Vehicle operation system

Abstract

To provide a vehicle operation system capable of improving operability of an operation member in a configuration in which the operation member related to acceleration and deceleration is installed on a steering member.SOLUTION: A vehicle operation system comprises: a steering member 2 that is gripped by driver's hands for steering operation; operation members 3 and 8, for brake operation and / or accelerator operation, which are installed on the steering member 2 so as to be operable by the driver's hands; detection devices 4 and 81 that detect operation amounts of the operation members 3 and 8; and a computer 5 that receives detection results from the detection devices 4 and 81. The computer 5 is configured to calculate control characteristics representing a relation between the operation amounts of the operation members 3 and 8 and a control target value, namely target deceleration or target acceleration, based on the detection results acquired from the detection devices 4 and 81 under a condition in which a predetermined condition, including maintenance of a stopped state, is satisfied.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle operation system.

Background Art

[0002] Recently, a system has been developed in which an accelerator operation member and a brake operation member are provided on a steering member. As a result, the foot operation system is integrated into the steering member at hand, and the driver can accelerate and decelerate the vehicle without operating the pedals with their feet. For example, Japanese Patent Application Laid-Open No. 2020-203602 discloses a steering member provided with an operation portion for operating the acceleration and deceleration of a vehicle in the vicinity of a steering grip portion.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The maximum stroke of an operation member such as a lever operated by the hand holding the steering member is likely to be smaller than the maximum stroke of a pedal operated by the foot due to its arrangement. For example, the maximum stroke of a brake operation member arranged on the steering member may be about 1 / 3 of the maximum stroke of a brake pedal arranged at the foot. As a result, the adjustment of acceleration and deceleration by the hand holding the steering member is likely to be less sensitive and more difficult than the adjustment of acceleration and deceleration by the foot. In a configuration in which an operation member is provided on the steering member, the control characteristics representing the relationship between the operation amount (stroke) of the operation member and the control target value greatly affect the driver's operation feeling. Also, it is considered that the operation by hand is likely to vary depending on the nature of the driver (such as grip strength and dexterity). Improving the operability (improving the driver's operation feeling) of an operation member configured to be operated by the hand holding the steering member is an issue.

[0005] An object of the present invention is to provide a vehicle operation system capable of improving the operability of an operation member in a configuration in which an operation member related to acceleration and deceleration is provided on a steering member.

Means for Solving the Problems

[0006] The vehicle operation system of the present invention includes a steering member gripped by a driver's hand for steering operation, an operation member for brake operation and / or accelerator operation provided on the steering member so as to be operable by the driver's hand, a detection device that detects an operation amount of the operation member, and a computer that receives a detection result of the detection device. The computer is configured to calculate a control characteristic representing a relationship between the operation amount of the operation member and a target deceleration or target acceleration that is a control target value based on the detection result of the detection device obtained in a situation where a predetermined condition including maintaining a stopped state is satisfied.

Effects of the Invention

[0007] According to the present invention, a control characteristic related to acceleration and deceleration is set based on the operation amount of the operation member detected in a situation where a predetermined condition is satisfied. That is, according to the present invention, a control characteristic suitable for the driver's characteristics (for example, grip strength and dexterity) can be set. According to the present invention, for example, different control characteristics can be set when a driver with relatively weak hand strength operates the operation member and when a driver with relatively strong hand strength operates the operation member. That is, according to the present invention, the operability of the operation member can be improved by setting a control characteristic suitable for the driver.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0009] Hereinafter, as a mode for carrying out the present invention, a vehicle operation system 1 which is an embodiment of the present invention will be described in detail with reference to the drawings. In the vehicle 10 of this embodiment, steer-by-wire is adopted for steering, and brake-by-wire is adopted for braking. Note that the present invention can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art in addition to the following examples.

[0010] As shown in FIG. 1, the vehicle operation system 1 of this embodiment includes a steering member 2, a brake operation member (corresponding to the "operation member") 3, a detection device 4, and a computer 5. The steering member 2 is an operation member that is gripped by the driver's hand for steering operation. The steering member 2 constitutes a part of the steering device 9. The steering device 9 includes a steering member 2, a steering column 91, a reaction force applying unit 92, a sensor 93, an actuator 94, and an ECU 95.

[0011] The steering column 91 rotatably holds the steering member 2 on the instrument panel reinforcement. The reaction force applying portion 92 includes an electric motor and a speed reduction mechanism, and applies a reaction force to the steering operation. The sensor 93 detects the operation amount of the steering member 2 and transmits it to the ECU 95. The actuator 94 is a device that steers the wheels (here, the front wheels 11 and 12), and includes an electric motor as a drive source. The ECU 95 is an electronic control unit (which can also be said to be a computer) including one or more processors and one or more memories. The ECU 95 controls the electric motor of the actuator 94 based on the detection result of the sensor 93. The actuator 94 constitutes a steer-by-wire, is mechanically independent of the operating force of the steering member 2, and steers the wheels by the force of the electric motor.

