JPH09317865A - Vehicle control device - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] When performing downshift control according to road conditions based on road information stored in a navigation system, the driver's intention is estimated and the gear ratio is set by the driver. It should be done without contradiction. An upper limit value of a gear ratio is set based on an appropriate speed when passing through a corner, which is calculated based on road information read from a navigation processing unit, and a driver's intention of deceleration is estimated from a driving operation. , The gear ratio is determined within the set upper limit value. Further, when the predetermined driving operation by the driver is not detected, the gear ratio control for normal traveling is performed, and the gear shift control for oshishishi is not performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device, and more particularly to control of a gear ratio of an automatic transmission including a stepped transmission and a continuously variable transmission.

[0002]

2. Description of the Related Art A control device for an automatic transmission has been proposed, which has a changing means for changing a control pattern of the automatic transmission according to road information about the surroundings at a current position of a vehicle (Japanese Patent Publication No. 6-58141). ).

[0003]

By the way, in the control of the shift speed according to the road condition, the shift speed is controlled according to the specific surrounding conditions, so that the driver is highly adaptable to the environment, It also imposes control of the dressing on the vehicle side. For example, when the shift pattern changes in response to a change in the road environment, it is possible that the driver suddenly changes to a shift stage that is unexpected. From this point of view, the present invention estimates the driver's will and sets the gear ratio so as not to violate the driver's will.

[0004]

Means for Solving the Problems Such an object is achieved by the present invention described below.

(1) Road information storing means for storing road information, own vehicle position detecting means for detecting the own vehicle position on the road, and radius of curvature for calculating the radius of curvature of a corner in the traveling direction of the own vehicle position. Calculating means, vehicle speed detecting means for detecting the vehicle speed of the own vehicle, automatic transmission device for automatically selecting the gear ratio, driving operation detecting means for detecting the driving operation of the driver,
The gear ratio regulating means for regulating the gear ratio within a predetermined range according to the vehicle speed and the radius of curvature, and the gear ratio regulating means for regulating the gear ratio selected by the automatic transmission based on the driving operation of the driver. And a gear ratio setting means for setting the gear ratio so as to fall within the above range.

(2) The vehicle has a section calculating means for calculating a section distance between the vehicle position and the entrance of the corner, and the gear ratio regulating means has a range of gear ratio corresponding to the distance calculated by the section calculating means. The vehicle control device according to (1) above, which restricts

(3) The vehicle control device according to (1), wherein the driving operation detecting means detects the driving operation based on the accelerator opening.

(4) The vehicle control device according to (1), wherein the driving motion detecting means detects the driving motion based on the throttle opening.

(5) The driving motion detecting means detects the driving motion based on the operation of the brake pedal.
The vehicle control device described in 1.

(6) The vehicle control device according to (1), wherein the automatic transmission is a multi-stage transmission.

(7) The vehicle control device according to (1), wherein the automatic transmission is a continuously variable transmission.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment of the present invention will be described below.
One will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing the configuration of the vehicle control device of the present invention. The vehicle control device 1 of the present invention includes a navigation system device 10, an AT mode selection unit 20, and a vehicle state detection unit 30.
And a shift control device 40. The navigation system device 10 includes a navigation processing unit 11, a data storage unit 12 that is a road information storage unit, a current position detection unit 13, a communication unit 15, an input unit 16, and a display unit 17.
And a voice output unit 19.

The navigation processing unit 11 performs various arithmetic processing such as navigation processing based on the input information, and outputs the result thereof (hereinafter referred to as "CP").
U ”) 111. This CPU111
Are connected to the ROM 112 and the RAM 113 via a bus line such as a data bus. The ROM 112 is a read-only memory that stores various programs for searching for a route to a destination, driving guidance on the route, determining a specific section, and the like. RAM113 is a CPU
111 is a random access memory as a working memory when performing various arithmetic processes.

The data storage unit 12 stores a map data file, an intersection data file, a node data file, a road data file, a photo data file, and information for various regions such as hotels, gas stations, tourist spot information in each region. It has other stored data files. In each of these files, a route search is performed, a guide map is displayed along the searched route, a characteristic photo or frame drawing of the intersection or route is displayed, the remaining distance to the intersection, the next intersection To display the direction of travel and other guidance information on the display unit 17 and the voice output unit 19.
Stores various data to be output from.

Of the information stored in these files, each file that stores intersection data, node data, and road data is used for route search in normal navigation. These files include road width, slope, road condition, corner radii, intersections, T-junctions, number of lanes on the road, points with reduced lanes, corner entrances, railroad crossings, highway exit rampways. Stores road information such as toll gates on expressways, narrowing points of roads, downhill roads, and uphill roads.

