JP7124615B2 - vehicle controller - Google Patents

Description

The present disclosure relates to vehicle control devices.

Conventionally, in order to prevent the vehicle from suddenly starting against the driver's will, when there is an obstacle in the direction of travel of the vehicle and the accelerator pedal is suddenly depressed, the acceleration of the vehicle is suppressed. , the acceleration suppression state) is known.

Japanese Patent Application Laid-Open No. 2002-200000 discloses a technique for canceling the acceleration suppression state when the accelerator opening is equal to or greater than a predetermined amount continuously for a predetermined time or longer in the acceleration suppression state.

Japanese Patent No. 5550629

In the technology disclosed in Patent Literature 1, the condition for canceling the acceleration suppression state is that the accelerator opening degree is equal to or greater than a predetermined amount continuously for a predetermined time or longer. Therefore, there is a high possibility that the accelerator opening is equal to or greater than the predetermined amount immediately after the acceleration suppression state is canceled. As a result, the vehicle may suddenly start immediately after the acceleration suppression state is released.

One aspect of the present disclosure provides a vehicle control device that can prevent the vehicle from suddenly starting when the acceleration suppression state is cancelled.

One aspect of the present disclosure is a vehicle control device for controlling a vehicle, comprising: a first accelerator opening acquisition unit configured to acquire a first signal representing a first accelerator opening from an accelerator pedal sensor; an output unit configured to output an output signal representing an accelerator opening to a driving force control unit that controls the driving force of the vehicle according to the accelerator opening; and an obstacle present in the traveling direction of the vehicle. a vehicle speed detection unit configured to detect a vehicle speed of the vehicle; and an accelerator opening configured to set an accelerator opening represented by the output signal and a setting unit, wherein the accelerator opening setting unit is configured to: (A) when the accelerator opening represented by the output signal is the first accelerator opening and the following first to third conditions are satisfied: When the accelerator opening represented by the output signal is switched to a second accelerator opening smaller than the first accelerator opening, and (B) the accelerator opening represented by the output signal is the second accelerator opening, the following is performed. When the fourth condition is satisfied, the accelerator opening represented by the output signal is set to a third accelerator opening that is equal to or less than the first accelerator opening and is less than the first accelerator opening in at least a part of the time period. and (C) when a preset time elapses after the accelerator opening indicated by the output signal reaches the third accelerator opening, the accelerator opening indicated by the output signal is changed to the first accelerator opening. It is a vehicle control device that is configured to switch each time.

First condition: the obstacle detection unit has detected the obstacle.
Second condition: the first accelerator opening is greater than or equal to a preset first reference opening.
Third condition: the vehicle speed detected by the vehicle speed detection unit is equal to or lower than a preset reference vehicle speed.

Fourth condition: the first accelerator opening is equal to or greater than a preset second reference opening for a predetermined period of time or longer.
The vehicle control device, which is one aspect of the present disclosure, provides a state in which the accelerator opening represented by the output signal is the third accelerator opening when the state in which the accelerator opening represented by the output signal is the second accelerator opening ends. transition to The third accelerator opening degree is less than or equal to the first accelerator opening degree and is less than the first accelerator opening degree in at least a part of the time period.

Therefore, according to the vehicle control device that is one aspect of the present disclosure, it is possible to suppress the vehicle from suddenly starting when the state in which the accelerator opening represented by the output signal is the second accelerator opening ends.

2 is an explanatory diagram showing the configuration of the vehicle control device 1 and the like; FIG. 3 is a block diagram showing a functional configuration of a control unit 13; FIG. 3 is a flowchart showing processing executed by the vehicle control device 1; It is explanatory drawing which shows transition of the accelerator opening which an output signal shows. It is explanatory drawing which shows transition of the accelerator opening which an output signal shows. It is explanatory drawing which shows transition of the accelerator opening which an output signal shows.

Exemplary embodiments of the present disclosure are described with reference to the drawings.
<First Embodiment>
1. Configuration of Vehicle Control Device 1 and Others The configuration of the vehicle control device 1 and the configuration of other members provided in the vehicle will be described with reference to FIGS. 1 and 2. FIG. As shown in FIG. 1, the vehicle includes a vehicle control device 1, an accelerator pedal sensor 3, a forward monitoring sensor 5, a rearward monitoring sensor 7, a vehicle speed sensor 9, a shift sensor 10, and a driving force control section 11. , provided.

