JP5083422B2 - Vehicle stop control device - Google Patents

Description

  The present invention relates to a vehicle stop control device that determines whether or not a vehicle needs to be stopped when the vehicle is stopped and maintains the stop.

  2. Description of the Related Art Conventionally, a travel control device that makes a host vehicle follow a preceding vehicle and travel is known. If follow-up running is carried out using such a travel control device, the host vehicle may stop automatically when the preceding vehicle stops. In this case, an occupant such as a driver or a passenger may misunderstand that the stop state continues and may perform an operation such as getting off the vehicle or leaving the driver's seat. However, if priority is given to following the preceding vehicle, the own vehicle also starts in accordance with the start of the preceding vehicle, which is not preferable in terms of ensuring the safety of the passenger.

  The technique described in Patent Document 1 is in the state of the host vehicle or the driver that is not suitable for executing such inter-vehicle distance control, for example, when an operation such as removing a seat belt or opening a door is performed. By performing stop continuation control, it is intended to ensure the safety of passengers.

Japanese Patent Laid-Open No. 11-165561

  Although this patent document 1 describes that stop continuation control is executed when it is detected that the situation is inappropriate for performing inter-vehicle distance control, what kind of stop continuation control is performed? Is not described.

  Then, this invention makes it a subject to provide the vehicle stop control apparatus which can determine the necessity of a stop at the time of a vehicle stop, and can perform the stop maintenance control which can maintain a stop reliably.

  In order to solve the above-described problems, a vehicle stop control device according to the present invention determines whether or not a vehicle needs to be stopped and operates a braking means that applies a braking force to the vehicle without being based on a braking operation by a driver. In the vehicle stop control device including a control unit for maintaining the stop state, a start permission determination unit that determines whether the vehicle is allowed to start, a parking state setting unit that sets the vehicle in a parking state, and a driver's braking operation state And a release means for the driver to release the stop state maintenance control by the control unit. When the control unit determines that the vehicle should not be started by the start permission determination unit, While the vehicle is set to the parking state by the state setting means, the release by the release means is performed when the driver is performing a braking operation.

  When determining that the vehicle should not be started by the start permission determination means, when the occupant removes the seat belt, leaves his seat (especially the driver's seat), opens the door, bonnet, trunk, etc. For example, the door lock may be released. This is because these operations and the like are not normally performed during traveling, and it is estimated that an occupant or the like determines that the vehicle is stopped. In this way, if it is determined that the vehicle should not be started, the parking brake can be activated or the parking range can be set in a vehicle equipped with an automatic transmission even if other stopping conditions are not satisfied. In addition to automatically setting the vehicle in a parked state, the vehicle is reliably stopped by maintaining the braking force to prevent unexpected start.

  By allowing the driver to perform a braking operation and maintaining the stop state, allowing the automatic release of the stop state can be performed quickly to make a transition from the stop state to the start state. The start can be reliably suppressed.

  According to the vehicle stop control device of the present invention, when it is determined that the vehicle should not be started when the vehicle stop maintenance control is performed, the parking state is automatically set by the parking state setting means. On the other hand, by canceling the release only when the driver is performing a braking operation, the unexpected behavior of the vehicle can be suppressed, and a vehicle behavior that matches the driver's intention can be realized.

It is a block diagram which shows the structure of the vehicle provided with the vehicle stop control apparatus concerning this invention. It is a flowchart which shows the stop maintenance control process by the vehicle stop control apparatus concerning this invention. It is a flowchart which shows the cancellation | release process of the stop maintenance control by the vehicle stop control apparatus concerning this invention.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the description, the same reference numerals are given to the same components in the drawings as much as possible, and duplicate descriptions are omitted.

  FIG. 1 is a block diagram illustrating a configuration of a vehicle including a vehicle stop control device according to the present invention. This vehicle stop control device is mainly composed of a control device 1, which is a control unit constituted by a CPU, a ROM, a RAM, and the like, an electric parking brake (PKB) device 2, and a braking system 3.

