JPH06199158A - Control gain changing device for automobile control device - Google Patents

Abstract

PURPOSE:To change a control gain of an automobile control device by using learning data of each driver in a learning control automobile. CONSTITUTION:Items such as three drivers containing an owner driver, three kinds of roads, road surface conditions and mood conditions are constituted so as to be displayed on an instrument panel 30 of an automobile, and a starting key 32, contact points 34-38 composed of transparent electrodes, a finish key 33 and the like are arranged, and the drivers, the kinds of roads, the road surface conditions and the mood conditions are constituted so as to be set through the display items and the contact points 34-38, and learning data are renewed for each preset driver and for each kind of road, and a control gain is changed by using the learning data, and the control gain is also corrected according to the road surface conditions and the mood conditions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control gain changing device for changing a control gain of an automobile control device by learning control, and more particularly to a control gain changing device for each of a plurality of drivers.

[0002]

2. Description of the Related Art In a conventional vehicle, a control gain of driving characteristics is set so that a large number of unspecified drivers can obtain a certain degree of satisfaction no matter where and under what environment and conditions the vehicle is used. It is generally done. However, depending on the preference of each driver, the power mode and the normal mode are selected, the desired one of the control mode, the hard mode and the soft mode in the active suspension device is selected, and the four-wheel steering device is selected. Only a small number of specific control gains can be selected, such as selecting sports mode and normal mode.

However, in a car in which the control gain of the running characteristics is set for an unspecified number of drivers, or in a car in which only a specific control gain can be set through the manual switch, it is not possible to satisfy all the drivers. It is impossible at all. Therefore, a learning control vehicle has been proposed in which the driving characteristics of the driver are learned to change the control gain of the running characteristics. For example, Japanese Patent Publication No. 3-4402
In JP-A-9, the steering angular velocity, the steering angle, the yaw rate, the lateral acceleration, and the like during steering are sampled, and the characteristics of the steering of the driver are extracted based on the average value within a predetermined time to detect the front wheel and the steering wheel with respect to the steering angle. A learning control vehicle that performs learning control to change the ratio of the steered angles of the rear wheels has been proposed.

[0004]

In the above conventional learning control vehicle, learning control is commonly performed regardless of whether the owner driver drives or another person drives. There is a problem that the learning control dedicated to the owner driver and the learning control for each individual driver cannot be performed, and the reliability of the learning control decreases.
An object of the present invention is to provide a control gain changing device for a vehicle control device, which can change the control gain using learning data for each driver.

[0005]

According to a first aspect of the present invention, there is provided a control gain changing device for a vehicle control device according to claim 1, wherein the control gain of the vehicle control device is changed by using learning data. At least the owner driver can be designated through the display means including the display provided on the instrument panel, the learning data storage means for storing the learning data of each of the plurality of drivers including the owner driver, and the display on the display. And a control gain changing means for changing the control gain by using the learning data for the owner driver when the owner driver is specified by the specifying means.

According to another aspect of the present invention, there is provided a control gain changing device for a vehicle control device, wherein the control gain changing device is provided on an instrument panel of the vehicle in a learning control vehicle configured to change the control gain of the vehicle control device using learning data. Display means including a display, learning data storage means for storing learning data of each of a plurality of drivers including an owner driver, driver designation means capable of designating each of the drivers via the display of the display, Control gain changing means for changing the control gain using the learning data for the driver designated by the driver designating means is provided.

According to a third aspect of the present invention, there is provided a control gain changing device for a vehicle control device according to the first or second aspect, wherein the control gain changing means turns on an ignition switch.
3. The control of the vehicle control device according to claim 2, wherein the control gain is not changed using the learning data when the driver is not designated by the driver designating means within a predetermined time from. Gain changing device.

[0008]

According to the control gain changing device of the vehicle control device of the present invention, the learning data storage means stores the learning data of each of the plurality of drivers including the owner driver, When the owner driver is designated via the display on the display, the control gain changing means changes the control gain using the learning data for the owner driver. In this way, when the owner driver drives, the control gain can be changed by using the learning data for the owner driver, so that the driving performance and maneuverability can be improved for the owner driver, and at the same time, the reliability of the learning data can be improved. That is, the reliability of learning control can be improved.

