JPH11210870A - Vehicle control device, and recording medium for recording its program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct optimum traveling control in response to a road condition, and to enhance operation feeling. SOLUTION: This device has a transmission 105 for shifting, a road condition detecting means 101 for detecting a road condition, a traveling environmental condition determining means 102 for determining a traveling environmental condition based on the road condition, a control condition determining means 103 for determining a control condition based on two or more of determined results by the means 102, and a shift control means 104 for controlling the transmission 105 according to the control condition and operation of a vehicle by a driver. Since the traveling environmental condition is determined based on the road condition, and since the control condition is determined based on two or more of the detrmined results, the control condition unnecessary according to the road condition can be removed. The optimum traveling control is conducted thereby in response to the road condition.

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 and a recording medium on which a program is recorded.

[0002]

2. Description of the Related Art Conventionally, in a vehicle equipped with an automatic transmission, rotation generated by an engine is transmitted to a transmission through a torque converter, and the transmission is shifted to drive wheels. Has become. For this purpose, the transmission is provided with a planetary gear unit composed of a plurality of gear elements. When a friction engagement element such as a clutch or a brake is disengaged, the rotation of the gear element is selectively output.

[0003] The vehicle speed and the throttle opening are detected, a gear corresponding to the vehicle speed and the throttle opening is selected, and upshifting or downshifting is performed.
Further, there is provided a vehicle control device that performs traveling control such as uphill traveling control or downhill traveling control when the vehicle travels on an uphill or downhill. For example, in the downhill traveling control, when the vehicle is traveling downhill, the accelerator pedal is released, and the brake pedal is depressed, the downshifting is performed. Will be

[0004]

However, in the above-described conventional vehicle control device, it may be necessary to perform, for example, downshifting depending on road conditions. However, unless all of the above conditions are satisfied, No shifting is performed. Therefore, it is not possible to perform optimal traveling control corresponding to road conditions.

Therefore, the road condition ahead of the vehicle is predicted,
A control device has been provided in which, when it is determined from the relationship between vehicle speed and road conditions that traveling on the road ahead is inappropriate, a warning is issued and the shift pattern is changed (Japanese Patent Laid-Open No. 7-1995). No. 85392). However, since the shift pattern is not changed based on the operation of the vehicle by the driver, the operation feeling is impaired.

The present invention solves the problems of the above-mentioned conventional vehicle control device, and can perform optimal traveling control corresponding to road conditions, and can improve operation feeling, and a vehicle control device therefor. An object is to provide a recording medium on which a program is recorded.

[0007]

For this purpose, a vehicle control device according to the present invention includes a transmission for shifting, a road condition detecting means for detecting a road condition, and a driving environment condition judging based on the road condition. Driving environment condition determining means,
Control condition determining means for determining control conditions based on two or more determination results by the traveling environment condition determining means; and shift control means for controlling the transmission in accordance with the control conditions and a driver's operation of the vehicle. Have.

In another vehicle control device according to the present invention, the traveling environment condition is an attribute of a traveling road. In still another vehicle control device of the present invention, the road condition detecting means further includes a data storage unit for storing a road condition, a position detecting device for detecting a current position of the vehicle, and a road condition corresponding to the current position. From the data storage unit.

In still another vehicle control device of the present invention, a transmission for shifting gears, a road condition detecting means for detecting a gradient (radius) and a radius of curvature on a traveling road, and the vehicle is approaching an uphill road. That is, when it is determined that the vehicle is approaching a corner, and when it is determined that the corner is not continuous, the vehicle is approaching an uphill road without performing a shift-down shift by brake-off / on-shift control. Shift control means for performing a shift-down shift by brake-off / on shift control when it is determined that the vehicle is approaching a corner and that the corner is continuous.

According to still another vehicle control device of the present invention, there is provided a transmission for shifting gears, road condition detecting means for detecting a gradient and a radius of curvature on a traveling road, that the vehicle is approaching an uphill road, and When it is determined that the vehicle is approaching a corner, the vehicle is approaching a downhill road without downshifting by the accelerator on / off shift control, and the vehicle is approaching a corner. And a shift control means for performing a downshift by the accelerator on / off shift control when the determination is made.

In the recording medium of the present invention, a road condition is detected, a traveling road environment condition is determined based on the road condition, and a control condition is determined based on the determination result. A program for controlling the transmission in accordance with the operation of (1).

