Vehicle control device

Abstract

The invention provides a control device for a vehicle. The control device can perform automatic stop control, and a driver can open a door and visually confirm the rear of the vehicle and perform backward parking at the same time. When the vehicle speed is equal to or less than a predetermined vehicle speed and the state of the power transmission device is a non-stop state, automatic stop control is executed when the vehicle door opening / closing determination is an open determination. However, when it is determined that the driver executes the backward parking, the automatic parking control is not executed. Therefore, while the function of automatic parking control is performed, the driver can open the door and visually confirm the rear part of the vehicle while retreating and parking the vehicle.

Description

Technical Field

[0001] The present invention relates to a control device for a vehicle that switches the state of a power transmission device between a parked state and a non-parked state based on a control command signal. Background Art

[0002] There is known a control device for a vehicle having: a power transmission device that transmits the power of a power source to drive wheels; and a switching device that switches the state of the power transmission device between a parked state and a non-parked state based on a control command signal. In the parked state, the rotation of a rotating member that rotates together with the drive wheels is mechanically blocked, and in the non-parked state, the rotation of the rotating member is permitted. For example, the control device for a vehicle described in Patent Document 1 is such a control device for a vehicle. In this Patent Document 1, the following is disclosed: when the vehicle speed is equal to or lower than a specified vehicle speed and the state of the power transmission device is the non-parked state, in the case where the opening / closing of the door is determined to be an open determination, automatic parking control for switching the state of the power transmission device to the parked state by using the switching device is executed.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-111097

[0006] Here, as a driving scenario of the vehicle, reverse parking in which the driver reverses the vehicle and parks it can be cited. When performing reverse parking, the driver sometimes opens the door and visually confirms the rear of the vehicle while reversing the vehicle. However, in the technique described in Patent Document 1, if the door is opened during reverse parking, automatic parking control is executed. Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] The present invention has been completed against the background of the above situation, and an object thereof is to provide a control device for a vehicle that, while exerting the function of automatic parking control, allows the driver to open the door and visually confirm the rear of the vehicle while performing reverse parking.

[0009] Means for Solving the Problems

[0010] The gist of the first invention is as follows: (a) A control device for a vehicle, the vehicle comprising: a power transmission device that transmits the power of a power source to drive wheels; and a switching device that switches the state of the power transmission device between a parked state and a non-parked state based on a control command signal. In the parked state, the rotation of a rotating member that rotates together with the drive wheels is mechanically blocked, and in the non-parked state, the rotation of the rotating member is permitted. Wherein, the control device of the vehicle includes: (b) an opening / closing determination unit that performs an opening / closing determination of the vehicle door indicating whether the vehicle door is in an open state or a closed state; and (c) a switching control unit that, when the vehicle speed is below a specified vehicle speed near zero and the state of the power transmission device is the non-parked state, performs automatic parking control to switch the state of the power transmission device to the parked state using the switching device when the opening / closing determination is an open determination indicating the vehicle door is in an open state. (d) The control device of the vehicle further includes a reverse parking determination unit that determines whether the driver is performing reverse parking in which the vehicle is reversed and parked. (e) When it is determined that the driver is performing the reverse parking, the switching control unit does not perform the automatic parking control.

[0011] Advantages of the Invention

[0012] According to the first invention, when the vehicle speed is below a specified vehicle speed and the state of the power transmission device is the non-parked state, automatic parking control is performed when the opening / closing determination of the vehicle door is an open determination. However, when it is determined that the driver is performing reverse parking, the automatic parking control is not performed. Thus, while the function of the automatic parking control is exerted, the driver can open the vehicle door and perform reverse parking while visually confirming the rear of the vehicle. Description of the Drawings

[0013] Figure 1 It is a diagram showing the schematic structure of a vehicle to which the present invention is applied, and is a diagram showing the main parts of the control functions and control systems for various controls in the vehicle.

[0014] Figure 2 It is a diagram showing the schematic structure of a vehicle to which the present invention is applied.

[0015] Figure 3 It is a flowchart showing the main parts of the control operation of an electronic control device, and is a flowchart showing the control operation for performing the opening / closing determination of the vehicle door.

[0016] Figure 4It is a flowchart showing the main part of the control operation of the electronic control device, and is a flowchart showing the control operation for enabling the driver to open the driver's seat door while performing the automatic parking control function and to perform reverse parking while visually confirming the rear of the vehicle.

