JPH09245290A - Vehicle controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute vehicle control applying for road conditions by comparing a standard running state in accordance with the feature of respective roads with an output from a running state detecting means in a control characteristic change-over deciding means and judging whether or not control characteristic by means of the output of a navigation device is changed-over. SOLUTION: The running state detecting means 13 is constituted of a vehicle speed sensor, an accelerator opening degree sensor and a brake switch. The control characteristic change-over deciding means 12 judges whether or not the control characteristic by the output of the navigation device 11 is changed- over from the output of the navigation device 11 and the running state detecting means 13. A control means 14 controls a throttle actuator 15 in accordance with the output of the control characteristic change-over deciding means 12. Thus, the road conditions are correctly judged when the running state is changed by construction, etc., and when running is executed on the road which is not described in map information so that vehicle control applying for the road conditions is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device having a function of automatically selecting a control characteristic of a vehicle based on a positioning result of a vehicle position.

[0002]

2. Description of the Related Art Conventional techniques of this kind include, for example,
The technique described in JP-A-62-292947 can be mentioned. In this technique, as shown in FIG. 7, road information such as a gradient and a curve is recorded in advance in map data of a navigation device, and based on the information of a vehicle position detecting means, control at the vehicle position is performed. By reading the characteristics from the map information of the navigation device, the shift control of the automatic transmission can be realized according to the road condition without adding a sensor for detecting a curve or a gradient to the vehicle, so that the drivability is improved. .

[0003]

However, in the above conventional technique, when the control characteristic of the throttle actuator is switched using the information of the navigation device,
Even when traffic is congested due to construction work while traveling on the expressway, the control characteristics of the throttle actuator are low gain for the expressway, so if you start and stop in a traffic jam, the acceleration performance will drop significantly. . Further, when the control characteristics of the automatic transmission are switched using the information of the navigation device, when a new road that bypasses an old road with many bends is newly installed as shown in FIG. It switches to a power pattern closer to the car. For this reason, there are many problems to be solved, such as a difficulty in shifting up and a decrease in drivability even when it is desired to smoothly travel on a new road at a high gear position.

The present invention was devised in view of the present situation, and an object thereof is to provide a criterion for judging whether or not to switch the control characteristics by the navigation device, and to use this judgment criterion as the vehicle speed. Or accelerator opening / brake / steering angle etc., and determine whether to switch the control characteristics by the navigation device by comparing with the running vehicle speed, accelerator opening, brake, steering angle etc. With this configuration, it is possible to accurately determine the road condition even when the driving condition changes due to construction or when driving on a road not recorded in the map information, and it is possible to realize vehicle control that is more adapted to the road condition. An object of the present invention is to provide a vehicle control device that can be used.

[0005]

In order to achieve the above object, according to the present invention, a vehicular control device is provided in which a control characteristic is switched by using map information. A traveling state detecting means for detecting,
A navigation device that detects the traveling position of the own vehicle, a control characteristic switching determination reference recording unit that records a reference for determining whether or not to switch the control characteristic by the navigation device, and the own vehicle detected by the navigation device. Whether to switch the control characteristic by the navigation device based on the judgment reference searching means for associating the traveling position with the judgment criterion recorded in the control characteristic switching judgment criterion recording means, and the outputs of the traveling state detecting means and the judgment criterion searching means. And a control characteristic switching determination means for determining whether or not.

Further, according to the present invention, the vehicle control device is connected to a traveling state detecting means for detecting a traveling state of the own vehicle by using an accelerator opening sensor and a brake switch, and the control characteristic is provided. The switching determination standard recording means may be configured to record a standard for determining whether to switch the control characteristic by the navigation device, which is set by using the accelerator opening degree and the brake operation frequency.

Further, according to the present invention, a running state detecting means for detecting a running state of the own vehicle using a vehicle speed sensor is connected to the vehicle control device, and the control characteristic switching judgment reference recording means is provided. It is also possible to record the standard for determining whether to switch the control characteristic by the navigation device, which is set by using the vehicle speed.

In addition, according to the present invention, a running condition detecting means for detecting a running condition of the own vehicle using a steering angle sensor is connected to the vehicle control device, and the control characteristic switching judgment reference recording means is provided. Can also be configured to record a criterion for determining whether to switch the control characteristic by the navigation device, which is set by using the steering angle.

Further, in the vehicle control device according to the present invention, a navigation device in which road characteristics are recorded in map information and a criterion for determining whether or not to switch the control characteristics by the navigation device are set for each road characteristic. Control characteristic switching determination reference recording means for recording, determination reference search means for associating the own vehicle traveling position detected by the navigation device using road characteristics with the determination reference recorded in the control characteristic switching determination reference recording means, By connecting and configuring, it is possible to realize vehicle control more suitable for road conditions.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail based on an embodiment shown in the accompanying drawings.