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a functional block diagram of a vehicle control device according to an embodiment of the present invention. In the figure, 101 is a road condition detecting means for detecting a road condition, 102 is a driving environment condition judging device for judging a driving environment condition based on the road condition, and 103 is a driving environment condition judging device based on the judgment result by the driving environment condition judging device 102 Control condition determining means 104 for determining control conditions is a shift control means for controlling the transmission 105 in accordance with the control conditions and the driver's operation of the vehicle.

FIG. 2 is a schematic diagram of a vehicle control device according to an embodiment of the present invention, FIG. 3 is a diagram showing a recommended vehicle speed map in the embodiment of the present invention, and FIG. 4 is a deceleration line map in the embodiment of the present invention. FIG. 5 is a diagram showing a control condition table according to the embodiment of the present invention. In FIG. 3, a node radius on the horizontal axis, the recommended vehicle speed V _R on the vertical axis, FIG. 4
In FIG. 7, the horizontal axis represents the position of the vehicle in the road shape, and the vertical axis represents the vehicle speed V.

In FIG. 2, reference numeral 10 denotes an automatic transmission (A / T) having a torque converter and a transmission 105 (FIG. 1) (not shown); 11, an engine (E / G); An automatic transmission control unit (TCU) 13 for controlling the entire engine, an engine control unit (ECU) 13 for controlling the entire engine 11, and a navigation device 14 are provided. In the present embodiment, a four-speed automatic transmission will be described.

Reference numeral 41 denotes a blinker sensor; 42, an accelerator sensor for detecting the driver's operation; 43, a brake sensor for detecting the driver's operation; 44, a vehicle speed sensor;
Is a throttle opening sensor, and 47 is a mode selector for selecting the normal mode and the navigation mode. The navigation device 14 performs a navigation based on a current position of the vehicle, that is, a current position detection unit 15 as a position detection unit for detecting the current position, a data storage unit 16 storing road conditions, and input information. A navigation processing unit 17 that performs various arithmetic processing such as processing, an input unit 34,
It has a display unit 35, a voice input unit 36, a voice output unit 37, and a communication unit 38.

Then, the current position detecting section 15
S (global positioning sensor) 21, geomagnetic sensor 22, distance sensor 23, steering sensor 24,
It comprises a beacon sensor 25, a gyro sensor 26, an altimeter not shown, and the like. The GPS 21 receives a radio wave generated by an artificial satellite, detects a current position,
The terrestrial magnetism sensor 22 detects the direction in which the vehicle is facing by measuring terrestrial magnetism.
Detects a distance between predetermined points on a road. As the distance sensor 23, for example, a sensor that measures the number of revolutions of a wheel and detects a distance based on the number of revolutions, a sensor that measures acceleration, and detects the distance by integrating the acceleration twice, and the like are used. can do.

The steering sensor 24 is for detecting a rudder angle. As the steering sensor 24, for example, an optical rotation sensor attached to a rotating portion of a handle (not shown), a rotation resistance An angle sensor or the like attached to a wheel is used. The beacon sensor 25 receives the position information from the beacon disposed along the road and detects the current position. The gyro sensor 26 detects the rotational angular velocity of the vehicle. As the gyro sensor 26, a gas rate gyro, a vibration gyro, or the like is used. And
By integrating the rotational angular velocity detected by the gyro sensor 26, the direction in which the vehicle is facing can be detected.

The GPS 21 and the beacon sensor 25 can detect the current position independently. However, in the case of the distance sensor 23, the distance detected by the distance sensor 23 and the geomagnetic sensor 22 are used.
And the azimuth detected by the gyro sensor 26, the current position can be calculated. Further, the distance detected by the distance sensor 23,
The current position can also be calculated by combining with the steering angle detected by the steering sensor 24.

The data storage unit 16 stores a map data file, an intersection data file, a node data file, a road data file, a photograph data file, and information for each area such as a hotel, a gas station, and a tourist spot guide. It has a data file. Each of these data files contains data for route search,
A guide map is displayed on the screen of the display unit 35 along the searched route, or a characteristic photograph at an intersection or a route,
Various data for displaying a frame diagram, etc., displaying the distance to the next intersection, the traveling direction at the next intersection, and the like, and displaying other guidance information are stored. The data storage unit 16 also stores various data for outputting predetermined information by the audio output unit 37.

