Vehicle control device and vehicle control method

Abstract

The invention provides a vehicle control apparatus and a vehicle control method. The vehicle control device includes: a turning state detection section configured to detect whether a vehicle is in a turning state based on a traveling state of the vehicle; a vehicle speed detection unit for detecting whether the vehicle speed of the vehicle is equal to or less than a predetermined threshold value; a braking force distribution control unit for distributing and controlling the braking force of each wheel of the vehicle on the basis of the traveling state and the vehicle speed; and a brake sound detection unit for detecting the brake sound of each of the wheels. When the vehicle is in the turning state and the vehicle speed is equal to or less than the predetermined threshold value during the control of the braking force by the braking force distribution control unit, the operation of the braking force distribution control unit is suppressed when a plurality of braking sounds occur within a predetermined period of time.

Description

Technical Field

[0001] The invention relates to a vehicle control device and a vehicle control method. Background Art

[0002] In recent years, efforts have been actively made to provide access to sustainable transportation systems that also take into account the disadvantaged positions of traffic participants such as the elderly, the disabled or children. In order to achieve the above goals, research and development efforts are being made to further improve the safety and convenience of transportation through developments related to the habitability of vehicles.

[0003] When a vehicle turns at low speed, when the distribution of the braking force between the left and right wheels of the vehicle is controlled, the friction material of the brakes will stick and slip, resulting in brake noise. Stick and slip refers to the intermittent motion of alternating between sliding and sticking, rather than continuous smooth sliding when two objects in contact are in sliding contact. To address this problem, Patent Document 1 reduces the additional braking force on the inner wheel of the turn when the vehicle is moving, thereby preventing brake noise.

[0004] Prior art literature

[0005] Patent Document 1: Japanese Patent Publication No. 2008-105589

[0006] In the prior art document 1, even if control is performed during low-speed turning, there is a case where the brake noise cannot be sufficiently prevented. The brake noise changes due to various factors such as deterioration of the friction material, temperature, humidity, and the bite of foreign matter. In particular, when the brake noise continues to occur, it is desired to suppress the brake noise.

[0007] However, in terms of vehicle livability, how to suppress the braking noise when the vehicle turns at low speed is a problem. Summary of the invention

[0008] This proposal aims to solve the above-mentioned problems and to suppress the braking noise of the vehicle when turning at low speed. Furthermore, it will contribute to the development of sustainable transportation systems.

[0009] According to an embodiment of the present invention, a vehicle control device is proposed. The vehicle control device includes: a turning state detection unit for detecting whether the vehicle is in a turning state based on the driving state of the vehicle; a vehicle speed detection unit for detecting whether the vehicle speed is equal to or less than a specified threshold; a braking force distribution control unit for distributing and controlling the braking force of each wheel of the vehicle based on the driving state and the vehicle speed; and a brake sound detection unit for detecting the brake sound of each wheel. When the braking force distribution control unit controls the braking force, when the vehicle is in the turning state and the vehicle speed is equal to or less than the specified threshold, the braking force distribution control of the braking force distribution control unit is suppressed when the braking sound occurs multiple times within a specified time.

[0010] According to an embodiment of the present invention, the vehicle control device may further include: a braking device that applies a braking force to the vehicle based on the driver's operation of the brake operating member. When the vehicle speed is equal to or lower than the specified threshold, the braking device generates the braking force corresponding to the operation of the brake operating member when the braking force distribution control ends.

[0011] According to an embodiment of the present invention, the vehicle control device may further include: a power switch for operating the driving source of the vehicle according to the operation of the driver. When the braking force distribution control is suppressed when the vehicle speed is equal to or lower than the predetermined threshold, the braking force distribution control unit maintains the state in which the braking force distribution control is suppressed by the braking force distribution control unit until the power switch is turned off.

[0012] According to an embodiment of the present invention, the vehicle control device may further include: an automatic parking control unit, configured to control at least a steering device of the vehicle according to the driving state of the vehicle so as to move the vehicle to a parking position. During the period when the automatic parking control unit performs the automatic parking control, when the braking force distribution control is suppressed, the steering device is controlled in such a way that the turning radius of the vehicle is smaller than the current turning radius.

