Driving control device

Abstract

The present invention provides a driving control device capable of improving operability by performing delay control of an operation object according to an operation speed of a driver, including an accelerator pedal operation. The present invention is provided with: an operation amount signal detection means (31) for detecting an operation amount signal output from an operation member (20) by a driver's operation; an advance angle compensation unit (32) that calculates an advance angle compensation for compensating for a phase delay in an operation band indicating a range of an operation speed when the driver operates the operation member (20); and a phase delay control unit (33) that calculates a phase delay characteristic for maintaining the delay phase of the operation amount signal constant, applies the advance angle compensation and the phase delay characteristic to the operation amount signal, and transmits the operation amount signal as a control amount signal for controlling the operation target (10).

Description

Technical Field

[0001] The present invention relates to a driving control device for a mobile object such as a vehicle driven by a driver. Background Art

[0002] Conventionally, technologies for improving the responsiveness of an internal combustion engine, which takes a long time to accelerate the vehicle after an accelerator operation, have been proposed.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2008-002330 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, electric motors have a faster response than internal combustion engines and the like, and vehicle acceleration starts earlier than the driver expects. Therefore, the driver may need to make operational corrections.

[0008] Furthermore, when the correction operation is repeated, there is a problem that operability and driving feel are deteriorated.

[0009] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a driving control device that improves operability by performing delay control of an operation object including accelerator pedal operation according to the driver's operation speed.

[0010] Furthermore, it further improves traffic safety and contributes to the development of sustainable transportation systems.

[0011] Means for solving problems

[0012] In order to achieve the aforementioned purpose, the driving control device of the present invention is characterized in that it includes: an operating quantity signal detection mechanism, which detects the operating quantity signal output from the operating component through the driver's operation; an advance angle compensation unit, which calculates the advance angle compensation for compensating for the phase delay in the operating frequency band, and the operating frequency band represents the range of the operating speed when the driver operates the operating component; and a phase delay control unit, which calculates the phase delay characteristic for maintaining the phase delay of the operating quantity signal constant, assigns the advance angle compensation and the phase delay characteristic to the operating quantity signal, and sends it as a control quantity signal for controlling the operating object.

[0013] Effects of the Invention

[0014] According to the present invention, it is possible to provide a driving control device capable of improving operability by performing delay control of an operation object according to the speed at which a driver operates an operation member.

[0015] Furthermore, it can further improve traffic safety and contribute to the development of sustainable transportation systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a block diagram showing the driving control device according to this embodiment.

[0017] Figure 2 Graph showing phase delay characteristics in the operating frequency band of this embodiment.

[0018] Figure 3 Graph showing phase delay (time) characteristics in the operating frequency band of this embodiment.

[0019] Figure 4 Graph showing the characteristics of phase delay (time, logarithmic representation) in the operating frequency band of this embodiment.

[0020] Figure 5 This is a flowchart showing the control flow of this embodiment.

[0021] Figure 6 It shows that according to Figure 5 The characteristic curve diagram of the flow chart.

[0022] Figure 7 Graph showing phase delay characteristics in an operating frequency band of a modification example.

[0023] Description of Reference Numerals

[0024] S Driving Controls

[0025] 10 Operation Objects

[0026] 20 operating parts

[0027] 31 Operation signal detection mechanism

[0028] 32 Advance angle compensation unit

[0029] 33 Phase delay control unit DETAILED DESCRIPTION

[0030] Reference Figures 1 to 6 A driving control device S according to an embodiment of the present invention will be described in detail.

[0031] In addition, in description, the same code|symbol is attached|subjected to the same element, and duplicate description is abbreviate|omitted.

[0032] In addition, in the following description, unless otherwise specified, "front", "rear", "right", "left", "up" and "down" refer to "front" and "rear" in the front-to-back direction of the vehicle, "right" and "left" in the left-to-right direction of the vehicle, and "up" and "down" in the up-down direction of the vehicle.

[0033] The driving control device S of this embodiment is a mobile body such as a vehicle VC, and controls a so-called wire control structure in which the driver's operation is transmitted as an electric signal to the operation object 10 to perform an operation (see Figure 1 ).

[0034] Note that the delay is the time taken from when the driver starts operating the operating member 20 to when the operating object 10 starts moving and the acceleration changes.

[0035] Examples of the operation object 10 include a power mechanism 11 such as an engine and a motor, and a steering mechanism (not shown) for adjusting a steering angle.

