JP7124320B2 - Vehicle control device and vehicle control method - Google Patents

Description

The present disclosure relates to a vehicle control device and a vehicle control method.

2. Description of the Related Art When controlling actuators such as an engine, a brake, and a steering provided in a vehicle, smooth operation of the actuators is performed in consideration of driver's comfort. For example, Japanese Patent Laid-Open No. 2002-200003 discloses that smoothing control is performed to alleviate the shock caused by a sudden increase or decrease in the fuel injection amount when the accelerator pedal is suddenly depressed or released. ing.

JP-A-2004-218579

When smoothing control is performed, the response speed of actuator control is delayed. Therefore, if smoothing control is performed when the actuator is to be controlled in an emergency for the purpose of preventing a vehicle collision, the responsiveness of the actuator control becomes a problem.

Therefore, the present disclosure has been made in view of these points, and an object thereof is to provide a vehicle control device and a vehicle control method that can improve the responsiveness of actuator control in an emergency.

A vehicle control device according to a first aspect of the present disclosure includes a generation unit that generates a control signal for controlling an actuator that is provided in a vehicle and controls motion of the vehicle; outputting the control signal to the actuator through a filter that smoothes the control signal when the control signal is not intended to cause the actuator to operate urgently; and a control unit for outputting the control signal to the actuator.

The vehicle control device includes a first filter that is the filter used when the actuator is not operated in an emergency, and a second filter that has a smaller delay than the first filter. outputting the control signal to the actuator through the first filter when the signal does not urgently operate the actuator; and outputting the control signal to the actuator urgently when the control signal urgently operates the actuator The control signal may be output to the actuator through a second filter.

The control unit outputs the control signal to the actuator through the filter when the control signal does not urgently operate the actuator, and the control signal urgently operates the actuator. In some cases, the control signal may be output directly to the actuator without going through the filter.

The vehicle control device includes a first reception unit that receives a normal control signal that is the control signal indicating that the actuator should not be operated in an emergency, and an emergency control signal that is the control signal that indicates that the actuator should be operated in an emergency. a second reception unit that receives the signal, the generation unit outputs the normal control signal to the first reception unit, outputs the emergency control signal to the second reception unit, and the control unit When the first reception unit receives the normal control signal, it outputs the normal control signal to the actuator via the filter, and when the second reception unit receives the emergency control signal, it outputs the signal without passing through the filter. The emergency control signal may be output to the actuator.

The vehicle control device further includes a reception unit that receives the control signal including first information indicating that the actuator should not be operated in an emergency, and the control signal including second information indicating that the actuator should be operated in an emergency. The generation unit outputs the control signal to the reception unit, and the control unit outputs the control signal received by the reception unit through the filter when the first information is included in the control signal. A control signal may be output to the actuator, and when the second information is included in the control signal received by the receiving unit, the control signal may be output to the actuator without going through the filter.

A vehicle control method according to a second aspect of the present disclosure includes steps, executed by a computer, of generating a control signal for controlling an actuator provided in a vehicle and controlling motion of the vehicle; is to be operated urgently, the control signal is output to the actuator without passing through a filter that smoothes the control signal, and if the control signal is not for urgently operating the actuator, and outputting the control signal to the actuator through the filter.

Advantageous Effects of Invention According to the present disclosure, it is possible to improve the responsiveness of actuator control in an emergency.

1 is a diagram showing a functional configuration of a vehicle according to an embodiment; FIG. It is a figure which shows the structure of the control part for actuators which concerns on embodiment. It is a figure which shows the other structural example of the control part for actuators which concerns on embodiment. 4 is a flowchart for explaining the flow of processing when the vehicle control device according to the embodiment controls the vehicle;

[Overview of vehicle control device 10]
FIG. 1 is a diagram showing the functional configuration of a vehicle V according to the embodiment. The vehicle V is, for example, a large vehicle such as a bus or a truck, or a light commercial vehicle (LCV) such as a pickup truck. A vehicle V includes various sensors, an imaging device 2 , a plurality of actuators, and a vehicle control device 10 .