In the control gain changing device for a vehicle control device according to a second aspect of the present invention, the learning data storage means stores the learning data of each of the plurality of drivers including the owner driver, and the driver designation means displays the display on the display. When the driver is designated via the control gain changing unit, the control gain changing unit changes the control gain using the learning data for the driver designated by the driver designating unit. In this way, when each driver drives, the control gain can be changed by using the learning data for that driver, so that the drivability and maneuverability can be improved for each driver, and at the same time, the reliability of the learning data can be improved. That is, the reliability of learning control can be improved.

According to another aspect of the present invention, in the control gain changing device for a vehicle control device, the control gain changing means uses the learning data when the driver specifying means does not specify a driver within a predetermined time after the ignition switch is turned on. Since it is configured not to change the control gain that has been used, the driving performance and steering stability when driving a driver for which learning data is not accumulated are not impaired.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. First, an outline of the control gain changing device of the vehicle control device according to the present embodiment will be described. Through the display on the instrument panel of the car, each of the three drivers and each of the three types of roads
Each of the road types of the seeds and one of the two mood states can be designated, and the learning data memory stores the learning data separately for the three types of roads for each driver, By using learning data corresponding to the type of road on which each driver of a car travels, the control gain of the car controller is changed, and the control gain is adjusted according to the road surface condition and mood condition. I tried to correct it.

Next, the details of the overall structure of the automobile, the control system, the control gain changing control, and the learning control will be described in order. As shown in FIG. 1, an automobile A has at least an engine 1, an automatic transmission 2, front wheels 3 and rear wheels 4, a steering wheel 5, an active suspension device 6, a rear wheel steering device 7, a power steering device 8, a front and rear device. A wheel braking device 9 and the like are provided.

In the automobile A, an engine control device for controlling at least the intake air amount of the engine 2, the ignition timing, the fuel injection amount, etc., is set as a control device included in the automobile control device. 10 (EGI)
And the active suspension device 6 for the front wheels 3 and the rear wheels 4.
The active suspension control device 11 (ACS) that controls the vehicle with the set base control gain and the four-wheel steering control device 12 (4WS) that controls the rear wheel steering device 7 that steers the rear wheels 4 with the set control gain. ) And a power steering control device 13 (P / S) that controls the power steering device 8 that assists the steering wheel 5 with a set control gain. It should be noted that the respective control target devices controlled by the respective control devices 10 to 13 and the control for them are general ones, and therefore description thereof will be omitted. Then, the base control gain is set in advance in each of the control devices 10 to 13, the base control gain is changed by a control gain change signal from the control device 21 described later, and control by the changed control gain is performed. Are executed respectively.

Next, the control system of the control gain changing device will be described with reference to FIG. The control device 21 of the control gain changing device 20 is composed of an input / output interface including a conversion circuit for A / D converting signals from sensors and a shaping circuit for waveform shaping, a microcomputer, and the like.
The control device 21 includes control devices 10 to 13 for each part and R
The OM 22 and the RAM 23, the sensors 24 to 28, the odometer 29 of the automobile, and the display controller 31 that controls the display 30 provided on the instrument panel are connected as illustrated.

When the ignition switch (IgSW) is turned on, the display 30 displays the setting screen shown in FIG. A start key 32 formed of a contact of a transparent electrode is provided at a position where "start" is displayed, and an end key 33 formed of a contact of a transparent electrode is provided at a position where "end" is displayed. The transparent electrode contacts 34 to 38 corresponding to the respective display items are provided. Start key 3
After 2 is turned on, the contact 34 to the corresponding display item
It can be designated or set by turning ON 38. For example, when the owner driver travels on a wet road surface, a contact point 34 corresponding to the "owner driver" and a contact point 36 corresponding to the "general road",
The contact 38 corresponding to the “low μ road surface” is turned on. Further, when mentally or psychologically stable, the contact 37 corresponding to "mood stable" is turned on, and when mentally or psychologically unstable, the contact 37 corresponding to "mood unstable" is turned on. Will be done. When the designation or setting is completed, the end key 33 is turned on.