[0036] Furthermore, the operating member 20 of the power mechanism 11 is an accelerator pedal 21 , and the operating member 20 of the steering mechanism is a steering wheel (not shown).

[0037] That is, the delay in the power mechanism 11 is the time taken from the operation of the accelerator pedal 21 to the operation of the power mechanism 11 and the change in the acceleration of the vehicle VC in the traveling direction (see Figures 2 to 4 ).

[0038] The delay in the steering mechanism is the time taken from the start of steering wheel operation to the operation of the steering mechanism and the change in the acceleration of the vehicle VC in the left and right directions.

[0039] In the present embodiment, the speed at which these operating members 20 are operated (operation speed) is expressed as a frequency.

[0040] That is, the faster the operation speed, the higher the frequency, and the slower the operation speed, the lower the frequency.

[0041] Furthermore, it has been confirmed through experiments using an actual vehicle that the operation speed of the accelerator pedal 21 and the steering wheel when a person drives the vehicle VC generally falls within the range of 0.3 to 1.3 Hz.

[0042] Note that, hereinafter, the range of the operation speed at which the driver operates the operation member 20 is referred to as an operation band.

[0043] That is, the operation speed at which the driver operates the operation object 10 under various conditions falls within the operation frequency band.

[0044] The magnitude of the delay generated during operation is determined for each operation object 10 , and has been confirmed through experiments and the like to be substantially constant and not to vary depending on the operation speed.

[0045] It has been known from various studies that the magnitude of the imagined delay of the operation object 10 having such characteristics varies depending on the operation speed.

[0046] That is, people tend to imagine that when the operation speed is fast, the operation object 10 reacts immediately without delay, and when the operation speed is slow, the operation object 10 reacts more slowly.

[0047] Therefore, a discrepancy arises between the driver's imagined operation and the actual reaction and movement of the machine, causing the driver to feel a sense of disharmony and be forced to perform corrective operations.

[0048] Therefore, the driving control device S of the present embodiment performs delay control in accordance with the driver's operational imagination, improves the operational feeling, and enhances operability.

[0049] Furthermore, the driving control device S of the present embodiment controls the delay from operation to response, and does not act on the driver's operation amount and operation speed.

[0050] The driving control device S of this embodiment includes an operation amount signal detection mechanism 31, an advance angle compensation unit 32, a phase delay control unit 33, a transmission control unit 34, an operation target control unit 35, and an acceleration sensor 36 (see FIG. Figure 1 ).

[0051] The operation amount signal detection mechanism 31 detects the operation amount signal output from the operation member 20 when the driver operates the operation member 20 .

[0052] It should be noted that the operation amount signal is the operation amount of the operation member 20 operated by the driver, and is an electrical signal output from the operation member 20 .

[0053] Then, the operation amount signal detection unit 31 calculates the operation speed based on the detected operation amount signal.

[0054] The advance angle compensation unit 32 calculates the advance angle compensation based on the phase delay of the acceleration, and compensates for the phase delay in the operating frequency band (see Figure 6 ).

[0055] That is, the advance angle compensating unit 32 calculates a phase symmetrical with respect to the phase of 0° in order to cancel the phase delay from the manipulated variable signal to the controlled variable signal, and performs processing to reduce the phase delay.

[0056] It should be noted that the control amount signal is an electrical signal input to the operation object 10 , and the operation object 10 is operated and controlled by the control signal.

[0057] Therefore, in the conventional method that does not control the delay time (delay) from the operation of the operating member 20 to the response of the operation object 10 , the operation amount signal directly becomes the control amount signal.

[0058] In contrast, the control variable signal of the present embodiment is sent to the operation object control unit 35 by providing advance angle compensation and phase delay characteristics to the operation variable signal while the operation variable such as the accelerator opening remains unchanged.

[0059] The phase delay control unit 33 converts the basic characteristic formula into a conversion characteristic formula, and outputs a delay calculated from the conversion characteristic formula according to the operation speed.

[0060] It should be noted that the basic characteristic formula is an approximate formula obtained based on the actual delay time (actual delay time) at each operation speed in an actual machine.

[0061] The conversion characteristic equation is a mathematical expression that expresses the phase delay characteristic newly set according to the operating speed, and is a fractional integral of the basic characteristic equation.

[0062] Furthermore, the order of the fractional integral is set to satisfy the following conditions.

[0063] In the operating frequency band (approximately 0.3 to 1.3 Hz), the delay after conversion is smallest on the high frequency side (around 1.3 Hz).