  The PKB device 2 includes a PKB switch 20 that operates a barking brake (PKB) 24, a CPU, a ROM, a RAM, and the like. The PKB control device 21 that controls the operation of the PKB 24 and the wire 23 operate the PKB 24. It consists of an electric motor 22. The PKB 24 operates the brake body of the PKB 24 disposed on the rear wheels RL and RR by pulling the wire 23 to lock the rear wheels RL and RR.

The braking system 3 adjusts the hydraulic pressure supplied from the brake actuator 32 to the wheel cylinders 34 _{FR to} 34 _RL disposed on the wheels _{FR to RL} through the brake pipe 33, thereby discs disposed on the wheels _{FR to RL.} A braking force is applied to the vehicle by operating a brake or a drum brake. The brake actuator 32 includes a plurality of electromagnetic valves, an accumulator, a pump, and the like, and it is preferable that the hydraulic pressure supplied to each of the wheel cylinders 34 _{FR to} 34 _RL can be adjusted independently. The brake actuator 32 is supplied with the master cylinder 30 connected to the brake pedal 35 and the hydraulic pressure supplied from the reservoir 31.

  The control device 1 also includes a wheel speed sensor 40 for detecting the wheel speed of each of the wheels FR to RL, a shift position sensor 41 for detecting a shift position, and an automatic transmission device as sensors for grasping the vehicle state quantity. The outputs of the selection gear train detection switch 42 for detecting the selected gear train, the drive torque sensor 43 for detecting the drive torque, and the longitudinal acceleration sensor 44 for detecting the longitudinal acceleration acting on the vehicle are inputted, and the vehicle is driven on a slope. In order to determine whether or not the vehicle is in the vehicle, the tilt angle obtained by the tilt angle calculation device 46 based on the output of the vehicle mounted tilt angle sensor 45 is input.

  The control device 1 further receives the outputs of the brake pedal sensor 51 and the accelerator pedal sensor 52 for determining the operation state of the driver (driver), and determines the attachment / detachment state of the driver seat belt. Output of the driver seat belt sensor 53 for the vehicle, the fuel filler sensor 54 for determining the opening / closing state of the fuel filler, and the door opening / closing sensor 55 for detecting the opening / closing state of various doors such as a door for getting on and off and a trunk room. ing. Further, an output of the stop maintenance control switch 10 for switching on / off of the stop maintenance control is also input.

  The control device 1 also has a function of controlling the brake actuator 32 of the braking system 3 and the PKB control device 21 of the PKB device 2.

  The operation of the vehicle stop control device according to the present invention will be specifically described below. FIG. 2 is a flowchart showing a control process of the vehicle stop keeping control. This process is executed by the control device 1.

  When it is detected that the vehicle stop keeping control switch 10 is turned on by the driver (step S1), it is detected whether the host vehicle is stopped based on the output of the wheel speed sensor 40 and the output of the longitudinal acceleration sensor 44 ( Step S3). If the host vehicle is not in a stopped state, the vehicle waits until it is stopped in step S3. If the vehicle is in a stopped state, the process proceeds to step S5, where the gradient (inclination) of the road surface on which the host vehicle is located based on the inclination angle calculated by the inclination angle calculation device 46 from the output of the vehicle-mounted inclination angle sensor 45 Corner).

  Once the road surface gradient is obtained, the target braking force necessary to maintain the stop state is calculated based on the road surface inclination angle (including the direction of inclination) (step S7). The target braking force set here is set in consideration of factors other than the inclination angle (such as a creep phenomenon in a vehicle equipped with an automatic transmission). In this case, the braking force is set with reference to the output of the drive torque sensor 43, the output of the shift position sensor 41, and the selected gear train detection switch 42.

  When the braking force is set, the brake actuator 32 is controlled so as to obtain the braking force, and a sufficient hydraulic pressure is supplied to each wheel cylinder 34, thereby applying a braking force exceeding the target braking force (step S9). Thereby, a stop state is maintained.

  During stop-maintenance control, the driver's seat belt sensor 53 indicates that the driver has not removed the seat belt, the fuel inlet sensor 54 indicates that the fuel inlet is not open, or the door opening / closing sensor 55 indicates that each door or It is determined whether the trunk, the hood, the luggage, etc. are not opened (start determination / non-start determination = step S11). If the driver's seat belt is removed, or the fuel filler port or each door is open, the driver leaves the seat, the passenger is getting on or off, loading or unloading, or refueling, etc. It is determined that the state is not to start. In this case, the process proceeds to the next step S13.

