Vehicle control device, vehicle control method and vehicle control program

Abstract

To provide a technique capable of maintaining comfortable travel while a vehicle is traveling under Adaptive Cruise Control (ACC).SOLUTION: A vehicle control device 10 comprises: a target calculation and demand section 14 which calculates a target acceleration and deceleration of an own vehicle and sets a control demand based on the target acceleration and deceleration; an accelerator override determination section 12 which determines that an accelerator override is being executed when an acceleration demand operationally input by a driver exceeds the acceleration and deceleration demand that is set as a control demand by the target calculation and demand section 14; and a clutch determination section 13 which determines a state of a clutch of the own vehicle. The target calculation and demand section 14 regulates a deceleration demand when it is determined that the accelerator override is being executed and also it is determined the clutch is in an engaged state with the deceleration demand being set as the control demand, meanwhile the target calculation and demand section does not regulate the deceleration demand under predetermined conditions when it is determined that the accelerator override is being executed and also it is determined the clutch is in a disengaged state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a vehicle control program. [Background technology]

[0002] Patent Document 1 describes a technology for controlling a manual transmission (MT) vehicle when the driver operates the clutch during adaptive cruise control (ACC), which assists in accelerating and decelerating the vehicle. This technology executes ACC if the clutch pedal is not depressed, and cancels ACC if the clutch pedal is depressed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6158955 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while the vehicle is running using the ACC, the driver may depress the clutch pedal. Also, an accelerator override may occur, in which the acceleration request input by the driver exceeds the acceleration request by the ACC. In such a situation, it is desirable to execute appropriate vehicle control.

[0005] In view of the above, an object of the present invention is to provide a technique that allows a vehicle to continue to travel comfortably while using ACC. [Means for solving the problem]

[0006] A vehicle control device of the present invention includes a target calculation / request unit that calculates a target acceleration / deceleration of the host vehicle and sets a control request based on the target acceleration / deceleration, an accelerator override determination unit that determines that an accelerator override is being executed when an acceleration request input by an operation of a driver exceeds the acceleration / deceleration request set as the control request by the target calculation / request unit, and a clutch determination unit that determines a state of a clutch of the host vehicle. When a deceleration request is set as the control request, the target calculation / request unit limits the deceleration request when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in an engaged state, and does not limit the deceleration request under a predetermined condition when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in a disengaged state.

[0007] According to the above vehicle control device, when a deceleration request is set as a control request by the target calculation / request unit, if the accelerator override determination unit determines that accelerator override is being executed and the clutch determination unit determines that the clutch is engaged, the deceleration request is limited. This allows the deceleration request to be quickly limited when, for example, an acceleration request is made by a driver's operation while the deceleration request is being set. On the other hand, in a similar case, if the accelerator override determination unit determines that accelerator override is being executed and the clutch determination unit determines that the clutch is disengaged, the deceleration request is not limited under predetermined conditions. This makes it possible to prevent the deceleration request from being limited if, for example, the driver temporarily operates the accelerator to adjust the engine rotation speed when the clutch is disengaged for a downshift. As a result, comfortable driving can be maintained even when the driver operates the clutch during ACC driving.

[0008] The present invention is also provided as a vehicle control method for assisting the acceleration and deceleration of a host vehicle, and a vehicle control program applied to a vehicle control device for assisting the acceleration and deceleration of a host vehicle.