The intersection data file stores intersection data for each intersection, the node data file stores node data for nodes (points), and the road data file stores road data for roads. The road condition is represented by the node data and the road data. The node data is an element representing the position and shape of the road in the map data, and includes data indicating each node on the road and a link (line) connecting the nodes. According to the road data, for the road itself, the width, the slope, the cant, the bank, the state of the road surface, the number of lanes of the road, the point where the number of lanes decreases, the point where the width decreases, etc. For radius, intersection, T-junction, corner entrance, etc., for road attributes, railroad crossing, expressway exit rampway,
Expressway tollgates, downhill roads, uphill roads, road types (national roads,
General roads, highways, etc.).

The navigation processing unit 17
CPU 3 for controlling the entire navigation device 14
1. In addition to the RAM 32 used as a working memory and a control program when the CPU 31 performs various arithmetic processes, various types of information such as a search for a route to a destination, travel guidance along the route, determination of a specific section, etc. And a ROM 33 as a recording medium in which the above program is stored. The CPU 31 controls the driving environment condition determining means 102.
And a control condition determining means 103. An input unit 34, a display unit 35,
The audio input unit 36, the audio output unit 37, and the communication unit 38 are connected.

The data storage unit 16 and the ROM 3
Reference numeral 3 includes a magnetic core (not shown), a semiconductor memory, and the like. The data storage unit 16 and the ROM 33
Instead of magnetic tape, magnetic disk, floppy disk, magnetic drum, CD, MD, DVD, optical disk,
Various recording media such as an IC card and an optical card can also be used.

In the present embodiment, the ROM 33
Various programs are stored in the data storage unit 16 and various data are stored in the data storage unit 16. However, the programs and data may be stored in the same external recording medium. In this case, for example, a flash memory (not shown) may be provided in the navigation processing unit 17, and the program and data may be read from the external recording medium and written to the flash memory. Therefore, the program and data can be updated by exchanging an external recording medium. Further, the program and data can be stored in an external recording medium. As described above, various programs stored in various recording media can be activated, and various processes can be performed based on various data.

The communication section 38 is for transmitting and receiving various data to and from an FM transmitting apparatus, a telephone line, and the like. For example, road information such as traffic congestion received by an information sensor (not shown) or the like is provided. , Traffic accident information, GPS
Various data such as D-GPS information for submitting the detection error of 21 are received. Note that at least a part of a program and data for realizing the function of the present invention is
8 and stored in the flash memory or the like.

The input section 34 is for correcting a position at the start of traveling and for inputting a destination. The input section 34 is a keyboard provided separately from the display section 35. , A mouse, a barcode reader, a light pen, a remote control device for remote operation, and the like. Further, the input unit 34 includes a display unit 35
May be constituted by a touch panel for inputting by touching a key or a menu displayed on the image.

An operation guide is displayed on the display unit 35.
An operation menu, operation key guidance, a route to a destination, guidance along a traveling route, and the like are displayed. The display unit 3
5 includes a CRT display, a liquid crystal display,
A plasma display, a hologram device that projects a hologram on a windshield, or the like can be used. The voice input unit 36 is configured by a microphone (not shown) or the like, and can input necessary information by voice. Further, the audio output unit 37
Includes a voice synthesizer and a speaker (not shown), and outputs guidance information based on voice synthesized by the voice synthesizer from the speaker. Note that, in addition to the voice synthesized by the voice synthesizer, various types of guidance information may be recorded on a tape, and the guidance information may be output from a speaker.

By the way, in the vehicle control device having the above configuration, the shift control means 104 of the automatic transmission control device 12
The transmission 105 is controlled in accordance with a control program stored in advance, and a predetermined speed is selected from a plurality of speeds to perform an upshift or downshift. When the driver operates the mode selection unit 47 to select the normal mode, the automatic transmission control device 12 detects the vehicle speed V detected by the vehicle speed sensor 44 and the vehicle speed V detected by the throttle opening sensor 45. A gear position corresponding to the vehicle speed V and the throttle opening is selected with reference to a shift map (not shown) based on the throttle opening.

When the navigation mode is selected by the driver operating the mode selection section 47, the CP
U31 reads the road condition corresponding to the current position detected by the current position detecting unit 15 from the data storage unit 16 by reading means (not shown), determines an optimum recommended gear position corresponding to the road condition, and The gear is output to the automatic transmission control device 12.