In the ROM of the microcomputer,
Control such as condition setting control (FIGS. 5 and 6) for setting various conditions via display on the display, control gain change control (FIG. 7), learning data update control (FIG. 9), display control displayed on the display, and the like. The programs are stored in advance, and the RAM of the microcomputer is provided with memories for the above various controls.

As the sensors, the vehicle speed V of the automobile A is
, A steering speed sensor 25 for detecting a steering angle θh, a lateral acceleration sensor 26 for detecting a lateral acceleration G acting on the automobile A, and a μ for detecting a frictional state (low μ, high μ) of a road surface. A sensor 27, a yaw rate sensor 28 that detects a yaw rate ψv acting on the automobile A, and the like are provided.

In the ROM 22, the control devices 10 to 10 are provided.
A control program for calculating four correction coefficients K (Ke, Ka, Kw, Kp) for correcting the base control gains of 13 and standard data V0, D of the vehicle speed V and the steering angular speed Dθh.
θh0 is stored. Each correction coefficient K is K =
(1.0 + Δ), the correction component Δ is set to Δ = 0 when the control gain is not changed, and when the control gain is changed based on learning control, each correction component Δ is , Control data V and Dθh described later, and standard data V
0 and Dθh0, (V-V0) and (Dθh-D
θh0) is applied to a predetermined calculation formula or map of a control program for correction coefficient calculation control to calculate.
Then, the control signals corresponding to the respective correction coefficients K are supplied to the respective control devices 10 to 13, and the respective base control gains are changed by the control signals.

Basically, the control gain correction coefficient is 0.8-1.
The range is set to 2, but is not limited to this range. Here, regarding the control gain of the EGI 10, the control gain “small” is in the fuel economy direction, the control gain “large” is in the power increasing direction, and regarding the control gain of the ACS 11, the control gain “small” is in the riding comfort increasing direction (soft direction). ), The control gain “large” is the steering stability increasing direction (hard direction), and regarding the control gain of 4WS12, the control gain “small” is the small turning property increasing direction (negative phase gain increasing direction),
The control gain “large” is in the steering stability increasing direction (in-phase gain increasing direction), and regarding the control gain of the P / S 13,
The control gain "small" is the direction in which the steering force is light, and the control gain "large" is the direction in which the steering force is heavy.

In the RAM 23, as shown in FIG.
A buffer m0 for accumulating a predetermined number (current time) of detection data Vi, θhi, and learning data Vb, Dθhb for learning control.
There are provided nine memories m1 to m9, etc. for storing As a learning data memory for the owner driver,
A general road memory m1, a highway memory m2, and a mountain road memory m3 are provided, and a general road memory m4, a highway memory m5, and a mountain road memory m6 are provided as learning data memory for the second driver. In addition, as a learning data memory for the third driver, a general road memory m7, a highway memory m8, and a mountain road memory m9.
Is provided.

The condition setting control will be described with reference to the flowcharts of FIGS. In the figure, Si
(I = 1, 2, ...) Shows each step. When control is started by turning on IgSW, initialization such as resetting flags is executed (S1), and then I
The count of the counter T for counting the elapsed time from the turning on of the gSW is started (S2), and then the start key 32 is turned on.
Then, the contact signals from the contacts 34 to 38 are read and stored in the memory (S4), and then it is determined whether or not a predetermined time T0 (for example, 10 seconds) has elapsed after the reading of S4 was started ( S5), S4 and S5 are repeated until the time has elapsed, and when the time has passed, the process proceeds to S6.