[0013] According to an embodiment of the present invention, in the vehicle control device, the brake sound detection unit includes: a sound pressure sensor for detecting the brake sound, and an unsprung acceleration sensor for detecting the unsprung acceleration of the vehicle. The vehicle control device may further include: a judgment unit for judging the brake sound based on the detection results of the sound pressure sensor and the unsprung acceleration sensor. When the vehicle speed is equal to or less than the predetermined threshold, the braking force distribution control unit suppresses the braking force distribution control when the judgment unit judges that the brake sound occurs multiple times.

[0014] According to another embodiment of the present invention, a vehicle control method is provided. The vehicle control method includes: based on the driving state of the vehicle, detecting whether the vehicle is in a turning state; detecting whether the vehicle speed is equal to or less than a specified threshold; based on the driving state and the vehicle speed, distributing and controlling the braking force of each wheel of the vehicle to perform braking force distribution control; detecting the braking sound of each wheel; and in controlling the braking force, when the vehicle is in the turning state and the vehicle speed is equal to or less than the specified threshold, when the braking sound occurs multiple times within a specified time, suppressing the braking force distribution control.

[0015] According to the above embodiment, when the vehicle speed is equal to or less than the predetermined threshold value, the vehicle is in a low speed state, and when the brake noise continues to occur, the braking force distribution control prohibition operation can be performed. Thus, the occurrence of the brake noise can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a block diagram of a vehicle control device according to an embodiment of the present invention.

[0017] Figure 2 A block diagram of a brake sound detection unit according to an embodiment of the present invention is illustrated.

[0018] Figure 3A and Figure 3B Schematic diagram of continuous brake sound detection according to an embodiment of the present invention.

[0019] Figure 4 FIG. 4 is a block diagram of a brake sound detection unit according to another embodiment of the present invention.

[0020] Description of Reference Numerals

[0021] 100: Vehicle control device

[0022] 102: Turning state detection unit

[0023] 104: Vehicle speed detection unit

[0024] 106: Braking force distribution control unit

[0025] 108: Brake sound detection unit

[0026] 110: Automatic parking control unit

[0027] 112: Judgment Department

[0028] 114: Control Department

[0029] 118: HMI switch detection unit

[0030] 119: Command value transmission unit

[0031] 120: Braking device

[0032] 130: Steering device

[0033] 140: Power switch

[0034] 200: Sound pressure sensor

[0035] 202, 222: Real-time frequency analysis department

[0036] 204: Noise frequency extraction unit

[0037] 224: Vibration frequency extraction unit

[0038] 206: Sound pressure level calculation unit

[0039] 208: Noise Monitoring Department

[0040] 220: Unsprung acceleration sensor (brake vibration detection unit)

[0041] 230: Comparator DETAILED DESCRIPTION

[0042] Reference will now be made in detail to exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Whenever possible, the same reference numerals are used in the drawings and the description to refer to the same or like parts.

[0043] Figure 1 is a block diagram of a vehicle control device according to an embodiment of the present invention. Figure 1 As shown, the vehicle control device 100 at least includes but is not limited to: a turning state detection unit 102, a vehicle speed detection unit 104, a braking force distribution control unit 106, a brake sound detection unit 108, an automatic parking control unit 110, a judgment unit 112, a control unit 114, a brake vibration detection unit 220, an HMI switch detection unit 118 and an instruction value transmission unit 119. In addition, the vehicle control device 100 may also at least include but is not limited to: a braking device 120, a steering device 130 and a power switch (start switch) 140.

[0044] Figure 1Each of the illustrated parts or devices can be controlled by the control unit 114. The control unit 114 is used to control the vehicle. The control unit 114 can control various behavior modes of the vehicle, such as acceleration, deceleration, parking, avoidance, etc. For those skilled in the art, various control methods of the control unit 114 can be designed according to actual needs. The control unit 114 can be implemented by a processor, such as an ECU (Electronic Control Unit) unit of the vehicle. The ECU unit can be used to control various sensors and detectors of the vehicle. Thus, the control unit 114 can receive data, and perform various processing and judgments on the data, and then control various actuating components of the vehicle. Various system controls in the vehicle are controlled by the ECU unit. For example, the start-up of the vehicle (such as the power switch (start switch) 140), the inspection of various parts after starting, the control of the vehicle display, etc. The turning state detection unit 102 detects whether the vehicle is in a turning state based on the driving state of the vehicle. The turning state can be determined, for example, according to the steering angle (or steering angle) of the steering wheel (steering device 130) installed in the vehicle. As an example, the turning state detection unit 102 can be implemented by a steering angle sensor installed on the steering device 130 and the control unit 114. The sensor is used to detect the rotation angle of the steering device 130 relative to the reference position to determine whether the vehicle is in a turning state. The reference position can generally be the position where the steering wheel of the vehicle (for example, the left and right wheels in front) of the steering device 130 keeps the vehicle moving straight. The rotation angle of the steering device 130 detected by the sensor can be processed and analyzed by the control unit 114 to obtain whether the vehicle is in a turning state.

