JP7103050B2 - Vehicle control device - Google Patents

Description

The present disclosure relates to a vehicle control device.

Patent Document 1 describes an erroneous start prevention device. The false start prevention device suppresses the forward / backward movement of the vehicle based on the environment around the vehicle regardless of the driver's operation.

Japanese Patent No. 5819509

If the driver intends to move the vehicle forward or backward, it is necessary to exit the mode of suppressing the movement of the vehicle. As a control to end the mode of suppressing the movement of the vehicle, if the driver keeps stepping on the accelerator for a predetermined time, the driver determines that he / she intends to move the vehicle forward or backward, and controls to end the mode of suppressing the movement of the vehicle. Conceivable.

However, in the above control, it takes a long time to end the mode of suppressing the operation of the vehicle. One aspect of the present disclosure provides a vehicle control device capable of reducing the time required to terminate a mode of suppressing vehicle operation.

One aspect of the present disclosure is a mode start unit (21) configured to start a driving force suppression mode for suppressing the driving force of the vehicle based on the driver's operation and the surrounding conditions of the vehicle, and a sensor ( The depression amount acquisition unit (23) configured to acquire the depression amount of the accelerator pedal using 11) and the depression speed which is the change speed of the depression amount acquired by the depression amount acquisition unit are calculated. In the configured stepping speed calculation unit (25) and the driving force suppression mode, the driving force suppression is performed on condition that the stepping speed calculated by the stepping speed calculation unit exceeds a preset end threshold value. A vehicle control device (3) including a mode termination unit (27) for terminating the mode.

The vehicle control device, which is one aspect of the present disclosure, terminates the driving force suppression mode on condition that the stepping speed exceeds the end threshold value in the driving force suppression mode. Therefore, the time required to end the driving force suppression mode can be shortened.

In addition, the reference numerals in parentheses described in this column and the scope of claims indicate the correspondence with the specific means described in the embodiment described later as one embodiment, and the technical scope of the present disclosure is defined. It is not limited.

It is a block diagram which shows the structure of the vehicle control system 1. It is a block diagram which shows the functional structure of the vehicle control device 3. It is a flowchart which shows the mode setting process which the vehicle control device 3 executes. It is a flowchart which shows the stepping speed calculation process executed by a vehicle control device 3. FIG. 5A is a graph showing the time series data of the stepping amount, and FIG. 5B is a graph showing the time series data of the stepping amount excluding the high frequency component. It is a flowchart which shows the end threshold value acquisition process which the vehicle control device 3 executes.

An exemplary embodiment of the present disclosure will be described with reference to the drawings.
<First Embodiment>
1. 1. Configuration of Vehicle Control System 1 The configuration of the vehicle control system 1 will be described with reference to FIGS. 1 and 2. The vehicle control system 1 is mounted on the vehicle. The vehicle equipped with the vehicle control system 1 will be referred to as an equipped vehicle below. As shown in FIG. 1, the vehicle control system 1 includes a vehicle control device 3, a front monitoring sensor 5, a rear monitoring sensor 7, a vehicle speed sensor 9, an accelerator pedal sensor 11, an input unit 13, and an engine control unit. 15 and.

The vehicle control device 3 includes a microcomputer having a CPU 17 and, for example, a semiconductor memory such as RAM or ROM (hereinafter referred to as memory 19). Each function of the vehicle control device 3 is realized by the CPU 17 executing a program stored in a non-transitional substantive recording medium. In this example, the memory 19 corresponds to a non-transitional substantive recording medium in which a program is stored. Moreover, when this program is executed, the method corresponding to the program is executed. The vehicle control device 3 may include one microcomputer or a plurality of microcomputers.

As shown in FIG. 2, the vehicle control device 3 includes a mode start unit 21, a stepping amount acquisition unit 23, a stepping speed calculation unit 25, a mode end unit 27, a storage unit 29, a threshold learning unit 31 and the like. It includes a threshold value setting unit 33, a removal unit 35, a mode determination unit 37, a vehicle speed determination unit 39, and an obstacle determination unit 41.

The method for realizing the functions of each part included in the vehicle control device 3 is not limited to software, and some or all of the functions may be realized by using one or more 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.