The various sensors are sensors that detect various states related to motion of the vehicle V, such as the speed sensor 1A and the distance sensor 1B. Various sensors output state detection information indicating various states to the vehicle control device 10 . In addition, although embodiment demonstrates the example which uses the ranging sensor 1B as a means to measure the distance with another vehicle etc., it does not restrict to this. For example, the vehicle V may be provided with a camera that captures the surrounding area in front of the vehicle V instead of the distance measuring sensor 1B, and the distance to other vehicles may be measured based on the image captured by the camera. .
The photographing device 2 is a camera that photographs the front and rear of the vehicle V, for example. The photographing device 2 outputs the photographed image to the vehicle control device 10 .

The actuators are, for example, an engine 3A, a steering assist motor 3B, and a brake 3C, and control the motion of the vehicle V. FIG. For example, the steering assist motor 3B is provided on a steering shaft (not shown) of the vehicle V. As shown in FIG. The steering assist motor 3B functions as a steering assist section and, for example, applies torque (steering assist force) to the steering shaft via a gear or the like according to the control of the vehicle control device 10 . In the following description, the engine 3A, the steering assist motor 3B, and the brake 3C are collectively referred to as the actuator 3.

The vehicle control device 10 includes a plurality of ECUs (Electronic Control Units). In this embodiment, the vehicle control device 10 generates control signals for controlling the actuators 3 based on state detection information output from various sensors, and outputs the control signals to the actuators 3 .

The vehicle controller 10 includes a filter that smoothes the control signal to improve driver comfort. The vehicle control device 10 inputs the control signal to the filter and outputs the control signal that has passed through the filter to the actuator 3 . Here, when the control signal that has passed through the filter is output to the actuator 3 , a delay occurs from the generation of the control signal to the transmission to the actuator 3 . For example, when the actuator 3 is urgently controlled, such as when there is a high possibility of the vehicle V colliding, transmission delay of the control signal becomes a problem. Therefore, when the actuator 3 is to be controlled in an emergency, the vehicle control device 10 outputs a control signal to the actuator 3 without going through the filter. By doing so, the vehicle control device 10 can improve the responsiveness of the control of the actuator 3 in an emergency.

[Configuration of vehicle control device 10]
Next, a detailed configuration of the vehicle control device 10 will be described with reference to FIGS. 1 and 2. FIG. FIG. 2 is a diagram showing the configuration of the actuator control section 12 according to the embodiment.

As shown in FIG. 1, the vehicle control device 10 includes a driving support controller 11 as a generator, an engine controller 12A, a motor controller 12B, and a brake controller 12C. The engine control section 12A, the motor control section 12B, and the brake control section 12C function as the actuator control section 12. As shown in FIG.

The driving assistance control unit 11 is, for example, an ECU that functions as an advanced driver assistance system (ADAS) and generates a control signal for controlling the actuator 3 . Specifically, the driving support control unit 11 performs constant speed driving/inter-vehicle distance control (ACC: Adaptive Cruise Control), emergency automatic braking (AEB: Automatic Emergency Braking) control, and lane departure prevention (LDP: Lane Departure Prevention). control and Lane Keeping Assist (LKA) control.

The constant speed/inter-vehicle distance control controls the speed of the vehicle V based on, for example, the speed of the vehicle V detected by the speed sensor 1A and the distance between the vehicle V and other vehicles detected by the distance measuring sensor 1B. This is control to keep the vehicle speed within a predetermined range and to keep the inter-vehicle distance to another vehicle at least a predetermined distance. The driving support control unit 11 generates a control signal for controlling the engine 3A and the brake 3C in order to realize constant-speed traveling and vehicle-to-vehicle distance control, and transmits the control signal to the engine control unit 12A and the brake control Output to the unit 12C.

Here, as shown in FIG. 2, the driving support control section 11 is provided with a first output terminal 111 and a second output terminal 112 corresponding to each actuator control section 12 . The first output terminal 111 is used to output a normal control signal, which is a control signal generated when the actuator 3 is not operated urgently. The second output terminal 112 is used to output an emergency control signal, which is a control signal generated when the actuator 3 is operated urgently.

The constant-speed traveling/inter-vehicle distance control does not operate the actuator 3 (the engine 3A and the brake 3C) in an emergency. For this reason, the control signal generated to realize the constant-speed running/inter-vehicle distance control is a normal control signal. The driving support control unit 11 outputs a control signal generated for realizing constant-speed traveling/inter-vehicle distance control to the engine control unit 12A and the brake control unit 12C via the first output terminal 111 .