The vehicle control device 1 includes a control unit 13 , a relay switch 15 , a second signal generation unit 17 and a coil power supply 19 .
The control unit 13 includes a microcomputer having a CPU 21 and a semiconductor memory such as RAM or ROM (hereinafter referred to as memory 23). Each function of the control unit 13 is implemented by the CPU 21 executing a program stored in a non-transitional substantive recording medium. In this example, the memory 23 corresponds to a non-transitional substantive recording medium storing programs. Also, by executing this program, a method corresponding to the program is executed. The control unit 13 may have one microcomputer or may have a plurality of microcomputers.

The control unit 13 includes an obstacle detection unit 25, a vehicle speed detection unit 27, an accelerator opening setting unit 29, and a shift detection unit 30, as shown in FIG. The method of realizing the functions of each part included in the control unit 13 is not limited to software, and some or all of the functions may be realized using one or more pieces of hardware. For example, when the above functions are realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.

As shown in FIG. 1 , the relay switch 15 includes a first contact 31 , a second contact 33 , an output contact 35 , a movable piece 37 and a coil 39 . The first contact 31 is connected to the signal line 41 . A signal line 41 transmits a first signal from the accelerator pedal sensor 3 to the first contact 31 . The first signal is a signal representing the accelerator opening detected by the accelerator pedal sensor 3 (hereinafter referred to as the first accelerator opening). The unit of accelerator opening is %. The accelerator opening is 0% when the driver does not step on the accelerator at all. The accelerator opening is 100% when the driver depresses the accelerator to the upper limit.

The second contact 33 is connected to the signal line 43 . A signal line 43 conveys a second signal from the second signal generating unit 17 to the second contact 33 . The second signal is a signal generated by the second signal generation unit 17 . The second signal is a signal representing the second accelerator opening. The second accelerator opening is always 0%.

The output side contact 35 is connected to the signal line 45 . The signal line 45 is connected to the driving force control section 11 . The signal line 45 transmits an output signal from the output side contact 35 to the driving force control section 11 . The output signal is a signal representing the accelerator opening.

One end of the movable piece 37 is always connected to the output side contact 35 . The opposite end of the movable piece 37 connects with one of the first contact 31 and the second contact 33 . That is, the movable piece 37 can move to a position (hereinafter referred to as a first position) to connect the first contact 31 and the output side contact 35, or to connect the second contact 33 and the output side contact 35. It is also possible to move to a position (hereinafter referred to as a second position).

The current flowing through the coil 39 causes the coil 39 to generate magnetic force. The magnetic force generated by the coil 39 causes the movable piece 37 to move. By controlling the current flowing through the coil 39, the position of the movable piece 37 can be switched from the first position to the second position or from the second position to the first position.

A second signal generating unit 17 generates a second signal. The second signal reaches the second contact 33 via the signal line 43 . The coil power supply 19 applies current to the coil 39 in accordance with an instruction from the accelerator opening setting unit 29 in the control unit 13 .

An accelerator pedal sensor 3 detects a first accelerator opening. The forward monitoring sensor 5 detects obstacles present in front of the vehicle. The rearward monitoring sensor 7 detects an obstacle present behind the vehicle. A vehicle speed sensor 9 detects the vehicle speed. A shift sensor 10 detects the state of the shift.

The driving force control unit 11 controls the driving force of the vehicle according to the accelerator opening indicated by the output signal. The driving force control unit 11, for example, sets the throttle opening according to the accelerator opening indicated by the output signal. Examples of the driving force control unit 11 include a power management controller and the like.

Incidentally, the signal line 41 and the relay switch 15 correspond to the first accelerator opening acquisition unit. Relay switch 15 and signal line 45 correspond to the output unit.
2. Processing Executed by Vehicle Control Device 1 Processing that is repeatedly executed by the vehicle control device 1 at predetermined time intervals will be described with reference to FIGS. 3 and 4. FIG. At step 1 in FIG. 3, the accelerator opening setting unit 29 determines whether or not the vehicle is currently in a normal state. The normal state is a state in which the movable piece 37 is at the first position and the first contact 31 and the output side contact 35 are connected. In the normal state, the accelerator opening represented by the output signal is the first accelerator opening. In the normal state, the driving force control section 11 controls the driving force of the vehicle according to the first accelerator opening. In the normal state, the vehicle can be started and accelerated if the first accelerator opening increases.