[0009] The vehicle control method includes a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration, an accelerator override determination step of determining that an accelerator override is being executed when an acceleration request input by a driver exceeds the acceleration / deceleration request set as the control request in the target calculation / request step, a clutch determination step of determining a state of a clutch of the host vehicle, and a request limitation determination step of determining a limit to the control request. When a deceleration request is set as the control request, the request limitation determination step limits the deceleration request if the accelerator override determination step determines that an accelerator override is being executed and the clutch determination step determines that the clutch is engaged, and does not limit the deceleration request under a predetermined condition if the accelerator override determination step determines that an accelerator override is being executed and the clutch determination step determines that the clutch is disengaged. A vehicle control program causes a computer to execute each step constituting the vehicle control method. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an in-vehicle system including a vehicle control device according to an embodiment. [Figure 2] 3 is a flowchart of a vehicle control process executed by a vehicle control device according to the embodiment. [Figure 3] 3 is a time chart showing acceleration / deceleration assistance by a vehicle control device according to an embodiment. [Figure 4] 3 is a time chart showing acceleration / deceleration assistance by a vehicle control device according to an embodiment. [Figure 5] 3 is a time chart showing acceleration / deceleration assistance by a vehicle control device according to an embodiment. [Figure 6]3 is a time chart showing acceleration / deceleration assistance by a vehicle control device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] FIG. 1 shows an in-vehicle system including a vehicle control device 10 according to this embodiment. The in-vehicle system includes the vehicle control device 10, sensors 20, an operation input device 30, and a controlled unit 40. The vehicle control device 10 has an adaptive cruise control (ACC) function that controls the traveling speed of the host vehicle to maintain a target inter-vehicle distance from a preceding vehicle by adjusting driving force and braking force. The vehicle control device 10 performs acceleration / deceleration assistance for the host vehicle in order to perform tracking control to make the host vehicle follow a preceding vehicle detected ahead or to the side of the host vehicle. The vehicle control device 10 may also have a pre-crash safety (PCS) function that determines whether or not the host vehicle will collide with an object located around the host vehicle and performs control to avoid a collision with the object or mitigate damage from the collision, a lane keeping assist (LKA) function that generates a steering force in a direction that prevents the vehicle from approaching a lane marking to keep the vehicle in the lane it is traveling in, and a lane change assist (LCA) function that automatically moves the vehicle to an adjacent lane.

[0012] The sensors 20 include a forward monitoring sensor 21, a side monitoring sensor 22, a rear monitoring sensor 23, a self-position estimation sensor 24, and a vehicle speed sensor 25. Information acquired by the sensors 20 is input to the vehicle control device 10.

[0013] The forward monitoring sensor 21, the side monitoring sensor 22, and the rear monitoring sensor 23 are peripheral monitoring sensors that monitor the front, sides, and rear of the vehicle, respectively. As the forward monitoring sensor 21, the side monitoring sensor 22, and the rear monitoring sensor 23, an image sensor, a radio wave radar, a laser radar, or an ultrasonic sensor can be suitably used.

[0014] The image sensor is composed of a CCD camera, a CMOS image sensor, a near-infrared camera, or the like. The image sensor may be a monocular camera or a stereo camera. When cameras are used as the forward monitoring sensor 21, the side monitoring sensor 22, and the rear monitoring sensor 23, the forward camera and the rear camera are mounted at a predetermined height in the center of the vehicle width direction, for example, near the top edge of the windshield or the top edge of the rear windshield, respectively, and capture images of an area extending in a predetermined angular range in front of or behind the vehicle. The side cameras are mounted on both sides of the vehicle in the left-right direction, for example, near the front door or the rear door, and capture images of an area extending in a predetermined angular range in both sides of the vehicle in the left-right direction.

[0015] Radio wave radar detects reflected waves of emitted radio waves to detect the presence or absence of an object around the vehicle, the distance between the object and the vehicle, and the object's position, size, shape, and relative speed relative to the vehicle. Laser radar, like radio wave radar, uses infrared laser light to detect the presence or absence of an object around the vehicle. Ultrasonic sensors, like radio wave radar, use ultrasonic waves to detect the distance between the vehicle and objects around the vehicle. These radar sensors are attached to the front, rear, and side ends of the vehicle. By scanning the area around the vehicle with radar signals at predetermined intervals and receiving electromagnetic waves reflected by the surfaces of objects around the vehicle, the radar sensor acquires information such as the distance to the object and the relative speed to the object as object information and inputs it to the vehicle control device 10. If the object is a preceding vehicle, the vehicle control device 10 inputs information such as the distance between the vehicle and the preceding vehicle, the relative speed to the preceding vehicle, and the relative acceleration to the preceding vehicle as preceding vehicle information.

