JPH11311318A - Vehicle control device and recording medium recording program thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform control of every part of a vehicle corresponding to the actual condition of a road. SOLUTION: This control device is provided with a speed sensor 44 for detecting the vehicle speed, a speed reduction line setting means 101 for setting a speed reduction line for permitting the control of every part of a vehicle up to the time the vehicle reaches a specified node, a recommendation value calculating means 102 for calculating a recommendation value for the control of every part of the vehicle based on a set value given by the vehicle speed and the speed reduction line, and a control means 203 for controlling every part of the vehicle based on the recommendation value. Then, the speed reduction line is formed of a reduction line part indicating the vehicle speed pattern up to the time a vehicle reaches a specified node from the present position, and an additional part successively continued to the speed reduction line part.

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, there has been provided a vehicle control device for controlling various parts of a vehicle, for example, performing traveling control in accordance with road conditions. In this case, for example, when it is assumed that the vehicle approaches a corner and when a predetermined condition such as the accelerator pedal is loosened by the driver is satisfied, the corner control is performed as the traveling control, and the corner control is performed. In the control, the upper limit shift speed is determined, and a shift speed higher than the upper limit shift speed is not selected.

To this end, a navigation device is mounted on a vehicle, a node data file is provided in a data storage unit provided in the navigation device, and the node data is stored in the node data file.
The node data is an element representing the position and shape of the road, and includes data indicating each node on the road and a link connecting the nodes. The node data is
If necessary, data indicating the turning angle of the road at each node is provided.

[0004] A navigation processing unit of the navigation device performs an operation based on the node data and other predetermined data, creates control data, and performs the corner control according to the control data. FIG. 2 is a diagram showing an area where corner control is performed by a conventional vehicle control device. In the figure, the horizontal axis indicates the position of the vehicle, and the vertical axis indicates the vehicle speed and the curvature.

[0005] In view, L1 is the line showing the curvature of the actual _{road, Nd i (i = 1,2,} ...) , the current position of the vehicle in the node data file, i.e., predetermined on the road including the current position among the nodes in the range of, curvature of the road radius, i.e., the node radius is threshold (threshold) value smaller than the specific node, when it is found that respective nodes Nd _i exists, corner control starts Is done. Also,
_{V Ri (i = 1,2, ...} ) , by referring to the predetermined recommended vehicle speed map is the node Nd _i is not recommended vehicle speed that is calculated corresponding to the vehicle toward the recommended vehicle speed V _Ri The shift permission control deceleration line M is set so that the vehicle can be decelerated, and when the current vehicle speed V _now falls in an area above the shift permission control deceleration line M, that is, the current vehicle speed V _now is shifted. If the value is equal to or greater than the value on the control deceleration line M, a recommended value for determining a predetermined recommended shift speed is calculated.

[0006] Incidentally, shift permitting control deceleration line M, for convenience, are shown only one for each node Nd _i,
Actually, a plurality of shift permission control deceleration lines having different inclinations are provided so that a recommended shift speed can be selected from among a plurality of shift speeds in accordance with a difference between the current vehicle speed V _now and the recommended vehicle speed V _Ri. Is set. When the recommended shift speed is determined in this way, the upper limit shift speed is determined based on the recommended shift speed and a predetermined operation of the driver, and the data of the upper limit shift speed is stored in the automatic transmission control device. Sent to. Therefore, the automatic transmission control device controls the automatic transmission such that a gear speed higher than the upper limit gear speed (higher gear speed, lower gear ratio, etc.) is not selected, and the vehicle travels. Let it.

[0007]

However, in the conventional vehicle control device, as shown by the line L1, while the actual curvature of the road continuously changes, it represents the shape of the road. Is stored as digital data in the node data file.

Namely, each specific node Nd _i is formed by one another at a predetermined distance, the deceleration line M for transmission permission control is not set at between nodes Nd _i. Therefore, the recommended values are not calculated in the hatched areas AR1 to AR3 in FIG. 2 even though some recommended values are calculated when the shift permission control deceleration line is originally set. Become.

As a result, in the regions AR1 to AR3, the recommended gear position cannot be determined, and corner control corresponding to actual road conditions may not be performed. The present invention solves the problems of the conventional vehicle control device, and provides a vehicle control device capable of controlling each part of the vehicle in accordance with an actual road condition, and a recording medium storing the program thereof. With the goal.