The front monitoring sensor 5 detects an obstacle existing in front of the mounted vehicle. The rear monitoring sensor 7 detects an obstacle existing behind the mounted vehicle. The vehicle speed sensor 9 detects the vehicle speed of the mounted vehicle. The accelerator pedal sensor 11 detects the amount of depression of the accelerator pedal (hereinafter, simply referred to as the amount of depression). The input unit 13 accepts a user's input operation. The user may be a driver or an occupant other than the driver.

As a general rule, the engine control unit 15 controls the driving force of the engine according to the amount of depression detected by the accelerator pedal sensor 11. The greater the amount of depression, the greater the driving force of the engine. However, when the driving force suppression mode described later is set, the engine control unit 15 sets the driving force of the engine to 0 regardless of the depression amount detected by the accelerator pedal sensor 11.

2. Mode setting process executed by the vehicle control device 3 The mode setting process repeatedly executed by the vehicle control device 3 at predetermined time intervals will be described with reference to FIGS. 3, 4, 5A, 5B, and 6.

In step 1 of FIG. 3, the mode determination unit 37 determines whether or not the state of the vehicle control system 1 is the driving force suppression mode. The driving force suppression mode is a state in which the driving force of the mounted vehicle becomes 0 even when the driver depresses the accelerator pedal. If it is determined that the driving force suppression mode is not set, this process proceeds to step 2. If it is determined that the driving force suppression mode is set, the present process proceeds to step 11.

In step 2, the vehicle speed determination unit 39 acquires the vehicle speed of the mounted vehicle by using the vehicle speed sensor 9.
In step 3, the vehicle speed determination unit 39 determines whether or not the vehicle speed acquired in step 2 is 10 km / h or less. If it is determined that the vehicle speed is 10 km / h or less, this process proceeds to step 4. If it is determined that the vehicle speed exceeds 10 km / h, this process ends.

In step 4, the obstacle determination unit 41 executes a process of detecting an obstacle existing around the mounted vehicle by using the front monitoring sensor 5 and the rear monitoring sensor 7.
In step 5, the obstacle determination unit 41 determines whether or not there is an obstacle in the traveling direction of the mounted vehicle based on the result of the process of step 4. If it is determined that there is an obstacle in the traveling direction of the mounted vehicle, this process proceeds to step 6. If it is determined that there are no obstacles in the traveling direction of the mounted vehicle, this process ends. The presence or absence of obstacles depends on the surrounding conditions of the onboard vehicle.

In step 6, the stepping amount acquisition unit 23 acquires the stepping amount by using the accelerator pedal sensor 11.
In step 7, the storage unit 29 stores the stepping amount acquired in step 6 in the memory 19.

In step 8, the stepping speed calculation unit 25, the storage unit 29, and the removal unit 35 calculate the change speed of the stepping amount (hereinafter referred to as the stepping speed). The stepping speed is the amount of change in the stepping amount per unit time. The process of calculating the stepping speed will be described with reference to FIGS. 4, 5A, and 5B.

In step 21 of FIG. 4, the stepping speed calculation unit 25 reads the past stepping amount from the memory 19 and creates time-series data of the stepping amount. The time-series data of the stepping amount is data in which the stepping amount is arranged in the order of the time when the stepping amount is acquired. An example of the time-series data of the stepping amount is shown in FIG. 5A.

In step 22, the removal unit 35 executes a process of removing high-frequency components from the time-series data of the stepping amount created in step 21. An example of time series data excluding high frequency components is shown in FIG. 5B. The removal unit 35 can remove high frequency components by, for example, filtering.

In step 23, the stepping speed calculation unit 25 calculates the stepping speed based on the time-series data excluding the high-frequency component in step 22. The stepping speed is the slope of the stepping amount curve shown in FIG. 5B.

The stepping speed calculation unit 25 calculates the stepping speed at each of a plurality of times in the section from the time tp to the time tun (hereinafter referred to as a measurement section). The time tun is the current time. The time tp is a time that goes back by ΔT from the time tun. ΔT is a positive fixed value. ΔT is, for example, 0.1 to 1 second. The group of stepping speeds calculated at a plurality of times in the measurement section will be referred to as a stepping speed group below.