[0016] The self-position estimation sensor 24 may be a GPS sensor, a gyro sensor, or the like. The GPS sensor receives positioning signals from a satellite positioning system that determines the current position on the ground using artificial satellites, using a GPS receiver, which is an example of a GNSS (Global Navigation Satellite System) receiver, and estimates the self-position, i.e., the current position (longitude and latitude) of the vehicle, based on the positioning signals. The GPS receiver can receive positioning signals at predetermined intervals. By successively receiving the positioning signals, the self-position can be successively estimated.

[0017] The vehicle's own position estimated by the self-position estimation sensor 24 is input to a navigation device, a wireless communication device, etc. (not shown). The navigation device determines a planned route for autonomous driving based on destination information preset by the occupant and the vehicle's current position detected by a GPS sensor. In addition to the GPS sensor, sensors such as a gyro sensor can also be used to determine and correct the planned route. The navigation device has a dynamic map containing static map information such as road width and lanes, and dynamic information such as congestion information. The wireless communication device performs wireless communication with an intelligent road transport system, vehicle-to-vehicle communication with other vehicles, and road-to-vehicle communication with roadside wireless devices installed on road facilities. This allows the vehicle to exchange situational information regarding its own vehicle's status and the surrounding conditions.

[0018] The vehicle speed sensor 25 is a sensor that detects the traveling speed of the vehicle itself, and is not limited to, but may be, for example, a wheel speed sensor that can detect the rotation speed of the wheels. The wheel speed sensor used as the vehicle speed sensor 25 is, for example, attached to the wheel portion of the wheel, and outputs a wheel speed signal corresponding to the wheel speed of the vehicle to the vehicle control device 10.

[0019] The operation input device 30 includes an accelerator pedal 31, a clutch pedal 32, and a shift position 33. Operation input information input to the operation input device 30 by the driver is input to the vehicle control device 10.

[0020] The accelerator pedal 31 inputs the amount of accelerator pedal operation input by the driver to the vehicle control device 10. The clutch pedal 32 inputs the amount of clutch pedal depression by the driver to the vehicle control device 10. The shift position 33 inputs the shift position operation input by the driver to the vehicle control device 10.

[0021] The vehicle control device 10 includes an object detection unit 11, an accelerator override determination unit 12, a clutch determination unit 13, a target calculation / request unit 14, and a shift change determination unit 15. The vehicle control device 10 is an ECU and includes a well-known microcomputer including a CPU, a ROM, a RAM, a flash memory, etc. For example, the CPU executes a program installed in the ROM to realize the functions of each unit included in the vehicle control device 10. As a result, the vehicle control device 10 performs driving assistance such as acceleration / deceleration assistance for the vehicle by outputting a control request to the controlled unit 40 based on information acquired from the sensors 20 and the operation input device 30, and functions as a vehicle control device capable of executing ACC.

[0022] The object detection unit 11 detects objects around the vehicle based on object information acquired from the forward monitoring sensor 21, the side monitoring sensor 22, and the rear monitoring sensor 23. For example, the object detection unit 11 calculates the relative position and existence area of ​​the object based on the distance to the object and the object's orientation calculated from an image acquired from an image sensor, and acquires this information as image information. The object detection unit 11 calculates the relative position and existence area of ​​the object based on the distance to the object and the object's orientation included in distance information acquired from a radar sensor, and acquires this information as radar information. The object detection unit 11 recognizes an object by fusing the image information and the radar information. More specifically, the object is recognized when there is an overlap between the object's existence area included in the image information and the object's existence area included in the radar information. The object detection unit 11 can detect moving objects around the vehicle, such as vehicles and pedestrians, road markings, red light information for traffic lights at intersections, traffic signs such as crosswalks and speed limits, and various markings on the road surface. Object detection information about the object detected by the object detection unit 11 is input to the target calculation / request unit 14.