FIG. 1 shows a first embodiment of the present invention, in which a vehicle control device according to this embodiment records map information such as a vehicle position detecting means using a GPS or the like and a CD-ROM. A navigation device 11 comprising means,
Control for determining whether to switch the control characteristics based on the output of the navigation device 11 based on the outputs of the navigation device 11 and the traveling condition detecting device 13 and the traveling condition detecting device 13 including a vehicle speed sensor, an accelerator opening, and a brake switch. Characteristic switching determination means 12, control means 14 for controlling the throttle actuator 15 according to the output of the control characteristic switching determination means 12, and control means 14.
And a throttle actuator 15 that opens and closes the throttle by operating a step motor or the like.

The operation of the vehicle controller thus constructed is controlled as follows.

First, the control characteristic switching determining means 12 is a standard traveling state and traveling state detecting means 1 according to the characteristics of each road.
The output from the navigation device 11 is compared to determine whether or not the control characteristics are switched. The standard traveling state of each road is added to the map information of the navigation device 11.

That is, as shown in FIG. 2, the above control is sequentially executed at a certain time interval (ΔT) by the main program for controlling the automatic transmission and the like.

In step 111, the own vehicle traveling position is detected by the own vehicle position detecting means of the navigation device 11.

In step 112, the road conditions of the vehicle currently being traveled such as "highway", "general road" and "mountain road" are searched from the map information of the navigation device 11 using the vehicle traveling position detected in step 111. To do. Further, the standard traveling condition is searched from the search result of the road condition here.

The standard running condition is the accelerator opening (ACC) in each road condition shown in FIG. 5 (a), the number of brake operations per unit time (BRK) shown in FIG. 5 (b), and FIG. 5 (c). The frequency of the vehicle speed (VSP) shown in FIG.

In step 113, the traveling state detecting means 1
Using the output of No. 3, the average value of the accelerator opening (ACCm), the average value of the vehicle speed (VSPm), the number of brake operations (BRK) in a certain period (T) according to the following formula
m) is calculated.

[0019]

[Equation 1]

In step 114, the standard running condition retrieved in step 112 is compared with the average value of accelerator opening (ACCm) calculated in step 113, the average value of vehicle speed (VSPm), and the number of brake operations (BRKm). To do. For example, when the navigation device 11 determines that the road condition on which the vehicle is currently traveling is “highway”, it is determined whether or not all the conditions of the following Expression 2 are not satisfied.

[0021]

[Equation 2]

When traveling on a congested highway, the vehicle speed is lower and the accelerator and brake operation frequency is higher than when traveling on a normal highway, so it is difficult to satisfy all the above conditions. In this case, the “highway”, which is the road condition determined by the navigation device 11, is not used. In this way, the navigation device 11
If the actual traveling state is used in addition to the map information, the road condition can be determined more accurately.

In step 115, the control characteristic is switched using the road condition determined by the navigation device 11. For example, if the current road condition detected by the navigation device is "highway", the control characteristic of the throttle actuator 15 is switched to the low gain one shown in FIG.

In step 116, the switching of the control characteristic using the road condition determined by the navigation device 11 is stopped. For example, even if the current road condition detected by the navigation device is "highway",
The control characteristics of the throttle actuator 15 are kept normal.

In this control, the accelerator opening speed or the number of times of accelerator operation may be used as an index indicating the standard traveling state of each road condition other than that shown in FIG. Further, the mode or median value may be used instead of the average value, and the average deviation may be used instead of the variance.

Since the vehicle control device according to this embodiment is configured as described above, in addition to the map information of the navigation device 11, the standard vehicle speed, accelerator opening, and brake in the currently running road condition are added. By using the comparison between the operation frequency and the actual vehicle speed, accelerator opening, and brake operation frequency to determine the road condition, the road condition can be determined more accurately than when only the navigation device 11 is used. The vehicle control can be realized.

Further, according to the present invention, the running state detecting means 13 of FIG. 1 is replaced with a steering angle sensor, and the throttle actuator 15 is replaced with an automatic transmission.
The vehicle control applicable to the case where a new road that bypasses an old road with many bends is newly established as shown in FIG. 8 is possible. As a criterion in this case, whether or not the vehicle is traveling on an old road is determined using the range of the maximum steering angle. Of course, the range of the maximum steering angle of each mountain road as shown in FIG. 5 is added to the map information of the navigation device 11.

The details of the control in the above situation will be described below with reference to the flow chart of FIG. This control is sequentially executed by a main program for controlling the automatic transmission and the like at a certain time interval (ΔT).

In step 211, the vehicle traveling position is detected by the vehicle position detecting means of the navigation device 11.

In step 212, the current road condition is "mountain road" from the map information of the navigation device 11 using the vehicle traveling position detected in step 211.
Is determined.

In step 213, it is determined whether the control characteristic switching flag is OFF.

In step 214, the steering angle is detected by the traveling state detecting means 13 when the control characteristic switching flag is OFF.

