JP6190766B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device including an automatic brake control unit that performs automatic brake control that automatically generates braking force on wheels without depending on a brake operation in the event of a vehicle collision.

  For example, Patent Document 1 discloses that automatic brake control is stopped by erroneous operation of an accelerator pedal at the time of a vehicle collision by stopping automatic brake control based on an operation of an accelerator pedal after a predetermined dead time has elapsed since the vehicle collided. A technical idea for avoiding the above is described.

Special table 2009-532790 gazette

  In the conventional technique such as Patent Document 1 described above, when the rise time from the start of the automatic brake control until the braking force of the wheel reaches the target braking force is longer than the dead time, the braking force of the wheel is the target braking force. The automatic brake control may be stopped by operating the accelerator pedal before reaching. In particular, in low-temperature environments such as cold regions, the braking force rise time is prolonged due to the increase in brake fluid viscosity compared to normal temperature environments, so automatic brake control before the wheel braking force reaches the target braking force. Is likely to be stopped.

  The present invention has been made in consideration of such problems, and reliably prevents the braking force of the wheels from reaching the target braking force while avoiding the stop of the automatic brake control due to the erroneous operation of the accelerator pedal or the brake pedal at the time of a vehicle collision. An object of the present invention is to provide a vehicle control device that can be raised.

  A vehicle control device according to the present invention performs automatic brake control that automatically generates a braking force on a wheel without depending on a brake operation at the time of a vehicle collision, and performs the automatic brake control based on an operation of an accelerator pedal or a brake pedal. A vehicle control device comprising: an automatic brake control unit that stops; and a braking force detection unit that detects a braking force generated on the wheels by the automatic brake control, wherein the automatic brake control unit is Even when the pedal or the brake pedal is operated, the automatic brake control is continued until the braking force detected by the braking force detection means reaches a target braking force.

  According to the vehicle control device of the present invention, since the automatic brake control is continued until the braking force of the wheels reaches the target braking force even when the accelerator pedal or the brake pedal is operated at the time of the vehicle collision, The braking force of the wheel can be reliably increased to the target braking force while avoiding the stop of the automatic brake control due to the erroneous operation of the accelerator pedal or the brake pedal.

  In the above vehicle control device, the automatic brake control unit, when the braking force detected by the braking force detection means stops without reaching the target braking force, a predetermined braking duration after the vehicle stops. The automatic brake control may be stopped when elapses.

  According to such a configuration, for example, even when the brake system becomes abnormal due to the influence of the vehicle collision and only a braking force smaller than the target braking force can be generated, the automatic brake control can be stopped in a safe state. it can.

  According to the present invention, the automatic brake control is continued until the braking force of the wheel reaches the target braking force even when the accelerator pedal or the brake pedal is operated at the time of the vehicle collision. It is possible to reliably increase the braking force of the wheel to the target braking force while avoiding the stop of the automatic brake control due to an erroneous operation of the pedal.

It is a block diagram of the vehicle provided with the vehicle control apparatus which concerns on one Embodiment of this invention. It is a flowchart explaining the automatic brake control by the vehicle control apparatus shown in FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a vehicle control apparatus according to the present invention will be described with reference to the accompanying drawings by giving preferred embodiments in relation to a vehicle equipped with the same.

  The vehicle 12 is configured as a four-wheel vehicle having a pair of left and right front wheels and a pair of left and right rear wheels. As shown in FIG. 1, the vehicle control device 10 performs various controls including automatic brake control of each wheel 14. It has.

  The vehicle control device 10 controls the brake pressure (braking hydraulic pressure) provided corresponding to the four brake parts 16 constituted by disc brakes and the like for generating a braking force on each wheel 14 and the brake parts 16. A brake actuator 18 for inflating the airbag 20, an inflator 22 for deploying the airbag 20, and an overall control unit 24.

  The brake actuator 18 generates a brake pressure having a magnitude corresponding to the amount of operation of the brake pedal 36. The brake actuator 18 generates a brake pressure having a magnitude corresponding to the automatic brake control signal output from the overall control unit 24 without depending on the operation of the brake pedal 36.

