Control device of vehicle

Abstract

To provide a control device of a vehicle that enables a driver to open a door and reverse into a park while visually confirming a rear side of the vehicle, while operating an automatic parking control function.SOLUTION: When vehicle speed is below predetermined vehicle speed and when a state of a power transmission device is in a non-parking state, automatic parking control is executed when a door opening / closing determination shows that a door is opened. However, when it is determined that reverse parking is executed by a driver, the automatic parking control is not executed. This enables the driver to open the door and reverse into a park while visually confirming a rear side of the vehicle, while operating a function of the automatic parking control.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] A vehicle control device including 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 parking state in which the rotation of a rotating member that rotates together with the drive wheels is mechanically blocked and a non-parking state in which the rotation of the rotating member is allowed based on a control command signal is well known. For example, the vehicle control device described in Patent Document 1 is such a device. Patent Document 1 discloses that when the vehicle speed is equal to or lower than a predetermined vehicle speed and the state of the power transmission device is in a non-parking state, if the door opening / closing determination is an open determination, automatic parking control for switching the state of the power transmission device to the parking state is executed by the switching device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, as a driving scene of the vehicle, there is reverse parking in which the driver reverses the vehicle to park. When executing reverse parking, the driver may open the door and reverse the vehicle while visually checking the rear of the vehicle. By the way, in the technique described in Patent Document 1, when the door is opened during the execution of reverse parking, automatic parking control is executed.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control device that enables a driver to perform reverse parking while operating the automatic parking control function and visually checking the rear of the vehicle while opening the door.

Means for Solving the Problems

[0006] The gist of the first invention is as follows: (a) 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 based on a control command signal between a parking state in which the rotation of a rotating member that rotates together with the drive wheels is mechanically blocked and a non-parking state in which the rotation of the rotating member is permitted, and a control device for a vehicle comprising: (b) an opening / closing determination unit that performs a door opening / closing determination indicating whether the door of the vehicle is in an open state or a closed state; (c) when the vehicle speed is equal to or lower than a predetermined vehicle speed near zero and the state of the power transmission device is in the non-parking state, and the door opening / closing determination is an open determination indicating that the door is in an open state, a switching control unit that executes automatic parking control for switching the state of the power transmission device to the parking state by the switching device; (d) further including a reverse parking determination unit that determines whether or not the driver is performing reverse parking for reversing and parking the vehicle; and (e) when it is determined that the driver is performing the reverse parking, the switching control unit does not execute the automatic parking control.

Effects of the Invention

[0007] According to the first invention, when the vehicle speed is equal to or lower than a predetermined vehicle speed and the state of the power transmission device is in the non-parking state, and the door opening / closing determination is an open determination, automatic parking control is executed. However, when it is determined that the driver is performing reverse parking, the automatic parking control is not executed. Therefore, while operating the automatic parking control function, the driver can perform reverse parking while opening the door and visually checking the rear of the vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Embodiment

[0010] FIG. 1 and FIG. 2 are diagrams for explaining the schematic configuration of a vehicle 10 to which the present invention is applied. Further, FIG. 1 is a diagram for explaining the control functions and the main parts of the control system for various controls in the vehicle 10. In FIGS. 1 and 2, the vehicle 10 includes a power source 12, drive wheels 14, and a power transmission device 16 that transmits the power of the power source 12 to the drive wheels 14. The power is synonymous with torque and force when not particularly distinguished.

[0011] The power source 12 is a known internal combustion engine such as an engine, for example. Alternatively, the power source 12 is a known rotary electric machine such as a motor generator, for example. Alternatively, the vehicle 10 may include the rotary electric machine in addition to the internal combustion engine as the power source 12.

[0012] 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 drive wheels 14.

[0013] 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 lock 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 interior.

[0014] The shift operation device 30 is an operation device for selecting a plurality of types of shift positions POSsh in the automatic transmission 18 by an artificial operation, that is, an operation device that receives a request for switching the shift position POSsh when artificially operated. The shift operation device 30 is operated by the driver to an operation position POSop corresponding to the shift position POSsh. The operation position POSop includes, for example, a parking operation position, a reverse travel operation position, a neutral operation position, a forward travel operation position, etc. The shift position POSsh includes, for example, a parking position, a reverse travel position, a neutral position, a forward travel position, etc. The shift position POSsh is synonymous with the shift range of the automatic transmission 18.

