JP2018188042A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such the problem that a driver may recognize a danger excessively due to brake sound or the like when applying brake.SOLUTION: A vehicle control device allows smooth deceleration while preventing excessive danger from being imposed to a driver when the driver erroneously does an accelerator pedal, by using engine brake.SELECTED DRAWING: Figure 1

Description

The present invention relates to vehicle driving force control when an accelerator is depressed incorrectly.

  Mistakes in brakes and accelerators in parking lots have been taken up in recent news, and this measure is very important. As such a measure, it is known that when the driver accidentally steps on the accelerator pedal when trying to step on the brake pedal, this state is detected and the brake operation is performed.

  These are assumed to start from a stop and are in a low-speed vehicle state, but it is more difficult to determine a stepping error in a high-speed vehicle state.

  Since it is normal to step on the accelerator while traveling, the condition for determining whether the driver's judgment is an acceleration request or a deceleration request is important.

  The following proposals have been made as means for solving such problems.

  Patent Document 1 discloses a technique for detecting that a driver of a vehicle intends to step on an accelerator but has stepped on an accelerator. When an external impact is applied to the vehicle or when entering a curve, It is described that a stepping error is accurately detected. According to Patent Document 1, an impact by the G sensor is detected as a detection parameter, and a state in which the driver has stepped on the accelerator in response to the impact is detected.

  Further, Patent Document 2 discloses a technique in which an accelerator pedal erroneous operation is detected and brake torque is generated on a wheel, and even if the driver cannot properly operate the steering, there is a possibility that the vehicle may enter a dangerous area. It is described to reduce.

  As described above, regarding the driver's mistake in stepping on the accelerator, society's awareness of danger is increasing, and there is an increasing need to avoid danger using recognition technology and control technology.

JP 2012-144053 JP 2012-176731 A

  However, it is not possible to detect a stepping error in response to a brake operation request from visual information with no impact in the impact detection by the G sensor.

  In addition, if the driver feels excessive danger due to brake noise or the like during brake operation, the driver may further step on the accelerator and the deceleration may be reduced.

  Conversely, if there is no braking sound, it is difficult to understand that the vehicle is decelerating because it is considered dangerous. Even if a warning light is used, it is not effective because the driver may not be able to see the instruments by watching the road conditions in corners.

  The present invention detects that the driver mistakenly operates the accelerator when decelerating at a corner using the information from the navigation system or camera, etc., which is external information, so that even if a stepping mistake occurs, Therefore, we propose to increase the engine speed and reduce the speed by engine braking (emblem) so that it can be safely decelerated.

  As described above, the present invention determines the necessity of deceleration during cornering from the front of the corner, and even if the driver makes a mistake and steps on the accelerator, the vehicle can be decelerated safely by emblem. It is possible to detect to the driver that the vehicle is decelerating by detecting a mistake in stepping, so that the driver will not be upset by being relieved, and further depression of the accelerator can be suppressed to avoid danger Is possible.

  In addition, it can be used even on long downhills because the brake is not used or the degree of use of the brake can be reduced as much as possible.

  In this way, it is possible to provide a control method that solves the problem of avoiding a dangerous situation caused by the driver making a mistake in stepping on the brake and the accelerator.

System configuration Driving scene Timing chart Judgment flowchart Control flowchart

  Hereinafter, the present invention will be described with reference to the drawings.

  FIG. 1 is a system configuration diagram which is an embodiment of the present invention. The prime mover 10 is a drive source for running the vehicle, and may be an internal combustion engine or another power source that can generate a deceleration force. A prime mover output shaft 11 of the prime mover 10 is generally connected to a starting device 12 such as a clutch or torque converter, and is connected to a transmission input shaft 13 of a transmission 14. A transmission output shaft 15 connected to the transmission 14 is connected to a differential 16 and is divided into a right drive shaft 17 and a left drive shaft 18 to drive the right tire 19 and the left tire 20 to drive the vehicle. be able to.

  Further, the prime mover control device 44, the transmission control device 45, the braking control device 46, and the deceleration determination device 55 are connected by a communication line, and each information can be shared by the communication information. The deceleration determination device 55 is connected to an external environment recognition device 50 such as a camera and a position information input device 51 such as a GPS or a navigation system via a communication line.