  The airbag 20 includes a driver seat front airbag, a passenger seat front airbag, a side airbag, a side curtain airbag, a pedestrian airbag, and the like. The inflator 22 generates gas for deploying the airbag 20 and is provided corresponding to the airbag 20.

  The overall control unit 24 includes a vehicle speed detector (vehicle speed detector) 26, a collision detection sensor 28, a braking force detector (braking force detector) 29, an accelerator pedal operation amount sensor 30, a brake pedal operation amount sensor 32, and the like. Sensor is connected.

  The vehicle speed detection unit 26 can use, for example, a wheel speed sensor provided on each wheel 14. In this case, the average value of the wheel speeds detected by the four wheel speed sensors is detected as the vehicle speed. The collision detection sensor 28 detects a vehicle collision, and is provided in a pair of left and right frontal collision detection sensors provided in the front frame, a pair of left and right side collision detection sensors provided in the center frame, and a rear frame. And a pair of left and right rear collision detection sensors. However, the number or location of the collision detection sensors 28 can be arbitrarily set.

  The braking force detector 29 detects the braking force generated at each wheel 14. As the collision detection sensor 28 and the braking force detection unit 29, for example, an acceleration sensor (G sensor) can be used. The accelerator pedal operation amount sensor 30 detects the operation amount of the accelerator pedal 34, and the brake pedal operation amount sensor 32 detects the operation amount of the brake pedal 36.

  The overall control unit 24 includes an ECU (Electronic Control Unit). As is well known, the ECU is a computer including a microcomputer, and includes a memory 38 such as a CPU (Central Processing Unit), a ROM (Read Only Memory) and a RAM (Random Access Memory), an A / D converter, and a D / A. It has an input device such as a converter and a timer (timer) 40 as a clock unit. The ECU functions as various function realization units (function realization means), for example, a control unit, a calculation unit, a processing unit, and the like when the CPU reads and executes a program recorded in the ROM.

The memory 38 stores a target braking force B0 and a braking duration time ta. The target braking force B0 can be arbitrarily set. For example, the target braking force B0 can be set to a braking force such that the vehicle deceleration is 0.5G. 1G is 9.8 m / s ² . However, the target braking force B0 can be set arbitrarily. The braking continuation time ta is a time during which braking force is continuously generated on each wheel 14 after the vehicle stops after a vehicle collision. The braking duration time ta can be set arbitrarily. The timer 40 measures an elapsed time after stopping after the vehicle collision.

  The overall control unit 24 is provided with an acceleration sensor (not shown) such as an orthogonal three-axis G sensor, a roll rate sensor, and a yaw rate sensor. These sensors can sense the posture and behavior of the host vehicle 12.

  The overall control unit 24 includes a collision determination unit 42, an airbag control unit 44, an airbag deployment determination unit 46, a braking force determination unit 48, a time determination unit 50, and an automatic brake control unit 52.

  The collision determination unit 42 determines the presence or absence of a vehicle collision based on the output signal from the collision detection sensor 28. Specifically, the collision determination unit 42 determines the presence or absence of a vehicle collision by comparing the output signal of the collision detection sensor 28 and the output signal of the orthogonal three-axis G sensor, and the collision mode (front collision, side collision). , Rear collision).

  The airbag control unit 44 controls the deployment / non-deployment of the airbag 20. In other words, the airbag 20 is deployed by controlling the inflator 22 based on the output signal of the collision detection sensor 28 and the collision mode determined by the collision determination unit 42. That is, the airbag control unit 44 undeploys the airbag 20 when the output signal of the collision detection sensor 28 is equal to or lower than the threshold (the collision energy is relatively small), and the output signal of the collision detection sensor 28 exceeds the threshold. The airbag 20 corresponding to the collision mode is deployed.

  The airbag deployment determination unit 46 determines whether or not the airbag 20 has been deployed (deployment status of the airbag 20) based on an output signal from the airbag control unit 44 to the inflator 22.

  The braking force determination unit 48 determines whether or not the braking force of each wheel 14 by the automatic brake control has reached the target braking force B0. The time determination unit 50 determines whether or not the measurement time t of the timer 40 has passed the braking duration time ta.