[0010]

For this purpose, the vehicle control device of the present invention controls each part of the vehicle based on the position of a predetermined node in the road data and the current position estimated in the road data. It has become.
And a vehicle speed sensor for detecting a vehicle speed, a deceleration line setting means for setting a deceleration line for permitting control of each part of the vehicle until reaching a predetermined node, and a set value given by the vehicle speed and the deceleration line. A recommended value calculating unit that calculates a recommended value for control of each unit of the vehicle based on the control unit, and a control unit that controls each unit of the vehicle based on the recommended value.

[0011] The deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously with the deceleration line portion. In another vehicle control device of the present invention, the gear position of the automatic transmission is controlled based on the position of a predetermined node in the road data and the current position estimated in the road data.

A vehicle speed sensor for detecting a vehicle speed, a deceleration line setting means for setting a deceleration line for permitting a downshift until reaching a predetermined node, and a deceleration line provided by the vehicle speed and the deceleration line A recommended value calculating means for calculating a recommended value based on the set value; an upper gear position determining means for determining an upper gear position based on the recommended value and outputting a gear output of the upper gear position; And an automatic transmission for shifting gears based on the

[0013] The deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously with the deceleration line portion. In still another vehicle control device of the present invention, the additional portion is made equal to a recommended vehicle speed set in correspondence with a node radius at the predetermined node.

In the recording medium of the present invention, a recommended value for control of each part of the vehicle is calculated based on a set value given by a vehicle speed and a deceleration line, and control of each part of the vehicle is performed based on the recommended value. The line records a program including a deceleration line portion indicating a vehicle speed pattern from the current position to a predetermined node, and an additional portion formed continuously from the deceleration line portion.

[0015]

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, 44 is a vehicle speed sensor, 101 is a deceleration line setting means, 102 is a recommended value calculation means, and 203 is a control means for controlling each part of the vehicle.

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

In FIG. 3, reference numeral 10 denotes an automatic transmission (A /
T), 11 is an engine (E / G), 12 is an automatic transmission control device (EC) for controlling the entire automatic transmission 10
U) and 13 are engine control devices (EFI) for controlling the entire engine 11 and 14 is a navigation device. 41 is a blinker sensor, 42 is an accelerator sensor for detecting the driver's operation, 43 is a brake sensor for detecting the driver's operation, 44 is a vehicle speed sensor, 45 is a throttle opening sensor, and 46 is a ROM as a recording medium. , 4
Reference numeral 7 denotes a mode selection unit for selecting a normal mode or a navigation mode.

The navigation device 14 performs various arithmetic processes such as a navigation process based on a current position detection unit 15 for detecting a current position, a data storage unit 16 storing road data and the like, and input information. It has a navigation processing unit 17, an input unit 34, a display unit 35, a voice input unit 36, a voice output unit 37, and a communication unit 38. The current position detector 15 includes a GPS (global positioning sensor) 21, a geomagnetic sensor 22, a distance sensor 23, a steering sensor 24, and a beacon sensor 2.
5, a gyro sensor 26, an altimeter not shown, and the like.

The GPS 21 receives a radio wave generated by an artificial satellite to detect a current position on the earth, and the geomagnetic sensor 22 detects a direction in which the vehicle is facing by measuring geomagnetism. The distance sensor 23 detects a distance between predetermined points on a road. As the distance sensor 23, for example, a sensor that measures the rotation speed of a wheel and detects a distance based on the rotation speed,
A device that measures acceleration, integrates the acceleration twice, and detects a distance, or the like can be used.

The steering sensor 24 is for detecting a rudder angle, and includes, for example, an optical rotation sensor, a rotation resistance sensor, and a wheel (not shown) attached to a rotating portion of a steering wheel (not shown). An angle sensor or the like attached to the camera 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, and uses a gas rate gyro, a vibration gyro, or the like. Then, 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 independently detect the current position. However, in the case of the distance sensor 23, the distance sensor 2
The current position is detected by combining the distance detected by 3 with the azimuth detected by the geomagnetic sensor 22 and the gyro sensor 26. The current position can also be detected by combining the distance detected by the distance sensor 23 and 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 photo data file, and a data file storing information for each main area such as a hotel, a gas station, and a tourist spot guide in each area are provided. In each of these data files, in addition to data for searching for a route, a guide map is displayed on the screen of the display unit 35 along the searched route, or a characteristic photograph or a frame diagram at an intersection or a route. , The distance to the next intersection, the traveling direction at the next intersection, and the like, and various kinds of data for 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 relating to each intersection, the node data file stores node data relating to nodes, and the road data file stores road data relating to roads.
A road condition is represented by the intersection data, 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 stored in the map data file, and includes data indicating each node on the road and a link connecting the nodes. Then, according to the road data, the width of the road itself, the slope (gradient), the cant, the bank, the state of the road surface, the number of lanes on the road, the point where the number of lanes decreases, the point where the width decreases, etc. Is the radius of curvature, intersection, T-junction, corner entrance, etc.
Railroad crossings, highway exit ramp ways, highway tollgates,
Downhill road, uphill road, road type (national road, general road, expressway, etc.)
Etc. are respectively represented.