[0045] The vehicle speed detection unit 104 is used to detect whether the vehicle speed is equal to or less than a specified threshold. The vehicle speed detection unit 104 can be implemented, for example, by a vehicle speed sensor and a control unit 114. The vehicle speed sensor is, for example, a sensor disposed near the wheel to detect the rotation speed to obtain the vehicle speed. The vehicle speed can also be detected using various available sensors, such as using a camera to perform image analysis and processing, radar, lidar, and other available technical means, which are not particularly limited by the present invention. When the vehicle speed sensor detects the vehicle speed, the control unit 114 can compare the detected vehicle speed with the specified threshold and determine whether the vehicle speed is equal to or less than the specified threshold.

[0046] The braking force distribution control unit 106 distributes and controls the braking force of each wheel of the vehicle based on the driving state and speed of the vehicle. The braking force distribution control performed by the braking force distribution control unit 106 is a vector control. In particular, when the vehicle turns, the braking force and turning radius of each wheel of the left and right front wheels and the left and right rear wheels can be controlled. The braking force distribution control unit 106 can receive the vehicle speed detected by the vehicle speed detection unit 104 and the operating angle (steering angle) of the steering device (steering wheel) 130 detected by the turning state detection unit 102, and can confirm the driving state of the vehicle.

[0047] In this embodiment, the control unit 114 receives the detection results from the turning state detection unit 102 and the vehicle speed detection unit 104, and controls the braking force distribution control unit 106. In addition, the judgment unit 112 receives the detection results from the brake sound detection device 108 and the brake vibration detection unit 220, and transmits the judgment results to the braking force distribution control unit 106. The braking force distribution control unit 106 distributes the braking force based on the outputs from the control unit 114 and the judgment unit 112 (or further includes the automatic parking control unit 110), and transmits the results to the command value transmission unit 119, which transmits the command value of the braking force distribution of each wheel to each wheel brake device to generate the corresponding braking force.

[0048] like Figure 2 As shown, the braking force distribution control unit 106 generates a control amount for each wheel based on the vehicle speed and the steering angle, and outputs the braking force command value FL, FR, RL, RR of each wheel (command value transmission unit 118). In addition, the braking force command value FL, FR, RL, RR of each vehicle has a maximum value limit. According to the braking force command value FL, FR, RL, RR, the braking force and driving force of each wheel of the vehicle can be adjusted so that the vehicle can be faster and smoother when turning. However, when the vehicle is traveling at a low speed, the braking force distribution control of the braking force distribution control unit 106 will cause the occurrence of brake noise.

[0049] The brake sound detection unit 108 is used to detect the brake sound of each wheel of the vehicle. The brake sound detection unit 108 will be described in detail later.

[0050] According to the embodiment of the present invention, when the braking force distribution control unit 106 controls the braking force of each wheel of the vehicle, if the turning state detection unit 102 determines that the vehicle is in a turning state and the vehicle speed detection unit 104 determines that the vehicle speed is equal to or less than a predetermined threshold, if multiple braking sounds occur within a predetermined time (for example, 1 minute), the control unit 114 can inhibit (or prohibit) the operation of the braking force distribution control unit 106, that is, the braking force distribution control unit 106 inhibits the executed braking force distribution control. Here, the state where the vehicle speed is equal to or less than the predetermined threshold may refer to a low-speed state in which the vehicle is judged to be in a stopped state or a state close to a stopped state, which may be, for example, a parking operation (forward, reverse, side parking) by the driver, exiting a garage, turning, driving on a narrow road, the automatic parking control unit 110 is in operation, etc.

[0051] Figure 2 A block diagram of a brake sound detection unit according to an embodiment of the present invention is shown. Figure 2 As shown, here, the sound pressure sensor 200 is used as an example for explanation. The sound pressure sensor 200 can be, for example, a microphone for a navigation device installed in the vehicle cabin, so that the sound in the vehicle cabin can be detected.