[0015] The parking operation position is an operation position for selecting the parking position of the automatic transmission 18 in which the automatic transmission 18 is in 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 interrupted, that is, a state in which the automatic transmission 18 is unable to transmit power. The neutral state of the automatic transmission 18 is synonymous with the neutral state of the power transmission device 16 and is a state in which power transmission in the power transmission device 16 is interrupted. The state in which the rotation of the output shaft 20 is mechanically blocked is a state of the parking lock in which the output shaft 20 is fixed so as not to rotate, that is, the 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 so as not to rotate by the switching device 40.

[0016] The reverse travel operation position is an operation position for selecting the reverse travel position of the automatic transmission 18 that enables the vehicle 10 to travel in reverse. The state that enables the vehicle 10 to travel in reverse is the reverse travel enabled state of the power transmission device 16. The neutral operation position is an operation position for selecting the neutral position of the automatic transmission 18 in which the automatic transmission 18 is in a neutral state. The forward travel operation position is an operation position for selecting the forward travel position of the automatic transmission 18 that enables the vehicle 10 to travel forward. The state that enables the vehicle 10 to travel forward is the forward travel enabled state of the power transmission device 16. The neutral state, forward travel enabled state, and reverse travel enabled state of the power transmission device 16 are states of non-parking lock in which the rotation of the output shaft 20 is permitted, that is, the non-parking state of the power transmission device 16. The reverse travel operation position, neutral operation position, and forward travel 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 the reverse travel position, neutral position, and forward travel position in which the state of the parking lock is released.

[0017] The shift operation device 30 has a shift lever 32 and a parking switch 34 that are selectively operated by a driver to a plurality of operation positions POSop. Both the shift lever 32 and the parking switch 34 are momentary operators that return to their original positions when no external force is applied. The shift lever 32 is selectively operated by the driver to a corresponding operation position POSop in order to set the shift position POSsh to a desired shift position POSsh among the non-parking positions. The parking switch 34 is operated by the driver to set the shift position POSsh to the parking position.

[0018] 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 an electronic control device 90 described later. The parking switch 34 is, for example, a momentary push-button switch and is pushed by the driver to the parking operation position. Each time the parking switch 34 is pushed to the parking operation position, the parking switch 34 outputs a parking switch signal Spsw corresponding to the parking operation position to the electronic control device 90 described later. The lever position signal Splev and the parking switch signal Spsw are signals representing the operation position POSop.

[0019] The switching device 40 includes an electric actuator 42, an encoder 44, a parking lock mechanism 46, etc. The switching device 40 switches the shift position POSsh of the automatic transmission 18 by the operation of the electric actuator 42. The parking lock mechanism 46 includes a parking lock gear 48, a parking lock pole 50, a cam 52, a parking rod 54, etc. The parking lock gear 48 is a member provided so as to rotate integrally with the output shaft 20. The parking lock pole 50 has a claw portion that meshes with the gear teeth of the parking lock gear 48 and is a member capable of meshing with the parking lock gear 48. The cam 52 is provided at the tip of the parking rod 54 on the side of the parking lock pole 50. The cam 52 is a tapered member that meshes the parking lock pole 50 with the parking lock gear 48 by being moved toward the parking lock pole 50 side. The parking rod 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) on the other end side.

[0020] The electric actuator 42 is operated based on a parking switching control command signal Splock from an electronic control device 90 described later. The switching device 40 switches the state of the power transmission device 16 between a parking state and a non-parking state when the electric actuator 42 is operated. That is, the switching device 40 switches the shift position POSsh between a parking position and a 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 a parking state and a non-parking state based on a control command signal from the electronic control device 90. In the vehicle 10, the shift position POSsh is switched using a shift-by-wire (=SBW) system.

[0021] The driver's seat door lock device 64 is provided on the driver's seat door 62. The driver's seat door lock 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 built-in door lock motor (not shown).

[0022] The vehicle 10 further includes an electronic control unit 90 as a controller that controls the vehicle 10 related to the control of the automatic transmission 18 and the like. The electronic control unit 90 is configured to include a so-called microcomputer including, for example, a CPU, a RAM, a ROM, an input / output interface, and the like. The CPU performs signal processing according to a program stored in the ROM in advance while using the temporary storage function of the RAM, thereby executing various controls of the vehicle 10.