[0017] Explanation of Reference Numerals

[0018] 10: Vehicle 12: Power source 14: Driving wheels 16: Power transmission device 20: Output shaft (rotating member) 40: Switching device 62: Driver's seat door (door) 90: Electronic control device (control device) 92: Opening / closing determination unit 94: Switching control unit 96: Reverse parking determination unit. Detailed Description of the Invention

[0019] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0020] Embodiment

[0021] Figure 1 And Figure 2 is a diagram showing a schematic structure of the vehicle 10 to which the present invention is applied. In addition, Figure 1 is a diagram showing the main part of the control function and control system for various controls in the vehicle 10. In Figure 1 , Figure 2 , the vehicle 10 includes a power source 12, driving wheels 14, and a power transmission device 16 that transmits the power of the power source 12 to the driving wheels 14. For the above-mentioned power, without special distinction, torque and force have the same meaning.

[0022] The power source 12 is, for example, a known internal combustion engine such as an engine. Alternatively, the power source 12 is, for example, a known rotating electric machine such as an electric generator. Or, as the power source 12, the vehicle 10 may include both the above-mentioned internal combustion engine and the above-mentioned rotating electric machine.

[0023] The power transmission device 16 includes, for example, an automatic transmission 18 connected to the power source 12, a differential gear device 22 connected to the output shaft 20, and left and right axles 24 connected to the differential gear device 22. The output shaft 20 is an output rotating member of the automatic transmission 18 and is a rotating member that rotates together with the driving wheels 14.

[0024] The vehicle 10 further includes a shift operation device 30, a switching device 40, a driver's seat 60, a driver's seat door 62, a driver's seat door locking device 64, a courtesy lamp 66, etc. The courtesy lamp 66 is a lamp provided in the driver's seat door 62 and / or in the vehicle compartment.

[0025] The shift operation device 30 is an operation device for selecting various gear positions POSsh in the automatic transmission 18 through manual operation, that is, an operation device that receives a switching request for the gear position POSsh through being manually operated. The shift operation device 30 is operated by the driver to the operation position POSop corresponding to the gear position POSsh. The operation position POSop includes, for example, a parking operation position, a reverse driving operation position, a neutral operation position, a forward driving operation position, etc. The gear position POSsh includes, for example, a parking position, a reverse driving position, a neutral position, a forward driving position, etc. The gear position POSsh has the same meaning as the shift range of the automatic transmission 18.

[0026] The parking operation position is an operation position for selecting the parking position of the automatic transmission 18. In the parking position of the automatic transmission 18, the automatic transmission 18 is put into a neutral state, and the rotation of the output shaft 20 is mechanically blocked. The neutral state of the automatic transmission 18 is a state in which power transmission in the automatic transmission 18 is cut off, that is, a state in which the automatic transmission 18 cannot transmit power. The neutral state of the automatic transmission 18 has the same meaning as the neutral state of the power transmission device 16, which is a state in which power transmission in the power transmission device 16 is cut off. The state in which the rotation of the output shaft 20 is mechanically blocked is a parking lock state in which the output shaft 20 is fixed so as not to rotate, that is, a parking state of the power transmission device 16. The parking operation position is an operation position corresponding to the parking state of the power transmission device 16. The output shaft 20 is fixed by the switching device 40 so as not to rotate.

[0027] The reverse driving operation position is an operation position for selecting the reverse driving position of the automatic transmission 18. In the reverse driving position of the automatic transmission 18, the vehicle 10 can be driven in reverse. The state in which the vehicle 10 can be driven in reverse is a state in which the power transmission device 16 can be driven in reverse. The neutral operation position is an operation position for selecting the neutral position of the automatic transmission 18. In the neutral position of the automatic transmission 18, the automatic transmission 18 is in a neutral state. The forward driving operation position is an operation position for selecting the forward driving position of the automatic transmission 18. In the forward driving position of the automatic transmission 18, the vehicle 10 can be driven forward. The state in which the vehicle 10 can be driven forward is a state in which the power transmission device 16 can be driven forward. The neutral state, the forward-drivable state, and the reverse-drivable state of the power transmission device 16 are non-parking-lock states that allow the rotation of the output shaft 20, that is, non-parking states of the power transmission device 16. The reverse driving operation position, the neutral operation position, and the forward driving operation position are non-parking operation positions corresponding to the non-parking state of the power transmission device 16. The non-parking operation position is an operation position for selecting non-parking positions of the automatic transmission 18 such as a reverse driving position, a neutral position, and a forward driving position where the parking lock state is released.

