal representing the second accelerator opening degree.

The second accelerator opening includes a normal second accelerator opening and an abnormal second accelerator opening. The second accelerator opening under normal conditions is 0%. The second accelerator opening at the time of abnormality is 10%. 10% is the accelerator opening that allows the vehicle to self-propell at low speed.

The second signal generation unit 17 basically generates a second signal representing the normal second accelerator opening degree. The second signal generation unit 17 generates a second signal representing the second accelerator opening at the time of abnormality in response to an instruction from the second accelerator opening opening increasing unit 34 in the control unit 13.

The output side contact 35 is connected to the signal line 45. The signal line 45 is connected to the driving force control unit 11. The signal line 45 transmits an output signal from the output side contact 35 to the driving force control unit 11. The output signal is a signal representing the accelerator opening degree.

One end of the movable piece 37 is always connected to the output side contact 35. The opposite end of the movable piece 37 is connected to one of the first contact 31 and the second contact 33. That is, the movable piece 37 can be moved to a position where the first contact 31 and the output side contact 35 are connected (hereinafter referred to as the first position), and the second contact 33 and the output side contact 35 are connected. It is also possible to move to a position (hereinafter referred to as a second position).

The coil 39 generates a magnetic force due to the current flowing through the coil 39. The movable piece 37 moves due to the magnetic force generated by the coil 39. By controlling the current flowing through the coil 39, the position of the movable piece 37 can be switched from the first position to the second position or from the second position to the first position.

The second signal generation unit 17 generates the second signal. The second signal reaches the second contact 33 via the signal line 43. The coil power supply 19 causes a current to flow through the coil 39 in response to an instruction from the accelerator opening setting unit 29 in the control unit 13.

The accelerator pedal sensor 3 detects the first accelerator opening degree. The front monitoring sensor 5 detects an obstacle existing in front of the vehicle. The rear monitoring sensor 7 detects an obstacle existing behind the vehicle. The vehicle speed sensor 9 detects the vehicle speed. The shift sensor 10 detects the shift state.

The driving force control unit 11 controls the driving force of the vehicle according to the accelerator opening degree represented by the output signal. The driving force control unit 11 sets the throttle opening degree according to, for example, the accelerator opening degree represented by the output signal. Examples of the driving force control unit 11 include a power management controller and the like.

The signal line 41 and the relay switch 15 correspond to the first accelerator opening degree acquisition unit. The relay switch 15 and the signal line 45 correspond to the output unit.
2. 2. Processing executed by the vehicle control device 1 A process executed repeatedly by the vehicle control device 1 at predetermined time intervals will be described with reference to FIG. In step 1 of FIG. 3, the accelerator opening degree setting unit 29 determines whether or not the vehicle is in the normal state at the present time. The normal state is a state in which the movable piece 37 is in the first position and the first contact 31 and the output side contact 35 are connected to each other. In the normal state, the accelerator opening degree represented by the output signal is the first accelerator opening degree. In the normal state, the driving force control unit 11 controls the driving force of the vehicle according to the first accelerator opening degree. In the normal state, if the first accelerator opening becomes large, the vehicle can start and accelerate.

In the normal state, this process proceeds to step 2. If it is not in the normal state, this process proceeds to step 4.
In step 2, the accelerator opening degree setting unit 29 determines whether or not the following first to third conditions are satisfied.

First condition: The obstacle detection unit 25 has detected an obstacle existing in the traveling direction of the vehicle.
Second condition: The first accelerator opening is 55% or more.
Third condition: The vehicle speed detected by the vehicle speed detection unit 27 using the vehicle speed sensor 9 is 10 km / hr or less.

The obstacle existing in the traveling direction of the vehicle is an obstacle existing in front of the vehicle when the vehicle is moving forward. The obstacle detection unit 25 can detect an obstacle existing in front of the vehicle by using the front monitoring sensor 5. The obstacle existing in the traveling direction of the vehicle is an obstacle existing behind the vehicle when the vehicle is moving backward. The obstacle detection unit 25 can detect an obstacle existing behind the vehicle by using the rear monitoring sensor 7.

The first condition can be, for example, that the obstacle detection unit 25 detects an obstacle existing in the traveling direction of the vehicle, and the distance between the detected obstacle and the vehicle is not more than a predetermined value.

When all the first to third conditions are satisfied, the driver does not intend to start suddenly, but responds to the case where the accelerator is suddenly stepped on by mistake. 55% in the second condition corresponds to the preset first reference opening. 55% in the second condition corresponds to the accelerator opening in which the stopped vehicle suddenly starts. 10 Km / hr in the third condition corresponds to a preset reference vehicle speed.

If all of the first to third conditions are satisfied, this process proceeds to step 3. If any one of the first to third conditions is not satisfied, this process proceeds to step 7. When a negative determination is made in step 2, the accelerator opening degree set by the accelerator opening degree setting unit 29 should be originally the first accelerator opening degree. Originally, the vehicle control device 1 is operating normally without any abnormality.
In step 3, the accelerator opening setting unit 29 executes a process of shifting the state of the vehicle from the normal state to the acceleration suppression state (hereinafter, referred to as the first switching process). The acceleration suppression state is a state in which the movable piece 37 is in the second position and the second contact 33 and the output side contact 35 are connected to each other. The first switching process is a process of moving the position of the movable piece 37 from the first position to the second position. In the acceleration suppression state, the accelerator opening degree represented by the output signal is the second accelerator opening degree. In the acceleration suppression state, the driving force control unit 11 controls the driving force of the vehicle according to the second accelerator opening degree.