In step 24, the storage unit 29 stores the stepping speed group calculated in step 23 in the memory 19.
Returning to FIG. 3, in step 9, the mode start unit 21 determines whether or not all the stepping speeds belonging to the stepping speed group stored in step 8 exceed the start threshold value. The start threshold is a preset fixed value. When all the stepping speeds belonging to the stepping speed group exceed the start threshold value, this process proceeds to step 10. When at least a part of the stepping speeds belonging to the stepping speed group is equal to or less than the start threshold value, this process ends.

The fact that all the stepping speeds belonging to the stepping speed group exceed the start threshold value corresponds to the stepping speed continuously exceeding the start threshold value for a preset time or longer. Depressing the accelerator pedal corresponds to the operation of the driver.

In step 10, the mode start unit 21 starts the driving force suppression mode. From the time when the driving force suppressing mode is started, the driving force suppressing mode continues until the driving force suppressing mode is ended in step 16 described later.

The processes of steps 11 to 13 are the same as the processes of steps 6 to 8.
In step 14, the threshold learning unit 31 and the threshold setting unit 33 acquire the end threshold. This process will be described with reference to FIG.

In step 31 of FIG. 6, the threshold value setting unit 33 determines whether or not the user has input the end threshold value to the input unit 13. If it is determined that the user has input the end threshold value to the input unit 13, this process proceeds to step 32. If it is determined that the user has not input the end threshold value into the input unit 13, this process proceeds to step 33.

In step 32, the threshold setting unit 33 sets the end threshold based on the user's input. For example, when the user inputs a numerical value of the end threshold value into the input unit 13, the threshold value setting unit 33 uses the input numerical value as the end threshold value. Further, when the user inputs to the input unit 13 to select one candidate from the plurality of candidates of the end threshold value, the threshold value setting unit 33 sets the selected candidate as the end threshold value.

In step 33, the threshold learning unit 31 reads out the stepping speed stored in the memory 19 by the storage unit 29 in steps 8 and 13. When a plurality of stepping speeds are stored in the memory 19, the threshold learning unit 31 reads out the plurality of stepping speeds.

In step 34, the threshold learning unit 31 sets the end threshold value based on the stepping speed read in step 33. The specific setting method of the end threshold value is as follows. The stepping speed data read in step 33 are arranged in descending order. Let N be the total number of stepping speed data. N is a natural number of 1 or more. The stepping speed of the data whose stepping speed is nth from the top is defined as the end threshold value. The magnitude of n is, for example, a value in which the value of n / N is in the range of 0.01 to 0.3.

Returning to FIG. 3, in step 15, the mode end unit 27 determines whether or not all the stepping speeds belonging to the stepping speed group stored in step 13 exceed the end threshold value. The end threshold is the value acquired in step 14. When all the stepping speeds belonging to the stepping speed group exceed the end threshold value, this process proceeds to step 16. When at least a part of the stepping speeds belonging to the stepping speed group is equal to or less than the end threshold value, this process ends.

The fact that all the stepping speeds belonging to the stepping speed group exceed the end threshold value corresponds to the stepping speed continuously exceeding the end threshold value for a preset time or longer.
In step 16, the mode end unit 27 ends the driving force suppression mode. From the time when the driving force suppressing mode is ended, the state of not the driving force suppressing mode continues until the driving force suppressing mode is started in the step 10.

3. 3. Effect of vehicle control device 3
(1A) When the vehicle control device 3 is in the driving force suppression mode, the vehicle control device 3 terminates the driving force suppression mode on condition that the stepping speed exceeds the end threshold value. Therefore, the time required to end the driving force suppression mode can be shortened. In the driving force suppression mode, the driver can end the driving force suppression mode by depressing the accelerator pedal so that the depression speed exceeds the end threshold value.

(1B) The vehicle control device 3 terminates the driving force suppression mode on condition that the stepping speed continuously exceeds the end threshold value for a preset time or longer. Therefore, it is possible to prevent the driving force suppression mode from being accidentally terminated when the stepping speed is momentarily increased due to a cause such as noise.