[0052] After detecting the sound in the vehicle interior, the sound pressure sensor 200 further performs frequency analysis on the detected sound through the real-time frequency analysis unit 202, and then extracts the frequency components related to the brake sound through the noise frequency extraction unit 204. Afterwards, the frequency components extracted by the noise frequency extraction unit 204 are transmitted to the sound pressure level calculation unit 206 to calculate the sound pressure level of the frequency components.

[0053] When the vibration level of the frequency component calculated by the sound pressure level calculation unit 206 is above the specified value, it is determined to be a brake sound. After that, the noise monitoring unit 208 detects whether multiple brake sounds occur within a specified time. For example, the sound pressure level calculation unit 206 transmits the detected brake sound to the noise monitoring unit 208. The noise monitoring unit 208 can set a specified time, such as 1 minute, and monitor (count) whether multiple brake sounds occur within this specified time. That is, if Figure 3A As shown in FIG. 1 , the noise monitoring unit 208 can set a monitoring moving window (prescribed time) W. The monitoring moving window W has a prescribed time range of t and can move with time. The noise monitoring unit 208 can monitor how many times the brake sound BS occurs within the monitoring moving window W. When the noise monitoring unit 208 determines that multiple brake sounds are generated within the prescribed time t, the noise monitoring unit 208 can monitor how many times the brake sound BS occurs within the prescribed time t. Figure 3BAs shown, a flag signal FL_ON can be generated to the braking force distribution control unit 106 to inhibit the operation (compulsory prohibition) of the braking force distribution control unit 106. That is, when the vehicle is in a state of turning at a low speed and the braking sound continues, the operation of the braking force distribution control unit 106 is prohibited, thereby suppressing the occurrence of the braking sound.

[0054] In addition, when the brake sound is detected only once within a specified time, the following control can be performed at this time to reduce the braking force of the inner wheel of the turn. When this control is performed, if the brake sound is detected n times again, the braking force distribution control is prohibited. According to one embodiment of the present invention, the above-mentioned brake sound detection unit 108 may include: a sound pressure sensor 200 for detecting the above-mentioned brake sound. The sound pressure sensor 200 may use, for example, a microphone for a navigation device (i.e., a sound pressure microphone). Generally speaking, the navigation device is installed inside the cabin of the vehicle, and the sound received by the microphone for the navigation device is the brake sound heard by the driver or the passenger from each wheel. In addition, the sound pressure sensor 200 does not use an existing microphone, but uses a high-performance microphone sensor, or a sound pressure sensor may be provided separately on each brake caliper of the brake device 120.

[0055] According to another embodiment of the present invention, the brake sound detection unit 108 may further include: an unsprung acceleration sensor 220 for detecting the unsprung acceleration of the vehicle. The unsprung acceleration sensor 220 is disposed near the suspension system of the vehicle, so the brake sound detected by the unsprung acceleration sensor 220 can be more accurate. By using dual sensors, the false detection of the sound pressure sensor 200 can be reduced. 。

[0056] The determination unit 112 of the vehicle control device 100 may be integrated with the control unit 114 or may be an independent execution component. The determination unit 112 of the vehicle control device 100 determines the brake sound based on the detection results of the fundamental pressure sensor 200 and the unsprung acceleration sensor 220. In addition, when the vehicle speed detection unit 104 determines that the vehicle speed is equal to or less than the predetermined threshold, and the determination unit 112 determines that the brake sound occurs multiple times, the control unit 114 may suppress (or prohibit) the operation of the braking force distribution control unit 106, that is, the braking force distribution control unit 106 suppresses the executed braking force distribution control.

[0057] Figure 4 The exemplary brake sound detection unit 108 includes a block diagram of both the sound pressure sensor 200 and the unsprung acceleration sensor 220. Figure 4 As shown, Figure 2, after the unsprung acceleration sensor (brake vibration detection unit) 220 detects the vibration generated by the brake device 120, the detected vibration is further subjected to frequency analysis by the real-time frequency analysis unit 222, and then the frequency component related to the brake sound is extracted by the vibration frequency extraction unit 224. After that, the frequency component extracted by the noise frequency extraction unit 204 and the frequency component extracted by the vibration frequency extraction unit 224 are compared by the comparator 230, and the comparison result is transmitted to the sound pressure level calculation unit 206 to calculate the sound pressure level of each frequency component.