[0028] The shift operation device 30 has a shift lever 32 and a parking switch 34 that are selectively operated by the driver to a plurality of operation positions POSop. Both the shift lever 32 and the parking switch 34 are momentary operation members that return to the initial position when no external force is applied. In order to make the gear position POSsh the desired gear position POSsh in non-parking positions, the shift lever 32 is selectively operated by the driver to the corresponding operation position POSop. In order to make the gear position POSsh the parking position, the parking switch 34 is operated by the driver.

[0029] The shift operation device 30 includes a lever position sensor 36 that outputs a lever position signal Splev corresponding to the non-parking operation position to the electronic control device 90 described below. The parking switch 34 is, for example, a momentary push-button switch and is operated by the driver to be pressed into the parking operation position. Each time the parking switch 34 is pressed into the parking operation position, it outputs a parking switch signal Spsw corresponding to the parking operation position to the electronic control device 90 described below. The lever position signal Splev and the parking switch signal Spsw are signals indicating the operation position POSop.

[0030] The switching device 40 includes an electric actuator 42, an encoder 44, a parking lock mechanism 46, etc. The switching device 40 switches the gear position POSsh of the automatic transmission 18 by operating the electric actuator 42. The parking lock mechanism 46 includes a parking lock gear 48, a parking lock pawl 50, a cam 52, a parking lever 54, etc. The parking lock gear 48 is a member provided to rotate integrally with the output shaft 20. The parking lock pawl 50 has a claw portion that meshes with the gear teeth of the parking lock gear 48 and is a member that can mesh with the parking lock gear 48. The cam 52 is provided at the tip of the parking lever 54 on the side of the parking lock pawl 50. The cam 52 is a conical member that meshes the parking lock pawl 50 with the parking lock gear 48 by moving toward the parking lock pawl 50 side. The parking lever 54 is a member that supports the cam 52 at one end and is mechanically connected to the electric actuator 42 via a member not shown at the other end side.

[0031] The electric actuator 42 operates based on a parking switching control command signal Splock from the electronic control device 90 described below. The switching device 40 switches the state of the power transmission device 16 between the parking state and the non-parking state by operating the electric actuator 42. That is, the switching device 40 switches the gear position POSsh between the parking position and the non-parking position. In this way, the switching device 40 is a switching device that switches the state of the power transmission device 16 between the parking state and the non-parking state based on a control command signal from the electronic control device 90. In the vehicle 10, the gear position POSsh is switched using a shift-by-wire (=SBW) method.

[0032] The driver's seat door locking device 64 is provided on the driver's seat door 62. The driver's seat door locking device 64 switches the driver's seat door 62 between a locked state and an unlocked state by the forward and reverse rotations of a door locking motor (not shown) built therein.

[0033] The vehicle 10 further includes an electronic control unit 90 as a controller including the control device of the vehicle 10 related to the control of the automatic transmission 18 and the like. The electronic control unit 90 is configured, for example, to include a so-called microcomputer having a CPU, a RAM, a ROM, an input / output interface, and the like. The CPU performs signal processing by using the temporary storage function of the RAM and in accordance with a program pre-stored in the ROM, thereby executing various controls of the vehicle 10.

[0034] Various signals and the like based on the detection values of various sensors and the like provided in the vehicle 10 are respectively supplied to the electronic control unit 90. The various sensors and the like are, for example, a parking switch 34, a lever position sensor 36, an encoder 44, an output rotation speed sensor 70, an accelerator opening sensor 72, a brake switch 74, a door control switch 76, a locking switch 78, an inclination angle sensor 80, and the like. The various signals and the like are, for example, a parking switch signal Spsw, a lever position signal Splev, a pulse signal Senc, an output rotation speed No, an accelerator opening θacc, a brake-on signal Bon, a door control signal Cts, a locking signal Dlc, an inclination angle θinc, and the like.

[0035] The door control switch 76 is a sensor for detecting the opening and closing of the doors of the vehicle 10 and is provided, for example, on the B-pillar near the driver's seat 60. The door control switch 76 is a switch that switches between an on / off state according to the opening and closing of the driver's seat door 62 and is a switch that operates a door control lamp 66 that lights up when the driver's seat door 62 is opened. The locking switch 78 is a sensor for detecting the opening and closing of the doors of the vehicle 10 and is provided, for example, on the driver's seat door locking device 64. The locking switch 78 is an on / off switch that switches between an on / off state according to the opening and closing of the driver's seat door 62. The door control switch 76 and the locking switch 78 are sensors provided in plurality for the driver's seat door 62 as the same door.