  Here, the information recognized by the external environment recognition device 50, the position information input device 51, the operation angle (steering angle) of the steering wheel, etc. is input to the deceleration determination device 55 to perform the corner determination, and from the situation of the corner and the vehicle speed in the future Acceleration / deceleration prediction is performed. Corner determination can be made based on forward recognition by the external environment recognition device 50 and road information and steering angle by the position information input device 51.

  Accelerator operation information and vehicle conditions such as vehicle speed are obtained from the motor control device 44 and other in-vehicle control devices and in-vehicle sensors not shown in the drawings, and step errors are determined.

  According to the determination result, a deceleration is calculated and a transmission ratio associated with the deceleration is realized by the transmission control device 45, so that a shift with an emblem with respect to an erroneous stepping on the accelerator can be performed.

  FIG. 2 is a diagram of a running scene as an example in which the present invention can be effectively used. When the vehicle approaches the corner, a deceleration request can be determined by the vehicle speed and the radius of curvature of the corner at that time. If deceleration is essential, it is expected that stepping on the accelerator will be dangerous, so calculating the section where deceleration is required as the applicable section of this control will cause the accelerator to be stepped on this section. In this case, it is determined that the stepping is wrong, and the engine torque is reduced and the vehicle is decelerated. At the same time, the braking force is applied by the emblem, and the driver can be alerted together with the deceleration information.

  In addition, since the driver does not have a feeling of danger avoidance due to braking, the driver can safely decelerate without having to step on the accelerator due to a change in the behavior of the vehicle.

  FIG. 3 is an example of a timing chart showing the change of each information in the application section described in FIG. 2, and a steering angle 300 during cornering based on information detected by a sensor that the driver has turned the steering wheel, and a camera In addition, when one of the corner prediction signals 301 obtained from the GPS or the navigation system is a value indicating that there is a corner in or in front of the corner, the application section is determined. At first, because it is in front of the corner, the driver decelerates by moving away from the accelerator 303, but the vehicle speed when the driver tries to step on the brake by finding something while driving, but steps on the accelerator by mistake. The change in 302 is indicated by a dotted line. In addition, a change in the vehicle speed 302 when the present invention is applied is indicated by a solid line. The stepping error is determined according to the present invention when the deceleration request is determined in the application section and the accelerator is depressed more than a certain threshold in the application section.

  FIG. 4 is an example of a control flowchart for determining a stepping error of a function installed in the deceleration determination device 55. First, it is confirmed whether there is a corner in the traveling direction of the vehicle or whether the vehicle is cornering. The front corner can be determined from the curvature radius and the vehicle position from the external environment recognition device 50 and the position information input device 51 of FIG. In addition, determination during cornering can be easily performed based on information from the rudder angle sensor.

  When there is a corner in front or during cornering, the vehicle speed that can be safely driven is calculated from the radius of curvature of the corner, and if the current vehicle speed is high, the vehicle is judged to be in a driving scene that requires deceleration. When stepping is performed, a step error determination is performed.

  FIG. 5 is an example of a control flowchart of a function for performing an action on the vehicle when a stepping error is determined. This control function is not limited as long as each device can be controlled by communication regardless of which of the prime mover control device 44, the transmission control device 45, the braking control device 46, and the deceleration determination device 55 is installed.

  First, if the above-mentioned stepping error determination result, which is a control condition, is satisfied and the release condition is not satisfied, control for stepping error is performed for each device. If the release condition is satisfied, normal control is performed. The release condition is described in FIG. 5 as the case where the vehicle speed continues below a certain threshold value. However, if the vehicle speed continues for a certain period of time, it is determined that the driver has noticed that the driver has made a mistake in stepping. However, for example, when the present invention is applied to an auto-cruise function that has been increasingly installed in recent years, there is no problem even if the auto-cruise function is once canceled. Furthermore, even in an operation support system such as an automatic operation that has been applied in recent years, there is no problem even if the release is performed by turning off the system. Here, if the vehicle speed threshold is changed according to the curvature of the corner and the presence of obstacles ahead, the normal speed can be adjusted by increasing the vehicle speed threshold at a loose corner and lowering the vehicle speed threshold at a sharp corner. If the adjustment is made, it is possible to perform a return suitable for the driver.