[0023] Various signals and the like based on detection values by 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 rotational speed sensor 70, an accelerator opening sensor 72, a brake switch 74, a courtesy switch 76, a lock 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 rotational speed No, an accelerator opening θacc, a brake-on signal Bon, a courtesy signal Cts, a lock signal Dlc, an inclination angle θinc, and the like.

[0024] The courtesy switch 76 is a sensor that detects the opening and closing of the door of the vehicle 10, and is provided, for example, on the B-pillar near the driver's seat 60. The courtesy switch 76 is a switch whose on / off state is switched according to the opening and closing of the driver's seat door 62, and is a switch that operates a courtesy lamp 66 that is lit when the driver's seat door 62 is open. The lock switch 78 is a sensor that detects the opening and closing of the door of the vehicle 10, and is provided, for example, on the driver's seat door lock device 64. The lock switch 78 is an on / off switch whose on / off state is switched according to the opening and closing of the driver's seat door 62. The courtesy switch 76 and the lock switch 78 are sensors provided in plurality for the same door, the driver's seat door 62.

[0025] 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 representing the magnitude of the acceleration demand in the operation of the accelerator operation member by the driver. The operation of the accelerator operation member is sometimes referred to as an accelerator operation. The brake-on signal Bon is a signal indicating a state in which a brake operation member for operating the wheel brake is being operated by the driver. The operation of the brake operation member is sometimes referred to as a brake operation. The courtesy signal Cts is an open / close signal corresponding to the opening and closing of the doors of the vehicle 10. The lock signal Dlc is an open / close signal corresponding to the opening and closing of the doors of the vehicle 10, different from the courtesy signal Cts. The inclination angle θinc is the angle of inclination of the vehicle 10 in the longitudinal direction, and is also a signal indicating the gradient of the traveling road.

[0026] From the electronic control device 90, various command signals and the like are respectively output 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. The various control command signals and the like are, for example, a power source control command signal Spu for controlling the power source 12, a transmission control command signal Spt for controlling the automatic transmission 18, a parking switch control command signal Splock for controlling the operation of the switching device 40, and the like.

[0027] The electronic control device 90 includes an opening / closing determination unit 92 and a switching control unit 94 in order to realize various controls in the vehicle 10.

[0028] The opening / closing determination unit 92 uses an open / close signal corresponding to the opening and closing of the doors of the vehicle 10 to perform a door opening / closing determination indicating whether the opening / closing state of the doors of the vehicle 10 is in a state where the doors of the vehicle 10 are open or closed. In the present embodiment, the state where the doors of the vehicle 10 are open is referred to as a door open state, and the state where the doors of the vehicle 10 are closed is referred to as a door closed state. When the opening / closing state of the door is the door open state, the opening / closing determination unit 92 makes the opening / closing determination 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 makes the opening / closing determination a closed determination indicating the door closed state.

[0029] When at least one of the opening / closing signals of the courtesy signal Cts and the lock signal Dlc changes from the closed 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 determines the door opening / closing determination as an open determination. Also, when at least one of the opening / closing signals of the courtesy signal Cts and the lock signal Dlc changes from the open signal Dopn to the closed signal Dcls, the opening / closing determination unit 92 determines the door opening / closing determination as a closed determination.

[0030] FIG. 3 is a flowchart for explaining the main part of the control operation of the electronic control device 90, and is a flowchart for explaining the control operation for performing door opening / closing determination, and is repeatedly executed, for example.

[0031] In FIG. 3, each step of the flowchart corresponds to the function of the opening / closing determination unit 92. In step S10 (hereinafter, steps are omitted), it is determined whether the courtesy signal Cts has changed from the closed signal Dcls to the open signal Dopn. If the determination in this S10 is negative, then in S20, it is determined whether the lock signal Dlc has changed from the closed signal Dcls to the open signal Dopn. If the determination in the above S10 is affirmative, or if the determination in the above S20 is affirmative, then in S30, the door opening / closing determination is determined as an open determination. If the determination in the above S20 is negative, then in S40, it is determined whether the courtesy signal Cts has changed from the open signal Dopn to the closed signal Dcls. If the determination in this S40 is negative, then in S50, it is determined whether the lock signal Dlc has changed from the open signal Dopn to the closed signal Dcls. If the determination in this S50 is negative, this routine is terminated. If the determination in the above S40 is affirmative, or if the determination in the above S50 is affirmative, then in S60, the door opening / closing determination is determined as a closed determination.