  The automatic brake control unit 52 outputs a brake control signal (automatic brake control signal) to the brake actuator 18 at the time of a vehicle collision, so that a predetermined value is applied to the wheel 14 without depending on the driver's operation (brake operation) of the brake pedal 36. The automatic brake control that automatically generates the braking force is performed.

  The vehicle 12 including the vehicle control device 10 according to the present embodiment is basically configured as described above. Next, brake control by the vehicle control device 10 will be described.

  As shown in FIG. 2, first, the collision determination unit 42 determines the presence or absence of a vehicle collision based on the output signal of the collision detection sensor 28 (step S1). If the collision determination unit 42 determines that there is no vehicle collision (step S1: NO), the process of step S1 is repeated.

  If the collision determination unit 42 determines that a vehicle collision has occurred (step S1: YES), the airbag control unit 44 sets the airbag 20 to be inactive when the output signal of the collision detection sensor 28 is equal to or less than a threshold value. When the output signal of the collision detection sensor 28 exceeds the threshold value, the airbag 20 corresponding to the collision mode is deployed.

  The airbag deployment determination unit 46 determines whether the airbag 20 has been deployed (deployment status of the airbag 20) (step S2). When the airbag deployment determination unit 46 determines that the airbag 20 is not deployed (step S2: NO), the current flowchart ends.

  If the airbag deployment determination unit 46 determines that the airbag 20 has been deployed (step S2: YES), the automatic brake control unit 52 performs automatic brake control (step S3).

  Specifically, the automatic brake control unit 52 outputs an automatic brake control signal to the brake actuator 18. Then, the brake actuator 18 outputs a brake pressure having a magnitude corresponding to the magnitude of the automatic brake control signal to each brake unit 16, so that a braking force is generated on each wheel 14. Thus, the vehicle 12 is automatically decelerated at a predetermined deceleration without depending on the driver's operation of the brake pedal 36.

  Then, the braking force determination unit 48 determines whether or not the braking force B of each wheel 14 detected by the braking force detection unit 29 has reached the target braking force B0 (step S4). When the braking force determination unit 48 determines that the braking force B has not reached the target braking force B0 (step S4: NO), the overall control unit 24 is based on the output signal from the vehicle speed detection unit 26. It is determined whether or not the host vehicle 12 has stopped (step S5). When the overall control unit 24 determines that the host vehicle 12 is not stopped (step S5: NO), the process returns to step S3, and the automatic brake control unit 52 continues the automatic brake control. That is, the automatic brake control unit 52 continues the automatic brake control until the braking force B of each wheel 14 reaches the target braking force B0 regardless of the operation of the accelerator pedal 34 or the brake pedal 36.

  When it is determined by the overall control unit 24 that the host vehicle 12 has stopped (step S5: YES), the time determination unit 50 determines whether the measurement time t of the timer 40 has passed the braking duration time ta. Determination is made (step S6).

  When the time determination unit 50 determines that the measurement time t of the timer 40 has not passed the braking continuation time ta (step S6: NO), the process returns to step S3 and the automatic brake control unit 52 performs automatic brake control. continue. Thereby, it is avoided that the vehicle 12 moves against the driver's intention immediately after stopping.

  When the time determination unit 50 determines that the measurement time t of the timer 40 has passed the braking duration time ta (step S6: YES), the automatic brake control unit 52 stops the automatic brake control (step S7). ). That is, the automatic brake control unit 52 stops the output of the automatic brake control signal to the brake actuator 18 and releases the braking force of each wheel 14. Thus, the driver can operate the vehicle 12 and retreat it to a safe place. Further, for example, even when the brake system becomes abnormal due to the influence of the vehicle collision and only a braking force smaller than the target braking force B0 can be generated, the automatic brake control can be stopped in a safe state. At this stage, the current flowchart ends.

  When the braking force determination unit 48 determines that the braking force B has reached the target braking force B0 (step S4: YES), the overall control unit 24 determines whether or not the accelerator pedal 34 or the brake pedal 36 has been operated. Is determined (step S8). Whether or not the accelerator pedal 34 is operated is determined based on the output signal of the accelerator pedal operation amount sensor 30, and whether or not the brake pedal 36 is operated is determined based on the output signal of the brake pedal operation amount sensor 32.