[0036] The pulse signal Senc is a signal for obtaining encoder counts corresponding to the operating position of the electric actuator 42. The output rotational speed No is the rotational speed of the output shaft 20 corresponding to the vehicle speed V. The accelerator opening θacc is the driver's accelerator operation amount indicating the magnitude of the acceleration demand in the driver's operation of the accelerator operation member. Sometimes, the operation of the accelerator operation member is also referred to as an accelerator operation. The brake-on signal Bon is a signal indicating the state of the driver's operation of the brake operation member for operating the wheel brakes. Sometimes, the operation of the brake operation member is also referred to as a brake operation. The gating signal Cts is an opening / closing signal corresponding to the opening and closing of the vehicle door of the vehicle 10. The lock signal Dlc is an opening / closing signal corresponding to the opening and closing of the vehicle door of the vehicle 10, which is different from the gating signal Cts. The tilt angle θinc is the tilt angle of the vehicle 10 in the longitudinal direction and is also a signal indicating the gradient of the driving road.

[0037] The electronic control unit 90 outputs various command signals and the like to each device and the like provided in the vehicle 10. Each device and the like are, for example, the power source 12, the automatic transmission 18, the electric actuator 42, and the like. Various control command signals and the like are, for example, the power source control command signal Spu for controlling the power source 12, the transmission control command signal Spt for controlling the automatic transmission 18, the parking shift control command signal Splock for controlling the operation of the switching device 40, and the like.

[0038] In order to achieve various controls in the vehicle 10, the electronic control unit 90 includes an opening / closing determination unit 92 and a switching control unit 94.

[0039] The opening / closing determination unit 92 uses the opening / closing signal corresponding to the opening and closing of the vehicle door of the vehicle 10 to perform an opening / closing determination of the vehicle door of the vehicle 10 to indicate which state the opening / closing state of the vehicle door of the vehicle 10 is in, whether it is in the state where the vehicle door of the vehicle 10 is open or in the state where the vehicle door of the vehicle 10 is closed. In the present embodiment, the state where the vehicle door of the vehicle 10 is open is referred to as the door open state, and the state where the vehicle door of the vehicle 10 is closed is referred to as the door closed state. When the opening / closing state of the door is the door open state, the opening / closing determination unit 92 sets the door opening / closing determination to an open determination indicating the door open state, and when the opening / closing state of the door is the door closed state, the opening / closing determination unit 92 sets the door opening / closing determination to a close determination indicating the door closed state.

[0040] When at least one of the opening / closing signals of the gating signal Cts and the lock signal Dlc changes from the close signal Dcls corresponding to the door closed state to the open signal Dopn corresponding to the door open state, the opening / closing determination unit 92 makes the door opening / closing determination an open determination. In addition, when at least one of the opening / closing signals of the gating signal Cts and the lock signal Dlc changes from the open signal Dopn to the close signal Dcls, the opening / closing determination unit 92 makes the door opening / closing determination a close determination.

[0041] Figure 3 It is a flowchart showing the main part of the control operation of the electronic control device 90 and is a flowchart showing the control operation for determining the opening and closing of the vehicle door, and is repeatedly executed, for example.

[0042] In Figure 3 each step of the flowchart corresponds to the function of the opening / closing determination unit 92. In step (hereinafter, "step" is omitted) S10, it is determined whether the door control signal Cts changes from the closed signal Dcls to the open signal Dopn. When the determination in S10 is negative, in S20, it is determined whether the lock signal Dlc changes from the closed signal Dcls to the open signal Dopn. When the determination in the above S10 is affirmative, or when the determination in the above S20 is affirmative, in S30, the opening / closing of the vehicle door is determined as an open determination. When the determination in the above S20 is negative, in S40, it is determined whether the door control signal Cts changes from the open signal Dopn to the closed signal Dcls. When the determination in S40 is negative, in S50, it is determined whether the lock signal Dlc changes from the open signal Dopn to the closed signal Dcls. When the determination in S50 is negative, this routine ends. When the determination in the above S40 is affirmative, or when the determination in the above S50 is affirmative, in S60, the opening / closing of the vehicle door is determined as a closed determination.