For each file, various storage devices such as a floppy disk, a hard disk, a CD-ROM, an optical disk, a magnetic tape, an IC card and an optical card are used. Although each file has a large storage capacity, for example, a CD-ROM is preferably used, an IC card may be used for individual data such as other data files and data for each area.

The current position detecting section 13 also includes a GPS receiver 131, a geomagnetic sensor 132, a distance sensor 133, a steering sensor 134, a beacon sensor 135, and a gyro sensor 136. GPS receiver 13
Reference numeral 1 is a device for receiving the radio wave emitted from the artificial satellite and measuring the position of the vehicle. The geomagnetic sensor 132 detects the geomagnetism and obtains the direction in which the vehicle is heading. As the distance sensor 133, for example, a sensor that detects and counts the number of rotations of the wheel, a sensor that detects acceleration and integrates twice, or another measuring device is used. Steering sensor 134
For example, an optical rotation sensor or a rotation resistance volume attached to the rotating portion of the handle is used, but an angle sensor attached to the wheel portion may be used. The beacon sensor 135 receives position information from beacons arranged on the road. The gyro sensor 136 is configured by a gas rate gyro, an optical fiber gyro, or the like that detects the rotational angular velocity of the vehicle and integrates the angular velocity to obtain the azimuth of the vehicle.

The GPS receiver 13 of the current position detector 13
1 and the beacon sensor 135 can measure their positions independently, but in other cases, the distance sensor 133
The combination of the distance detected by the vehicle and the azimuth detected by the geomagnetic sensor 132 or the gyro sensor 136, or the combination of the distance detected by the distance sensor 133 and the steering angle detected by the steering sensor 134. The absolute position of the vehicle (position of the vehicle) is detected.

The communication unit 15 is adapted to send and receive various data to and from an FM transmitter, a telephone line, etc.
For example, various data such as traffic information such as traffic jams and traffic accident information received from an information center or the like is received.

The input unit 16 is configured to correct the current position at the start of traveling and input the destination. Examples of the configuration of the input unit 16 include a touch panel that is arranged on the screen of the display that constitutes the display unit 17 and that inputs information by touching the keys and menus displayed on the screen, a keyboard, a mouse, and a bar. Code reader, light pen, remote control device for remote control, etc.

The display unit 17 displays operation guides, operation menus, operation keys, displays a route to a guide point set according to a user's request, and displays various maps such as a guide map along a traveling route. The display is done. As the display unit 17,
A CRT display, a liquid crystal display, a plasma display, a hologram device that projects a hologram on a windshield, or the like can be used.

The voice input unit 18 is composed of a microphone or the like, and inputs necessary information by voice. The voice output unit 19 includes a voice synthesizer and a speaker, and outputs guidance information of voice synthesized by the voice synthesizer. Note that in addition to the voice synthesized by the voice synthesizer, various guide information may be recorded on a tape and output from a speaker, and the synthesized voice of the voice synthesizer and the voice of the tape may be output. You may combine.

In the navigation system device 10 as described above, the vehicle position detecting means is the current position detecting section 1.
3 and the road information storage means is composed of the data storage unit 12. The radius-of-curvature calculation means is composed of the data storage unit 12, the current position detection unit 13, and the navigation processing unit 11. And
The turning angle in the traveling direction of the vehicle position is determined by the navigation processing unit 11 based on the vehicle position detected by the current position detection unit 13, the traveling direction of the vehicle, and the road information stored in the road information storage means. To do. The section calculation means is composed of the current position detection unit 13, the data storage unit 12, and the navigation processing unit 11. The turning angle in the traveling direction of the own vehicle position is a place where it is necessary to change the steering angle to change the traveling direction of the vehicle, for example,
Examples include intersections, T-shaped roads, points where the number of lanes decreases, corners, corner entrances, highway exit rampways, and points where the width of the road becomes narrow. In addition, points at which the rate of change of a node is above a certain level are used as entrances and exits at corners. That is, the section calculation means obtains the change rate of the node at the corner based on the road information stored in the data storage unit 12, identifies the entrance at the corner, and the distance d from this entrance to the current vehicle position. To calculate.

Next, the planned traveling road is the set route when the traveling route of the vehicle has already been set, and when it is not set, the planned traveling road passes, for example, when going straight. Can be the expected route. By providing such a traveling route detection unit that searches for the planned traveling route, the planned traveling route becomes clearer and the controllability is improved.

