Control device of vehicle

Abstract

To provide a control device of a vehicle that can improve drivability.SOLUTION: The control device of a vehicle comprises a processor. The processor senses a resonance region in which vibration unique to the vehicle easily occurs, performs accelerator control of the vehicle so that the vehicle runs while avoiding the resonance region during automatic operation, learns the sensed resonance region, and performs accelerator control of the vehicle so that the vehicle runs while avoiding the learnt resonance region, during subsequent running.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control device for a vehicle. [Background technology]

[0002] Patent Document 1 discloses a technique for increasing or decreasing the vehicle speed so as to prevent vibrations caused by unevenness in the road surface from resonating with the sprung mass of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-248909 A Summary of the Invention [Problem to be solved by the invention]

[0004] Vehicles have a certain range (resonant frequency) where vibrations specific to that vehicle are likely to occur, and if the vehicle is driven in this range, the vibrations will continue. Furthermore, during autonomous driving, even if vibrations occur while driving, the accelerator is not operated, so the vibrations continue and drivability deteriorates.

[0005] The present disclosure has been made in consideration of the above, and has an object to provide a vehicle control device that can improve drivability. [Means for solving the problem]

[0006] The vehicle control device according to the present disclosure includes a processor that detects a resonance area in which vehicle-specific vibrations are likely to occur, and during autonomous driving, controls the accelerator of the vehicle so that the vehicle travels while avoiding the resonance area, learns the detected resonance area, and during the next driving, controls the accelerator of the vehicle so that the vehicle travels while avoiding the learned resonance area. Effect of the Invention

[0007] According to the present disclosure, during autonomous driving, accelerator control and learning control are performed so as to avoid a resonance region specific to the vehicle, thereby making it possible to improve drivability. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a vehicle to which a vehicle control device according to an embodiment is applied. [Diagram 2] FIG. 2 is a flowchart showing the flow of a vehicle control method executed by the vehicle control device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A vehicle control device according to an embodiment of the present disclosure will be described with reference to the drawings. Note that components in the following embodiments include those that are easily replaceable by a person skilled in the art, or those that are substantially the same.

[0010] (Vehicle control device) A configuration of a vehicle control device according to an embodiment will be described with reference to Fig. 1. A vehicle to which the vehicle control device according to the embodiment is applied is a vehicle capable of selecting automatic driving while traveling.

[0011] The type of vehicle to which the vehicle control device according to the embodiment is applied is not particularly limited. For example, the vehicle may be a general engine vehicle (conveyor vehicle), a hybrid vehicle (HEV: Hybrid Electric Vehicle), a plug-in hybrid vehicle (PHEV: Plug-in Hybrid Electric Vehicle), etc. Alternatively, the vehicle may be a fuel cell electric vehicle (FCEV: Fuel Cell Electric Vehicle), an electric vehicle (BEV: Battery Electric Vehicle), etc.

[0012] Furthermore, when the control device for a vehicle according to the embodiment is applied to an engine vehicle, it can be applied, for example, to a four-wheel drive (4WD) vehicle. When the control device for a vehicle according to the embodiment is applied to a hybrid vehicle, it can be applied, for example, to a "series-parallel" hybrid vehicle. In this hybrid vehicle, the output of the engine is distributed to driving and power generation by a power distribution mechanism, and the driving motor is connected to the output of the power distribution mechanism via a reduction gear. When the control device for a vehicle according to the embodiment is applied to a hybrid vehicle, it can be applied to a "one motor, two clutch" hybrid vehicle. In this hybrid vehicle, a motor is provided in the power transmission path between the engine and the transmission, and a clutch is provided between the engine and the motor and between the motor and the transmission.

[0013] 1, a vehicle 1 to which the vehicle control device according to the embodiment is applied includes at least a control unit 11, a storage unit 12, and a power source 13. Note that in the figure, only the components essential for implementing the vehicle control device according to the embodiment are extracted from the actual components of the vehicle 1, and the other components are not shown.

[0014] The control unit 11 is an electronic control unit (ECU) whose main components are a microcomputer including, for example, a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM). The control unit 11 realizes functions that meet a predetermined purpose by controlling each component through the execution of various programs. In this embodiment, the vehicle 1 having one control unit 11 will be described, but the vehicle 1 may have multiple control units (ECUs) for each function.

[0015] The control unit 11 switches between automatic driving and manual driving when the vehicle 1 is traveling. The method of switching between automatic driving and manual driving is not particularly limited, and may be performed by accepting an input from the driver using a button or switch provided in the vehicle cabin, or may be performed by other methods.

[0016] Furthermore, the control unit 11 detects an area (resonance frequency) where a vibration specific to the vehicle is likely to occur during automatic driving of the vehicle 1. The method of detecting the area where a vibration specific to the vehicle is likely to occur (hereinafter also referred to as a "resonance area") is not limited, and may be detected by various sensors (e.g., an acceleration sensor, etc.) provided in the vehicle 1, or may be estimated using a well-known estimation method, etc. For example, when an acceleration sensor is used, it is possible to detect that the resonance area exists when the amplitude of the vibration is equal to or greater than a predetermined value.