  If it is determined by the overall control unit 24 that the accelerator pedal 34 or the brake pedal 36 has been operated (step S8: YES), the automatic brake control unit 52 stops the automatic brake control (step S7). At this stage, the current flowchart ends.

  On the other hand, when it is determined by the overall control unit 24 that the accelerator pedal 34 or the brake pedal 36 has not been operated (step S8: NO), the processing from step S5 described above is performed. That is, the overall control unit 24 determines whether or not the host vehicle 12 has stopped based on the output signal from the vehicle speed detection unit 26 (step S5). Then, when the host vehicle 12 is not stopped in the overall control unit 24 (step S5: NO), the process returns to step S3 and the automatic brake control unit 52 continues the automatic brake control. When it is determined by the overall control unit 24 that the host vehicle 12 has stopped (step S5: YES), the time determination unit 50 determines whether the measurement time t of the timer 40 has passed the braking duration time ta. Determination is made (step S6).

  When the time determination unit 50 determines that the measurement time t of the timer 40 has not passed the braking continuation time ta (step S6: NO), the process returns to step S3 and the automatic brake control unit 52 performs automatic brake control. continue. When the time determination unit 50 determines that the measurement time t of the timer 40 has passed the braking duration time ta (step S6: YES), the automatic brake control is stopped (step S7). At this stage, the current flowchart ends.

  According to the present embodiment, even when the accelerator pedal 34 or the brake pedal 36 is operated during automatic brake control at the time of a vehicle collision, the braking force B detected by the braking force detector 29 is the target braking force B0. The automatic brake control is continued until the braking force is reached (the braking force is continuously generated on each wheel 14). Thereby, the braking force of the wheel 14 can be reliably increased to the target braking force B0 while avoiding the stop of the automatic brake control due to an erroneous operation of the accelerator pedal 34 or the brake pedal 36 at the time of a vehicle collision.

When the braking force B detected by the braking force detector 29 stops without reaching the target braking force B0, the automatic brake control is stopped when the braking duration time ta has elapsed since the vehicle stopped. Yes. This ensures, for example, it is possible to stop the automatic brake control in a safe state even when only a small braking force than the target braking force B0 becomes brake system abnormality no longer be generated by the effect of a vehicle collision.

  The automatic brake control of the vehicle control device 10 according to the present embodiment is not limited to the above-described example. For example, the automatic brake control unit 52 performs the processing after step S3 (automatic brake control) even when the airbag deployment determination unit 46 determines that the airbag 20 is not deployed (step S2: NO). You may go.

  The vehicle control device according to the present invention is not limited to the above-described embodiment, but can of course adopt various configurations without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Vehicle control apparatus 12 ... Vehicle 14 ... Wheel 16 ... Brake part 18 ... Brake actuator 24 ... Overall control unit 26 ... Vehicle speed detection part 28 ... Collision detection sensor 29 ... Braking force detection part 42 ... Collision judgment part 44 ... Airbag control Unit 46 ... Airbag deployment determination unit 48 ... Braking force determination unit 50 ... Time determination unit 52 ... Automatic brake control unit

Claims (2)

An automatic brake control unit that performs automatic brake control to automatically generate a braking force on the wheels without depending on a brake operation at the time of a vehicle collision, and stops the automatic brake control based on an operation of an accelerator pedal or a brake pedal;
Braking force detection means for detecting braking force generated on the wheels by the automatic brake control, and a vehicle control device comprising:
The automatic brake control unit performs the automatic brake control until the braking force detected by the braking force detection means reaches a target braking force even when the accelerator pedal or the brake pedal is operated at the time of a vehicle collision. Continue,
The vehicle control apparatus characterized by the above-mentioned. The vehicle control device according to claim 1,
When the braking force detected by the braking force detection means stops without reaching the target braking force, the automatic brake control unit automatically detects when the predetermined braking duration has elapsed since the vehicle stopped. A vehicle control device that stops brake control.

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