That is, the driving environment condition determining means 10
2 is an uphill road determination based on the road condition, whether the vehicle is approaching an uphill road, an actual uphill road determination whether the vehicle is traveling on an uphill road, or a downhill road whether the vehicle is approaching a downhill road. Determination, actual downhill determination whether the vehicle is traveling downhill, corner determination whether the vehicle performed in the corner control has approached a corner, actual corner determination whether the vehicle is traveling a corner, Judgment of the attributes of the traveling road as traveling environment conditions such as winding determination of whether corners are continuous (hereinafter referred to as “traveling road determination”) is performed. Then, the control condition determining means 103 determines predetermined control conditions based on the determination result, and determines the determined control conditions in the automatic transmission control device 12.
Output to The current position detecting unit 15, the data storing unit 16, and the reading unit constitute a road condition detecting unit 101. Further, it is also possible to determine the weight of the vehicle, the capacity, and the like as the traveling environment conditions.

The shift control means 104 of the automatic transmission control device 12 controls the transmission 105 according to the recommended shift speed, the control conditions, and the operation of the vehicle by the driver, for example, the operation of an accelerator pedal, a brake pedal, etc. (not shown). Control is performed, and when a predetermined condition is satisfied, the shift speed is limited. Then, the automatic transmission control device 12 performs the shift processing at the limited upper limit gear. The same processing as when the navigation mode is selected can be performed by the navigation processing unit 17 at all times.

Next, the operation of the navigation processing unit 17 when the navigation mode is selected will be described. In this case, when the vehicle approaches the corner, the CPU 31 starts corner control. In the corner control, the CPU
31 determines a recommended gear position that is optimal for passing through the corner, sets a predetermined gear position in accordance with the recommended gear position and the control condition, and sets the predetermined gear position to the automatic transmission control device 12. Is output.

For this purpose, the CPU 31 performs a road condition judgment process to judge the road condition. That is, CP
U31 calculates the radius of curvature of the road, that is, the node radius, for each node within a predetermined range (e.g., 1-2 km from the current position) on the road including the current position. If necessary, a route from the current position to the destination may be searched, and a node radius of a node on the searched route may be calculated. In this case, the node radius can be calculated by performing an operation based on the absolute coordinates of each node and each absolute coordinate of two nodes adjacent to the node according to the node data. Alternatively, the node radius may be stored in advance in the data storage unit 16 as road data, for example, corresponding to each node, and the node radius may be read out as the vehicle travels.

Next, when a node whose radius is smaller than a threshold value is detected within a predetermined range from the current position, the CPU 31 starts corner control.
The recommended vehicle speed map See, reads the recommended vehicle speed V _R corresponding to the node radius. Incidentally, in the above recommended vehicle speed map, is low and the recommended vehicle speed V _R node radius becomes smaller, the recommended vehicle speed V _R and the node radius increases is high. Next, the navigation processing unit 17 calculates the gradient of the road from the current position to each node.

By the way, in the present embodiment, when the vehicle approaches a corner, it is determined that it is necessary to decelerate as the vehicle speed V is the recommended vehicle speed V _R from the current position to reach the corner . Therefore, the node radius specified threshold smaller node among the nodes within a predetermined distance from the current position is selected, the calculated recommended vehicle speed V _R is the respective particular nodes, the recommended gear stage by deceleration required decision It is supposed to be.

For this purpose, the CPU 31 determines, for each specific node, a deceleration acceleration reference value α representing a threshold value at which it is desirable to maintain the current gear position, and when the deceleration acceleration (degree of deceleration) becomes greater than this. Is a deceleration acceleration reference value β1 representing a threshold value at which it is considered desirable to set the gear position to the third speed or lower, and a threshold value at which it is considered desirable to set the gear position to the second speed or lower when the deceleration is larger than this. Is set.

Each of the deceleration acceleration reference values α, β1, β2
Is set in consideration of the gradient of the road. This is because the deceleration is different between the case where the vehicle is decelerated on a flat road and the case where the vehicle is decelerated on an uphill road or a downhill road even if the vehicle travels the same distance. For example, when the driver intends to decelerate the vehicle on an uphill road, sufficient deceleration can be performed without actively performing downshifting.