[0043] The shift control unit 94 electrically shifts the gear position POSsh of the automatic transmission 18 by using the shift device 40 based on the operation position POSop in the shift operation device 30. For example, the shift control unit 94 sets the gear position POSsh, i.e., the required position, desired by the driver based on the lever position signal Splev and the parking switch signal Spsw. The shift control unit 94 performs a shift to the gear position POSsh corresponding to the required position. When the gear position POSsh is in a non-parking position and the input of the parking switch signal Spsw is detected, the shift control unit 94 sets the parking position as the required position. And the shift control unit 94 makes the parking lock mechanism 46 into a parked-locked state by operating the electric actuator 42, thereby shifting the gear position POSsh to the parking position. On the other hand, when the gear position POSsh is in the parking position and the input of the lever position signal Splev is detected, the shift control unit 94 sets the non-parking position corresponding to the lever position signal Splev as the required position. And the shift control unit 94 makes the parking lock mechanism 46 into a non-parked-locked state by operating the electric actuator 42, thereby shifting the gear position POSsh to a non-parking position. In addition, the shift control unit 94 shifts to the gear position POSsh corresponding to the required position in the non-parking position.

[0044] When the vehicle speed V is below a specified vehicle speed Vf near zero and the state of the power transmission device 16 is not in a parked state, the switching control unit 94 executes an automatic parking control CNap when the door opening / closing determination by the opening / closing determination unit 92 is an opening determination. The automatic parking control CNap is a control for switching the state of the power transmission device 16 to a parked state using the switching device 40. That is, the switching control unit 94 executes the automatic parking control CNap when the vehicle speed V is below the specified vehicle speed Vf and the gear position POSsh is not in a parked position and the door opening / closing determination is an opening determination. The automatic parking control CNap is a control for switching the gear position POSsh to a parked position by operating the electric actuator 42 and bringing the parking lock mechanism 46 into a parked locked state.

[0045] The specified vehicle speed Vf is a preset parking determination vehicle speed as follows. In the case of this parking determination vehicle speed, for example, with respect to the decrease in the actual vehicle speed V during an emergency stop, it is possible to take into account the response delay of the vehicle speed V based on the detection value of the output rotation speed sensor 70 and the like to judge parking.

[0046] The automatic parking control CNap is a control for automatically switching the gear position POSsh to a parked position when the intention of the driver to get out of the vehicle is detected in a state where the gear position POSsh is not in a parked position. The switching control unit 94 detects the intention of the driver to get out of the vehicle based on whether the door opening / closing determination is an opening determination.

[0047] In order to further improve the reliability of detecting the intention of the driver to get out of the vehicle, it may also be that, in addition to the door opening / closing determination being an opening determination, for example, the state of the brake being disengaged where the driver does not perform a brake operation is also used. The switching control unit 94 executes the automatic parking control CNap when the vehicle speed V is below the specified vehicle speed Vf and the gear position POSsh is not in a parked position and is in a state where the brake is disengaged in addition to the door opening / closing determination being an opening determination.

[0048] However, when the driver performs a reverse parking in which the vehicle 10 is reversed and parked, sometimes the driver's seat door 62 is opened and the vehicle 10 is reversed while visually confirming the rear of the vehicle. When the driver's seat door 62 is opened without the intention of getting out of the vehicle, for example, when the driver has the intention of reverse parking and opens the driver's seat door 62, the automatic parking control CNap becomes an unnecessary operation. The switching control unit 94 skips the automatic parking control CNap and does not execute it when detecting the intention of the driver's reverse parking.

[0049] In order to allow the driver to open the driver's seat door 62 and visually confirm the rear of the vehicle while performing reverse parking, the electronic control device 90 further includes a reverse parking determination unit 96.

[0050] The reverse parking determination unit 96 determines whether the driver is performing reverse parking. That is, the reverse parking determination unit 96 detects whether the driver has the intention of reverse parking.

[0051] When the vehicle speed V is equal to or lower than the specified vehicle speed Vf and the state of the power transmission device 16 is not the parked state, the switching control unit 94 executes the automatic parking control CNap when the door opening / closing determination is the open determination and it is determined that the driver is not performing reverse parking. On the other hand, the switching control unit 94 does not execute the automatic parking control CNap when it is determined that the driver is performing reverse parking.