[0012] As shown in FIGS. 2 and 3, the steering member 2 of the present embodiment is formed in a quadrangular shape as a whole. The steering member 2 includes a frame-shaped portion 21 formed in a frame shape, a central portion 22 disposed within the frame of the frame-shaped portion 21, and a connecting portion 23 that connects the central portion 22 and the frame-shaped portion 21. The frame-shaped portion 21 is formed in a quadrangular shape (a substantially quadrangular frame shape). Note that the frame-shaped portion 21 may be a polygonal shape other than a quadrangular shape or a circular shape. The left and right portions of the frame-shaped portion 21 are grip portions 211 and 212 for the driver to grip. The left grip portion 211 is gripped by the driver's left hand, and the right grip portion 212 is gripped by the driver's right hand. Note that the steering member 2 may be a polygonal member as a whole as described above, or may be a circular steering wheel. The central portion 22 is connected to the steering column 91.

[0013] The brake operation member 3 is provided on the steering member 2 so as to be operable by the driver's hand. The brake operation member 3 is a member for operating the deceleration of the vehicle. The brake operation member 3 of the present embodiment is composed of two brake levers 31 and 32. Each of the brake levers 31 and 32 is disposed in front (the back side) of the corresponding grip portions 211 and 212. Each of the brake levers 31 and 32 includes a main body portion 3a including a rotation axis, a lever portion 3b rotatably connected to the main body portion 3a about the rotation axis, and a reaction force applying portion 3c. The main body portion 3a of the brake lever 31 is provided at the upper left corner portion of the frame-shaped portion 21, and the main body portion 3a of the brake lever 32 is provided at the upper right corner portion of the frame-shaped portion 21. The lever portion 3b is a lever-shaped member and extends downward from the main body portion 3a.

[0014] The brake operation is executed by the driver pulling the lever portion 3b forward with the fingers of the hand holding the grip portions 211 and 212. The control target value of the deceleration of the vehicle (hereinafter also referred to as the target deceleration) is set according to the operation amount of the brake operation, that is, the stroke of the lever portion 3b. Each of the brake levers 31 and 32 is configured to be independently operable. The brake operation is established when at least one of the brake levers 31 and 32 is operated.

[0015] The reaction force applying portion 3c is a device that applies a reaction force to the movement of the lever portion 3b by the brake operation. The reaction force applying portion 3c is configured to include, for example, a spring member. The reaction force applying portion 3c applies a reaction force to the brake operation member 3 based on a preset relationship between the stroke and the reaction force (reaction force characteristic). The reaction force applying portion 3c is configured so that a predetermined reaction force characteristic is realized. Note that the reaction force applying portion 3c may be configured to include an electric motor and a speed reduction mechanism. In this case, the computer 5 controls the electric motor of the reaction force applying portion 3c based on a predetermined reaction force characteristic.

[0016] The steering member 2 is provided with an accelerator operation member 8 for the driver to perform an accelerator operation. The accelerator operation member 8 is formed in a paddle shape and is disposed on the central portion 22 side of one grip portion 212. The driver can perform an accelerator operation, for example, by pressing the accelerator operation member 8 with a thumb. Note that a detection device 81 for detecting an operation amount is connected to the accelerator operation member 8.

[0017] The detection device 4 detects the operation amount (stroke) of the brake operation member. The detection device 4 transmits the detection result to the computer 5. The detection device 4 is composed of stroke sensors 41 and 42 provided for the respective brake levers 31 and 32. Each of the stroke sensors 41 and 42 transmits the stroke of the corresponding brake lever 31 and 32 to the computer 5. Each of the stroke sensors 41 and 42 may be provided on the main body portion 3a of the corresponding brake lever 31 and 32.

[0018] The computer 5 is an in-vehicle computer including one or more processors and one or more memories. The computer 5 receives the detection result of the detection device 4. The computer 5 can also be said to be an ECU (Electronic Control Unit). Communication inside the vehicle is performed, for example, by CAN (Car Area Network or Controllable Area Network), FlexRay, or Ethernet.

[0019] Based on the detection result of the detection device 4 obtained in a situation where a predetermined condition including maintaining a stopped state is satisfied, the computer 5 calculates a brake characteristic (corresponding to "control characteristic") representing the relationship between the operation amount of the brake operation member 3 and the target deceleration. The brake characteristic can also be said to be an SG characteristic and can be represented by an SG diagram. The computer 5 transmits the calculated brake characteristic to the brake ECU 61. That is, the computer 5 sets the brake characteristic for the brake ECU 61. The brake ECU 61 calculates the target deceleration of the vehicle based on the set brake characteristic and the detection result of the detection device 4, and controls the brake device 62 based on the target deceleration.