The emergency automatic braking control, for example, is based on the speed of the vehicle V detected by the speed sensor 1A and the distance between the vehicle V and the other vehicle detected by the ranging sensor 1B. If it is determined that there is a high possibility that the vehicle will brake, emergency braking is performed. The driving support control unit 11 generates a control signal for controlling the brake 3C and outputs the control signal to the brake control unit 12C in order to realize emergency automatic brake control.

The emergency automatic brake control is to operate the actuator 3 (brake 3C) in an emergency. Therefore, the control signal generated to implement emergency automatic braking control is an emergency control signal. The driving support control unit 11 outputs a control signal generated for realizing emergency automatic braking control to the brake control unit 12C via the second output terminal 112 .

The lane departure prevention control is, for example, control that prevents the vehicle V from departing from the lane in which the vehicle V is traveling, based on an image captured by the imaging device 2 . In order to implement lane departure prevention control, the driving support control unit 11 generates a control signal for controlling the steering assist motor 3B, and outputs the control signal to the motor control unit 12B.

The lane departure prevention control is to operate the actuator 3 (steering assist motor 3B) in an emergency. Therefore, the control signal generated to implement lane departure prevention control is an emergency control signal. The driving assistance control unit 11 outputs a control signal generated for implementing lane departure prevention control to the steering assistance motor 3B via the second output terminal 112 . In the lane departure prevention control, depending on the state of departure of the vehicle V from the lane, there are cases where the actuator 3 does not need to be operated in an emergency. Therefore, the lane departure prevention control outputs a control signal generated for implementing lane departure prevention control from the first output terminal 111 or from the second output terminal 112 based on the state of deviation of the vehicle V from the lane. You can switch whether to output.

The lane keeping support control is, for example, control that guides the vehicle V to the center of the lane in which the vehicle is traveling, based on the image captured by the imaging device 2 . In order to implement lane departure prevention control, the driving support control unit 11 generates a control signal for controlling the steering assist motor 3B, and outputs the control signal to the motor control unit 12B.

The lane keeping support control does not operate the actuator 3 (steering assist motor 3B) in an emergency. Therefore, the control signal generated to implement the lane keeping assistance control is a normal control signal. The driving assistance control unit 11 outputs a control signal generated for implementing lane keeping assistance control to the steering assistance motor 3B via the first output terminal 111 .

12 A of control parts for engines are provided, for example near the engine 3A, and are ECU which controls the engine 3A. The motor control unit 12B is an ECU that is provided, for example, in the vicinity of the steering assist motor 3B and controls the steering assist motor 3B. The brake control unit 12C is an ECU that is provided, for example, near the brake 3C and controls the brake 3C. The configuration of the engine control section 12A, the motor control section 12B, and the brake control section 12C will be described below with reference to the configuration of the actuator control section 12 shown in FIG.

The actuator control unit 12 improves the responsiveness of the control of the actuator 3 when the control signal is for urgently operating the actuator 3 compared to when the control signal is not for urgently operating the actuator 3. Let

As shown in FIG. 2, the actuator control section 12 includes a first input terminal 121 as a first reception section, a second input terminal 122 as a second reception section, a filter 123, and an output terminal 124. .

A first input terminal 121 receives a normal control signal. A second input terminal 122 receives an emergency control signal.
Filter 123 is, for example, a low-pass filter and smoothes the control signal. Although the filter 123 is provided inside the actuator control section 12, the present invention is not limited to this. The filter 123 may be provided between the actuator control section 12 and the actuator 3 .

The actuator control unit 12 outputs the control signal to the actuator 3 via the filter 123 when the control signal does not urgently operate the actuator, and when the control signal urgently operates the actuator 3 Then, the control signal is directly output to the actuator 3 without going through the filter 123 .

Specifically, when the first input terminal 121 receives the normal control signal, the actuator control section 12 outputs the normal control signal to the actuator 3 through the filter 123, and the second input terminal 122 outputs the emergency control signal. Upon acceptance, the emergency control signal is output to the actuator 3 without going through the filter 123 .