The second accelerator opening is basically the second accelerator opening under normal conditions, and is 0%. Therefore, basically, the vehicle does not accelerate when the acceleration is suppressed. However, when the second accelerator opening at the time of abnormality is set in step 9 described later, the second accelerator opening is 10%. In this case, the vehicle can accelerate even in the acceleration suppression state.

In step 4, the accelerator opening degree setting unit 29 determines whether or not the following fourth condition is satisfied. The case of proceeding to step 4 is a case where the acceleration is suppressed at the present time. The fourth condition corresponds to the return condition.

Fourth condition: The first accelerator opening is 80% or more continuously for 5 seconds or more.
The 5 seconds in the fourth condition correspond to a predetermined time. 80% in the fourth condition corresponds to a preset second reference opening. When the fourth condition is satisfied, it corresponds to the case where the driver intends to release the acceleration suppression state.

If the fourth condition is satisfied, this process proceeds to step 6. If the fourth condition is not satisfied, this process proceeds to step 5.
In step 5, the accelerator opening degree setting unit 29 determines whether or not the normal transition condition is satisfied. When the normal transition condition is satisfied, the following fifth condition is satisfied, and any one or more of the following sixth A to 6C conditions is satisfied.

Fifth condition: The first accelerator opening is 10% or less.
Sixth A condition: The obstacle detection unit 25 does not detect an obstacle in the traveling direction of the vehicle.
Sixth B condition: The vehicle speed detected by the vehicle speed detection unit 27 using the vehicle speed sensor 9 is 0 km / hr.

Sixth C condition: The shift detected by the shift detection unit 30 at the present time is different from the shift detected immediately before shifting to the acceleration suppression state.
If the normal transition condition is satisfied, this process proceeds to step 6. If the normal transition condition is not satisfied, this process ends.

In step 6, the accelerator opening setting unit 29 performs a process of shifting the state of the vehicle to a normal state (hereinafter, referred to as a second switching process). The second switching process is a process of moving the position of the movable piece 37 from the second position to the first position.

In step 7, the switching determination unit 32 acquires an output signal from the output side contact 35.
In step 8, the switching determination unit 32 determines whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree based on the output signal acquired in step 7. As a case where the accelerator opening degree represented by the output signal is the second accelerator opening degree, for example, the second switching process may not be performed normally and the position of the movable piece 37 may remain at the second position. The reason why the second switching process is not performed normally is, for example, a failure of the relay switch 15.
Further, as a case where the accelerator opening represented by the output signal is the second accelerator opening, for example, when the state should be in the normal state, but the state shifts to the acceleration suppression state due to a failure of the relay switch 15 or the like. There is.
When the accelerator opening degree represented by the output signal is the second accelerator opening degree, the state of the vehicle is the acceleration suppression state.

When the accelerator opening degree represented by the output signal is not the second accelerator opening degree, the accelerator opening degree represented by the output signal is the first accelerator opening degree. As a case where the accelerator opening degree represented by the output signal is the first accelerator opening degree, for example, there is a case where the second switching process is normally performed and the state of the vehicle shifts to the normal state. Further, when the accelerator opening represented by the output signal is the first accelerator opening, for example, it should be in the normal state, and the relay switch 15 does not fail and the normal state is actually maintained. May have been.

When the accelerator opening represented by the output signal is the second accelerator opening, this process proceeds to step 9. This process proceeds to step 9 regardless of whether the accelerator opening degree represented by the output signal is the normal second accelerator opening degree or the abnormal second accelerator opening degree. If the accelerator opening represented by the output signal is not the second accelerator opening, this process ends.

In step 9, the second accelerator opening degree increasing unit 34 uses the second signal generation unit 17 to generate a second signal representing the second accelerator opening degree at the time of abnormality. The second signal indicating the second accelerator opening at the time of abnormality is supplied to the second contact 33. The accelerator opening represented by the output signal is the second accelerator opening at the time of abnormality. Therefore, the second accelerator opening degree is increased as compared with the case where the negative determination is made in step 8.

3. 3. Effect of Vehicle Control Device 1 (1A) The vehicle control device 1 may be in an acceleration suppression state when it should be in a normal state. When it should be in the normal state, it may be in the acceleration suppression state. For example, even if the recovery condition is satisfied, the acceleration suppression state may not be changed to the normal state due to a failure of the relay switch 15. be. Further, when the acceleration suppression state should be obtained when the normal state should be obtained, for example, when the first to third conditions are not satisfied and the normal state should be obtained, the relay switch 15 fails. For some reason, it may have shifted to the acceleration suppression state. In the acceleration suppression state, if the second accelerator opening remains 0%, the vehicle cannot self-propell.