[0052] The reverse parking determination unit 96 determines that the driver is performing reverse parking when the state of the power transmission device 16 is the reverse-travelable state and the accelerator opening θacc is equal to or lower than the specified opening θaccf. The state of the power transmission device 16 being the reverse-travelable state has the same meaning as the gear position POSsh being in the reverse-travel position.

[0053] The specified opening θaccf is the upper limit value of the accelerator opening θacc set in advance that can be used to determine that the driver has the intention of reverse parking. In other words, the specified opening θaccf is the upper limit value of the accelerator opening θacc set in advance that can be understood as the driver having the intention of backing the vehicle 10 with a slight acceleration. In addition, when the accelerator opening θacc is zero, it can be understood that there is an intention to use the creep phenomenon to back the vehicle 10 with a slight acceleration. The creep phenomenon refers to, for example, the phenomenon that the vehicle 10 moves slowly when the brake is released while the accelerator is off. Therefore, the specified vehicle speed Vf can also be, for example, the upper limit value of the vehicle speed V set in advance when backing with the accelerator opening θacc equal to or lower than the specified opening θaccf.

[0054] The reverse parking determination unit 96 determines that the driver is not performing reverse parking when the state of the power transmission device 16 is not the reverse-travelable state. The situation where the state of the power transmission device 16 is not the reverse-travelable state is, for example, the situation where the state of the power transmission device 16 is the forward-travelable state or the situation where the state of the power transmission device 16 is the neutral state. The state of the power transmission device 16 being the forward-travelable state has the same meaning as the gear position POSsh being in the forward-travel position. The state of the power transmission device 16 being the neutral state has the same meaning as the gear position POSsh being in the neutral position.

[0055] Alternatively, when the power transmission device 16 is in a state where reverse travel is possible and the accelerator opening θacc exceeds a specified opening θaccf, the reverse parking determination unit 96 determines that the driver is not performing reverse parking. When the gear position POSsh is in the reverse travel position, if the accelerator increase operation is large with the door open, it may be unsafe. When the accelerator opening θacc exceeds the specified opening θaccf, in order to prevent reverse travel, it is determined that the driver is not performing reverse parking, and the automatic stop control CNap is executed. Looking at it from another perspective, it can be imagined that if the accelerator opening θacc is small enough for the vehicle 10 to move barely, even with the door open, no danger will be caused. Only when slowly traveling during reverse parking, importance is attached to convenience, and even with the door open, the automatic stop control CNap will be skipped and not executed. In addition, if the door is closed, driving with a large accelerator increase operation in the case of the reverse travel position can be performed.

[0056] Here, reverse parking on a slope will be described. As reverse parking on a slope, for example, a case where the vehicle 10 is made to reverse and park in the uphill direction on a downhill road is illustrated. As the driver's operation steps in this case, first, the driver drives the vehicle 10 on the downhill road and stops (step [1]). Next, the driver switches the operation position POSop to the reverse travel operation position with the accelerator disengaged. Thereby, the gear position POSsh is switched from the forward travel position to the reverse travel position (step [2]). Next, the driver opens the driver's seat door 62 to confirm the rear of the vehicle 10 (step [3]). Next, the driver performs an accelerator operation with a low opening accelerator opening θacc at a level where the vehicle 10 can barely reverse (step [4]).

[0057] At the moment of executing the above step [3], the accelerator opening θacc is zero. At this moment, it is desirable to skip the automatic stop control CNap. However, if a lower limit value is set for the accelerator opening θacc and it is determined whether the driver is performing reverse parking, the automatic stop control CNap will be executed at this moment. In the present embodiment, only an upper limit value is set for the accelerator opening θacc, and if the accelerator opening θacc is less than or equal to the specified opening θaccf, it is determined that the driver is performing reverse parking, and the automatic stop control CNap is skipped. Therefore, the automatic stop control CNap is not executed at this moment.

[0058] In step [4] above, while the accelerator increasing operation is small, the vehicle 10 will slide down on a downhill road. However, as a characteristic of the driver, in order to prevent the sliding, the driver will increase the accelerator increasing operation. Therefore, it can be understood that the driver has the intention of reverse parking according to the magnitude of the driver's required driving force that can resist the sliding on the downhill road and make the vehicle 10 reverse. For example, the accelerator opening θacc corresponding to the magnitude of the driver's required driving force at this time is set to a specified opening θaccf.