Each of the deceleration acceleration reference values α, β1,
A plurality of β2s may be set corresponding to the gradient of the road. A set of deceleration acceleration reference values α, β1, and β2 are set in advance for a flat road, and the deceleration acceleration reference values α, β are set in accordance with the calculated gradient.
1, β2 can also be corrected. Further, the total weight of the vehicle may be calculated, and the deceleration acceleration reference values α, β1, and β2 may be different depending on whether the number of occupants is one or four. In this case, the total weight of the vehicle can be calculated based on, for example, the acceleration when a specific output shaft torque is generated.

[0038] Subsequently, CPU 31 calculates the section distance L to each node from the current position, based on said section distance L, the recommended vehicle speed V _R and the decelerating acceleration reference value alpha, maintaining the current gear Control deceleration line Mh
A section distance L, the recommended vehicle speed V _R and deceleration acceleration reference value .beta.1, based on the .beta.2, calculated shift permitting control deceleration line M1 for permitting shifting of the downshift, M2, respectively. Note that the hold control deceleration line Mh is set to a value lower than the shift permission control deceleration line M1 by 10 [km / h], for example, in correspondence with the shift permission control deceleration line M1. Further, the hold control deceleration line Mh can be shifted by a predetermined distance from the shift permission control deceleration line M1.

In this case, the shift permission control deceleration lines M1, M
2 is the deceleration acceleration reference value β at the section distance L
1, if the deceleration at the β2 is performed, indicating the value of the vehicle speed V which is capable of running each node in the recommended vehicle speed V _R. Subsequently, the CPU 31 determines the value Vh of the hold control deceleration line Mh corresponding to the current position, the value V1 of the shift permission control deceleration line M1 corresponding to the current position, and the speed change control deceleration line corresponding to the current position. While calculating the value V2 of M2,
The current vehicle speed V _now is read, and the vehicle speed V _now and the value V are read.
h, V1, and V2.

When the vehicle speed V _now is equal to or higher than the value Vh, the hold control is started. In the hold control, output of a gear higher than the current actual gear (hereinafter, referred to as “actual gear”) is prohibited. Therefore, for example, when the actual gear is third speed, upshifting to a speed higher than third speed is prohibited. Also,
When the vehicle speed V _now is equal to or higher than the value V1, the recommended shift speed is determined to be the third speed in the shift permission control. Further, when the vehicle speed V _now is equal to or higher than the value V2, the recommended shift speed is determined to be the second speed in the shift permission control. Note that the recommended shift speed is determined for each specific node, and the smallest one is selected.

The hold control deceleration line Mh and the shift permission control deceleration lines M1 and M2 can be calculated not only by calculation but also by storing the calculation results as a map and referring to the map. By doing so, it can also be calculated. When the recommended gears are determined in this way, the CPU 31 outputs the recommended gears to the automatic transmission control device 12.

Subsequently, the control condition determining means 103
Control conditions are determined according to the control condition table of FIG. That is, the traveling environment condition determination means 102 determines a traveling path based on the road condition, for example, the uphill road determination, the actual uphill road determination, the downhill road determination, the actual downhill road determination, the corner determination,
An actual corner judgment, a winding judgment and the like are performed. And
The control condition determining means 103 determines a control condition based on two or more determination results of the driving environment condition determining means 102. In the present embodiment, each traveling route determination by the traveling environment condition determining unit 102 is performed based on the road condition detected by the road condition detecting unit 101. At least one of them may be based on the road condition detected by the road condition detecting means 101. For example, an uphill road determination, a downhill road determination, or the like can be performed by detecting the running resistance or the like of the vehicle.

In the present embodiment, the control conditions include various controls such as hold control, accelerator on / off shift control, and brake off / on shift control. And
When the control conditions are sent to the automatic transmission control device 12, the shift control means 104 controls the transmission 105 in accordance with the control conditions and the driver's operation of the vehicle.
For example, in the hold control, output of a shift speed higher than the actual shift speed is prohibited. In the accelerator on / off shift control, when the accelerator pedal being depressed is released to change from accelerator on to accelerator off (hereinafter referred to as “accelerator on → off”), downshifting is performed and brake off is performed. In the on-shift control, when a brake pedal that is not depressed is depressed to change from brake off to brake on (hereinafter referred to as “brake off → on”), downshifting is performed.