[0020] The computer 5 and the brake ECU 61 recognize, for example, the larger of the detection results of the two stroke sensors 41 and 42 as the stroke of the braking operation. For example, when only the right brake lever 32 is operated, the computer 5 and the brake ECU 61 recognize the detection result of the stroke sensor 42 corresponding to the right brake lever 32 as the stroke.

[0021] The brake device 62 is a device that applies braking force to each of the wheels 11, 12, 13, and 14. The brake device 62 is a known device and may include, for example, a disc brake including a caliper. The brake device 62 includes at least one electric motor 62a (actuator). The brake ECU 61 executes brake control including feedback control on the electric motor 62a so that the actual deceleration of the vehicle approaches the target deceleration. The electric motor 62a may be, for example, a drive source of an electric cylinder that generates hydraulic pressure. Further, the brake device 62 may be configured such that the position of the brake pad is controlled by the electric motors 62a arranged on each of the wheels 11 to 14, for example. The brake operation member 3 and the brake device 62 constitute a so-called brake-by-wire that are not mechanically connected to each other. In other words, the brake operation member 3 and the brake device 62 that constitute the brake-by-wire are connected by an electric wire via the brake ECU 61. Note that the computer 5 and the brake ECU 61 may be configured by a single common computer or a common ECU.

[0022] (Setup of Brake Characteristics) As described above, the computer 5 calculates the braking characteristics based on the detection results of the detection device 4 obtained in a situation where a predetermined condition including maintaining a stopped state is satisfied. The predetermined condition is set in the computer 5 in advance. The predetermined condition of the present embodiment includes maintaining a stopped state and the vehicle power supply (also referred to as ignition) being turned on from off. The situation where the predetermined condition is satisfied can be said to be the situation from when the vehicle power supply is turned on until the stopped state of the vehicle is released.

[0023] A specific example of "maintaining a stopped state" is "the shift selector 7 being in the parking state". The shift selector 7 is a member that switches vehicle control states such as parking (P), drive (D), reverse (R), etc., and is, for example, a shift lever or a shift switch. The shift selector 7 being in the parking state can be said to be, for example, a state where the shift lever is in the parking position (P range). Note that "maintaining a stopped state" can be described as, for example, "at least all drive wheels being locked" or "the vehicle speed being maintained at 0".

[0024] The predetermined condition of the present embodiment further includes "the parking brake being on". That is, the predetermined condition of the present embodiment includes the shift selector 7 being in the parking state, the parking brake being on, and the vehicle power supply changing from off to on. Information regarding the on / off of the parking brake, the state of the shift selector 7 (for example, the position of the shift lever), the wheel speeds of each wheel 11 to 14, and the presence or absence of an occupant sitting is transmitted to the computer 5 by various sensors. When the vehicle power supply is turned on, the computer 5 recognizes the state of the shift selector 7 and the state of the parking brake, and determines whether the current situation is a situation where the predetermined condition is satisfied. In addition to or instead of "the vehicle power supply changing from off to on", for example, "a braking characteristic change operation being performed by the driver" or "the driver sitting in the driver's seat" may be included in the predetermined condition.

[0025] The computer 5 calculates the braking characteristics based on the detection result of the detection device 4 for a brake operation that has been operated by a predetermined stroke or more in a situation where a predetermined condition is satisfied. Usually, the driver turns off the parking brake and changes the shift selector 7 from the parking state with the brake operating member 3 operated to the maximum stroke to generate a braking force. Therefore, usually, the computer 5 can acquire the detection result of the detection device 4 for a brake operation of a predetermined stroke or more in a situation where a predetermined condition is satisfied. Hereinafter, the state where the shift selector 7 is in the parking state and the parking brake is on is also referred to as a parking maintenance state.

[0026] The computer 5 may be configured to issue a notification prompting the driver to perform a brake operation (also referred to as a "brake notification"). In this case, the computer 5 executes the brake notification when the vehicle is in the parking maintenance state. As the brake notification, the computer 5 can display, for example, the content prompting the brake operation in characters or images on a display means (not shown) arranged inside the vehicle where the driver can visually observe it, turn on a lamp, and / or guide by voice. The computer 5 may display, for example, "Please perform a brake operation" or "Please pull the brake lever" on the screen as the brake notification. The predetermined condition may include, instead of or in addition to, "the power of the vehicle has been turned on from off", "the brake notification has been issued". The brake notification is executed at a predetermined timing, for example, after the power of the vehicle is turned on, or when the vehicle is in the parking maintenance state such as waiting for a signal. By the brake notification, the driver can be made to execute the brake operation more reliably.

[0027] The computer 5 calculates the relationship between the operating force and the stroke based on the detection result of the detection device 4 acquired in a situation where a predetermined condition is satisfied. The relationship between the operating force and the stroke (hereinafter also referred to as the FS characteristic) can be represented by an FS diagram. The FS characteristic is likely to vary depending on the driver and can be said to be a driver characteristic.