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 on which the program of the above is recorded, and the navigation processing unit 17 is provided with the input unit 34, the display unit 35, the voice input unit 36,
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 3
Instead of 3, various recording media such as a magnetic tape, a magnetic disk, a floppy disk, a magnetic drum, a CD, an MD, a DVD, an optical disk, an IC card, and an optical card can be used.

In this embodiment, the ROM 33
Various programs are recorded in the data storage unit 16.
Although various data are stored in the external storage medium, various programs and various data can be recorded on 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, a control program or the like of the automatic transmission control device 12 can also be recorded on the external recording medium. In this way, various programs recorded on various recording media can be started, 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 transmitter, a telephone line, and the like. For example, road information such as traffic congestion received by an information sensor (not shown) is provided. , Traffic accident information, GP
Various data such as D-GPS information for detecting the detection error in S21 is received. Note that at least a part of the program and data for realizing the functions of the present invention may be received by the communication unit 38 and stored in a flash memory or the like.

The input section 34 is for correcting a position at the start of traveling and for inputting a destination, and is provided with a keyboard, a mouse, and a bar code reader provided separately from the display section 35. , A light pen, a remote control device for remote operation, and the like. Further, the input unit 34 may be configured by a touch panel that performs an input by touching a key or a menu displayed as an image on the display unit 35.

An operation guide,
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 3
Reference numeral 7 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.

Incidentally, in the vehicle control device having the above-described configuration, the automatic transmission control device 12 shifts up or down according to the control program recorded in the ROM 46. 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. ROM4 based on the throttle opening
6, a gear position corresponding to the vehicle speed V and the throttle opening is selected with reference to a gear shift map (not shown).

When the driver operates the mode selection section 47 to select the navigation mode, the navigation processing section 17 reads out predetermined road data from the data storage section 16 to limit the gear position. Is set, and a control recommendation flag is transmitted to the automatic transmission control device 12 in accordance with the control content. And
The automatic transmission control device 12 receives the control recommendation flag, and when a predetermined condition such as the release of an accelerator pedal (not shown) is satisfied, determines an upper gear position, and determines the upper gear position. Avoid shifting. In addition,
At all times, the same processing as when the navigation mode is selected can be performed by the navigation processing unit 17.

Next, the operation of the navigation processing unit 17 when the navigation mode is selected will be described. In the present embodiment, a case where corner control is performed as travel control will be described. First, the CPU 31
Reads the current position detected by the current position detection unit 15, accesses a road data file in the data storage unit 16, reads road data at a position ahead of the current position from the road data file, and executes control. Determine whether the condition is satisfied. In this case, as the control execution condition, it is set that the road data exists in the road data file, a fail operation does not occur, and the like.

When the above-mentioned control execution condition is satisfied,
The CPU 31 performs a road shape determination process to determine a road shape. That is, the CPU 31 determines the current position,
And based on the road data of the position ahead of the current position,
A control list is created, and a node radius of the road is calculated for each node within a predetermined range (for example, 1 to 2 km from the current position) on the road including the current position.

If necessary, a route from the current position to the destination can be searched, and a node radius of a node on the searched route can be calculated. In this case, the node radius is calculated based on the road data based on the absolute coordinates of each node and the absolute coordinates of two nodes adjacent to each node. In addition, 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 needed.

Next, when a node having the node radius smaller than the threshold is detected within the predetermined range, the CPU 31 determines that there is a corner requiring corner control, and refers to the recommended vehicle speed map of FIG. to read 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.

In the present embodiment, when the vehicle approaches a corner, it is determined that deceleration is required so that the vehicle speed V becomes the recommended vehicle speed V _Ri before the vehicle reaches the corner from the current position. . Therefore, a specific node Nd _i (i = 1, 2,...) Whose node radius is smaller than the threshold value is selected from the nodes within the predetermined range, and the respective nodes N
Recommended for d _i vehicle speed _{V Ri (i = 1,2, ...} ) are calculated, the recommended gear stage on the basis of the recommended vehicle speed V _Ri is adapted to be determined.