  Next, when the control condition is satisfied and the release condition is not satisfied, the prime mover control device 44 capable of controlling the prime mover 10 in order to prevent the prime mover 10 from outputting an output to the depressed accelerator, Instruct to reduce torque or output. If the output of the prime mover 10 decreases, a braking force target is calculated in order to apply engine braking, a gear ratio is calculated from the braking force, and an instruction is given to the transmission control device 45. In addition, a warning message and a voice message indicating that the stepping error control for the passenger is being performed are performed. Further, when there is a limit to the braking force in the emblem, the brake control device 46 is instructed to deal with the braking force equivalent amount obtained by subtracting the emblem braking force from the braking force target, and a general disc brake or Use a friction brake such as a drum brake to ensure braking force.

  By operating in this way, while avoiding danger due to stepping mistakes during cornering or in front of the corner, avoiding excessive driver awareness with key sounds such as friction brakes and increasing engine rotation of the emblem It is possible to make the driver recognize the depression of the accelerator. In addition, since the vehicle is decelerated even at high engine speeds, it is possible to perform safe and secure vehicle control when a stepping error occurs.

  In the above description, if the accelerator opening threshold used for detecting an accelerator depression error is changed depending on the curvature of the corner and the presence or absence of obstacles ahead, the accelerator opening threshold is set higher in a loose corner and in a tight corner. By setting the threshold value low, it is possible to further improve the determination accuracy of a stepping error.

  In addition, by controlling the transmission when decelerating to a constant vehicle speed to be equal to or higher than a certain number of revolutions, it is possible to enhance the driver's recognition of an accelerator depression error due to engine noise or an increase in rotation.

  In addition, after detecting a stepping error, the target vehicle speed when decelerating is also changed according to the curvature of the corner to reduce the risk of rear-end collision of the following vehicle by increasing the target vehicle speed at a gentle corner. It is possible.

  In the above-described embodiment, it is shown in FIG. 2 that the risk of stepping on the accelerator in front of a corner like a mountain road or during cornering is reduced, but the present invention can also be applied when turning at a corner such as an intersection. Is possible. In this case, it can be realized by detecting the right and left turn information from the navigation system or the like based on the right or left turn information, the bent state by the rudder angle, or the like, and performing deceleration by emblem as described above.

DESCRIPTION OF SYMBOLS 10 Engine 11 Engine output shaft 12 Starting device 13 Transmission input shaft 14 Transmission 15 Transmission output shaft 16 Differential device 17 Right drive shaft 18 Left drive shaft 19 Right tire 20 Left tire 44 Engine control device 45 Transmission control device 46 Braking control device 50 External recognition device 51 Position information input device 55 Deceleration determination device 300 Steering angle 301 Corner prediction signal 302 Vehicle speed 303 Accelerator opening

Claims (8)

In a vehicle equipped with a prime mover, a transmission, and an external recognition device,
Based on information from the outside world recognition device, etc., the necessity of deceleration before cornering or cornering is judged, and when an accelerator depression error is detected from the necessity of deceleration and accelerator information, the braking force of the prime mover is controlled by the transmission to maintain a constant vehicle speed A vehicle control device that decelerates to a maximum.   2. The vehicle control device according to claim 1, wherein the necessity of deceleration is used by combining or combining forward information from a camera and a steering angle from a sensor attached to a steering device and GPS or navigation information.   2. The vehicle control device according to claim 1, wherein the threshold value of the vehicle speed used for detecting a mistake in stepping on the accelerator varies depending on the curvature of the corner and the presence or absence of an obstacle ahead.   2. The vehicle control device according to claim 1, wherein a threshold value of an accelerator opening used for detection of an accelerator stepping error changes depending on a curvature of a corner and presence / absence of an obstacle ahead.   2. The vehicle control device according to claim 1, wherein control of the transmission when decelerating to a constant vehicle speed is set to a predetermined number of revolutions or more.   2. The vehicle control device according to claim 1, wherein the target vehicle speed when the vehicle is decelerated after detecting a stepping error changes according to the curvature of the corner.   2. The vehicle control device according to claim 1, wherein after a stepping error is detected, a return condition for returning to the normal control is continued for a certain period of time at a certain vehicle speed or less.   The vehicle control device according to claim 1, wherein a return condition for returning to normal control after detecting a stepping error is performed by auto cruise or by turning off the driving support system.

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