[0028] The computer 5 calculates, for example, the stroke speed from the detection results of the detection device 4 and calculates the FS characteristics based on the stroke speed. The computer 5 calculates the FS characteristics based on, for example, the stroke speed and the reaction force characteristics of the preset brake operation member 3. The stroke speed is the amount of change in strokes per unit time. The operating force is the force with which the driver operates the brake levers 31 and 32 and corresponds to the stepping force on the brake pedal. The computer 5 calculates the brake characteristics (SG characteristics) suitable for the driver using a predetermined optimization method (optimization algorithm) based on the calculated FS characteristics. The optimization method will be described later. Once the FS characteristics and the SG characteristics are determined, the relationship between the operating force and the target deceleration (FG characteristics) is also determined.

[0029] As an example of the process, as shown in FIG. 4, after the ignition is turned on, the computer 5 determines whether the vehicle is in a stationary state (S101). The computer 5 in this example determines that the vehicle is in a stationary state if the parking brake is on and the shift selector 7 is in the parking state. If the stationary state is released before the computer 5 acquires the detection results of the detection device 4 (S101: No), predetermined brake characteristics are set and the current setup ends.

[0030] If the vehicle is in a stationary state (S101: Yes), the computer 5 determines that a predetermined condition is satisfied, executes a brake notification, and acquires the detection results of the detection device 4 (S102). Note that the computer 5 does not necessarily have to execute the brake notification. The computer 5 calculates the FS characteristics of the driver based on the detection results of the detection device 4 (S103). The computer 5 executes a genetic algorithm based on the FS characteristics and calculates the SG characteristics (S104).

[0031] The computer 5 transmits the calculated SG characteristics as braking characteristics to the brake ECU 61 (S105). That is, the computer 5 sets the braking characteristics for the brake ECU 61. These braking characteristics are the braking characteristics before being approved by the driver. Hereinafter, the braking characteristics set in step S105 are also referred to as "unapproved braking characteristics". The brake ECU 61 sets a target deceleration based on the unapproved braking characteristics and the detection result of the detection device 4 until another braking characteristic is transmitted from the computer 5. After a predetermined test drive is performed with the unapproved braking characteristics, the computer 5 executes an "approval selection notification" to confirm with the driver whether to approve the unapproved braking characteristics. The predetermined test drive is set, for example, for the vehicle to travel for a predetermined period, a predetermined distance, or a predetermined number of times. The approval selection notification is performed by screen display, voice, etc., similar to the brake notification. The computer 5 prompts the driver to make a display of intention to approve or not approve the unapproved braking characteristics (e.g., button operation, etc.) through the approval selection notification.

[0032] The computer 5 determines whether the unapproved braking characteristics are approved according to, for example, the driver's operations on the vehicle (touch panel operation, button operation, etc.) (S106). The computer 5 determines "approved" when the approval button is pressed and determines "not approved" when the non-approval button is pressed.

[0033] When the unapproved braking characteristics are approved (S106: Yes), the computer 5 stores and sets the unapproved braking characteristics as the braking characteristics corresponding to that driver (S107), and ends the setup of the braking characteristics. At this time, the computer 5 may transmit a signal indicating that the braking characteristics have been approved to the brake ECU 61. In this way, the computer 5 sets the braking characteristics corresponding to the current driver for the brake ECU 61 (S107). The computer 5 may store the driver's identification information (e.g., name or face recognition information) in association with the braking characteristics.

[0034] When the brake characteristics are not approved (S106: No), the computer 5 presents a plurality of brake characteristics to the driver, for example, by screen display (S108). The computer 5 catalogs (graphs) and presents a plurality of brake characteristics, for example, for the unapproved brake characteristics, such as "slightly increase the stroke at which the deceleration rises", "slightly decrease the stroke at which the deceleration rises", "make the slope at which the deceleration rises slightly gentler", or "make the slope at which the deceleration rises slightly steeper". Such a presentation is called a "characteristic selection notice". The characteristic selection notice may present a plurality of specified brake characteristics, such as "brake characteristics for a strong driver", "brake characteristics for a weak driver", or "general brake characteristics". The brake characteristics presented in the characteristic selection notice may be those simulated in advance based on ergonomics, etc. The computer 5 executes the characteristic selection notice by displaying characters, graphs, etc. on the screen, similar to the approval selection notice.

[0035] When the computer 5 receives the selection result of the brake characteristics by the driver (S109), it stores and sets the selected brake characteristics as the brake characteristics of that driver, and transmits them to the brake ECU 61 (S110). That is, the computer 5 sets the brake characteristics corresponding to the current driver for the brake ECU 61 (S110). Thereby, the computer 5 finishes the setup of the brake characteristics.