For this purpose, the CPU 31 sets each node Nd
_{For i} , a deceleration acceleration reference value α representing a threshold value that is considered to be desirable to maintain the current gear position. If the deceleration acceleration (degree of deceleration) becomes larger than this, the gear position may be set to 3rd speed or less. A deceleration acceleration reference value β1 representing a threshold considered to be desirable, and a deceleration acceleration reference value β2 representing a threshold considered to be desirable to reduce the speed to the second speed or lower when the deceleration becomes larger than this, are 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, if the driver tries to decelerate the vehicle on an uphill road,
Sufficient deceleration can be performed without actively 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, β1, and β are set in accordance with the gradient of the road.
2 can also be corrected. Further, the total weight of the vehicle may be calculated, and for example, 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.

[0040] Subsequently, CPU 31 calculates the section distance L to each node Nd _i from the current position, the compartment between the distance L,
On the basis of the recommended vehicle speed V _R and the decelerating acceleration reference value alpha, the current hold control deceleration line Mh to maintain the gear position, section distance L, the recommended vehicle speed V _R and deceleration acceleration reference value .beta.1, .beta.2 , A deceleration line for permitting downshifting, that is, deceleration lines M1 and M2 for shift permission control are respectively set. The hold control deceleration line Mh corresponds to the shift permission control deceleration line M1, for example, by one from the shift permission control deceleration line M1.
The value is reduced by 0 [km / h]. Further, the hold control deceleration line Mh can be shifted by a predetermined distance from the shift permission control deceleration line M1. The hold control deceleration line Mh and the shift permission control deceleration lines M1 and M2 are fixed until the corner control ends.

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 can travel nodes Nd _i in the recommended vehicle speed V _R.
The hold control deceleration line Mh and the shift permission control deceleration lines M1 and M2 can be set not only by calculating, but also by calculating
3 as a map, and can be set by referring to the map. In this case, ROM3
3 constitutes the deceleration line setting means 101 (FIG. 1).

Subsequently, the deceleration line setting means 10 of the CPU 31
1 is a value Vh of the hold control deceleration line Mh as a first set value corresponding to the current position, and a second value corresponding to the current position.
V1 of the shift permission control deceleration line M1 as the set value of
And a value V2 of the shift permission control deceleration line M2 as a third set value corresponding to the current position, read the current vehicle speed V _now , read the current vehicle speed V _now and the values Vh, V
1 and V2.

When the vehicle speed V _now is equal to or higher than the value Vh, the hold control is performed, and the recommended value calculating means 102 of the CPU 31 makes the same recommendation as the current actual gear position (hereinafter referred to as "actual gear position"). Calculate the value. That is, if the actual gear is 4th, 4th is calculated as the recommended value. When the vehicle speed V _now is equal to or higher than the value V1 and lower than the value V2, the shift permission control is performed, and the recommended value calculating means 102
Calculates the third speed as a recommended value. Further, the vehicle speed V
_{If now} is greater than or equal to the value V2, shift permission control is performed,
The recommended value calculating means 102 calculates the second speed as a recommended value.

[0044] The recommended value is calculated for each node Nd _i, when the calculation for all nodes Nd _i finished to control end condition is satisfied, among the respective recommended values, as a recommended gear stage smallest It is determined. Then, the recommended gear position is set as the control content. Next, a recommended value is calculated in the intersection control determination process, and the recommended value is set as the control content. Then, a control recommendation flag corresponding to each control content is set, and the control recommendation flag is transmitted to the automatic transmission control device 12.

Subsequently, upper limit gear position determining means (not shown) as the control means 203 (FIG. 1) of the automatic transmission control device 12 determines the CPU 31 based on the control recommendation flag.
To determine whether the calculated recommended value is the second speed, the third speed, or the fourth speed, and if the recommended value is the fourth speed, sets 4 to the value S _S for determining the upper limit gear position. I do. When the recommended value is the third speed, the accelerator pedal being depressed is released and the accelerator is turned from on to off or
When the brake pedal which is not depressed is depressed and the brake is changed from off to on, the upper limit gear position determining means sets 3 to the value S _S. Also, if the recommended value is 2 speed, at the brake OFF → ON, the upper gear determination means sets 2 to the value S _S. In this case, for example, from accelerator on to off, the accelerator pedal depression amount detected by the accelerator sensor 42 decreases by 10% or more per unit time, and the accelerator sensor 4
2 is off.