The automatic transmission system includes an automatic transmission (not shown) (a multi-stage transmission having a fifth gear in the present embodiment) and an actuator for setting a gear ratio (a fifth gear in the present embodiment). A hydraulic control circuit) and a shift control device 40 that outputs an operation signal to its actuator are included. A vehicle speed signal, an accelerator opening signal from an accelerator sensor, and road data from the navigation system device 10 are input to the shift control device 40. The driving operation is detected based on the signal from the accelerator sensor 33 and the accelerator opening signal. That is, the driving operation detecting means is constituted by judging the accelerator opening signal. Gear shift control device 40 that constitutes a gear ratio regulating means and a gear ratio setting means
Is functionally composed of a shift speed determining unit and a shift speed restricting unit. The shift speed determination unit specifically determines which shift speed to select, and is determined by, for example, a data table (shift map) that determines a shift speed based on the throttle opening and the vehicle speed.

On the other hand, the shift speed regulation unit is a main part of the present invention, and regulates the upper limit of the shift speed determined by the shift speed determination unit. Therefore, even if the shift speed determination unit determines, for example, the fifth speed, the command signal is output only within the range from the first speed to the fourth speed when the upper limit is set to the fourth speed by the shift speed restriction unit. Then, a command signal is output to an actuator (not shown) that sets a gear ratio. The setting of the upper limit of the shift speed is determined based on the shift maps shown in FIGS. 2 to 4 and the data tables shown in Tables 1 and 2. Specifically, it is determined as follows.

[0027]

[Table 1]

As shown in Table 1, the vehicle speed is divided into a low speed range and a high speed range in advance, and the vehicle speed V
Is 0-V1, V1-V2, V2-V3, V3-V4
It is determined which range of (V1 <V2 <V3 <V4) is included. In addition, the radius of curvature of the corner is large corresponding to each range of the vehicle speed (the curvature is gentle)
To a small area (the curve is sharp), the calculated curvature radius r of the curve is 0 to r1, r1 to r.
2, r2-r3, r3-r4 (r1 <r2 <r3 <r
Which range of 4) is included is determined. From these vehicle speed and curvature radius, the vehicle speed curvature radius coefficient is determined from Table 1.

[0029]

[Table 2]

On the other hand, the distance d from the present vehicle position to the entrance of the corner is divided into a short distance range and a long distance range in advance, and the distance d is 0 to D1, D1 to D2, D2.
To D3 and D3 to D4 (D1 <D2 <D3 <D4) are included. Then, based on Table 2, the determined vehicle speed curvature radius coefficients A1 to A4 and B1 to
From B4, C1 to C4, D1 to D4 and the area of the distance d divided into the above four, the upper limit of the shift speed according to the running state and the road condition at that time (in Table 2, a1 to a4, b1 to b
4, c1-c4, d1-d4 ...) are determined. Maps showing an example of such a data table are shown in FIGS.

For example, in the map shown in FIG. 2, the distance d is a long distance area (area where the distance to the entrance of the corner is relatively long), and FIG. 4 is short distance (the distance to the entrance of the corner is compared. 3), a map of a region between the long distance region and the short distance region is shown.

For example, in FIG. 3, when the relationship between the corner radius of curvature and the vehicle speed is point a in the map, even if the automatic transmission selects the fourth speed from the vehicle speed and the throttle opening, The gear stage is selected from up to the third speed, and in this case, the third speed is selected. Also, FIG.
In the case where the relationship between the corner radius of curvature and the vehicle speed is point b in the map, if the automatic transmission selects the second speed from the vehicle speed and the throttle opening, the shift speed is up to the third speed. Since it is selected from the inside, in this case, the vehicle will travel in the second speed as it is. 2 to 4
The map shown in (1) does not have hysteresis for the sake of simplicity, but it is preferable to provide hysteresis for preventing hunting.

The control operation of the shift control device 40 will be described in detail below with reference to the flow chart shown in FIG. The flowchart of FIG. 5 shows the control operation when passing through the corner shown in FIG.

First, the navigation system processing section 11 inputs road information such as the vehicle position of the vehicle 2 and the traveling direction (step S101). The road data in the traveling direction includes the type of road on which the vehicle is currently traveling, the shape of the road ahead, the coordinate data of the nodes R1 to Rn ahead of the current position, and the like.

In step S101, the input data, that is, the road shape in front, each node R1 in front of the current position
˜Rn (see FIG. 6) and the like to calculate and confirm the radius of curvature of the corner, continuity, degree of change of radius, and length of corner. That is, the radius of curvature of the corner at each node is obtained from the angle formed by the link connecting the nodes, and the continuity of the corner and the degree of change in the radius of curvature of the corner are determined. Also, the distance d between the vehicle position and the corner entrance is calculated (step S
102).

Next, vehicle information is acquired (step S1).
03). The vehicle information includes vehicle speed V, throttle opening, accelerator opening α, brake signal, and the like. Next, referring to the normal shift map, the shift stage is determined from the throttle opening and the vehicle speed (step S104). Then, it is determined whether or not the accelerator opening is near 0, or the accelerator opening is sufficiently small and the accelerator opening change rate Δα is closed at a predetermined change rate δ or more (step S105). .