[0036] When a driver different from the one at the time of setup sits in the driver's seat, the computer 5 is configured to be able to newly set up the brake characteristics. The computer 5 starts setting up the brake characteristics when it recognizes a change in the driver, for example, based on a driver's characteristic change request (such as a button operation) or a face recognition result by a camera that images the driver. That is, when a characteristic change request is made by the driver or when the brake characteristics corresponding to the driver imaged by the in-vehicle camera are not stored, the computer 5 calculates the brake characteristics based on the detection result of the detection device 4 obtained in a situation where a predetermined condition is satisfied. Even for the same driver, re-setup is possible due to a characteristic change request.

[0037] (Genetic algorithm) In calculating the SG characteristics (S104), the computer 5 is configured to execute a genetic algorithm as one of the optimization methods. As shown in FIG. 5, an initial group is set for the computer 5 by the designer (S201). In other words, the designer sets a generalized formula of the SG characteristics and variable parameters on the premise of using the genetic algorithm. The generalized formula of the SG diagram is expressed as in equations (1) and (2). G = 0 (S ≤ b) ······(1) G = k(S - b) a (b < S) ······(2) G is the target deceleration (control target value of deceleration). S is the stroke (operation amount). k is a constant. a is a variable parameter that contributes to the change in the slope of the graph, and b is a variable parameter that contributes to the rise of the graph. As shown in FIG. 6, as the value of a increases, the SG diagram transitions to the lower right graph. As the value of b increases, the rise position of the SG diagram transitions to the right. The variable parameter a contributes to the change in the degree of increase in the target deceleration with respect to the increase in the stroke (i.e., the slope). The variable parameter b contributes to the stroke at which the target deceleration rises, in other words, the minimum value of the stroke at which the target deceleration is not 0.

[0038] The computer 5 inputs numerical values to the variable parameters a and b according to the rules of the genetic algorithm, and sets the operational temporary braking characteristics (temporary SG characteristics). With the temporary braking characteristics set, the computer 5 simulates the time change of the actual deceleration that occurs when the braking operation is performed for a predetermined stroke or more with the calculated FS characteristics. In other words, the computer 5 simulates the relationship between the actually occurring deceleration and time in the temporary SG characteristics and the calculated FS characteristics. This simulated time change of the deceleration is referred to as the "calculated deceleration characteristic". The calculated deceleration characteristic takes into account the mechanical responsiveness, etc., and can be regarded as the time change of the actual deceleration when the driver performs a braking operation of a predetermined stroke or more with the temporary braking characteristics. The simulation calculates how the actual deceleration changes when the target deceleration is input, and can be executed by a known method.

[0039] The computer 5 stores the ideal time change of the deceleration (hereinafter also referred to as the ideal deceleration characteristic) when the brake operation member 3 is operated by a predetermined stroke or more. The ideal deceleration characteristic is a characteristic simulated in advance, and is, for example, the time change of the deceleration that is expected to be felt comfortable by the driver based on ergonomics. The ideal deceleration characteristic may change according to the calculated FS characteristics.

[0040] Based on the ideal deceleration characteristic, the computer 5 sets the objective function in the genetic algorithm. As shown in FIG. 7, the objective function is set in the area (hereinafter referred to as the specific area) surrounded by the diagram showing the ideal deceleration characteristic and the diagram showing the calculated deceleration characteristic in a two-dimensional graph in which one axis represents the deceleration and the other axis represents the time. It can be said that the objective function means the difference between the ideal deceleration characteristic and the calculated deceleration characteristic. The computer 5 calculates the variable parameters a and b for which the specific area, which is the objective function, becomes the minimum by the genetic algorithm (S203).

[0041] The genetic algorithm includes a selection step S2031, a crossover and mutation step S2032, and a next-generation group formation step S2033. In the genetic algorithm, a combination of variable parameters a and b that minimizes the objective function (specific area) is searched for. As an example, in the first selection step, N individuals (combinations of numerical values of a and b) are randomly generated as the current-generation group. In the crossover step, for example, a part of the genes of two individuals (e.g., a numerical array represented in binary) is swapped. In the mutation step, for example, a part of the genes of an individual changes (is inverted). In this way, the crossover step and the mutation step are executed to form the next-generation group. Note that, for example, whether the mutation step is executed or not is randomly determined.

[0042] The computer 5 calculates the fitness of each individual in the next-generation group, that is, the calculated value of the objective function (specific area). In this calculation, the smaller the calculated value of the objective function (specific area), the higher the fitness. In the selection step after the second time, for example, the individual with the lowest fitness is deleted, and the individual with the highest fitness is propagated (copied). Also, for example, the individual with the highest fitness is excluded from the execution target of the next crossover step. In the genetic algorithm, selection, crossover, and mutation as in the above example are repeatedly executed.