In FIG. 5, ○ indicates that the vehicle is approaching the uphill road in the determination of the uphill road, that the vehicle is approaching the downhill road in the determination of the downhill road, and that the vehicle is approaching the corner in the corner determination. Represents that the corners are continuous in the winding determination, that the hold control is performed, that the accelerator on / off shift control is performed, and that the brake off / on shift control is performed. The vehicle is not approaching the downhill road in the determination of the downhill road, the vehicle is not approaching the corner in the determination of the corner, the corner is not continuous in the winding determination, and the hold control is not performed. That the accelerator on / off shift control is not performed, and Indicating that the brake is turned off and on the shift control is not performed.

When it is determined that the vehicle is approaching the corner in the corner determination, the hold control is started as described above. When the vehicle is traveling on a flat road and it is determined in the corner determination that the vehicle is approaching the corner, the brake-off / on shift control is performed, and the downshift is performed by the brake-off → on.

When the vehicle is traveling on a flat road and it is determined in the winding determination that the corners are continuous,
At least the accelerator on / off shift control of the brake off / on shift control and the accelerator on / off shift control is performed, and the shift down shift is performed by at least the accelerator on → off of the brake off → on and the accelerator on → off. .

When it is determined that the vehicle is approaching the uphill road in the determination of the uphill road, it is determined that the vehicle is approaching the corner in the corner determination, and when it is determined that the corner is not continuous in the winding determination, the uphill road is determined. Therefore, neither the brake off / on shift control nor the accelerator on / off shift control is performed, and the shift down shift is not performed in any of the brake off → on and the accelerator on → off. . Note that the hold control is performed so that the busy shift is not performed by the kick down shift. in this case,
The actual uphill road determination may be performed instead of the uphill road determination, or the actual corner determination may be performed instead of the corner determination.

If it is determined that the vehicle is approaching the uphill road in the uphill determination, the vehicle is determined to be approaching the corner in the corner determination, and if the corner is determined to be continuous in the winding determination, the vehicle speed increases. Is predicted to change to
The on-shift control is performed, and the downshift is performed by the brake off → on. In this case, an actual uphill road determination can be performed instead of the uphill road determination.

When it is determined that the vehicle is approaching a downhill road in the determination of a downhill road, and when it is determined in a corner determination that the vehicle is approaching a corner, deceleration is always required. At least the accelerator on / off shift control of the control and the accelerator on / off shift control is performed, and the shift down shift is performed by at least the accelerator on → off of the brake off → on and the accelerator on → off. In this case, actual downhill road determination can be performed instead of downhill road determination.

As described above, the driving environment condition determining means 102
As a result, the traveling environment condition is determined based on the road condition, and the control condition is determined based on the determination result. Therefore, the control condition that becomes unnecessary depending on the road condition can be removed. Therefore, it is possible to perform optimal traveling control corresponding to road conditions. In addition, since the road condition can be detected by the navigation device 14 mounted on the vehicle, special sensors are not required. Therefore, the cost of the vehicle control device can be reduced.

Next, the flowchart will be described.
FIG. 6 is a flowchart showing the operation of the navigation processing unit according to the embodiment of the present invention. Step S1 A road condition determination process is performed. Step S2: A recommended gear position determination process is performed. Step S3: A control condition determination process is performed. Step S3 Upper limit gear position output processing is performed.

Next, the subroutine of the recommended gear position determination process in step S2 of FIG. 6 will be described. FIG. 7 is a flowchart showing a subroutine of recommended gear position determination processing in the embodiment of the present invention. Step S2-1 reads the recommended vehicle speed V _R. Step S2-2: Calculate the gradient of the road from the current position to each node. Step S2-3: A recommended value calculation process is performed.