[0058] In other words, the brake sound is detected by the sound pressure sensor 200. In addition, the same frequency component as the brake sound detected by the sound pressure sensor 200 is transmitted to the sound pressure level calculation unit 206 from the detection result of the unsprung acceleration sensor 220. When the vibration level of the calculated frequency component (about 20 to 200 Hz, high sound pressure measurement during dragging) is above a predetermined value, it is determined to be a brake sound.

[0059] After that, the noise monitoring unit 208 detects whether the braking sound occurs multiple times within a specified time. If the braking sound occurs multiple times, the operation of the braking force distribution control unit 106 is suppressed. The frequency component of the specific braking sound can be extracted by the information detected by the sound pressure sensor (sound pressure microphone) 200 and the unsprung acceleration sensor 220. When the sound pressure level of the extracted frequency component is greater than a specified value, the control amount of the braking force distribution control unit 106 is reduced to suppress the braking force distribution control performed by the braking force distribution control unit 106.

[0060] According to the present embodiment, the detection of the brake noise is performed by the sound pressure sensor 200 and the unsprung acceleration sensor 220. Since the unsprung acceleration sensor 220 is further used in addition to the sound pressure sensor 200, the accuracy of the judgment of the brake noise can be further improved. Based on the judgment result, the braking force distribution control performed by the braking force distribution control unit 106 is suppressed, and the generation of the brake noise can be more effectively suppressed.

[0061] In addition, the brake device 120 of the vehicle control device 100 applies a braking force to the vehicle based on the driver's operation of the brake operating member. The brake device 120 can apply a braking force to the wheels of the vehicle to decelerate the vehicle. The brake operating member is, for example, a brake pedal provided below the driver's seat of the vehicle. The driver can step on the brake pedal to cause the brake device 120 to generate a braking force on each wheel of the vehicle to decelerate or stop the vehicle.

[0062] In addition, when the vehicle speed detection unit 104 detects that the vehicle speed is equal to or lower than the predetermined threshold value, when the braking force distribution control executed by the braking force distribution control unit 106 is terminated (the braking force distribution control is suppressed), the control unit 114 can control the brake device 120 to generate a braking force corresponding to the operation of the brake operating member (i.e., the amount of depression of the brake pedal) when detecting the depression amount of the brake pedal. Therefore, in order to suppress the occurrence of brake noise, the insufficient braking force can be supplemented by the vehicle's brake device 120, so that the deceleration performance of the vehicle can be maintained.

[0063] Therefore, according to an embodiment of the present invention, in the braking force distribution control performed by the braking force distribution control unit 106, the braking force of the vehicle's inner turning wheel is made larger than the braking force of the outer turning wheel, but when the braking force distribution control is suppressed, the braking device 120 generates a braking force corresponding to the operation (depression amount) of the brake pedal.

[0064] In addition, the vehicle control device 100 has a power switch 140, i.e., an engine start switch. When the driver presses the power switch 140, the electronic system of the vehicle can be started. At this time, the control unit 114 of the vehicle control device 100 can perform various inspection procedures and the dashboard of the vehicle also starts to display. After that, when the driver presses the power switch 140 again, the engine of the vehicle can be started, so that the vehicle can be driven. In addition, the driver can also turn off the engine of the vehicle and start the electronic system of the vehicle by operating the power switch 140. Therefore, through the power switch 140, it can operate the driving source (engine) of the vehicle according to the operation of the driver.

[0065] Furthermore, when the vehicle speed detection unit 104 detects that the vehicle speed is equal to or lower than a predetermined threshold, the braking force distribution control performed by the braking force distribution control unit 106 is suppressed. At this time, until the power switch 140 is turned off, the operation of the braking force distribution control unit 106 is continuously suppressed, that is, the braking force distribution control is maintained in a suppressed state.

[0066] In this embodiment, if the brake noise continues to exist, the braking force distribution control is continuously suppressed until the vehicle power switch 140 is turned off. In this way, the occurrence of the brake noise can be further suppressed.

[0067] The automatic parking control unit 110 of the vehicle control device 100 is used to control at least the steering device (steering wheel) 130 of the vehicle according to the driving state of the vehicle to move the vehicle to a parking position. Here, the automatic parking control unit 110 is a vehicle parking assistance function, and its function is to assist the operation of the steering device (steering wheel) 130 during parking. When performing reverse parking and side parking, the automatic parking control unit 110 can automatically operate the steering device (steering wheel) 130 to drive the vehicle into the white line frame of the parking space.