[0043] When the next-generation group is formed (S2033), the computer 5 determines whether the fitness of the individual with the highest fitness among them is equal to or greater than a predetermined reference value (S204). In other words, the computer 5 selects the combination with the smallest specific area among the next-generation group and determines whether the specific area is equal to or less than a predetermined reference area (S204). If the specific area is larger than the reference area (S204: No), the computer 5 continues to execute the genetic algorithm (S203). If the specific area is less than or equal to the reference area (S204), the computer 5 determines the variable parameters a and b using that individual as the optimal solution (S205). In this way, the computer 5 executes the genetic algorithm until an individual with a fitness higher than the reference value is calculated. Note that the computer 5 may be set to execute the genetic algorithm a predetermined number of times and use the individual with the highest fitness among the next-generation groups after the predetermined number of times as the optimal solution.

[0044] The computer 5 inputs the variable parameters a and b calculated as the optimal solution into equations (1) and (2), stores the brake characteristics represented by those equations as unapproved brake characteristics, and transmits them to the brake ECU 61 (S105). The subsequent flow is the same as above. In this way, the computer 5 executes the genetic algorithm as an optimization method. The genetic algorithm can be said to be an example of an algorithm set to find a solution that minimizes or maximizes the value of the objective function among solutions that satisfy the constraints. Examples of other optimization methods include, for example, the greedy method, the dynamic programming method, or the simulated annealing method. Also, similar to the above, the acceleration characteristics can be calculated using an optimization method.

[0045] According to the present embodiment, braking characteristics are set based on the operation amount of the operation member detected in a situation where a predetermined condition is satisfied. That is, according to the present embodiment, braking characteristics suitable for the driver's nature (for example, operation force, operation method, etc.) can be set. According to the present embodiment, for example, different braking characteristics can be set when a driver with relatively weak hand strength operates the brake operation member 3 and when a driver with relatively strong hand strength operates the brake operation member 3. That is, according to the present embodiment, by setting braking characteristics suitable for the driver, the operability of the brake operation member 3 can be improved.

[0046] In the present embodiment, a combination of variable parameters a and b that minimizes a specific area (objective function) defined by an ideal deceleration characteristic is calculated by a genetic algorithm under a predetermined constraint. The predetermined constraint is set, for example, as "execute the genetic algorithm until the calculated value of the objective function becomes equal to or less than the reference value" and / or "execute the genetic algorithm a predetermined number of times". The variable parameters a and b corresponding to the calculated value of the objective function that becomes the minimum under the predetermined constraint are calculated as the optimal solution. The braking characteristics input with the numerical values of the variable parameters a and b calculated here have high followability with respect to the ideal deceleration characteristic, and the operability of the brake operation member 3 is improved. When the computer 5 calculates the acceleration characteristic, the acceleration characteristic, like the braking characteristic, has high followability with respect to the ideal acceleration characteristic, and the operability of the accelerator operation member 8 is improved.

[0047] (Others) As described above, the operation target of the computer 5 may be the acceleration characteristic. The vehicle operation system 1 includes a detection device 81 that detects the operation amount of the accelerator operation member 8. The computer 5 may calculate an acceleration characteristic representing the relationship between the operation amount of the accelerator operation member 8 and the target acceleration based on the detection result of the detection device 81 obtained in a situation where a predetermined condition is satisfied. For example, similar to the brake characteristic, the computer 5 may calculate an FS characteristic (the relationship between the accelerator operation force and the accelerator stroke), and use the FS characteristic to calculate an SG characteristic (the relationship between the accelerator stroke and the target acceleration) by a genetic algorithm. Similar to the genetic algorithm for the brake characteristic, the objective function may be set to mean the difference between the ideal acceleration characteristic and the calculated acceleration characteristic. As variable parameters of the objective function, for example, a variable c that contributes to the change in the slope of the target acceleration with respect to the accelerator stroke and a variable d that contributes to the accelerator stroke at which the target acceleration rises are set. The computer 5 may calculate a combination of variables c and d for which the calculated value of the objective function is equal to or less than a reference value using a genetic algorithm with the same concept as described above. In this way, the computer 5 can also calculate an acceleration characteristic suitable for the driver.

[0048] Note that the steering device is not limited to the steer-by-wire as described above, and may be an electronic steering device that adjusts the assist force by an electric motor. For example, the steering device may be an electronic steering device (VGR) with a variable gear ratio. Also, the brake operation member 3 and the accelerator operation member 8 may be integrally formed as one operation member. In this case, for example, pulling the operation member by hand results in a brake operation, and pushing it by hand results in an accelerator operation. Thus, the operation member includes at least one of the brake operation member 3 and the accelerator operation member 8. Also, FS can be expressed as F-S, SG as S-G, and FG as F-G. The computer 5 may store a plurality of ideal deceleration characteristics corresponding to a plurality of FS characteristics. In this case, the computer 5 selects the ideal deceleration characteristic corresponding to the calculated FS characteristic. Also, when the computer 5 includes the function of the brake ECU 61, the computer 5 calculates the brake characteristics by a genetic algorithm and controls the brake device 62 based on the calculated brake characteristics and the detection result of the detection device 4. Also, the vehicle operation system 1 is not limited to four-wheel vehicles, and can be applied to, for example, two-wheel vehicles equipped with brake-by-wire. Also, for example, the FS characteristic can be calculated by a method other than the above.