[0032] The shift control unit 94 electrically switches the shift position POSsh of the automatic transmission 18 by the switching device 40 based on the operation position POSop in the shift operation device 30. For example, the shift control unit 94 sets a required position, which is the shift position POSsh desired by the driver, based on the lever position signal Splev and the parking switch signal Spsw. The shift control unit 94 switches to the shift position POSsh corresponding to the required position. When the shift control unit 94 detects the input of the parking switch signal Spsw while the shift position POSsh is in a non-parking position, it sets the parking position as the required position. Then, the shift control unit 94 operates the electric actuator 42 to put the parking lock mechanism 46 in the parking lock state, thereby switching the shift position POSsh to the parking position. On the other hand, when the shift control unit 94 detects the input of the lever position signal Splev while the shift position POSsh is in the parking position, it sets a non-parking position corresponding to the lever position signal Splev as the required position. Then, the shift control unit 94 operates the electric actuator 42 to put the parking lock mechanism 46 in the non-parking lock state, thereby switching the shift position POSsh to the non-parking position. In addition, the shift control unit 94 switches to the shift position POSsh corresponding to the required position among the non-parking positions.

[0033] When the vehicle speed V is equal to or lower than a predetermined vehicle speed Vf near zero and the state of the power transmission device 16 is in a non-parking state, if the door opening / closing determination by the opening / closing determination unit 92 is an open determination, the automatic parking control CNap is executed. The automatic parking control CNap is a control for switching the state of the power transmission device 16 to a parking state by the switching device 40. That is, when the vehicle speed V is equal to or lower than the predetermined vehicle speed Vf and the shift position POSsh is in a non-parking position, if the door opening / closing determination is an open determination, the automatic parking control CNap is executed. The automatic parking control CNap is a control for switching the shift position POSsh to a parking position by operating the electric actuator 42 to bring the parking lock mechanism 46 into a parking lock state.

[0034] The predetermined vehicle speed Vf is a predetermined stop determination vehicle speed that can determine a stop in consideration of, for example, a response delay of the vehicle speed V based on the detection value of the output rotation speed sensor 70 with respect to the decrease in the actual vehicle speed V during a sudden stop.

[0035] The automatic parking control CNap is a control for automatically switching the shift position POSsh to a parking position when the intention of the driver to get off is detected while the shift position POSsh is in a non-parking position. The switching control unit 94 detects the intention of the driver to get off based on whether the door opening / closing determination is an open determination.

[0036] In order to further improve the reliability of detecting the intention of the driver to get off, in addition to the door opening / closing determination being an open determination, for example, the state of the brake being off with no brake operation by the driver may be used. When the vehicle speed V is equal to or lower than the predetermined vehicle speed Vf and the shift position POSsh is in a non-parking position, if the door opening / closing determination is an open determination and in addition the state of the brake is off, the switching control unit 94 executes the automatic parking control CNap.

[0037] Incidentally, when the driver executes reverse parking by backing the vehicle 10, the driver may open the driver's door 62 and back the vehicle 10 while visually checking the rear of the vehicle. When the driver opens the driver's door 62 without the intention of getting out of the vehicle, for example, when the driver opens the driver's door 62 with the intention of reverse parking, the automatic parking control CNap performs an unnecessary operation. When the switching control unit 94 detects the driver's intention to perform reverse parking, the automatic parking control CNap is skipped and not executed.

[0038] The electronic control unit 90 further includes a reverse parking determination unit 96 for the driver to perform reverse parking while opening the driver's door 62 and visually checking the rear of the vehicle.

[0039] The reverse parking determination unit 96 determines whether or not the driver is executing reverse parking. That is, the reverse parking determination unit 96 detects the presence or absence of the driver's intention to perform reverse parking.

[0040] When the vehicle speed V is equal to or lower than a predetermined vehicle speed Vf, and the state of the power transmission device 16 is in a non-parking state, and the door opening / closing determination is an open determination, and it is determined that the driver is not executing reverse parking, the switching control unit 94 executes the automatic parking control CNap. On the other hand, when it is determined that the driver is executing reverse parking, the switching control unit 94 does not execute the automatic parking control CNap.