(1C) The vehicle control device 3 stores the calculated stepping speed. The vehicle control device 3 sets the end threshold value based on the stored stepping speed. Therefore, the vehicle control device 3 can set an appropriate end threshold value for each mounted vehicle and driver.

(1D) The vehicle control device 3 sets the end threshold value based on the input of the user. Therefore, the vehicle control device 3 can set an appropriate end threshold value according to the user's preference.
(1E) The vehicle control device 3 removes high-frequency components from the time-series data of the amount of depression. The vehicle control device 3 calculates the stepping speed based on the time series data excluding the high frequency component. Therefore, the vehicle control device 3 can suppress the influence of noise and the like and calculate an accurate stepping speed.
<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 implemented in various modifications.

(1) The mounted vehicle may be an electric vehicle whose drive source is a motor. In this case, the driving force suppression mode is a state in which the driving force of the motor is 0 regardless of the amount of depression.
(2) The driving force suppressing mode may be a mode in which a driving force is generated according to the amount of depression. However, the driving force in the driving force suppression mode is smaller than the driving force in the normal state as compared with the condition where the stepping amount is the same.

(3) In step 15, the mode end unit 27 may make an affirmative judgment regardless of the stepping speed at the past time point as long as the stepping speed at the present time exceeds the end threshold value.

(4) The end threshold value may be a preset fixed value.
(5) If a negative determination is made in step 31, the threshold learning unit 31 may set a default end threshold.

(6) In step 13, the stepping speed calculation unit 25 may calculate the stepping speed based on the time series data before excluding the high frequency component.
(7) The method in which the mode start unit 21 starts the driving force suppression mode may be another method. For example, the driving force suppression mode may be started by the method described in Japanese Patent No. 5819509.

(8) 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. In addition, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment. It should be noted that all aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

(9) 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 the vehicle control device, a non-transitional actual record of a semiconductor memory or the like in which this program is recorded, etc. The present disclosure can also be realized in various forms such as a medium, a vehicle control device method, and a method of ending the driving force suppression mode.

1 ... Vehicle control system, 3 ... Vehicle control device, 15 ... Engine control unit, 17 ... CPU, 19 ... Memory, 21 ... Mode start unit, 23 ... Depression amount acquisition unit, 25 ... Depression speed calculation unit, 27 ... Mode end Unit, 29 ... Storage unit, 31 ... Threshold learning unit, 33 ... Threshold setting unit, 35 ... Removal unit, 37 ... Mode judgment unit, 39 ... Vehicle speed judgment unit, 41 ... Obstacle judgment unit

Claims (4)

A mode start unit (21) configured to start a driving force suppressing mode for suppressing the driving force of the vehicle based on the operation of the driver and the surrounding conditions of the vehicle.
A depression amount acquisition unit (23) configured to acquire the depression amount of the accelerator pedal using the sensor (11), and a depression amount acquisition unit (23).
A stepping speed calculation unit (25) configured to calculate a stepping speed, which is a change speed of the stepping amount acquired by the stepping amount acquisition unit, and a stepping speed calculation unit (25).
In the driving force suppressing mode, the mode ending unit (27) for ending the driving force suppressing mode, provided that the stepping speed calculated by the stepping speed calculation unit exceeds a preset end threshold value,
With
The mode end unit is a vehicle control device (3) that terminates the driving force suppression mode on condition that the stepping speed continuously exceeds the end threshold value for a preset time or longer . The vehicle control device according to claim 1.
A storage unit (29) configured to store the stepping speed calculated by the stepping speed calculation unit, and a storage unit (29).
A threshold learning unit (31) configured to set the end threshold value based on the stepping speed stored by the storage unit.
A vehicle control device further equipped with. The vehicle control device according to claim 1 or 2 .
A vehicle control device further comprising a threshold value setting unit (33) configured to set the end threshold value based on user input. The vehicle control device according to any one of claims 1 to 3 .
A removal unit (35) configured to remove high-frequency components from the time-series data of the depression amount acquired by the depression amount acquisition unit is further provided.
The stepping speed calculation unit is a vehicle control device configured to calculate the stepping speed based on the time series data from which the high frequency component is removed.

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