[0049] (Part of the configuration of the present disclosure)

[0050] (First embodiment) The vehicle operation system 1 includes a steering member 2 held by the driver's hand for steering operation, operation members 3, 8 for brake operation or accelerator operation provided on the steering member 2 so as to be operable by the driver's hand, detection devices 4, 81 that detect the operation amounts of the operation members 3, 8, and a computer 5 that receives the detection results of the detection devices 4, 81. The computer 5 is configured to calculate a control characteristic (brake characteristic or accelerator characteristic) representing the relationship between the operation amounts of the operation members 3, 8 and the target deceleration or target acceleration that is the control target value based on the detection results of the detection devices 4, 81 obtained in a situation where a predetermined condition including maintaining a stopped state is satisfied.

[0051] (Second Embodiment) In the first embodiment, the operation member includes a brake operation member 3 for brake operation, and the computer 5 is configured to calculate a brake characteristic representing the relationship between the stroke of the brake operation member 3 and the target deceleration based on the detection result of the detection device 4 obtained in a situation where a predetermined condition is satisfied.

[0052] (Third Embodiment) In the first embodiment, the operation member includes an accelerator operation member 8 for accelerator operation, and the computer 5 is configured to calculate a control characteristic representing the relationship between the operation amount of the accelerator operation member 8 and the target acceleration based on the detection result of the detection device obtained in a situation where a predetermined condition is satisfied. (Fourth Embodiment) In one of the first to third embodiments, the predetermined condition includes that the shift selector 7 is in the parking state. (Fifth Embodiment) In the fourth embodiment, the predetermined condition includes that it is a period from when the vehicle power is turned on until the shift selector 7 is out of the parking state. (Sixth Embodiment) In one of the first to fifth embodiments, the computer 5 is configured to execute a notification (notification process) that prompts the driver to operate the operation members 3 and 8 in a situation where a predetermined condition is satisfied. For example, the computer 5 is configured to execute a brake notification that prompts the driver to perform a brake operation after the vehicle power is turned on.

[0053] (Seventh Embodiment) In one of the first to sixth embodiments, the computer 5 is configured to calculate the control characteristic using a predetermined optimization method. (Eighth Embodiment) In the seventh embodiment, the computer 5 is configured to calculate the control characteristic using a genetic algorithm. (Ninth Embodiment) In one of the first to eighth embodiments, the computer 5 calculates an operation characteristic representing the relationship between the operation amounts of the operation members 3 and 8 and the driver's operation force based on the detection results of the detection devices 4 and 81 obtained in a situation where a predetermined condition is satisfied, executes a genetic algorithm based on the operation characteristic, and is configured to calculate the control characteristic.

[0054] (10th Embodiment) In the 9th embodiment, the operation member includes the brake operation member 3, and the objective function of the genetic algorithm is set to mean the difference between the ideal deceleration characteristic representing the time change of a preset ideal deceleration and the calculated deceleration characteristic which is the result of simulating the time change of the actual deceleration based on the calculated control characteristic and operation characteristic. (11th Embodiment) In the 10th embodiment, the objective function of the genetic algorithm includes a first variable a that contributes to the change in the degree of increase in the target deceleration with respect to the increase in the stroke of the brake operation member 3, and a second variable b that contributes to the operation amount of the brake operation member 3 at which the target deceleration rises. The computer 5 is configured to calculate a combination of the first variable a and the second variable b that minimizes the objective function by a genetic algorithm under predetermined constraints.

[0055] (12th Embodiment) In the 9th embodiment, the operation member includes the accelerator operation member 8, and the objective function of the genetic algorithm is set to mean the difference between the ideal acceleration characteristic representing the time change of a preset ideal acceleration and the calculated acceleration characteristic which is the result of simulating the time change of the actual acceleration based on the calculated control characteristic and operation characteristic. (13th Embodiment) In the 12th embodiment, the objective function of the genetic algorithm includes a first variable c that contributes to the change in the degree of increase in the target acceleration with respect to the increase in the stroke of the accelerator operation member 8, and a second variable d that contributes to the operation amount of the accelerator operation member 8 at which the target acceleration rises. The computer 5 is configured to calculate a combination of the first variable c and the second variable d that minimizes the objective function by a genetic algorithm under predetermined constraints.

[0056] (14th form) In one of the 1st to 13th forms, the computer 5 executes an approval selection notification to confirm with the driver whether to approve the calculated control characteristics by screen display or voice. When approved by the driver, the control characteristics are stored corresponding to the driver. When not approved by the driver, the computer 5 is configured to present one or more other control characteristics to the driver by screen display or voice.