In step 215, it is determined whether the steering angle detected in step 214 is within the maximum steering angle range shown in FIG. Here, when the vehicle travels on the new road shown in FIG. 8, the steering angle is smaller than when traveling on the old road, and therefore the range of the maximum steering angle shown in FIG. 5 is not reached.

In step 216, when the steering angle is within the range of the maximum steering angle shown in FIG. 5, the shift map of the automatic transmission 15 is switched to a power pattern in which the shift line is closer to the high vehicle speed. Further, the control characteristic switching flag is turned on.

In step 217, the shift map of the automatic transmission 15 is not switched when the steering angle is not within the maximum steering angle range shown in FIG. Further, the control characteristic switching flag is turned off.

In step 218, when it is determined that the vehicle is not traveling on the "mountain road", the control characteristic switching flag is set to 0.
Set to FF.

Therefore, in the vehicle control device according to this embodiment, in addition to the map information of the navigation device 11, the steering angle to be operated on the currently running mountain road is compared with the actual steering angle. By using it for the determination, it is possible to realize vehicle control that is more adapted to the road condition even when traveling on a new road that is not recorded in the map information of the navigation device.

The control method of the present invention can be applied not only to the automatic transmission and the throttle actuator but also to the control of the assist amount of the braking force and the damping rate of the suspension. Further, the present invention is not limited to the above-mentioned embodiments, and may be configured by combining any of them.

[0039]

As described above, the vehicle control device according to the present invention determines whether or not the navigation device switches the control characteristics depending on the traveling conditions such as the vehicle speed, the accelerator opening, the brake, and the steering angle. By setting a standard and determining whether to switch the control characteristics by the navigation device by comparing it with the actual driving state, it is possible to check roads not recorded in the map information when the driving state changes due to construction etc. Since the road condition can be accurately determined even when the vehicle is traveling, it is possible to realize vehicle control that is more adapted to the road condition.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle control device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a control flow of the vehicle control device.

FIG. 3 is an explanatory diagram showing a standard traveling state in each road situation by the vehicle control device.

FIG. 4 is a graph showing an example of gain of a throttle actuator in the vehicle control device.

FIG. 5 is an explanatory diagram showing a range of a maximum steering angle on a mountain road, which is set in the vehicle control device according to the second embodiment of the present invention.

FIG. 6 is a diagram showing a control flow of the vehicle control device.

FIG. 7 is a block diagram showing a configuration example of a conventional similar technique.

FIG. 8 is an explanatory diagram showing an example of a road that is not recorded on the map of the navigation device.

[Explanation of symbols]

 11 Navigation Device 12 Postnatal Characteristic Switching Determining Means 13 Running State Detecting Means 14 Control Means 15 Throttle Actuator

Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display area // B60G 17/015 B60G 17/015 A F16H 59:18 59:54 59:58 59:66

Claims (5)

[Claims] 1. A vehicle control device for switching control characteristics using map information, a traveling state detecting means for detecting a traveling state of the own vehicle, a navigation device for detecting a traveling position of the own vehicle, and control by the navigation device. Control characteristic switching determination reference recording means for recording a reference for determining whether or not to switch the characteristic, own vehicle traveling position detected by the navigation device, and determination reference recorded in the control characteristic switching determination reference recording means For a vehicle comprising: a determination criterion search means for associating a vehicle with a driving condition detection means; and a control characteristic switching determination means for determining whether or not the navigation device switches the control characteristics based on the outputs of the traveling state detection means and the determination criterion search means Control device. 2. The vehicle control device according to claim 1, further comprising a traveling state detecting means for detecting a traveling state of the own vehicle by using an accelerator opening sensor and a brake switch, The characteristic switching judgment standard recording means is
A vehicle control device, which records a reference for determining whether or not to switch control characteristics by a navigation device, which is set by using an accelerator opening degree and a brake operation frequency. 3. The vehicle control device according to claim 1, further comprising a traveling state detecting means for detecting a traveling state of the host vehicle by using a vehicle speed sensor, and the control characteristic switching determination criterion. The control device for a vehicle, wherein the recording means records a reference for determining whether to switch the control characteristic by the navigation device, which is set by using the vehicle speed. 4. The vehicle control device according to claim 1, further comprising a traveling state detecting means for detecting a traveling state of the own vehicle by using a steering angle sensor, and the control characteristic switching determination criterion. The control device for a vehicle, wherein the recording means records a criterion for determining whether or not to switch the control characteristics by the navigation device, which is set by using the steering angle. 5. The vehicle control device according to any one of claims 1 to 4 includes a navigation device that records road characteristics in map information, and switching of control characteristics by the navigation device. The control characteristic switching determination reference recording means for recording the reference for determining whether to perform or not, the own vehicle traveling position detected by the navigation device using the road characteristic, and the control characteristic switching determination reference recording means. A vehicle control device, comprising: a criteria search unit that associates the recorded criteria.