  When the driver's seat belt is attached and the fuel filler port or each door is closed, the driver is seated, and passengers get on and off, load and unload, and refuel. It is determined that the vehicle is ready to start, and the process returns to step S9. Although not shown in the flowchart in the figure, in the process of returning to step S9, the driver removes his / her foot from the brake pedal based on the outputs of the brake pedal sensor 51 and the accelerator pedal sensor 52, and the accelerator pedal is held a predetermined amount or more. If it is determined that the vehicle has been operated, the vehicle stop maintaining state is canceled because a start operation has been performed. Thereby, while ensuring the safety at the time of start from a stop maintenance state, start can be performed easily.

  In step S13, it is determined whether or not a brake operation is performed by the driver. This determination may be made based on the output of the brake pedal sensor 51. When the brake operation is being performed, it is determined that it is not necessary to perform parking state setting control described later, and the process returns to step S9. Even in this case, if the braking force by the driver's braking operation is insufficient, the vehicle may start unexpectedly. Therefore, the braking force is maintained as described above, and the maintenance control of the stopped state is continued. .

  On the other hand, when the brake operation by the driver is not performed, the process proceeds to step S15 to instruct the PKB device 2, and the PKB control device 21 operates the motor 22 to operate the main body of the PKB 24 by the wire 23. Thus, the rear wheels RL and RR are locked. In the case of a vehicle equipped with an automatic transmission, the transmission may be automatically changed to a parking range (P position). Only one of the shift setting and the PKB operation may be performed, but the vehicle can be more reliably set to the parking state by using both. Hereinafter, a case where the PKB device 2 is operated will be described as an example.

  After the parking state is set, the vehicle stop maintaining control is turned off, but the hydraulic pressure supplied to each wheel cylinder 34 by the brake actuator 32 is maintained immediately before, that is, the hydraulic pressure in the stop control state (step S17). By setting the parking state in this way and applying the braking force, the vehicle can be reliably maintained in a stopped state.

  Thereafter, it is determined whether or not a PKB release (release) operation has been performed by the PKB switch 20 (step S19). If the release operation has not been performed, the process returns to step S17 to continue the control for maintaining the braking force while setting the parking state. If it is determined in step S19 that the PKB release operation has been performed, the process proceeds to step S21, and simultaneously with the release operation of the PKB 24 by the motor 22, the hydraulic pressure supply to each wheel cylinder 34 by the brake actuator 32 is released. To do. Accordingly, the driver can quickly cancel the parking state setting and the application of the braking force by the operation of the PKB switch 20, and can shift to the traveling state, and the operability is improved.

  When setting the parking state, if the control is performed to change the shift position to the P position, the same control may be performed when the shift position is changed to the D range or the like to cancel the parking state. . Further, when the shift position setting and the PKB operation are combined, the release operation of the driver is simplified by canceling both parking state settings by one of the release operations.

  When the brake pedal is depressed at the time of the above release, the hydraulic pressure applied beyond the hydraulic pressure that should be set by the driver's operation amount may be released. The release of the hydraulic pressure may be performed gradually over a predetermined time.

  In addition, when stopping maintenance control and automatic setting of a parking state are performed, it is good to notify a driver of that by the display on the instrument panel of a driver's seat, a voice, etc. By recognizing that the vehicle is in such an automatic setting state, it is possible to appropriately cancel these states when starting.

  Here, as shown in steps S11 to S15, the parking state setting means is operated only when the driver does not perform the brake operation. This is because it is considered that the driver himself or herself recognizes the situation as listed in step S11 when the driver is performing a brake operation. However, even if the driver recognizes that the vehicle is in a stopped state, the driver may not fully understand the trends of other passengers. If the condition of S11 is satisfied, the parking state setting means may be operated.

  In addition, it is possible that the parking state is set only when a predetermined condition, for example, the brake operation amount is equal to or less than the predetermined amount, or the condition of step S11 is satisfied due to the trends of other occupants even in the brake operation state. If there is a possibility, the parking state setting means may be operated. Further, a seating sensor is arranged in the driver's seat instead of the driver's seat belt sensor 53, and a determination is made based on the output, or a driver image is acquired and the seating state is grasped by image recognition. Good.