[0046] Incidentally, the recommended value is 3 speed, not the accelerator-on → off, if not also to the brake OFF → ON, the upper gear determination means sets the 4 to the value S _S. If the recommended value is the second speed and the brake does not change from off to on, the upper limit gear position determining means determines the value S _S
Is set to 3. When the value S _S is set in this way, the upper limit shift speed determining means determines the value S _S as the upper limit shift speed. And the upper limit gear position;
The upper limit shift speed determined by the basic automatic transmission control determination performed in the normal vehicle control device not including the navigation device 14 is compared, and the lower limit shift speed of the two upper limit shift speeds is determined. Is output.

As a result, the automatic transmission control device 12 performs the speed change process at the output upper limit gear stage and causes the vehicle to travel. Then, when the node radius of the road becomes larger than the threshold value, the corner control is released, and normal control is performed. By the way, while the actual curvature of the road continuously changes, the node data for representing the shape of the road is stored in the node data file as digital data.

[0048] Thus, since each node Nd _i are formed together at a predetermined distance, if the recommended values are not calculated in between nodes Nd _i, can not determine the recommended gear stage, the actual road Corner control cannot be performed according to the situation. Therefore, a node width is formed on the hold control deceleration line Mh and the shift permission control deceleration lines M1 and M2.

FIG. 15 is a diagram showing a region where corner control is performed in the embodiment of the present invention. In the figure, the horizontal axis indicates the position of the vehicle, and the vertical axis indicates the vehicle speed and the curvature. In FIG, L1 is a line indicating the curvature of the actual road, Nd _i, of each node in the predetermined range on the road including the current position in the node data file, node radius be smaller than the threshold specific node When it is found that respective nodes Nd _i exists, corner control is started. Also, V _Ri by referencing the predetermined recommended vehicle speed map, the node Nd _i is a recommended vehicle speed which is calculated to correspond to, to be able to decelerate the vehicle toward the recommended vehicle speed V _Ri , Shift reduction control deceleration line M1
Is set, and the current vehicle speed V _now falls within a region above the shift permission control deceleration line M1, that is, the current vehicle speed V now
_{When now} is equal to or greater than the value on the shift permission control deceleration line M1, a recommended value for determining a predetermined recommended shift speed is calculated.

The speed change permission control deceleration line M1
Are a deceleration line portion ma indicating a vehicle speed pattern from the current position to the node Nd _i , and the deceleration line portion m
is formed continuously with a, with consists of appendixes mb to form a node width extending on both sides around the respective nodes Nd _i, the additional moiety mb is a first portion extending on the side away from the current position mb ₁ , and a second portion mb ₂ extending on the side closer to the current position. Then, in the present embodiment, the vehicle speed V of the additional portion mb is equal to the recommended vehicle speed V _Ri corresponding to the node Nd _i. Note that the additional portion mb may have a predetermined node width and be set in a predetermined vehicle speed pattern.

The first part mb ₁ and the second part mb
₂ can be changed as needed. For example, while traveling on an uphill road, sufficient deceleration can be performed,
Since the necessity of performing corner control is reduced, the first portion mb
It is possible to shorten the _first and second portions mb _2. In addition,
Actually, as shown in FIG. 5, a shift permission control deceleration line M2 and a hold control deceleration line Mh are set in addition to the shift permission control deceleration line M1.

[0052] In this case, each specific node Nd _i are formed together at a predetermined distance, each node Nd _i
In between, a control area is formed by a shift permission control deceleration line M1 in a portion other than the hatched area AR11 in FIG. Therefore, the area AR11 in which the recommended value is not calculated is smaller than the hatched areas AR1 to AR3 shown in FIG. 2, and the recommended value can be calculated based on the shift permission control deceleration line M1. Corner control corresponding to the road condition described above.

Next, a flowchart showing the operation of the navigation device 14 (FIG. 3) will be described. FIG. 6 is a main flowchart showing the operation of the navigation device according to the embodiment of the present invention. Step S1 The current position is read, and road data at a position ahead of the current position is input. Step S2: It is determined whether the control execution condition is satisfied. If the control execution condition is satisfied, the process proceeds to step S3, and if not, the process returns. Step S3 A corner control determination process is performed. Step S4: Perform intersection control determination processing. Step S5: The control recommended flag is set to the automatic transmission control device 1.
2 (FIG. 3).

Next, a subroutine of the corner control determination process in step S3 of FIG. 6 will be described. FIG. 7 is a flowchart showing a subroutine of the corner control determination process according to the embodiment of the present invention. Step S3-1: Perform road shape determination processing. Step S3-2: A recommended gear position determination process is performed. Step S3-3: Set control contents.

Next, the subroutine of the road shape determination processing in step S3-1 in FIG. 7 will be described. FIG.
5 is a flowchart illustrating a subroutine of a road shape determination process according to the embodiment of the present invention. Step S3-1-1: Create a control list. Step S3-1-2 It is determined that there is a corner requiring corner control.