[0059] The ramp driving force Fs [N] shown in the following formula (1) is the vehicle driving force F for resisting the sliding on the downhill road and maintaining the vehicle 10 in a parked state. In the following formula (1), "θinc [rad]" is the inclination angle of the vehicle 10 with the front facing the downward direction, "m [kg]" is the vehicle mass, and "g [m / s 2 " is the acceleration due to gravity. The specified opening θaccf is, for example, a value larger than the accelerator opening θacc that generates the ramp driving force Fs, and is set to the accelerator opening θacc obtained by adding an amount that makes the vehicle 10 reverse with a slight acceleration on the downhill road to the accelerator opening θacc that generates the ramp driving force Fs. In this way, the reverse parking determination unit 96 sets the specified opening θaccf based on the inclination angle θinc of the vehicle 10.

[0060] Fs = m × g × sinθinc …… (1)

[0061] Figure 4 is a flowchart showing the main part of the control operation of the electronic control unit 90, and is a flowchart showing the control operation for allowing the driver to open the driver's seat door 62 while the automatic parking control CNap function is being exerted and performing reverse parking while visually confirming the rear of the vehicle, and is repeatedly executed, for example.

[0062] In Figure 4In this case, first, in S110 corresponding to the function of the switching control unit 94, it is determined whether the vehicle speed V is equal to or lower than a specified vehicle speed Vf. If the determination in S110 is negative, this routine ends. If the determination in S110 is positive, in S120 corresponding to the function of the switching control unit 94, it is determined whether the gear position POSsh is in a non-parking position. If the determination in S120 is negative, this routine ends. If the determination in S120 is positive, in S130 corresponding to the function of the opening / closing determination unit 92, it is determined whether the door opening / closing determination is an open determination. If the determination in S130 is negative, this routine ends. If the determination in S130 is positive, in S140 corresponding to the function of the switching control unit 94, it is determined whether the state is a brake-off state. If the determination in S140 is negative, this routine ends. If the determination in S140 is positive, in S150 corresponding to the function of the reverse parking determination unit 96, it is determined whether the gear position POSsh is in a reverse driving position. If the determination in S150 is negative, in S160 corresponding to the function of the reverse parking determination unit 96, it is determined whether the accelerator opening θacc exceeds a specified opening θaccf. If the determination in S160 is negative, this routine ends and the automatic parking control CNap is not executed. On the other hand, if the determination in S150 is positive, or if the determination in S160 is positive, in S170 corresponding to the function of the switching control unit 94, the automatic parking control CNap is executed.

[0063] As described above, according to the present embodiment, when the vehicle speed V is equal to or lower than the specified vehicle speed Vf and the state of the power transmission device 16 is a non-parking state, the automatic parking control CNap is executed when the door opening / closing determination is an open determination. However, when it is determined that the driver is performing reverse parking, the automatic parking control CNap is not executed. Thus, while the function of the automatic parking control CNap is exerted, the driver can open the driver's seat door 62 and visually confirm the rear of the vehicle while performing reverse parking.

[0064] In addition, according to the present embodiment, when the state of the power transmission device 16 is a state where reverse driving is possible and the accelerator opening θacc is equal to or lower than the specified opening θaccf, it is determined that the driver is performing reverse parking. Thereby, the situation where the driver is performing reverse parking is appropriately determined. In addition, an existing sensor is used to determine the situation where the driver is performing reverse parking.

[0065] In addition, according to the present embodiment, a specified opening degree θaccf is an upper limit value of a preset accelerator opening degree θacc at which it can be determined that the driver has an intention to perform reverse parking. Thereby, it is possible to more appropriately determine the situation where reverse parking is being executed. In addition, the specified opening degree θaccf is set based on the inclination angle θinc of the vehicle 10. Thereby, it is possible to appropriately determine the situation where reverse parking is being executed, whether on a flat road or on a slope. For example, even when performing reverse parking in a parking space that is a downhill road, the driver can open the driver's seat door 62 and visually confirm the rear of the vehicle while performing reverse parking.

[0066] In addition, according to the present embodiment, when the vehicle speed V is equal to or lower than a specified vehicle speed Vf and the state of the power transmission device 16 is not a stopped state, when the door opening / closing determination is an open determination and it is determined that the driver is not performing reverse parking, the automatic parking control CNap is executed. Thereby, when the driver opens the driver's seat door 62 when not performing reverse parking, the automatic parking control CNap is appropriately executed.