When the owner driver is designated, the flag F1 is set to "1" (S6, S7), and the second
When the driver is designated, the flag F1 is set to "2" (S8, S9), and when the third driver is designated, the flag F1 is set to "3" (S10, S1).
1) Also, when the contact 35 corresponding to "stop" is turned on, the flag F1 is set to "0" in order to stop changing the control gain using the learning data and perform control by the base control gain. (S12, S13). Contact 3
When the switches 4 and 35 are not turned on, the time measured by the counter T in S13 is a predetermined time T0 (for example, 100 seconds).
It is determined whether or not the above, and if No, the process returns to S4 and S4 to S
14 is repeated and when a predetermined time has elapsed, the flag F1 is set to "0" and the process proceeds to S15.

When the general road is designated, the flag F2 is set to "1" (S15, S16), and when the highway is designated, the flag F2 is set to "2" (S1).
7, S18), and if the mountain road is specified, the flag F2 is set to "3" (S19, S20). If neither is specified, the flag F2 is set to "1" because it is a general road. (S21) and S22 are entered. High μ
When the road surface is designated, the flag F3 is set to "1" (S
22 and S23), when the medium μ road surface is designated, the flag F3 is set to "2" (S24, S25), and when the low μ road surface is designated, the flag F3 is set to "3" ( (S26, S27), and when neither is specified, the flag F3 is set to "1" because the road surface is a high μ road surface (S28).

When the mood stability is designated, the flag F4 is set to "0" (S29, S30), and when the mood instability is designated, the flag F4 is set to "1" (S).
31, S32), if neither is specified, the mood is stable and the flag F4 is set to "0" (S).
33). Next, it is determined whether or not the end key 33 is turned on. If No, the process may return to S4 and repeat S4 and subsequent steps because the designated redo may be performed.
When is turned on, this condition setting control ends.

The control gain changing control will be described with reference to the flowchart of FIG. 7 and FIG. In the figure, Si
(I = 40, 41, ...) Indicates each step. When the control is started when the IgSW of the automobile A is turned on, the signals from the flags F1 to F4 and the odometer 29 are read (S40), and the running distance M is calculated this time (S41). , ROM22, standard data V0,
While Dθh0 is read, the learning data Vb and Dθhb are read from the memories corresponding to the flags F1 and F2 among the learning data memories m1 to m9 of the RAM 23 (S42), and then the flag F1 is “0”. If YES in S44, the control data V and Dθh are set to V = V0 and Dθh = Dθh0 in S44, and the process proceeds to S48. In this case, the control data V, D
Since the standard data V0 and Dθh0 are given to θh, the correction component Δ of the correction coefficient K is calculated to “0” by the correction coefficient calculation control, the correction coefficient K becomes 1.0, and the control by the base control gain is performed.

On the other hand, as a result of the determination in S43, when the flag F1 is not "0", it is determined in S45 whether or not the current traveling distance M is the value Map (TM) determined by the map shown in FIG. The map in FIG. 8 shows the odometer 29.
The value of Map (TM) is set using the total traveling distance TM (however, it may be the total traveling time or the total number of traveling days) as a parameter, and the total traveling distance TM becomes large and learning data is prepared. Accordingly, in order to increase the weight of learning control, the total traveling distance TM is set to a predetermined value TM.
Below 1 (eg, 10,000 Km), Map (TM) is set to a large constant value, and from the predetermined value TM1 to the predetermined value TM2 (eg, 40,000 Km), Map (TM) is set.
Is set to decrease linearly, and a predetermined value TM
When it is 2 or more, Map (TM) is set to a small constant value.

As a result of the determination in S45, first the current traveling distance M
While the value is small, the result is No. Therefore, the process proceeds to S46, and the control data V and Dθh are V = (V0 + Vb) /
2, Dθh = (Dθh0 + Dθhb) / 2, and then the process proceeds to S48. When the flag F1 is not "0", the control data in which the base data and the learning data are added at the ratio of 1: 1 as described above is repeated by repeating the transition from S45 to S46 at the beginning. Is set, and when the current traveling distance M increases and the current traveling distance M becomes Map (TM) or more, the process proceeds from S45 to S47, and in S47, the control data V and Dθh are V = Vb and Dθh = Dθhb are set, and the control is changed to change the control gain based on the learning data, and the process proceeds from S47 to S48.