Next, the subroutine of the recommended gear position determination process in step S3-2 in FIG. 7 will be described. FIG. 9 is a flowchart showing a subroutine of a recommended gear position determination process according to the embodiment of the present invention. Step S3-2-1 Change the deceleration line. Step S3-2-2 A recommended value calculation process is performed. Step S3-2-3: It is determined whether or not the control end condition is satisfied. If the control end condition is satisfied, the process returns. If not, the process returns to step S3-2-2.

Next, a subroutine of the intersection control determination process in step S4 of FIG. 6 will be described. FIG.
5 is a flowchart illustrating a subroutine of an intersection control determination process according to the embodiment of the present invention. Step S4-1: The surrounding road conditions are determined, and road attributes, positional relationships between a plurality of intersections, and the like are checked. Step S4-2: A recommended value is calculated. Step S4-3: Set the control details.

Next, the subroutine of the recommended value calculating process in step S3-2-2 in FIG. 9 will be described. FIG. 11 is a flowchart illustrating a subroutine of a recommended value calculation process according to the embodiment of the present invention. Step S3-2-2-1: Each node Nd from the current position
The section distance L to _i is calculated. Step S3-2-2-2 Values Vh (FIG. 5), V1, V
2 is calculated. Step S3-2-2-3 The current vehicle speed V _now is read. Step S3-2-2-4: The vehicle speed V _now is equal to the value Vh.
It is determined whether or not this is the case. If the vehicle speed V _now is equal to or higher than the value Vh, the process proceeds to step S3-2-2-5, where the vehicle speed V
_{If now} is lower than the value Vh, step S3-2-2-1
Go to 0. Step S3-2-2-5: The vehicle speed V _now is equal to the value V
It is determined whether it is one or more. Vehicle speed V _now is value V1
If the vehicle speed is equal to or more than the above, the process proceeds to step S3-2-2-2-7.
_{If now} is lower than the value V1, step S3-2-2-6.
Proceed to. Step S3-2-2-6 Turns on the hold flag. Step S3-2-2-7: The vehicle speed V _now is equal to the value V
It is determined whether it is two or more. Vehicle speed V _now is value V2
If it is above, the process goes to step S3-2-2-9, and the vehicle speed V
_{If now} is lower than the value V2, step S3-2-2-8
Proceed to. Step S3-2-2-8: The third speed is calculated as the recommended value. Step S3-2-2-9: The second speed is calculated as the recommended value. Step S3-2-2-10: It is determined whether or not the hold flag is on. If the hold flag is on, step S3-2.
The process proceeds to -2-11, and returns if the hold flag is off. Step S3-2-2-11: The actual gear position is set to the recommended value.

Next, a flow chart showing the operation of the automatic transmission control device 12 (FIG. 3) will be described. FIG. 12 is a main flowchart showing the operation of the automatic transmission control device according to the embodiment of the present invention. Step S11 The vehicle information such as the detection signal of the accelerator sensor 42 (FIG. 3), the detection signal of the brake sensor 43, the vehicle speed V detected by the vehicle speed sensor 44, and the throttle opening detected by the throttle opening sensor 45 is read. Step S12 A basic automatic transmission control determination process is performed. Step S13: It is determined whether or not the cooperative control condition is satisfied. If the cooperative control condition is satisfied, the process proceeds to step S14; otherwise, the process proceeds to step S16. In this case, whether or not the cooperative control condition is satisfied is determined based on whether or not the vehicle is in a state suitable for performing the traveling control. For example, water temperature, oil temperature, detection signals of various sensors are within normal ranges, communication with the navigation device 14 is normally performed, and data received from the navigation device 14 is normal. Something is set as the cooperative control condition. In addition, the cooperative control condition is that an overdrive switch for selecting overdrive traveling is on and a select switch for selecting a shift pattern for traveling on a snowy road is on. Can also. Step S14: The control recommendation flag is received from the navigation device 14. Step S15: Perform cooperative control determination processing. Step S16: The gear position determined by referring to the basic gear shift map in the basic automatic transmission control determination process is compared with the upper limit gear position determined in the cooperative control determination process, and the lower gear position is selected. . Step S17: The selected gear is output as the gear shift output.