If it is in the normal state, the process proceeds to step 2 . If not in the normal state, the process proceeds to step 4.
In step 2, the accelerator opening setting unit 29 determines whether or not the following first to third conditions are satisfied.

1st condition: The obstacle detection unit 25 has detected an obstacle existing in the traveling direction of the vehicle.
Second condition: the first accelerator opening is 55% or more.
Third condition: The vehicle speed detected by the vehicle speed detection unit 27 using the vehicle speed sensor 9 is 10 km/hr or less.

Note that the obstacle existing in the traveling direction of the vehicle is an obstacle existing in front of the vehicle when the vehicle is moving forward. The obstacle detection unit 25 can detect obstacles in front of the vehicle using the forward monitoring sensor 5 . An obstacle existing in the traveling direction of the vehicle is an obstacle existing behind the vehicle when the vehicle is moving backward. The obstacle detection unit 25 can detect obstacles existing behind the vehicle using the rear monitoring sensor 7 .

The first condition can be, for example, that the obstacle detection unit 25 detects an obstacle present in the traveling direction of the vehicle, and that the distance between the detected obstacle and the vehicle is equal to or less than a predetermined value.

If all of the first to third conditions are met, the driver does not intend to start the vehicle suddenly, but it corresponds to the case where the accelerator is suddenly depressed by mistake. 55% in the second condition corresponds to the preset first reference opening. 55% in the second condition corresponds to the accelerator opening at which the stopped vehicle suddenly starts. 10 Km/hr in the third condition corresponds to a preset reference vehicle speed.

If all of the first to third conditions are met, the process proceeds to step 3. If even one of the first to third conditions is not satisfied, the processing ends.
In step 3, the accelerator opening setting unit 29 shifts the state of the vehicle from the normal state to the acceleration suppression state. The acceleration suppression state is a state in which the movable piece 37 is at the second position and the second contact 33 and the output side contact 35 are connected. In the acceleration suppression state, the accelerator opening indicated by the output signal is the second accelerator opening. In the acceleration suppression state, the driving force control unit 11 controls the driving force of the vehicle according to the second accelerator opening. Since the second accelerator opening is 0%, the vehicle does not accelerate in the acceleration suppression state.

In step 4, the accelerator opening setting unit 29 determines whether or not the vehicle is currently in an acceleration suppression state. If the vehicle is in the acceleration suppression state, the process proceeds to step 5 . If the vehicle is not in the acceleration suppression state, the process proceeds to step 9 .

In step 5, the accelerator opening setting unit 29 determines whether or not the following fourth condition is satisfied.
Fourth condition: The degree of opening of the first accelerator is 80% or more continuously for 5 seconds or more.

Five seconds in the fourth condition corresponds to the predetermined time. 80% in the fourth condition corresponds to the preset second reference opening. When the fourth condition is satisfied, it corresponds to the case where the driver intends to cancel the acceleration suppression state.

If the fourth condition is met, the process proceeds to step 6; If the fourth condition is not satisfied, the process proceeds to step 7 .
In step 6, the accelerator opening setting unit 29 shifts the state of the vehicle from the acceleration suppression state to the emergency exit state. The emergency escape state is a state in which the position of the movable piece 37 is alternately switched from one to the other between the first position and the second position. In the emergency escape state, the accelerator opening represented by the output signal is an accelerator opening in which the first accelerator opening and the second accelerator opening appear alternately. When the vehicle state is the emergency exit state, the vehicle can start and accelerate. However, the acceleration of the vehicle is suppressed compared to when the vehicle is in the normal state.

In step 7, the accelerator opening setting unit 29 determines whether or not the normal transition condition is satisfied. Satisfaction of the normal transition condition means that the following fifth condition is satisfied and at least one of the following 6A to 6C conditions is satisfied.

Fifth condition: the first accelerator opening is 10% or less.
6th A condition: The obstacle detection unit 25 does not detect an obstacle in the traveling direction of the vehicle.
6B condition: The vehicle speed detected by the vehicle speed detection unit 27 using the vehicle speed sensor 9 is 0 km/hr.

Condition 6C: The shift detected by the shift detection unit 30 at this time is different from the shift detected immediately before shifting to the acceleration suppression state.
If the normal transition condition is met, the process proceeds to step 8; If the normal transition condition does not hold, the process ends.