[0041] The reverse parking determination unit 96 determines that the driver is executing reverse parking when the state of the power transmission device 16 is in a state where reverse travel is possible and the accelerator opening θacc is equal to or lower than a predetermined opening θaccf. The state of the power transmission device 16 being in a state where reverse travel is possible is synonymous with the shift position POSsh being in the reverse travel position.

[0042] The predetermined opening degree θaccf is the upper limit value of the accelerator opening degree θacc that is determined in advance and can be judged that the driver intends to perform reverse parking. In other words, the predetermined opening degree θaccf is the upper limit value of the accelerator opening degree θacc that can be regarded as the driver's intention to reverse the vehicle 10 with a slight acceleration. Incidentally, when the accelerator opening degree θacc is zero, it can be regarded that there is an intention to reverse the vehicle 10 with a slight acceleration by utilizing the creep phenomenon. The creep phenomenon is a phenomenon in which the vehicle 10 moves slowly when, for example, the brake is released while the accelerator is off. Therefore, the predetermined vehicle speed Vf may be, for example, the upper limit value of the predetermined vehicle speed V when reversing with the accelerator opening degree θacc being equal to or less than the predetermined opening degree θaccf.

[0043] When the state of the power transmission device 16 is not in a reverse-travelable state, the reverse parking determination unit 96 determines that the driver is not executing reverse parking. When the state of the power transmission device 16 is not in a reverse-travelable state, for example, when the state of the power transmission device 16 is in a forward-travelable state, or when the state of the power transmission device 16 is in a neutral state. That the state of the power transmission device 16 is in a forward-travelable state is synonymous with the shift position POSsh being in a forward-travel position. That the state of the power transmission device 16 is in a neutral state is synonymous with the shift position POSsh being in a neutral position.

[0044] Alternatively, when the state of the power transmission device 16 allows reverse travel and the accelerator opening θacc exceeds a predetermined opening θaccf, the reverse parking determination unit 96 determines that the driver is not executing reverse parking. When the shift position POSsh is in the reverse travel position, if the accelerator is significantly increased with the door open, there may be a safety risk. When the accelerator opening θacc exceeds the predetermined opening θaccf, to prevent reverse movement, it is determined that the driver is not executing reverse parking, and the automatic parking control CNap is executed. In other words, it is assumed that there is no danger even with the door open if the accelerator opening θacc is small enough for the vehicle 10 to barely move. Only when slowly moving during reverse parking, emphasizing convenience, the automatic parking control CNap is skipped and not executed even with the door open. Note that when the door is closed, driving with a significant increase in the accelerator in the reverse travel position is possible.

[0045] Here, reverse parking on a slope will be described. As an example of reverse parking on a slope, a case where the vehicle 10 is reversed and parked uphill on a downhill slope will be illustrated. The driver's operation procedure in this case is as follows: First, the driver drives the vehicle 10 on the downhill slope and stops it (step [1]). Next, the driver switches the operation position POSop to the reverse travel operation position with the accelerator off. As a result, the shift position POSsh is switched from the forward travel position to the reverse travel position (step [2]). Next, the driver opens the driver's door 62 to check the rear of the vehicle 10 (step [3]). Next, the driver performs an accelerator operation with a low accelerator opening θacc such that the vehicle 10 can barely reverse (step [4]).

[0046] When the above procedure [3] is executed, the accelerator opening θacc is zero. At this point, it is desirable to skip the automatic parking control CNap. However, if a lower limit value is set for the accelerator opening θacc and it is determined that the driver is performing reverse parking, the automatic parking control CNap will be executed at this time. In this embodiment, only the upper limit value is set for the accelerator opening θacc, and if the accelerator opening θacc is equal to or less than a predetermined opening θaccf, it is determined that the driver is performing reverse parking, and the automatic parking control CNap is skipped. Therefore, at this point, the automatic parking control CNap is not executed.

[0047] In the above procedure [4], while the accelerator increasing operation is small, the vehicle 10 will slide down the downhill slope. However, as a characteristic of the driver, in order to prevent the sliding down, the accelerator increasing operation is increased. Therefore, it can be considered that the driver has the intention of reverse parking with a driving force requirement from the driver that is not excessive and can reverse the vehicle 10 against the sliding down on the downhill slope. For example, the accelerator opening θacc corresponding to the magnitude of the driving force requirement from the driver at this time is set to the predetermined opening θaccf.