[0057] (15th form) In the 14th form, the computer 5 is configured to execute an approval selection notification after a predetermined test drive is performed with the control characteristics set. (16th form) In one of the 1st to 15th forms, when a characteristic change request is made by the driver, or when the control characteristics corresponding to the driver imaged by the in-vehicle camera are not stored, the computer 5 is configured to calculate the control characteristics based on the detection results of the detection devices 4 and 81 obtained in a situation where predetermined conditions are satisfied.

Explanation of symbols

[0058] 1... Vehicle operation system, 2... Steering member, 3... Brake operation member (operation member), 4... Detection device, 5... Computer, 7... Shift selector, 8... Accelerator operation member (operation member), 81... Detection device.

Claims

1. A steering member gripped by a driver's hand for steering operation, An operation member provided on the steering member so as to be operable by the driver's hand for at least one of a brake operation and an accelerator operation, A detection device that detects an operation amount of the operation member, A computer that receives a detection result of the detection device, A vehicle operation system comprising: The computer is configured to calculate a control characteristic representing a relationship between an operation amount of the operation member and a target deceleration or a target acceleration, which is a control target value, based on the detection result of the detection device obtained in a situation where a predetermined condition including maintaining a stopped state is satisfied. Vehicle operation system.

2. The operation member includes a brake operation member for a brake operation, The computer is configured to calculate the control characteristic representing a relationship between an operation amount of the brake operation member and the target deceleration based on the detection result of the detection device obtained in a situation where the predetermined condition is satisfied. The vehicle operation system according to claim 1.

3. The operation member includes an accelerator operation member for an accelerator operation, The computer is configured to calculate the control characteristic representing a relationship between an operation amount of the accelerator operation member and the target acceleration based on the detection result of the detection device obtained in a situation where the predetermined condition is satisfied. The vehicle operation system according to claim 1.

4. The predetermined condition includes that the shift selector is in a parking state. The vehicle operation system according to any one of claims 1 to 3.

5. The predetermined condition includes a period from when the vehicle power is turned on until the shift selector is in a state other than the parking state. The vehicle operation system according to claim 4.

6. The computer is configured to execute a notification prompting the driver to operate the operation member in a situation where the predetermined condition is satisfied. The vehicle operation system according to any one of claims 1 to 3.

7. The computer is configured to calculate the control characteristic using a predetermined optimization method. The vehicle operation system according to any one of claims 1 to 3.

8. The computer is configured to calculate the control characteristic using a genetic algorithm. The vehicle operation system according to claim 7.

9. The computer is Based on the detection result of the detection device obtained in the situation where the predetermined conditions are satisfied, calculate the operation characteristics representing the relationship between the operation amount of the operation member and the operation force of the driver. Configured to execute a genetic algorithm based on the operation characteristics and calculate the control characteristics. The vehicle operation system according to any one of claims 1 to 3.

10. The operation member includes a brake operation member for brake operation. The objective function of the genetic algorithm is set to mean the difference between the ideal deceleration characteristic representing the preset ideal time change of deceleration and the calculated deceleration characteristic which is the result of simulating the actual time change of deceleration based on the calculated control characteristics and operation characteristics. The vehicle operation system according to claim 9.

11. The objective function of the genetic algorithm includes a first variable contributing to the change in the degree of increase of the target deceleration with respect to the increase in the operation amount of the brake operation member, and a second variable contributing to the operation amount of the brake operation member at which the target deceleration rises. The computer calculates the combination of the first variable and the second variable at which the objective function is minimized by a genetic algorithm under predetermined constraints. The vehicle operation system according to claim 10.

12. The operation member includes an accelerator operation member for accelerator operation. The objective function of the genetic algorithm is set to mean the difference between the ideal acceleration characteristic representing the preset ideal time change of acceleration and the calculated acceleration characteristic which is the result of simulating the actual time change of acceleration based on the calculated control characteristics and operation characteristics. The vehicle operation system according to claim 9.

13. The objective function of the genetic algorithm includes a first variable contributing to the change in the degree of increase of the target acceleration with respect to the increase in the operation amount of the accelerator operation member, and a second variable contributing to the operation amount of the accelerator operation member at which the target acceleration rises. The computer calculates the combination of the first variable and the second variable at which the objective function is minimized by a genetic algorithm under predetermined constraints. The vehicle operation system according to claim 12.

14. The computer executes an approval selection notification to confirm to the driver whether to approve the calculated control characteristics by screen display or voice. When approved by the driver, store the control characteristics corresponding to the driver. configured to present one or more of the other control characteristics to the driver by screen display or voice when not approved by the driver The vehicle operation system according to any one of claims 1 to 3.

15. The computer is configured to execute the approval selection notification after a predetermined test drive is performed with the control characteristics set. The vehicle operation system according to claim 14.

16. When a characteristic change request is made by the driver or when the control characteristic corresponding to the driver imaged by the in-vehicle camera is not stored, the computer calculates the control characteristic based on the detection result of the detection device obtained in a situation where the predetermined condition is satisfied. The vehicle operation system according to any one of claims 1 to 3.

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