At step 8, the accelerator opening degree setting unit 29 shifts the state of the vehicle to the normal state.
In step 9, the accelerator opening setting unit 29 determines whether or not a preset time has elapsed since the emergency escape state occurred. It should be noted that the case of proceeding to step 9 means that the vehicle is currently in an emergency evacuation state. The point in time when the emergency escape state occurs corresponds to the point in time when the accelerator opening indicated by the output signal reaches the third accelerator opening. The preset time is, for example, 5-10 seconds.

If the preset time has elapsed since the emergency evacuation state occurred, the process proceeds to step 8 . If the preset time has not yet elapsed since the emergency escape state occurred, the process proceeds to step 7 .

FIG. 4 shows an example of the accelerator opening represented by the output signal. Until time t1, the acceleration is suppressed. In the acceleration suppression state, the accelerator opening indicated by the output signal is the second accelerator opening, which is 0%. In the acceleration suppression state, the position of the movable piece 37 is the second position, and the second contact 33 and the output side contact 35 are connected.

From time t1 to time t7, the vehicle is in an emergency escape state. In the emergency escape state, the accelerator opening represented by the output signal is the third accelerator opening. The third accelerator opening degree is an accelerator opening degree in which the first accelerator opening degree and the second accelerator opening degree appear alternately.

Specifically, in the period from time t1 to t2, the period from time t3 to t4, and the period from time t5 to t6, the accelerator opening represented by the output signal is the first accelerator opening. In the period from time t2 to t3, the period from time t4 to t5, and the period from time t6 to t7, the accelerator opening represented by the output signal is the second accelerator opening.

The third accelerator opening is less than or equal to the first accelerator opening during all times t1 to t7. The third accelerator opening is less than the first accelerator opening during the period from time t2 to t3, the period from time t4 to t5, and the period from time t6 to t7.

In the emergency escape state, the lengths of the period from time t1 to t2, the period from time t3 to t4, and the period from time t5 to t6 are 50-500 milliseconds, respectively. Also, the lengths of the period from time t2 to t3, the period from time t4 to t5, and the period from time t6 to t7 are 50 to 500 milliseconds, respectively.

During the period from time t1 to t2, the period from time t3 to t4, and the period from time t5 to t6, the position of the movable piece 37 is the first position, and the first contact 31 and the output side contact 35 are in the same position. is connected. During the period from time t2 to t3, the period from time t4 to t5, and the period from time t6 to t7, the position of the movable piece 37 is the second position, and the second contact 33 and the output side contact 35 are at the second position. is connected.

After time t7, the state is normal. In the normal state, the accelerator opening represented by the output signal is the first accelerator opening. In the normal state, the position of the movable piece 37 is the first position, and the first contact 31 and the output side contact 35 are connected.

3. Effects of Vehicle Control Device 1 (1A) The vehicle control device 1 starts an emergency escape state when the acceleration suppression state ends. In the emergency escape state, the accelerator opening represented by the output signal is the third accelerator opening. The third accelerator opening degree is less than or equal to the first accelerator opening degree and is less than the first accelerator opening degree in at least a part of the time period.

Therefore, according to the vehicle control device 1, it is possible to prevent the vehicle from suddenly starting when the acceleration suppression state ends, compared to the case where the vehicle immediately shifts to the normal state when the acceleration suppression state ends. In particular, even if the driver depresses the accelerator hard when the acceleration suppression state ends, it is possible to prevent the vehicle from suddenly starting when the acceleration suppression state ends.

(1B) The third accelerator opening degree is an accelerator opening degree in which the first accelerator opening degree and the second accelerator opening degree appear alternately. Therefore, it is possible to achieve the third accelerator opening degree with a simple configuration.

(1C) The vehicle control device 1 switches the relay switch 15 to set the accelerator opening indicated by the output signal to the first accelerator opening, the second accelerator opening, or the third accelerator opening. Therefore, according to the vehicle control device 1, it is possible to set the accelerator opening represented by the output signal with a simple configuration.
<Other embodiments>
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be made.

(1) The mode of the accelerator opening represented by the output signal in the emergency escape state may be another mode. For example, as shown in FIG. 5, the third accelerator opening may be X in the emergency exit state from time t11 to t12. The value of X is a value obtained by multiplying the first accelerator opening degree by a coefficient of 0 or more and less than 1. The value of the coefficient is, for example, 0.2-0.5.