[0048] The slope driving force Fs [N] shown by the following equation (1) is the vehicle driving force F for maintaining the vehicle 10 in a stationary state against the sliding down on the downhill slope. In the following equation (1), "θinc [rad]" is the inclination angle of the vehicle 10 with the front facing downward, "m [kg]" is the vehicle mass, and "g [m / s 2 " is the gravitational acceleration. The predetermined opening θaccf is, for example, a value larger than the accelerator opening θacc that generates the slope driving force Fs, and is set to the accelerator opening θacc obtained by adding the amount for reversing the vehicle 10 with a slight acceleration on the downhill slope to the accelerator opening θacc that generates the slope driving force Fs. In this way, the reverse parking determination unit 96 sets the predetermined opening θaccf based on the inclination angle θinc of the vehicle 10.

[0049] Fs = m × g × sin θinc ···(1)

[0050] Figure 4 is a flowchart for explaining the main part of the control operation of the electronic control device 90, and is a flowchart for explaining the control operation for performing reverse parking while the driver opens the driver's door 62 and visually checks the rear of the vehicle while activating the function of the automatic parking control CNap, and is repeatedly executed, for example.

[0051] In Figure 4, first, in S110 corresponding to the function of the switching control unit 94, it is determined whether or not the vehicle speed V is less than or equal to a predetermined vehicle speed Vf. If the determination in this S110 is negative, this routine is terminated. If the determination in this S110 is positive, in S120 corresponding to the function of the switching control unit 94, it is determined whether or not the shift position POSsh is in a non-parking position. If the determination in this S120 is negative, this routine is terminated. If the determination in this S120 is positive, in S130 corresponding to the function of the door opening / closing determination unit 92, it is determined whether or not the door opening / closing determination is an open determination. If the determination in this S130 is negative, this routine is terminated. If the determination in this S130 is positive, in S140 corresponding to the function of the switching control unit 94, it is determined whether or not it is in a brake-off state. If the determination in this S140 is negative, this routine is terminated. If the determination in this S140 is positive, in S150 corresponding to the function of the reverse parking determination unit 96, it is determined whether or not the shift position POSsh is not in the reverse traveling position. If the determination in this S150 is negative, in S160 corresponding to the function of the reverse parking determination unit 96, it is determined whether or not the accelerator opening θacc exceeds a predetermined opening θaccf. If the determination in this S160 is negative, this routine is terminated and the automatic parking control CNap is not executed. On the other hand, if the determination in the above S150 is positive, or if the determination in the above S160 is positive, in S170 corresponding to the function of the switching control unit 94, the automatic parking control CNap is executed.

[0052] As described above, according to this embodiment, when the vehicle speed V is less than or equal to the predetermined vehicle speed Vf and the state of the power transmission device 16 is a non-parking state, if the door opening / closing determination is an open determination, the automatic parking control CNap is executed. However, if it is determined that the driver is executing reverse parking, the automatic parking control CNap is not executed. Therefore, while activating the function of the automatic parking control CNap, the driver can perform reverse parking while opening the driver's door 62 and visually checking the rear of the vehicle.

[0053] Also, according to this embodiment, when the state of the power transmission device 16 is a state where reverse travel is possible and the accelerator opening θacc is less than or equal to the predetermined opening θaccf, it is determined that the driver is executing reverse parking. Thereby, it is appropriately determined that reverse parking is being executed. Also, using an existing sensor, it is determined that reverse parking is being executed.

[0054] Also, according to this embodiment, the predetermined opening θaccf is a preset upper limit value of the accelerator opening θacc that can be determined that the driver intends to perform reverse parking. Thereby, it is more appropriately determined that reverse parking is being executed. Also, the predetermined opening θaccf is set based on the inclination angle θinc of the vehicle 10. Thereby, regardless of whether it is a flat road or a slope road, it is appropriately determined that reverse parking is being executed. For example, even when reverse parking in a parking space on a downhill slope, the driver can perform reverse parking while opening the driver's door 62 and visually checking the rear of the vehicle.