When the accelerator opening α is close to 0, or when the accelerator opening is sufficiently small and the accelerator opening α
If the change rate Δα of the vehicle is closed at a predetermined change rate δ or more, it can be determined that the driver has the intention to decelerate, and therefore the variable accelerator opening for regulation is sufficiently small and the speed map is referred to. . This restriction shift map restricts the upper limit of the shift speed according to the vehicle speed, the distance d to the corner entrance, and the radius of curvature of the corner. This map for regulation is made from the viewpoint of what gear is more appropriate when decelerating, and is configured to be applied after confirming the intention of the driver. That is, for example, even when the fourth speed is determined by the normal shift map, if the third speed is determined by the restriction shift map, the third speed is used as the output signal. Further, when the second speed is determined by the normal shift map, even if the restricted shift map is the third speed, the restricted shift map restricts the shift speed within the range of the third speed, so the shift output as the command signal The stage becomes the second speed (step S106).

On the other hand, when the accelerator opening α is not near 0 or the rate of change Δα of the accelerator opening α cannot be closed at a predetermined rate of change δ or more, the driver follows the curve. When it is determined that deceleration is not intended, normal control is performed. Such control operation may be performed in the navigation processing unit 11 or the automatic transmission.

In the above-described embodiment, the driver's intention to decelerate is judged based on the accelerator opening α. However, the throttle opening (that is,
The intention to decelerate can also be determined by detecting the driving operation based on the rate of change or the value of engine torque). Furthermore, the intention of deceleration may be determined by detecting the driving motion based on the operation of the brake pedal. In this case, the intention of deceleration can be determined based on the change rate of the brake depression amount input from the brake sensor 32, the ON operation of the brake, and the like. In addition, the driving operation may be detected based on the turn signal switch, and the intention of deceleration may be determined by detecting the turn-on operation.

Further, the gear shift stage is determined by the accelerator opening degree and the vehicle speed, but the gear shift stage may be decided by the throttle opening degree and the vehicle speed, or by the magnitude of the engine torque and the vehicle speed. It may be configured to determine the shift speed.

As the automatic transmission, one having a continuously variable transmission may be used. In this case, the gear ratio regulating means is
The range of the gear ratio is regulated, not the gear stage.

[0042]

As described above, according to the vehicle control apparatus of the present invention, the driving operation of the driver is detected and the gear ratio selected by the automatic transmission is set based on the detected driving operation. The vehicle can be controlled in accordance with the person's intention.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle control device of the present invention.

FIG. 2 is a shift map in downshift control.

FIG. 3 is a shift map in shift-down control.

FIG. 4 is a shift map in downshift control.

FIG. 5 is a flowchart showing a control operation of the control device.

FIG. 6 is a schematic diagram showing a change in shift speed when passing through a corner.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 vehicle control device 2 vehicle 10 navigation system device 11 navigation processing unit 12 data storage unit 13 current position detection unit 20 AT mode selection unit 30 vehicle state detection unit 40 transmission control device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical indication location F16H 59:44 59:54 59:66 (72) Inventor Mitsuru Yamashita 2 Sotokanda, Chiyoda-ku, Tokyo No. 19-12 Equus Research Co., Ltd. (72) Inventor Hideki Nakajima 2-19-12 Sotokanda, Chiyoda-ku, Tokyo Within Equus Research Co., Ltd.

Claims (7)

[Claims] 1. A road information storage means for storing road information, a vehicle position detection means for detecting a vehicle position on a road, and a curvature radius calculation for calculating a curvature radius of a corner in a traveling direction of the vehicle position. Means, a vehicle speed detection means for detecting the vehicle speed of the own vehicle, an automatic transmission device for automatically selecting a gear ratio, a driving operation detection means for detecting a driving operation of a driver, A gear ratio regulating unit that regulates the gear ratio within a predetermined range, and a gear ratio selected by the automatic transmission based on the driving operation of the driver are set to fall within the range regulated by the gear ratio regulating unit. A vehicle control device, comprising: 2. A section calculation means for calculating a section distance between a vehicle position and an entrance of a corner, wherein the gear ratio regulation means sets a range of the gear ratio corresponding to the distance calculated by the section calculation means. The vehicle control device according to claim 1, which is restricted. 3. The vehicle control device according to claim 1, wherein the driving motion detecting means detects the driving motion based on an accelerator opening degree. 4. The vehicle control device according to claim 1, wherein the driving motion detecting means detects a driving motion based on a throttle opening. 5. The vehicle control device according to claim 1, wherein the driving motion detecting means detects a driving motion based on an operation of a brake pedal. 6. The vehicle control device according to claim 1, wherein the automatic transmission is a multi-stage transmission. 7. The vehicle control device according to claim 1, wherein the automatic transmission is a continuously variable transmission.