In the case of the form shown in FIG. 5, the position of the movable piece 37 is set to the second position in the emergency escape state. The second signal generating unit 17 then generates a signal representing X and supplies it to the second contact 33 . In the emergency escape state, if the first accelerator opening is constant, the third accelerator opening is also constant.

(2) The mode of the accelerator opening represented by the output signal in the emergency escape state may be another mode. For example, as shown in FIG. 6, in the emergency escape state from time t21 to t22, the third accelerator opening may increase over time. The third accelerator opening, for example, is close to 0% immediately after time t21. The third accelerator opening, for example, approaches the first accelerator opening over time.

In the case of the form shown in FIG. 6, the position of the movable piece 37 is set to the second position in the emergency escape state. Then, the second signal generation unit 17 generates a signal corresponding to the third accelerator opening and supplies it to the second contact 33 .

(3) Instead of the relay switch 15, another known switch may be used.
(4) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or a function possessed by one component may be realized by a plurality of components. . Also, a plurality of functions possessed by a plurality of components may be realized by a single component, or a function realized by a plurality of components may be realized by a single component. Also, part of the configuration of the above embodiment may be omitted. Moreover, at least part of the configuration of the above embodiment may be added or replaced with respect to the configuration of the other above embodiment.

(5) In addition to the vehicle control device described above, a system having the vehicle control device as a component, a program for causing a computer to function as a control unit of the vehicle control device, and a non-transitional device such as a semiconductor memory in which the program is recorded The present disclosure can also be implemented in various forms such as a physical recording medium and a vehicle control method.

DESCRIPTION OF SYMBOLS 1... Vehicle control apparatus 3... Accelerator pedal sensor 5... Front monitoring sensor 7... Rear monitoring sensor 9... Vehicle speed sensor 10... Shift sensor 11... Driving force control part 13... Control unit 15... Relay switch , 17 second signal generation unit 19 coil power supply 21 CPU 23 memory 25 obstacle detection unit 27 vehicle speed detection unit 29 accelerator opening setting unit 30 shift detection unit 31 1st contact 33 2nd contact 35 output side contact 37 movable piece 39 coil 41, 43, 45 signal line

Claims (1)

A vehicle control device for controlling a vehicle,
a first accelerator opening acquisition unit configured to acquire a first signal representing a first accelerator opening from an accelerator pedal sensor;
an output unit configured to output an output signal representing an accelerator opening to a driving force control unit that controls the driving force of the vehicle according to the accelerator opening;
an obstacle detection unit configured to detect an obstacle present in the traveling direction of the vehicle;
a vehicle speed detection unit configured to detect a vehicle speed of the vehicle;
an accelerator opening setting unit configured to set an accelerator opening represented by the output signal;
with
(A) when the accelerator opening represented by the output signal is the first accelerator opening and all of the following first to third conditions are satisfied, the output signal represents When the accelerator opening degree is switched to a second accelerator opening degree that is smaller than the first accelerator opening degree, and (B) the accelerator opening degree represented by the output signal is the second accelerator opening degree, the following fourth condition is established. In this case, the accelerator opening represented by the output signal is set to a third accelerator opening that is equal to or less than the first accelerator opening and is less than the first accelerator opening in at least a part of the time period, and (C) When a preset time elapses after the accelerator opening represented by the output signal reaches the third accelerator opening, the accelerator opening represented by the output signal is switched to the first accelerator opening. configured ,
The third accelerator opening degree is an accelerator opening degree in which the first accelerator opening degree and the second accelerator opening degree appear alternately,
a first contact connected to a signal line for transmitting the first signal;
a second contact connected to a signal line for transmitting a signal representing the second accelerator opening;
an output contact; and
a movable piece that connects one of the first contact and the second contact and the output contact,
The accelerator opening setting unit connects the movable piece to the first contact when setting the first accelerator opening,
The accelerator opening setting unit connects the movable piece to the second contact when setting the second accelerator opening,
The accelerator opening setting unit alternately connects the movable piece to the first contact and the second contact when setting the third accelerator opening,
The vehicle control device , wherein the output unit outputs the output signal from the output side contact to the driving force control section .
First condition: the obstacle detection unit has detected the obstacle.
Second condition: the first accelerator opening is greater than or equal to a preset first reference opening.
Third condition: the vehicle speed detected by the vehicle speed detection unit is equal to or lower than a preset reference vehicle speed.
Fourth condition: the first accelerator opening is equal to or greater than a preset second reference opening for a predetermined period of time or longer.

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