Although the actuator control unit 12 directly outputs the control signal to the actuator 3 without going through the filter 123 when the control signal is for urgently operating the actuator 3, the present invention is not limited to this. For example, the actuator control unit 12 may include a second filter with less delay than the filter 123 used when the actuator 3 is not operated in an emergency. Then, when the control signal does not cause the actuator 3 to operate urgently, the actuator control section 12 outputs the control signal to the actuator 3 through the filter 123, and the control signal causes the actuator 3 to operate urgently. , the control signal may be output to the actuator through the second filter. By doing so, the vehicle control device 10 can improve the responsiveness of the control of the actuator 3 in an emergency and improve the driver's comfort compared to the case where the second filter is not provided.

Further, although the actuator control section 12 receives the normal control signal through the first input terminal 121 and the emergency control signal through the second input terminal 122, the present invention is not limited to this. For example, the actuator control section 12 may include only the first input terminal 121 and receive the normal control signal and the emergency control signal through the first input terminal 121 .

FIG. 3 is a diagram showing another configuration example of the actuator control section 12 according to the embodiment. As shown in FIG. 3 , the actuator control section 12 includes a first input terminal 121 , a filter 123 , an output terminal 124 and a switching section 125 . Further, the driving assistance control unit 11 includes a first output terminal 111 .

The driving support control unit 11 includes, from the first output terminal 111, a normal control signal including first information indicating that the actuator 3 is not to be operated in an emergency, and second information indicating that the actuator 3 is to be operated in an emergency. It outputs an emergency control signal.

First input terminal 121 receives a normal control signal and an emergency control signal.
The switching unit 125 switches whether to output the control signal to the filter 123 based on information included in the control signal output from the first input terminal 121 . When the control signal output from the first input terminal 121 contains the first information, the switching section 125 outputs the control signal to the filter 123 . Further, when the control signal output from the first input terminal 121 contains the second information, the switching unit 125 transmits the control signal to the control signal via the first output terminal 111 without passing the filter 123 . is directly output to the actuator 3. By doing so, the vehicle control device 10 can switch whether or not to use the filter 123 even when the actuator control section 12 is provided with only one input terminal.

[Processing Flow in Vehicle Control Device 10]
FIG. 4 is a flowchart for explaining the flow of processing when the vehicle control device 10 according to the embodiment controls the vehicle V. As shown in FIG. The processing in this flowchart is executed at predetermined time intervals, for example, when the vehicle V is traveling in the lane.

First, the driving support control unit 11 generates a control signal based on state detection information output from various sensors (S10).
Subsequently, the driving support control unit 11 determines whether or not the normal control signal is generated (S20). When determining that the normal control signal is generated, the driving support control section 11 outputs the control signal from the first output terminal 111 to the actuator control section 12 (S30).

A control signal output from the first output terminal 111 is input to the first input terminal 121 . When the control signal is input to the first input terminal 121, the actuator control section 12 inputs the control signal to the filter 123 (S40). After that, the actuator control section 12 outputs the control signal that has passed through the filter 123 to the actuator 3 (S60).

When the driving support control unit 11 determines in S20 that the normal control signal is not generated, it determines that the control signal is an emergency control signal, and outputs the control signal from the second output terminal 112 to the actuator control unit 12. (S50).

A control signal output from the second output terminal 112 is input to the second input terminal 122 . When the control signal is input to the second input terminal 122, the actuator control section 12 outputs the control signal to the actuator 3 without going through the filter 123 (S60). As a result, when the actuator 3 is to be controlled urgently, the control signal is input to the actuator 3 without going through the filter 123 .

[Effects of Embodiment]
As described above, the vehicle control device 10 according to the embodiment transmits the control signal to the actuator 3 through the filter 123 that smoothes the control signal when the control signal does not cause the actuator 3 to operate urgently. When the control signal is to operate the actuator 3 urgently, the control signal is output to the actuator 3 without going through the filter 123 . By doing so, the vehicle control device 10 can improve the responsiveness of the control of the actuator 3 in an emergency.