Next, in step S2-3 in FIG.
The subroutine of the recommended value calculation processing will be described. FIG. 8
The subroutine of the recommended value calculation processing in the embodiment of the present invention
It is a flowchart which shows a chin. Step S2-3-1. Area from current position to each node
The distance L is calculated. Step S2-3-2 Value Vh (FIG. 4), V1, V2
calculate. Step S2-3-3 Current vehicle speed V_nowRead. Step S2-3-4: Vehicle speed V_nowIs not less than the value Vh
Is determined. Vehicle speed V_nowIs greater than or equal to the value Vh
If there is, the process proceeds to step S2-3-5 and the vehicle speed V _nowBut
If it is lower than the value Vh, the process returns. Step S2-3-5 The vehicle speed V_nowIs above the value V1
Determine if it is above. Vehicle speed V_nowIs more than the value V1
If the vehicle speed V_{no w}Is the value
If it is lower than V1, the process proceeds to step S2-3-6. Step S2-3-6 The recommended shift speed is determined to be the fourth speed. Step S2-3-7: the vehicle speed V_nowIs above the value V2
Determine if it is above. Vehicle speed V_nowIs more than the value V2
If the vehicle speed is V, the process proceeds to step S2-3-9._{no w}Is the value
If it is lower than V2, the process proceeds to step S2-3-8. Step S2-3-8: The recommended shift speed is determined to be the third speed. Step S2-3-9 The recommended shift speed is determined to be the second speed. Step S2-3-10 Confirm that the hold control is being performed.
Turns on the hold flag that represents it.

Next, the subroutine of the control condition determination processing in step S3 in FIG. 6 will be described. FIG. 9 is a flowchart showing a subroutine of control condition determination processing according to the embodiment of the present invention. Step S3-1: Uphill determination and downhill determination are performed. Step S3-2: Perform winding determination. Step S3-3 Determine control conditions.

In the above-described embodiment, the step-variable transmission device 105 that shifts at a plurality of speeds has been described. However, a continuously variable transmission device such as a V-belt type or a toroidal type transmission is described. It can also be applied to In addition, the present invention is not limited to the above-described embodiment, and can be variously modified based on the gist of the present invention, and they are not excluded from the scope of the present invention.

[0056]

As described above in detail, according to the present invention, in a vehicle control device, a transmission for shifting gears, road condition detecting means for detecting road condition, and traveling based on the road condition. Driving environment condition determining means for determining an environmental condition, control condition determining means for determining a control condition based on two or more determination results by the driving environment condition determining means, and Transmission control means for controlling the transmission.

In this case, the driving environment condition is determined based on the road condition, and the control condition is determined based on the two or more determination results. it can. Therefore, it is possible to perform optimal traveling control corresponding to road conditions. Also,
Since the control of the transmission is performed in accordance with the control conditions and the driver's operation of the vehicle, the operational feeling can be improved.

In another vehicle control device according to the present invention, the traveling environment condition is an attribute of a traveling road. In this case, the attribute of the traveling road is determined based on the road condition,
Since control conditions are determined based on two or more determination results, unnecessary control conditions depending on road conditions can be eliminated. Therefore, it is possible to perform optimal traveling control corresponding to road conditions.

In still another vehicle control device according to the present invention, the road condition detecting means further includes a data storage unit for storing a road condition, a position detecting means for detecting a current position of the vehicle, and a function corresponding to the current position. Reading means for reading the road condition to be performed from the data storage unit. In this case, since the road condition can be detected by the navigation device mounted on the vehicle, special sensors are not required.
Therefore, the cost of the vehicle control device can be reduced.

According to still another vehicle control device of the present invention, there is provided a transmission for shifting, road condition detecting means for detecting a gradient and a radius of curvature on a traveling road, that the vehicle is approaching an uphill road, When it is determined that the vehicle is approaching a corner and that the corner is not continuous, it is determined that the vehicle is approaching an uphill road without performing a shift-down shift by brake-off / on-shift control, and that the vehicle is in a corner. And a shift control unit that performs a shift-down shift by brake-off / on shift control when it is determined that the vehicle is approaching and the corner is continuous.

In this case, if it is determined that the vehicle is approaching an uphill road, that the vehicle is approaching a corner, and that the corner is not continuous, the brake-off / on shift control is not performed and the brake-off is not performed. → No downshifting is performed by turning on. Then, when it is determined that the vehicle is approaching the uphill, that the vehicle is approaching the corner, and that the corner is continuous, brake-off / on-shift control is performed, and the shift is performed by the brake-off → on. A downshift is performed.

Therefore, the driver can drive the vehicle while associating the driver's intention to decelerate the vehicle with the road condition. In still another vehicle control device of the present invention, a transmission for performing a shift, road condition detecting means for detecting a gradient and a radius of curvature on a traveling road, that the vehicle is approaching an uphill, and that the vehicle is in a corner. When it is determined that the vehicle is approaching, it is determined that the vehicle is approaching a downhill and that the vehicle is approaching a corner without performing downshifting by the accelerator on / off shift control. And a shift control means for performing a shift-down shift by accelerator on / off shift control when performed.