[0017] Furthermore, when the control unit 11 detects a resonance region during automatic driving of the vehicle 1 (when the resonance determination is ON), it performs accelerator control (accelerator instruction) of the vehicle 1 so that the vehicle 1 travels while avoiding the resonance region. If the vehicle 1 is an engine vehicle, there is a region where the vehicle speed and the accelerator opening are balanced in the region where muffled noise occurs (hereinafter referred to as the "muffled noise region"), and vibration continues. Therefore, the control unit 11 performs accelerator control of the vehicle 1 so that the vehicle travels while avoiding such muffled noise regions as well.

[0018] In addition, when the control unit 11 detects a resonance area or a booming noise area (hereinafter referred to as "resonance area, etc.") during autonomous driving, the control unit 11 may perform accelerator control (for example, by increasing or decreasing the accelerator opening) to quickly avoid these areas.

[0019] Furthermore, the control unit 11 learns the resonance region, etc. detected as described above, and performs accelerator control of the vehicle 1 during the next driving so that the vehicle 1 drives while avoiding the learned resonance region, etc. Note that the learning data used when learning the resonance region, etc. may be stored in the storage unit 12, which will be described later, as necessary.

[0020] The storage unit 12 is realized by a recording medium such as an EPROM (Erasable Programmable ROM), a hard disk drive (HDD), and a removable medium. Examples of the removable medium include a disk recording medium such as a Universal Serial Bus (USB) memory, a Compact Disc (CD), a Digital Versatile Disc (DVD), and a Blu-ray (registered trademark) Disc (BD).

[0021] The storage unit 12 stores, for example, learning data such as a resonance region learned by the control unit 11 as necessary.

[0022] The power source 13 is, for example, an engine (in the case of an engine vehicle, a hybrid vehicle, or a plug-in hybrid vehicle), a motor (in the case of a hybrid vehicle, a plug-in hybrid vehicle, a fuel cell vehicle, or an electric vehicle), or the like.

[0023] Here, since a vehicle has a resonance region specific to the vehicle, if the vehicle is driven in the resonance region while the driver is driving, the vibration continues and the driver feels uncomfortable. In order to improve fuel efficiency, the driver may want to use the resonance region, but may avoid it because the vibration level is unacceptable. In addition, during automatic driving, the accelerator is not operated even if vibration occurs while driving, so the vibration continues and drivability is reduced.

[0024] Therefore, in the vehicle control device according to the embodiment, as described above, the automatic driving side performs accelerator control to avoid the resonance region (resonance frequency) where the vehicle-specific vibration is likely to occur during automatic driving. The detected resonance region is then learned, and the vehicle is set to avoid the resonance region the next time the vehicle is driven. This improves drivability.

[0025] (Vehicle control method) The flow of a vehicle control method executed by the vehicle control device according to the embodiment will be described with reference to FIG.

[0026] First, the control unit 11 determines whether or not autonomous driving has been selected in the vehicle 1 (step S1). The determination in step S1 can be made based on whether or not an autonomous driving ON input has been received from the driver via a button, switch, or the like provided in the vehicle cabin, for example.

[0027] In step S1, when it is determined that the autonomous driving is selected (Yes in step S1), the control unit 11 determines whether or not the area in which the vehicle 1 is traveling is an area (resonant frequency) in which vibration is likely to occur (step S2). The determination in step S2 can be made based on whether or not the amplitude of vibration detected through an acceleration sensor or the like provided in the vehicle 1 has reached a predetermined value or more.

[0028] In step S2, if it is determined that the area is prone to vibration (Yes in step S2), the control unit 11 sets a resonance determination ON flag (step S3) and performs accelerator control to avoid the area prone to vibration (step S4). Next, the control unit 11 learns the area prone to vibration (step S5) and completes this process. As a result, the control unit 11 performs accelerator control of the vehicle 1 so that the vehicle 1 avoids the learned resonance area the next time the vehicle travels.

[0029] Here, if it is determined in step S1 that the automatic driving is not selected (No in step S1), the control unit 11 sets a flag for resonance determination OFF (step S6) and ends this process. Also, if it is determined in step S2 that the area is not prone to vibration (No in step S2), the control unit 11 sets a flag for resonance determination OFF (step S6) and ends this process.

[0030] According to the vehicle control device of the embodiment described above, drivability can be improved by performing accelerator control and learning control during autonomous driving so as to avoid the resonance region specific to the vehicle.

[0031] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0032] 1 vehicle 11 Control section 12 Storage section 13 Power source

Claims

[Claim 1] A processor is provided. The processor, Detects the resonance area where vehicle-specific vibrations are likely to occur, During autonomous driving, the vehicle's accelerator is controlled so that the vehicle travels while avoiding the resonance region. The detected resonance region is learned, and the accelerator control of the vehicle is performed so that the vehicle will travel while avoiding the learned resonance region the next time the vehicle travels. Vehicle control device.

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