[0064] That is, the delay after conversion cannot be shorter (faster) than the delay of the basic characteristic formula (the delay of the actual device), so the delay at the fastest operation speed is set to be equal to (consistent with) the delay of the basic characteristic formula.

[0065] In the operating frequency band, the delay after conversion on the low-frequency side (around 0.3 Hz) is the longest (slowest) with respect to the basic characteristic formula and is consistent with the driver's feeling.

[0066] • Within the operating band, the delay varies linearly.

[0067] That is, by linearly increasing and decreasing the delay with respect to the operation speed, it is possible to match the driver's imagination of the delay.

[0068] Furthermore, in this embodiment, to satisfy these conditions, the order is set to 1 (phase 90°) (see Figures 2 to 4 ).

[0069] Furthermore, the phase delay control unit 33 maintains the phase at a constant 90° in the operating frequency band.

[0070] It should be noted that in Figures 2 to 4 In FIG. 1 , the lines of 200 msec and 300 msec represent basic characteristic formulas, indicating that the delay (time) is constant regardless of the operating speed.

[0071] The lines at 30°, 45°, 60°, 90°, and 120° represent conversion characteristic equations, indicating that the delay changes linearly at each phase.

[0072] The transmission control unit 34 adds a delay to the operation signal according to the delay calculated by the advance angle compensation unit 32 and the phase delay control unit 33 , and transmits the delay to the operation target control unit 35 as a control amount signal.

[0073] The operation object control unit 35 actually controls the operation objects 10 such as the power mechanism 11 and the steering mechanism.

[0074] The acceleration sensor 36 detects changes in acceleration in the front-rear direction, the left-right direction, and the up-down direction of the vehicle VC.

[0075] Next, a case where the driving control device S of this embodiment is used to control the driving of a drive motor (not shown) constituting a power mechanism 11 of a vehicle such as a so-called electric vehicle will be described (see FIG. Figure 5 、 Figure 6 ).

[0076] That is, the operating member 20 is an accelerator pedal (AP), the operating object 10 is a drive motor, and the delay is a time delay from when the accelerator pedal is operated to when the vehicle starts accelerating.

[0077] First, in step S101 , the driver operates the accelerator pedal 21 , and an opening signal (operation amount signal) is output from the accelerator pedal 21 .

[0078] Next, in step S102 , the opening signal is filtered.

[0079] It should be noted that the filter here includes a low-pass filter, a notch filter, and the like.

[0080] The low-pass filter is used to remove vehicle vibration and electrical and electronic noise that are superimposed outside the human operating frequency band.

[0081] The notch filter is a filter used to prevent instantaneous jumps in sensor values ​​caused by voltage fluctuations or mechanical properties.

[0082] Next, in step S103 , the advance angle compensation unit 32 performs advance angle compensation on the opening signal.

[0083] That is, the delay (compensation delay) for the operation speed is calculated based on the basic characteristic formula.

[0084] Next, in step S104 , the phase delay control unit 33 converts the basic characteristic formula into a signal (conversion characteristic formula) in which the delay phase is constant or linear with respect to the frequency (operation speed).

[0085] That is, the delay (conversion delay) with respect to the operation speed is calculated based on the conversion characteristic formula.

[0086] Then, the transmission control unit 34 delays the opening signal (controlled amount signal) by a delay amount obtained by subtracting the compensation delay from the conversion delay, and transmits the opening signal to the operation target control unit 35 .

[0087] Next, in step S105 , the operation target control unit 35 calculates the torque generated at the wheel end corresponding to the opening signal based on the state of the vehicle (vehicle speed, etc.).

[0088] Then, the current value required to generate the torque is obtained from a pre-created table, map, or the like.

[0089] Next, in step S106 , a current is applied to the drive motor according to the current value determined by the operation object control unit 35 , thereby controlling the drive motor.

[0090] Then, in step S107 , the vehicle VC starts accelerating, and the acceleration changes.

[0091] Next, the effects of this embodiment will be described.

[0092] The driving control device S of the present embodiment provides the advance angle compensation and phase delay characteristics of the device to the manipulated variable signal in the manipulation band.

[0093] As a result, the delay control of the operation object can be performed according to the driver's operation speed of the operation member and in accordance with the driver's operation imagination, thereby improving the operability.

[0094] That is, if the driver operates the accelerator pedal 21 while imagining slow acceleration and starts accelerating earlier than imagined, overspeeding or excessive deceleration may occur.