In this case, if it is determined that the vehicle is approaching an uphill road and that the vehicle is approaching a corner, the accelerator on / off shift control is not performed, and the shift down by accelerator on → off is performed. No shifting takes place. Then, when it is determined that the vehicle is approaching a downhill and that the vehicle is approaching a corner, an accelerator on / off shift control is performed, and a downshift is performed by accelerator on → off. .

Therefore, the driver can drive the vehicle while associating the driver's intention to decelerate the vehicle with the road condition.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of a vehicle control device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a vehicle control device according to the embodiment of the present invention.

FIG. 3 is a diagram showing a recommended vehicle speed map according to the embodiment of the present invention.

FIG. 4 is a diagram showing a deceleration line map according to the embodiment of the present invention.

FIG. 5 is a diagram showing a control condition table according to the embodiment of the present invention.

FIG. 6 is a flowchart illustrating an operation of a navigation processing unit according to the embodiment of the present invention.

FIG. 7 is a flowchart illustrating a subroutine of a recommended gear position determination process according to the embodiment of the present invention.

FIG. 8 is a flowchart illustrating a subroutine of a recommended value calculation process according to the embodiment of the present invention.

FIG. 9 is a flowchart illustrating a subroutine of control condition determination processing according to the embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 15 current position detection unit 16 data storage unit 31 CPU 33 ROM 101 road condition detection unit 102 driving environment condition determination unit 103 control condition determination unit 104 shift control unit 105 transmission

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Masao Kawai 10 Takane, Fujiicho, Anjo, Aichi Prefecture Inside Aisin AW Co., Ltd. (72) Hideki Nakajima 10 Takane, Fujiicho, Anjo, Aichi Prefecture Aisin・ AW Co., Ltd. (72) Inventor Muneo Kusabuka 10 Takane, Fujii-machi, Anjo, Aichi Prefecture Aisin AW Co., Ltd. (72) Inventor Jiju 23 Takane, Fujiicho, Anjo-city, Aichi Prefecture Address Aisin AW Co., Ltd. (72) Inventor Kunihiro Iwazuki 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Co., Ltd. (72) Inventor Takashi Ota 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation Co., Ltd. (72) Inventor Toshihiro Shiimado 2-19-12 Sotokanda, Chiyoda-ku, Tokyo Equos Co., Ltd. In the search

Claims (6)

[Claims] A transmission device for shifting gears; a road condition detecting device for detecting a road condition; a driving environment condition determining device for determining a driving environment condition based on the road condition; Vehicle control comprising: control condition determining means for determining a control condition based on one or more determination results; and shift control means for controlling the transmission in accordance with the control condition and a driver's operation of the vehicle. apparatus. 2. The vehicle control device according to claim 1, wherein the traveling environment condition is an attribute of a traveling road. 3. The road condition detecting means includes a data storage unit for storing a road condition, a position detecting device for detecting a current position of the vehicle, and a reading unit for reading a road condition corresponding to the current position from the data storage unit. The vehicle control device according to claim 1 provided with. 4. A transmission for shifting gears, a road condition detecting means for detecting a gradient and a radius of curvature on a traveling road, and that a vehicle is approaching an uphill, that the vehicle is approaching a corner, and that the vehicle is approaching a corner. When it is determined that the vehicle is not continuous, the vehicle is approaching an uphill road without performing a downshift by the brake-off / on-shift control, that the vehicle is approaching a corner,
And a shift control means for performing a shift-down shift by brake-off / on shift control when it is determined that the corners are continuous. 5. A transmission for shifting gears, road condition detecting means for detecting a gradient and a radius of curvature on a traveling road, and determining whether the vehicle is approaching an uphill road and determining that the vehicle is approaching a corner. When the determination is made that the vehicle is approaching a downhill road and that the vehicle is approaching a corner without performing downshifting by the accelerator on / off shift control, A vehicle control device comprising: a shift control unit that performs a downshift by on / off shift control. 6. A road condition is detected, a driving environment condition is determined based on the road condition, a control condition is determined based on the determination result, and a control of the transmission is performed in accordance with the control condition and a driver's operation of the vehicle. A recording medium on which a program is recorded.