The vehicle control device 1 increases the second accelerator opening degree from 0% to 10% in the acceleration suppression state when it should be in the normal state. As a result, the vehicle can run on its own even in the acceleration suppressed state.
(1B) The vehicle control device 1 switches between a normal state and an acceleration suppression state by the relay switch 15. Therefore, it is possible to switch between the normal state and the acceleration suppression state with a simple configuration.

(1C) The vehicle control device 1 determines whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree based on the output signal acquired from the output side contact 35. Therefore, it is possible to easily and accurately determine whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree and whether or not it is in the normal state.
<Other embodiments>
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be variously modified and implemented.

(1) The value of the second accelerator opening under normal conditions may be a value other than 0%. The value of the second accelerator opening at the time of abnormality may be a value other than 10%.
(2) Instead of the relay switch 15, another known switch may be used.

(3) The method of determining whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree may be another method. For example, by detecting that the movable piece 37 is fixed to the second contact 33, it may be determined that the accelerator opening degree represented by the output signal is the second accelerator opening degree.

(4) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.

(5) In addition to the vehicle control device described above, a system having the vehicle control device as a component, a program for operating a computer as a control unit of the vehicle control device, a semiconductor memory recording this program, and the like are non-transitional. The present disclosure can also be realized in various forms such as an actual recording medium and a vehicle control method.

1 ... Vehicle control device, 3 ... Accelerator pedal sensor, 5 ... Front monitoring sensor, 7 ... Rear monitoring sensor, 9 ... Vehicle speed sensor, 10 ... Shift sensor, 11 ... Driving force control unit, 13 ... Control unit, 15 ... Relay switch , 17 ... 2nd signal generation unit, 19 ... coil power supply, 21 ... CPU, 23 ... memory, 25 ... obstacle detection unit, 27 ... vehicle speed detection unit, 29 ... accelerator opening setting unit, 30 ... shift detection unit, 31. ... 1st contact, 32 ... Switching judgment unit, 33 ... 2nd contact, 34 ... 2nd accelerator opening increase unit, 35 ... Output side contact, 37 ... Movable piece, 39 ... Coil, 41, 43, 45 ... Signal line

Claims (5)

A vehicle control device that controls a vehicle
A first accelerator opening acquisition unit configured to acquire a first signal representing the first accelerator opening detected by the accelerator pedal sensor from the accelerator pedal sensor, and a first accelerator opening acquisition unit.
An output unit configured to output an output signal indicating the accelerator opening to the driving force control unit that controls the driving force of the vehicle according to the accelerator opening.
An obstacle detection unit configured to detect an obstacle existing in the traveling direction of the vehicle, and an obstacle detection unit.
A vehicle speed detection unit configured to detect the vehicle speed of the vehicle, and
(A) When the accelerator opening degree represented by the output signal is the first accelerator opening degree and all of the following first to third conditions are satisfied, the accelerator opening degree represented by the output signal is set to the first accelerator opening degree. When the first switching process for switching to the second accelerator opening smaller than the accelerator opening is performed, and (B) the predetermined return condition is satisfied when the accelerator opening represented by the output signal is the second accelerator opening. An accelerator opening setting unit configured to perform a second switching process for switching the accelerator opening represented by the output signal to the first accelerator opening, and
When the accelerator opening degree set by the accelerator opening degree setting unit should be the first accelerator opening degree, it is determined whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree. The configured switching judgment unit and
When the switching determination unit determines that the accelerator opening represented by the output signal is the second accelerator opening, the switching determination unit determines that the accelerator opening represented by the output signal is not the second accelerator opening. A second accelerator opening increasing unit that increases the second accelerator opening as compared with the case where it is determined, and a second accelerator opening increasing unit.
A vehicle control device equipped with.
First condition: The obstacle detection unit has detected the obstacle.
Second condition: The first accelerator opening degree is equal to or larger than a preset first reference opening degree.
Third condition: The vehicle speed detected by the vehicle speed detection unit is equal to or lower than a preset reference vehicle speed. The vehicle control device according to claim 1.
The switching determination unit is a vehicle control device configured to determine whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree after the second switching process. The vehicle control device according to claim 1 or 2.
The return condition is a vehicle control device in which the first accelerator opening degree is continuously equal to or more than a preset second reference opening degree for a predetermined time or more. The vehicle control device according to any one of claims 1 to 3.
The first contact connected to the signal line that transmits the first signal,
A second contact connected to a signal line that transmits a signal representing the second accelerator opening, and
Output side contacts and
A movable piece for connecting one of the first contact and the second contact to the output side contact is further provided.
When setting the first accelerator opening degree, the accelerator opening degree setting unit connects the movable piece to the first contact point.
When setting the second accelerator opening degree, the accelerator opening degree setting unit connects the movable piece to the second contact point.
The output unit is a vehicle control device configured to output the output signal from the output side contact to the driving force control unit. The vehicle control device according to claim 4.
The switching determination unit is a vehicle control device configured to determine whether or not the accelerator opening degree represented by the output signal is the second accelerator opening degree based on the output signal acquired from the output side contact. ..

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