[0095] Then, due to the response characteristics that differ from the imagined operation, the driver performs a correction operation.

[0096] Furthermore, the driver needs to pay attention every time he operates the accelerator pedal 21 , which increases the burden on the driver.

[0097] In contrast, since the response characteristics are based on the imaginary feeling, correction operations can be reduced, and the burden on the driver can be reduced.

[0098] Furthermore, by reducing the number of correction operations, it is possible to suppress minute acceleration changes and improve ride comfort.

[0099] Furthermore, by reducing the number of correction operations, the power consumption associated with the correction operations can be reduced, thereby improving power consumption and extending the cruising range.

[0100] The advance angle compensator 32 constituting the driving control device S of this embodiment calculates a phase amount symmetrical with respect to a phase of 0° to cancel a phase delay from the manipulated variable signal to the controlled variable signal and control the phase delay to be smaller.

[0101] As a result, the phase delay control unit 33 can maintain the set phase, and thus more appropriate phase delay control that suits the driver's feeling can be performed.

[0102] It should be noted that, in the driving control device S of the present embodiment, the delayed phase is controlled to be constant at 90°, but the present invention is not limited to this configuration.

[0103] For example, the acceleration sensor 36 is used to measure the acceleration change of the vehicle, and the driver's operation imagination is learned based on the correction operation and the delay from the start of the operation to the acceleration change, and the delay phase can be appropriately corrected to a constant 80° or a constant 100°.

[0104] By adopting such a configuration, it is possible to more closely follow the driver's operational imagination and obtain further the aforementioned operational effects.

[0105] Next, refer to Figure 7 Modifications of the driving control device S will be described in detail.

[0106] It should be noted that, in the description, the same elements as those in the aforementioned embodiment are denoted by the same reference numerals, and duplicate descriptions are omitted.

[0107] In the driving control device S of this modified example, the slope of the conversion characteristic equation stored in the phase delay control unit 33 is different from that of the aforementioned embodiment.

[0108] In this modification, the conversion characteristic expression is set so as to increase the difference in delay between slow operation (low frequency side of the operating band) and fast operation (high frequency side of the operating band).

[0109] That is, the delay phase is set to change linearly, increasing and decreasing, between the low-frequency side and the high-frequency side.

[0110] By adopting such a configuration, the same operational effects as those of the above-described embodiment can be obtained.

[0111] Furthermore, by controlling the phase so that the delay phase increases or decreases in proportion to the frequency of the operating band, it is possible to adjust the operational feel in accordance with various driving modes, thereby improving marketability.

[0112] For example, it is possible to achieve an operating feel that matches various driving modes, such as a sport mode that responds faster on the high-frequency side of the operating band and desires a refreshing feeling, and an economy mode that achieves smooth acceleration and deceleration and improved fuel efficiency and power consumption.

Claims

1. A driving control device, characterized in that: include: an operation amount signal detecting mechanism for detecting an operation amount signal output from the operating member by a driver's operation; an advance angle compensating unit that calculates an advance angle compensation for compensating for a phase delay in an operation band representing a range of an operation speed when the driver operates the operation member; and a phase delay control unit that calculates a phase delay characteristic for maintaining a constant phase delay of the manipulated variable signal; Advance angle compensation and phase delay characteristics are given to the manipulated variable signal, and the signal is transmitted as a controlled variable signal for controlling the manipulated object.

2. The driving control device according to claim 1, characterized in that: The advance angle compensation unit calculates a phase amount symmetrical with respect to a phase of 0° and performs advance angle compensation so as to cancel a phase delay from the manipulated variable signal to the controlled variable signal.

3. A driving control device, characterized in that: include: an operation amount signal detecting mechanism for detecting an operation amount signal output from the operating member by a driver's operation; an advance angle compensation unit that calculates an advance angle compensation for compensating for a phase delay in an operation band representing a range of an operation speed when the driver operates the operation member; as well as a phase delay control unit that calculates a phase delay characteristic for controlling between the low-frequency side and the high-frequency side of the operating frequency band so that the delayed phase of the operating amount signal increases and decreases linearly; Advance angle compensation and phase delay characteristics are given to the manipulated variable signal, and the signal is transmitted as a controlled variable signal for controlling the manipulated object.

4. The driving control device according to claim 3, characterized in that: The advance angle compensation unit calculates a phase amount symmetrical with respect to a phase of 0° and performs advance angle compensation so as to cancel a phase delay from the manipulated variable signal to the controlled variable signal.

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