Next, in S48, S44 or S4
As described above, based on the control data V and Dθh set in step 6 or S47, each correction coefficient K (Ke, Ka, Kw, K) for correcting the control gain of each unit control device 10 to 13 is used.
p) is calculated based on the control program of the correction coefficient calculation control of the ROM 22. Next, in S49, the correction coefficient K is determined according to the frictional state of the road surface, that is, the value of the flag F3.
(Ke, Ka, Kw, Kp) correction component Δ (Δe, Δ
a, Δw, Δp) is Δ × F3 correction coefficient (Δe × α, Δa
Xβ, Δw × γ, Δp × δ). When the flag F3 = 1, α = β = γ = δ = 1.0 When the flag F3 = 2, α = 0.7, β = 1.3, β = 1.3, δ
= 1.3 When flag F3 = 3, α = 0, β = 0, β = 0, δ = 0 In other words, for medium μ road surface, from the viewpoint of reducing engine power and improving steering stability, for example, The correction component Δ is corrected as described above, and in the case of a low μ road surface, in order to stop the control gain change based on the learning data and control by the base control gain, the F3 correction coefficient (α, β,
γ, δ) are all set to “0”.

After the correction process in S49, the correction coefficient K is determined in S50 according to the mood state, that is, the value of the flag F4.
(Ke, Ka, Kw, Kp) correction component Δ (Δe, Δ
a, Δw, Δp) is Δ × F4 correction coefficient (Δe × κ, Δa)
× λ, Δw × μ, Δp × ν). When the flag F4 = 0, κ = λ = μ = ν = 1.0 When the flag F4 = 1, κ = 0.7, λ = 1.2, μ = 1.3, ν
= 1.2 That is, when the mood is unstable, the correction component Δ is corrected as described above, for example, from the viewpoint of reducing the engine power and improving the steering stability. Next, in S51, a control signal corresponding to each of the correction coefficients K (Ke, Ka, Kw, Kp) is output to the control devices 10 to 13 for each unit, and then the process proceeds from S51 to S40. It is repeated every time.

Finally, the learning data update control is shown in FIG.
The flowchart will be described. This learning data update control is started when IgSW is ON and is executed in parallel with the control gain change control.
(I = 60, 61, ...) Shows each step. First, various signals (current vehicle speed Vi, current steering angle θhi, signals of flags F1, F3, F4, and other sensors) are read (S60), and then current steering angle θh.
The steering angular velocity Dθhi of this time is calculated based on i and the previous steering angle (S61), and then a predetermined learning condition is satisfied based on the detection signals from the sensors and the flags F1, F3, F4. It is determined whether or not (S62). Basically, when the flag F1 is "0", the flag F3 is "3", and the flag F4 is "1", the update of the learning data is prohibited.

When the learning condition is not satisfied as a result of the determination in S62, the process directly returns, and when the learning condition is satisfied, the current data Vi and Dθhi are stored in the buffer m0 of the RAM 23 in S63. To be done. Next, in S64, it is determined whether or not a predetermined number of data has been accumulated in the buffer m0 of the RAM 23, and N
If it is o, the process returns as it is, and if Yes, the learning data Vb and Dθhb are read from the one memory m1 to m9 corresponding to the flags F1 and F2 in the learning data memory of the RAM 23 (S65). , Then S
In 66, the learning data Vb, D is obtained by using, for example, an arithmetic expression shown in the drawing, using the average value Vi, Dθhi of the predetermined number of data Vi, Dθhi accumulated in the buffer of the RAM 23.
θhb is calculated, and then learning data Vb, Dθhb
Is a flag F in the learning data memory of the RAM 23.
1, stored in one of the memories m1 to m9 corresponding to the flag F2 (S67), and then returns to S60 and S60.
The subsequent steps are repeatedly executed at every minute time.

As described above, in the control gain changing device of the vehicle control device, the display 30 is used.
Of the plurality of drivers, the type of road to be driven, the road surface condition,
Since the mood state can be designated, it is possible to easily designate these various conditions. Moreover, the learning data is updated for each type of road for each driver, and the learning data is used to change the control gain of the vehicle control device. Therefore, the reliability of the learning data, that is, the reliability of the learning control is improved. Is increased, and the control gains of the respective control devices 10 to 13 are changed so that the characteristics become suitable for various actual conditions.
It is possible to improve drivability and steering stability.