[0055] Also, according to this embodiment, when the vehicle speed V is less than or equal to the predetermined vehicle speed Vf and the state of the power transmission device 16 is a non-parking state, if the door opening / closing determination is an open determination and it is determined that the driver is not executing reverse parking, the automatic parking control CNap is executed. Thereby, when the driver opens the driver's door 62 when reverse parking is not being executed, the automatic parking control CNap is appropriately executed.

[0056] Further, according to the present embodiment, when the state of the power transmission device 16 is in a forward travelable state or when the state of the power transmission device 16 is in a neutral state, it is determined that the driver is not executing reverse parking. Or, when the state of the power transmission device 16 is in a reverse travelable state and the accelerator opening θacc exceeds a predetermined opening θaccf, it is determined that the driver is not executing reverse parking. Thereby, it is appropriately determined that reverse parking is not being executed.

[0057] As described above, the embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is also applicable to other aspects.

[0058] For example, in the above-described embodiment, it may be determined whether or not the driver is executing reverse parking by determining whether or not the vehicle 10 is about to be parked in a rear parking space based on an image of a rear camera or the like.

[0059] Also, in the above-described embodiment, only one sensor for detecting the opening and closing of the driver's seat door 62 may be provided for the driver's seat door 62. In this case, door opening and closing determination is performed using one sensor for detecting the opening and closing of the driver's seat door 62.

[0060] Also, in the above-described embodiment, the shift operation device 30 may be a device including one operating element such as a lever or a dial that is operated to an operation position POSop corresponding to the shift position POSsh, and a position sensor that electrically detects the position of the operating element.

[0061] Also, in the above-described embodiment, the switching device 40 may be a switching device that switches the shift position POSsh to each position such as a parking position, a reverse travel position, a neutral position, and a forward travel position.

[0062] In addition, in the above-described embodiment, if the vehicle includes a power transmission device that transmits the power of the power source to the drive wheels and a switching device that switches the state of the power transmission device between a parking state and a non-parking state based on a control command signal, the present invention can be applied.

[0063] Note that the above is merely one embodiment, and the present invention can be implemented in various modified and improved forms based on the knowledge of those skilled in the art.

Explanation of Signs

[0064] 10: Vehicle 12: Power source 14: Drive 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

Claims

1. A control device for a 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 parking state in which the rotation of a rotating member that rotates together with the drive wheels is mechanically blocked and a non-parking state in which the rotation of the rotating member is permitted, based on a control command signal, an opening / closing determination unit that performs an opening / closing determination indicating whether the door of the vehicle is in an open state or a closed state; a switching control unit that executes automatic parking control to switch the state of the power transmission device to the parking state by the switching device when the opening / closing determination indicates an open determination indicating that the door is in an open state while the vehicle speed is equal to or lower than a predetermined vehicle speed in the vicinity of zero and the state of the power transmission device is the non-parking state; which includes; further comprising a reverse parking determination unit that determines whether or not the driver is performing reverse parking in which the vehicle is reversed and parked, wherein the switching control unit does not execute the automatic parking control when it is determined that the driver is performing the reverse parking. A control device for a vehicle.

2. The reverse parking determination unit according to claim 1, wherein the reverse parking determination unit determines that the driver is performing the reverse parking when the state of the power transmission device is a state that enables the vehicle to travel backward and the accelerator opening is equal to or less than a predetermined opening. A control device for a vehicle.

3. The predetermined opening is an upper limit value of the accelerator opening that is predetermined and can be determined that the driver intends to perform the reverse parking, The reverse parking determination unit according to claim 2, wherein the reverse parking determination unit sets the predetermined opening based on the inclination angle of the vehicle. A control device for a vehicle.

4. The switching control unit according to any one of claims 1 to 3, wherein when the vehicle speed is equal to or lower than the predetermined vehicle speed, the state of the power transmission device is the non-parking state, the opening / closing determination is the open determination, and it is determined that the driver is not performing the reverse parking, the switching control unit executes the automatic parking control. A control device for a vehicle.

5. When the state of the power transmission device enables the vehicle to move forward, or when the state of the power transmission device is a state in which power transmission in the power transmission device is interrupted, or when the state of the power transmission device enables the vehicle to move backward and the accelerator opening exceeds a predetermined opening, it is determined that the driver is not executing the reverse parking. The vehicle control device according to claim 4, characterized in that.

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