[0068] When the braking force distribution control performed by the braking force distribution control unit 106 is suppressed during the automatic parking control performed by the automatic parking control unit 110, the steering device 130 is controlled in such a way that the turning radius of the vehicle is smaller than the current turning radius. That is, when the braking force distribution control is suppressed, the steering device 130 is controlled by the automatic parking control unit 110 to apply a control torque to the steering device 130 so as to reduce the turning radius.

[0069] Since the braking force distribution control of the braking force distribution control unit 106 is suppressed, the turning radius of the vehicle becomes larger. However, even so, the present invention can control the steering device 130 through the automatic parking control unit 110 to reduce the turning radius of the vehicle, that is, smaller than the current turning radius. Therefore, according to an embodiment of the present invention, when the action of the braking force distribution control unit 106 is suppressed, the control unit 114 further enables the automatic parking control unit 110 to perform automatic parking control. In this way, the action of the braking force distribution control unit 106 is suppressed, which can suppress the generation of braking sound, and the automatic parking control unit 110 can reduce the turning radius of the vehicle and maintain the turning performance.

[0070] According to the above embodiment, when the vehicle speed is equal to or less than the predetermined threshold value, the vehicle is in a low speed state, and when the brake noise continues to occur, the braking force distribution control prohibition operation can be performed. Thus, the occurrence of the brake noise can be suppressed.

[0071] In addition to the above-mentioned embodiments, the vehicle control device 100 of the present invention may further include: an HMI switch detection unit 118 for detecting whether a switch (human-machine interface: HMI) for inhibiting the braking force distribution control is turned on or off. The switch for inhibiting the braking force distribution control may allow the driver to arbitrarily release the inhibition / enablement of the braking force distribution control.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle control device, characterized in that: include: A turning state detection unit, used for detecting whether the vehicle is in a turning state based on the driving state of the vehicle; A vehicle speed detection unit, used to detect whether the vehicle speed is equal to or less than a specified threshold; a braking force distribution control unit for distributing and controlling the braking force of each wheel of the vehicle based on the driving state and the vehicle speed; as well as a brake sound detection unit, for detecting the brake sound of each of the wheels, In the braking force distribution control unit controlling the braking force, when the vehicle is in the turning state and the vehicle speed is equal to or less than the specified threshold, when the brake sound occurs multiple times within a specified time, the braking force distribution control of the braking force distribution control unit is suppressed.

2. The vehicle control device according to claim 1, characterized in that: Also includes: a brake device that applies a braking force to the vehicle based on an operation of a brake operating member by a driver, When the vehicle speed is equal to or lower than the prescribed threshold value, the braking device generates the braking force corresponding to the operation of the brake operating member when the braking force distribution control is terminated.

3. The vehicle control device according to claim 2, characterized in that: Also includes: a power switch for operating the driving source of the vehicle according to the operation of the driver, When the vehicle speed is equal to or lower than the predetermined threshold value and the braking force distribution control is suppressed, the braking force distribution control unit maintains the state in which the braking force distribution control is suppressed until the power switch is turned off.

4. The vehicle control device according to claim 3, characterized in that: Also includes: an automatic parking control unit, for controlling at least a steering device of the vehicle according to the driving state of the vehicle, so that the vehicle moves to a parking position, When the braking force distribution control is suppressed while the automatic parking control unit is executing the automatic parking control, the steering device is controlled so that the turning radius of the vehicle is smaller than the current turning radius.

5. The vehicle control device according to any one of claims 1 to 4, characterized in that: The brake sound detection unit includes a sound pressure sensor for detecting the brake sound and an unsprung acceleration sensor for detecting an unsprung acceleration of the vehicle. The vehicle control device further includes: a determination unit that determines the brake sound based on the detection results of the sound pressure sensor and the unsprung acceleration sensor, When the determination unit determines that the brake sound occurs a plurality of times when the vehicle speed is equal to or less than the predetermined threshold, the braking force distribution control unit suppresses the braking force distribution control.

6. A vehicle control method, characterized in that: include: Based on the driving state of the vehicle, detecting whether the vehicle is in a turning state; Detecting whether the speed of the vehicle is equal to or less than a specified threshold; Based on the driving state and the vehicle speed, the braking force of each wheel of the vehicle is distributed and controlled to perform braking force distribution control; detecting the brake sound of each of the wheels; In controlling the braking force, when the vehicle is in the turning state and the vehicle speed is equal to or less than the predetermined threshold value, the braking force distribution control is suppressed when the brake sound occurs a plurality of times within a predetermined time.

Images