  Next, the stop operation for stopping maintenance control will be described. FIG. 3 is a flowchart for explaining a release operation process performed by the vehicle stop keeping control switch 10. This process corresponds to the release process when the driver can manually release the stop maintenance control by turning off the stop maintenance control switch 10, and is repeatedly executed at a predetermined timing during the stop maintenance control. The

  First, in step S31, it is determined whether or not a stop maintenance end operation by the driver, that is, an off operation of the stop maintenance control switch 10 has been performed. When the operation is not performed, the stop maintenance control is maintained by skipping the subsequent processing and ending. When the operation is being performed, it is further determined based on the output of the brake pedal sensor 51 whether or not the brake operation by the driver is being performed. If the driver does not perform the brake operation and the vehicle stop maintenance control is canceled in that state, the hydraulic pressure supplied to the wheel cylinder 34 is lost, the applied braking force becomes zero, and the vehicle may start unexpectedly. Therefore, in such a case, the release is not permitted, and the subsequent processing is skipped and the process ends.

  On the other hand, if it is determined that the brake operation by the driver is being performed, the process proceeds to step S35, and the stop maintenance control is turned off. In this case, the hydraulic pressure supplied to each wheel cylinder 34 by the brake actuator 32 may be reduced only for the amount exceeding the brake operation amount by the driver. When such pressure reduction is performed, the pressure may be gradually reduced over a predetermined time or at a predetermined pressure reduction rate. Further, the release may be permitted only when the brake operation condition of the driver in step S33 exceeds the brake operation amount that can ensure the braking force necessary for maintaining the stop.

  By performing such a release process, the driver is obliged to turn off the stop maintenance control switch 10 in a state where the brake pedal 35 is depressed. It is possible to effectively prevent movement. For this reason, the safety of the vehicle is further improved.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus, 2 ... PKB apparatus, 3 ... Braking system, 10 ... Stop stop control switch, 20 ... PKB switch, 21 ... PKB control apparatus, 22 ... Motor, 23 ... Wire, 30 ... Master cylinder, 31 ... Reservoir, 32 ... Brake actuator, 33 ... Brake piping, 34 _{FR to} 34 _RL ... Wheel cylinder, 35 ... Brake pedal, 40 ... Wheel speed sensor, 41 ... Shift position sensor, 42 ... Selection gear train detection switch, 43 ... Drive torque sensor, 44 ... Longitudinal acceleration sensor, 45 ... In-vehicle inclination angle sensor, 46 ... Inclination angle calculation device, 51 ... Brake pedal sensor, 52 ... Accelerator pedal sensor, 53 ... Driver's seat belt sensor, 54 ... Refueling port sensor, 55 ... Door Open / close sensor, FR to RL ... each wheel.

Claims (2)

In the vehicle stop control device including a control unit that determines whether or not the vehicle needs to be stopped, operates a braking unit that applies a braking force to the vehicle without being based on a braking operation by the driver, and maintains the stop state.
Start permission determination means for determining whether the vehicle is permitted to start;
Parking state setting means for setting the vehicle in a parking state;
Means for determining the braking operation state of the driver;
Release means for releasing the stop state maintenance control by the control unit by the driver,
When the control unit determines that the vehicle should not be started by the start permission determination unit, the control unit sets the vehicle in a parking state by the parking state setting unit, while the release by the release unit is braked by the driver. A vehicle driving control device, which is performed when an operation is performed. In the vehicle stop control device including a control unit that determines whether or not the vehicle needs to be stopped, operates a braking unit that applies a braking force to the vehicle without being based on a braking operation by the driver, and maintains the stop state.
Start permission determination means for determining whether the vehicle is permitted to start;
Stopping state setting means for setting the vehicle to a stopping state;
Means for determining brake pedal operation by the driver;
A release means for the driver to release the stop state maintenance control by the control unit,
When the control unit determines that the vehicle should not be started by the start permission determination unit, the stop unit sets the vehicle by the stop state setting unit, while the release unit releases the release by the driver. A vehicle driving control device that is enabled when a pedal is operated.

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