[0067] In addition, according to the present embodiment, when the state of the power transmission device 16 is a state where forward travel is possible, or when the state of the power transmission device 16 is a neutral state, it is determined that the driver is not performing reverse parking. Alternatively, when the state of the power transmission device 16 is a state where reverse travel is possible and the accelerator opening degree θacc exceeds the specified opening degree θaccf, it is determined that the driver is not performing reverse parking. Thereby, it is possible to appropriately determine the situation where reverse parking is not being executed.

[0068] As described above, based on the drawings, embodiments of the present invention have been described in detail, but the present invention can also be applied in other forms.

[0069] For example, in the above embodiment, it may be that by determining whether to park the vehicle 10 in a rear parking frame using an image of a rear camera or the like, it is determined whether the driver is performing reverse parking.

[0070] In addition, in the above embodiment, it may be that only one sensor for detecting the opening and closing of the driver's seat door 62 is provided for the driver's seat door 62. In this case, the door opening / closing determination is performed using one sensor for detecting the opening and closing of the driver's seat door 62.

[0071] In addition, in the above embodiment, it may be that the shift operation device 30 is a device that includes an operating member such as a lever or a dial that operates to an operating position POSop corresponding to the gear position POSsh, and a position sensor that electrically detects the position of the operating member.

[0072] In addition, in the above-described embodiment, the switching device 40 may also be a switching device that switches the gear position POSsh to various positions such as a parking position, a reverse driving position, a neutral position, and a forward driving position.

[0073] In addition, in the above-described embodiment, the present invention can be applied to any vehicle that includes a power transmission device that transmits the power of a power source to drive wheels and a switching device that switches the state of the power transmission device between a parked state and a non-parked state based on a control command signal.

[0074] Furthermore, the above is merely one embodiment, and the present invention can be implemented in various modified forms based on the knowledge of those skilled in the art.

Claims

1. A control device (90) for a vehicle (10), the vehicle (10) comprising: a power transmission device (16), the power transmission device (16) transmitting power from a power source (12) to a drive wheel (14); and a switching device (40), the switching device (40) switching the state of the power transmission device (16) between a parking state and a non-parking state based on a control command signal, wherein in the parking state, rotation of a rotating component (20) rotating together with the drive wheel (14) is mechanically prevented, and in the non-parking state, rotation of the rotating component (20) is permitted, characterized in that: The control device (90) of the vehicle (10) comprises: an opening / closing determination unit (92) for determining whether the door (62) of the vehicle (10) is in an open state or in a closed state; and a switching control unit (94) for executing automatic parking control for switching the state of the power transmission device (16) to the parking state using the switching device (40) when the vehicle speed is below a predetermined vehicle speed near zero and the state of the power transmission device (16) is the non-parking state and when the door opening and closing judgment is an open judgment indicating that the door (62) is open; The control device (90) of the vehicle (10) further includes a reverse parking determination unit (96) for determining whether the driver is performing reverse parking to reverse and park the vehicle (10). When it is determined that the driver is performing the reverse parking control, the switching control unit (94) does not perform the automatic parking control.

2. The control device (90) of the vehicle (10) according to claim 1, characterized in that: The reverse parking determination unit (96) determines that the driver is executing the reverse parking when the state of the power transmission device (16) is a state that enables the vehicle (10) to travel reversely and the accelerator opening degree is equal to or less than a predetermined opening degree.

3. The control device (90) of the vehicle (10) according to claim 2, characterized in that: The predetermined opening degree is a preset upper limit value of the accelerator opening degree that can be used to determine that the driver intends to perform the reverse parking. The reverse parking determination unit (96) sets the predetermined opening degree based on the tilt angle of the vehicle (10).

4. The control device (90) for a vehicle (10) according to any one of claims 1 to 3, characterized in that: The switching control unit (94) performs the automatic parking control when the vehicle speed is below the predetermined vehicle speed and the state of the power transmission device (16) is the non-parking state, and when the door opening and closing is determined to be the open determination and it is determined that the driver is not performing the reverse parking.

5. The control device (90) of the vehicle (10) according to claim 4, characterized in that: The reverse parking determination unit (96) determines that the driver is not performing reverse parking when the state of the power transmission device (16) is a state in which the vehicle (10) can move forward, when the state of the power transmission device (16) is a state in which the power transmission in the power transmission device (16) is cut off, or when the state of the power transmission device (16) is a state in which the vehicle (10) can move reverse and the accelerator opening exceeds a specified opening.

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