Further, the control gain is corrected even in accordance with the road surface condition and the driver's mood condition set via the display 30, so that the running stability and safety can be improved. In addition, when running on a low μ road or when the mood is unstable, updating of the learning data is prohibited, and the control is based on the base control gain without changing the control gain based on the learning data. It can prevent the deterioration. In addition, a stop mode is provided so that control by the base control gain can be selected and updating of learning data can be prohibited.
It is possible to prevent the learning data from being disturbed by a driver other than the third driver.

The display 30 in the above embodiment is used.
The contacts 34 to 38 provided in the above are omitted, and instead, a cursor is provided on the display 30, and a cursor movement key and an execution key for moving the cursor vertically and horizontally are provided near the display 30. The various conditions may be designated or set via a cursor movement key, a cursor, and an execution key. Further, the control characteristic changed by the control gain change control may be displayed on the display 30. In the above embodiment, the learning data Vb, Dθ
Although the example of changing the control gain of the control devices 10 to 13 using hb has been described, the learning data Vb,
Dθhb is merely an example, and it goes without saying that the present invention can be similarly applied to a control gain changing device that changes the control gain by using other learning data (for example, vehicle speed and yaw rate). Further, in the above embodiment, EGI10, ACS11, 4WS12, P / S13.
Although the example of changing the control gain of the above has been described, learning data is used for various control gains of the antilock braking control device, the traction control device, the air conditioner control device, etc. instead of or in addition to these It is needless to say that the present invention can be similarly applied to the control gain changing device that is changed according to the above.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a drive system, a suspension system, and a steering system of an automobile according to an embodiment.

FIG. 2 is a configuration diagram of a control system of a control gain changing device.

FIG. 3 is an explanatory diagram of a display state of a display.

FIG. 4 is an explanatory diagram of a memory of a RAM 23.

FIG. 5 is a part of a flowchart of a condition setting control routine.

FIG. 6 is the rest of the flowchart of the condition setting control routine.

FIG. 7 is a flowchart of a control gain change control routine.

FIG. 8 is a diagram of a map for setting Map (TM).

FIG. 9 is a flowchart of a learning data update control routine.

[Explanation of symbols]

1 Car 2 Engine 6 Active Suspension Device 7 Rear Wheel Steering Device 8 Power Steering Device 9 Braking Device 10 Engine Control Device (EGI) 11 Active Suspension Control Device (AC
S) 12 Four-wheel steering control device (4WS) 13 Power steering control device (P / S) 20 Control gain changing device of vehicle control device 21 Control device 22 ROM 23 RAM 30 Display 31 Display controller

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kiyoshi Sakamoto No. 3 Shinchi Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (72) Inventor Tetsuya Tachihata No. 3 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Motor Corporation Within

Claims (3)

[Claims] 1. A learning control vehicle configured to change the control gain of a vehicle control device using learning data, including display means including a display provided on an instrument panel of the vehicle, and an owner driver. Learning data storage means for storing learning data of each of a plurality of drivers, driver designation means capable of designating at least the owner driver via the display of the display, and when the owner driver is designated by the designation means, A control gain changing device for a vehicle control device, comprising a control gain changing means for changing a control gain using learning data for an owner driver. 2. A learning control vehicle configured to change the control gain of a vehicle control device using learning data, including display means including a display provided on an instrument panel of the vehicle, and an owner driver. Learning data storage means for storing learning data of each of a plurality of drivers, driver designation means capable of designating each driver via the display of the display, and learning data for drivers designated by the driver designation means A control gain changing device for a vehicle control device, comprising: a control gain changing means for changing a control gain by using the. 3. The control gain changing means is configured not to change the control gain using the learning data when the driver is not designated by the driver designating means within a predetermined time after the ignition switch is turned on. The control gain changing device for a vehicle control device according to claim 1 or 2, characterized in that.