In the vehicle control device 10, when the first input terminal 121 receives the normal control signal, the actuator control section 12 outputs the normal control signal to the actuator 3 via the filter 123, and the second input terminal 122 receives the emergency signal. Upon receiving the control signal, it outputs an emergency control signal to the actuator 3 without going through the filter 123 . In this way, in the actuator control section 12, the receiving ports for the normal control signal and the emergency control signal are separately controlled, and the control processing in the actuator control section 12 is simplified, thereby preventing malfunction. occurrence can be suppressed.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is clear from the description of the scope of claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

1A Speed sensor 1B Ranging sensor 2 Photographing device 3 Actuator 3A Engine 3B Steering assist motor 3C Brake 10 Vehicle control device 11 ... Driving support controller 111 ... First output terminal 112 ... Second output terminal 12 ... Actuator controller 12A ... Engine controller 12B ... Motor controller 12C ..Brake control unit 121..First input terminal 122..Second input terminal 123..Filter 124..Output terminal V..Vehicle

Claims (4)

a generating unit that generates a control signal for controlling an actuator that is provided in a vehicle and controls motion of the vehicle;
a first output terminal for outputting a normal control signal generated by the generation unit that does not operate the actuator in an emergency;
a second output terminal different from the first output terminal for outputting an emergency control signal for urgently operating the actuator, generated by the generator;
a first input terminal connected to the first output terminal and receiving the normal control signal output from the first output terminal;
a second input terminal connected to the second output terminal for receiving the emergency control signal output from the second output terminal;
when the first input terminal receives the normal control signal, outputs the normal control signal to the actuator through a filter for smoothing the control signal, and when the second input terminal receives the emergency control signal, a control unit that directly outputs the emergency control signal to the actuator without going through the filter;
A vehicle control device comprising: a generating unit that generates a control signal for controlling an actuator that is provided in a vehicle and controls motion of the vehicle;
a first output terminal for outputting a normal control signal generated by the generation unit that does not operate the actuator in an emergency;
a second output terminal different from the first output terminal for outputting an emergency control signal for urgently operating the actuator, generated by the generator;
a first input terminal connected to the first output terminal and receiving the normal control signal output from the first output terminal;
a second input terminal connected to the second output terminal for receiving the emergency control signal output from the second output terminal;
When the first input terminal receives the normal control signal, the normal control signal is output to the actuator through a first filter that smoothes the control signal, and the second input terminal receives the emergency control signal. and a control unit that outputs the emergency control signal to the actuator through a second filter having less delay than the first filter;
A vehicle control device comprising: the computer runs
generating a control signal for controlling an actuator provided in a vehicle for controlling motion of the vehicle;
When the generated control signal is a normal control signal that does not operate the actuator in an emergency, the normal control signal is output from a first output terminal, and the generated control signal is an emergency that causes the actuator to operate in an emergency. outputting the emergency control signal from a second output terminal different from the first output terminal if it is a control signal;
receiving the normal control signal output from the first output terminal by a first input terminal connected to the first output terminal and receiving the normal control signal output from the first output terminal;
receiving the emergency control signal output from the second output terminal by a second input terminal connected to the second output terminal and receiving the emergency control signal output from the second output terminal;
When the normal control signal is received by the first input terminal, the normal control signal is output to the actuator through a filter for smoothing the control signal, and when the emergency control signal is received by the second input terminal. , directly outputting the emergency control signal to the actuator without going through the filter;
A vehicle control method comprising: the computer runs
generating a control signal for controlling an actuator provided in a vehicle for controlling motion of the vehicle;
When the generated control signal is a normal control signal that does not operate the actuator in an emergency, the normal control signal is output from a first output terminal, and the generated control signal is an emergency that causes the actuator to operate in an emergency. outputting the emergency control signal from a second output terminal different from the first output terminal if it is a control signal;
receiving the normal control signal output from the first output terminal by a first input terminal connected to the first output terminal and receiving the normal control signal output from the first output terminal;
receiving the emergency control signal output from the second output terminal by a second input terminal connected to the second output terminal and receiving the emergency control signal output from the second output terminal;
When the normal control signal is received by the first input terminal, the normal control signal is output to the actuator through a first filter that smoothes the control signal, and the emergency control signal is received by the second input terminal. and outputting the emergency control signal to the actuator through a second filter having less delay than the first filter;
A vehicle control method comprising:

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