Next, the subroutine of the cooperative control determination process in step S15 of FIG. 12 will be described. FIG.
3 is a flowchart showing a subroutine of a cooperative control determination process according to the embodiment of the present invention. Step S15-1: It is determined whether or not any of the recommended control flags received from the navigation device 14 is turned on. If any of the recommended control flags is on, the process proceeds to step S15-2, and if not, the process proceeds to step S15-3. Step S15-2: An upper limit gear position determination process is performed. Step S15-3: It is determined whether or not the cooperative control is being performed. If cooperative control is being performed, step S15
The process proceeds to -4, and returns if the cooperative control is not being performed. Note that whether or not the cooperative control is being performed is determined based on whether or not a recommended value is calculated in the corner control and the vehicle is running at a shift speed according to the calculated recommended value. Step S15-4: A release control determination process is performed, and the corner control ends. In the release control determination process, for example, in addition to being away from the corner, the third speed is determined by referring to the basic shift map;
The corner control is terminated when each of the release conditions such as that the acceleration is equal to or more than a predetermined value and that the corner control is not completed even if the vehicle travels a predetermined distance (guard distance) or more is satisfied.

When the accelerator pedal is returned by a predetermined amount or more, when the accelerator pedal is returned at a predetermined speed or more,
The release condition may be that the driver turns on the overdrive switch or the like. Next, a subroutine of the upper limit gear position determination process in step S15-2 in FIG. 13 will be described.

FIG. 14 is a flowchart showing a subroutine of the upper limit gear position determining process in the embodiment of the present invention. Step S15-2-1: It is determined whether the recommended value calculated based on the control recommended flag received from the navigation device 14 (FIG. 3) is the second speed, the third speed, or the fourth speed. If the recommended value is the second speed, step S15-2-2
If the recommended value is the third speed, step S15-2-3
On the other hand, if the recommended value is the fourth speed, step S15-2-6
Proceed to. Step S15-2-2: It is determined whether or not the brake is changed from off to on. If the brake is off → on, the process proceeds to step S15-2-4. If the brake is not off → on, the process proceeds to step S15-2-5. Step S15-2-3: It is determined whether or not the accelerator is on → off or the brake is off → on. If accelerator on → off or brake off → on, the process proceeds to step S15-2-5. If neither accelerator on → off nor brake off → on, the process proceeds to step S15-2-6. Step S15-2-4: Set 2 to the value S _S. Step S15-2-5: Set 3 to the value S _S. Step S15-2-6: Set 4 to the value S _S. Step S15-2-7: Determine the upper limit gear position.

In this embodiment, the running control in the automatic transmission is described as the control of each part of the vehicle. However, the control of the prime mover such as the internal combustion engine 11, the steering control, and the steering assist control are performed as the control of each part of the vehicle. The present invention can also be applied to brake control, brake assist control, suspension (damper damping force etc.) control, driving force distribution control in 4WD, and the like.

In this case, the deceleration line setting means 101 (FIG. 1)
Sets a deceleration line for permitting control of each part of the vehicle until the vehicle reaches a predetermined node.
Calculates a recommended value for control of each part of the vehicle based on a set value given by a vehicle speed and a deceleration line. And the control means 203 controls each part of a vehicle based on a recommendation value.
As the recommended values, for example, a recommended accelerator opening, a recommended brake assist force, a recommended damper damping force, a recommended driving force distribution value, and the like are calculated.

The present invention is not limited to the above embodiment, but can be variously modified based on the gist of the present invention, and they are not excluded from the scope of the present invention.

[0066]

As described above in detail, according to the present invention, in the vehicle control device, each part of the vehicle is controlled based on the position of a predetermined node in the road data and the current position estimated in the road data. Control is performed. And a vehicle speed sensor for detecting a vehicle speed, a deceleration line setting means for setting a deceleration line for permitting control of each part of the vehicle until reaching a predetermined node, and a set value given by the vehicle speed and the deceleration line. A recommended value calculating unit that calculates a recommended value for control of each unit of the vehicle based on the control unit, and a control unit that controls each unit of the vehicle based on the recommended value.

The deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously from the deceleration line portion. In this case, a recommended value is calculated based on the set value given by the vehicle speed and the deceleration line, and control of each part of the vehicle is performed based on the recommended value.

Further, the deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously from the deceleration line portion. A deceleration line is set between each node by the portion. Therefore, since the recommended value can be calculated based on the deceleration line, it is possible to control each part of the vehicle in accordance with the actual road condition.

According to another vehicle control device of the present invention, the gear position of the automatic transmission is controlled based on the position of a predetermined node in the road data and the current position estimated in the road data. . And a vehicle speed sensor for detecting a vehicle speed, a deceleration line setting means for setting a deceleration line for permitting a downshift until reaching a predetermined node, and a set value given by the vehicle speed and the deceleration line. Recommended value calculating means for calculating a recommended value based on the selected value, upper limit gear position determining means for determining an upper gear position based on the recommended value, and outputting a gear shift output of the upper gear position, and And an automatic transmission for shifting gears.

The deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously from the deceleration line portion. In this case, a recommended value is calculated based on the set value given by the vehicle speed and the deceleration line, and the upper limit shift speed is determined based on the recommended value. Then, a shift output of the upper limit shift speed is output, and a shift is performed based on the shift output.

Further, the deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously from the deceleration line portion. A deceleration line is set between each node by the portion. Therefore, since the recommended value can be calculated based on the deceleration line, the upper limit shift speed can be determined, and the traveling control corresponding to the actual road condition can be performed.

[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 diagram illustrating an area where corner control is performed by a conventional vehicle control device.

FIG. 3 is a schematic diagram of a vehicle control device according to an embodiment of the present invention.

FIG. 4 is a diagram showing a recommended vehicle speed map according to the embodiment of the present invention.

FIG. 5 is a diagram showing a deceleration line map according to the embodiment of the present invention.

FIG. 6 is a main flowchart showing an operation of the navigation device according to the embodiment of the present invention.

FIG. 7 is a flowchart illustrating a subroutine of corner control determination processing according to the embodiment of the present invention.

FIG. 8 is a flowchart illustrating a subroutine of a road shape determination process according to the embodiment of the present invention.

FIG. 9 is a flowchart illustrating a subroutine of a recommended gear position determination process according to the embodiment of the present invention.

FIG. 10 is a flowchart illustrating a subroutine of an intersection control determination process according to the embodiment of the present invention.

FIG. 11 is a flowchart illustrating a subroutine of a recommended value calculation process according to the embodiment of the present invention.

FIG. 12 is a main flowchart showing an operation of the automatic transmission control device according to the embodiment of the present invention.

FIG. 13 is a flowchart illustrating a subroutine of a cooperative control determination process according to the embodiment of the present invention.

FIG. 14 is a flowchart illustrating a subroutine of an upper limit gear position determination process in the embodiment of the present invention.

FIG. 15 is a diagram showing a region where corner control is performed in the embodiment of the present invention.

[Explanation of symbols]

10 automatic transmission 33, 46 ROM 44 the vehicle speed sensor 101 reduction line setting unit 102 recommendation value calculating unit 203 control unit M1 shift permitting control deceleration line Nd _i node V vehicle speed V _Ri recommended vehicle speed ma deceleration line sections mb appendixes

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kunihiro Iwatsuki 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor Takashi Ota 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor Hisanori Shirai 2--19-12 Sotokanda, Chiyoda-ku, Tokyo Inside Equos Research Co., Ltd.

Claims (4)

[Claims] 1. A vehicle control device for controlling each part of a vehicle based on a position of a predetermined node in road data and a current position estimated in the road data, a vehicle speed sensor detecting a vehicle speed, and Deceleration line setting means for setting a deceleration line for permitting control of each part of the vehicle until the vehicle arrives, and a recommended value for calculating a recommended value of control of each part of the vehicle based on the vehicle speed and a set value given by the deceleration line Calculating means, and control means for controlling each part of the vehicle based on the recommended value, wherein the deceleration line is a deceleration line portion indicating a vehicle speed pattern from a current position to reach the predetermined node; and A vehicle control device comprising an additional portion formed so as to be continuous with a deceleration line portion. A vehicle speed sensor for detecting a vehicle speed based on a position of a predetermined node in the road data and a current position estimated in the road data; Deceleration line setting means for setting a deceleration line for allowing downshifting until reaching the node, and recommended value calculation means for calculating a recommended value based on the vehicle speed and a set value given by the deceleration line And upper limit gear position determining means for determining an upper gear position based on the recommended value and outputting a gear shift output of the upper gear position, and an automatic transmission for performing gear shifting based on the gear shift output, The deceleration line includes a deceleration line portion indicating a vehicle speed pattern from the current position to the predetermined node, and an additional portion formed continuously with the deceleration line portion. A vehicle control device characterized by the above-mentioned. 3. The vehicle control device according to claim 2, wherein the additional portion is made equal to a recommended vehicle speed set corresponding to a node radius at the predetermined node. 4. A recommended value for control of each part of the vehicle is calculated based on a set value given by a vehicle speed and a deceleration line, and control of each part of the vehicle is performed based on the recommended value. A recording medium storing a program, comprising: a deceleration line portion indicating a vehicle speed pattern until a vehicle reaches a predetermined node; and an additional portion formed continuously to the deceleration line portion.