[0023] Accelerator override determination unit 12 determines that accelerator override is being executed when the accelerator pedal operation input by the driver, input from accelerator pedal 31, exceeds the acceleration request input by the driver. For example, vehicle control device 10 stores the relationship between the accelerator pedal operation input amount and the acceleration request as a mathematical formula or a map, and can calculate the acceleration request from the accelerator pedal operation input amount. Accelerator override determination unit 12 determines that accelerator override is being executed when the calculated acceleration request exceeds the currently set acceleration / deceleration request. The determination result by accelerator override determination unit 12 is input to target calculation / request unit 14 and shift change determination unit 15.

[0024] Clutch determination unit 13 determines whether the clutch of the host vehicle is in a disengaged state or an engaged state based on the amount of clutch pedal operation input by the driver input from clutch pedal 32. For example, if the amount of clutch pedal operation input is equal to or greater than a predetermined clutch operation threshold, the clutch is determined to be in a disengaged state, and if the amount of clutch pedal operation input is less than the clutch operation threshold, the clutch is determined to be in an engaged state. The determination result by clutch determination unit 13 is input to target calculation / request unit 14 and shift change determination unit 15.

[0025] The target calculation / request unit 14 calculates a target acceleration / deceleration of the host vehicle and sets a control request based on the calculated target acceleration / deceleration. For example, the ACC function can be realized by calculating a target acceleration / deceleration so as to maintain a target inter-vehicle distance from a preceding vehicle and adjusting the driving force and braking force of the host vehicle to control the traveling speed of the host vehicle. The target calculation / request unit 14 outputs the set control request to the controlled unit 40.

[0026] The target calculation / request unit 14 can calculate the target acceleration / deceleration based on various information input from the sensors 20 and the operation input device 30, object detection information obtained from the object detection unit 11, the judgment result of the accelerator override state obtained from the accelerator override judgment unit 12, and the judgment result of the clutch state obtained from the clutch judgment unit 13.

[0027] The target calculation / request unit 14 is further configured to execute a request limit determination to determine whether to limit a control request. Note that limiting a control request includes canceling the control request and reducing the level of the request without canceling it. For example, limiting an acceleration request may be canceling the acceleration request or reducing the acceleration request. The request limit determination is executed based on at least the determination result of the clutch state. The target calculation / request unit 14 is configured to change the content of the request limit determination based on the determination result of the clutch state to different modes when an acceleration request is set as the control request and when a deceleration request is set. The target calculation / request unit 14 may be configured to execute individual combinations of the following control operations when an acceleration request is set and the following control operations when a deceleration request is set, as exemplified below, or may be configured to execute all of them.

[0028] When an acceleration request is set as a control request, the target calculation / request unit 14 may be configured to limit the acceleration request when the clutch determination unit 13 determines that the clutch is disengaged. This makes it possible to suppress engine revving, which is a concern when maintaining the acceleration request when the clutch is disengaged at the time of the acceleration request.

[0029] Furthermore, if the clutch determination unit 13 determines that the clutch is engaged after limiting the acceleration request based on this determination, the target acceleration / deceleration may be gradually increased toward the acceleration request before the restriction. Rather than returning the target acceleration / deceleration to the acceleration request before the restriction in one step when the clutch changes from a disengaged state to an engaged state, by gradually increasing the target acceleration / deceleration toward the acceleration request before the restriction, it is possible to prevent the host vehicle from accelerating suddenly.

[0030] Furthermore, for example, when a deceleration request is set as a control request, target calculation / request unit 14 may be configured to limit the deceleration request when accelerator override determination unit 12 determines that accelerator override is being executed and clutch determination unit 13 determines that the clutch is in an engaged state. This allows the deceleration request to be quickly limited when, for example, an acceleration request is made by the driver's operation while the deceleration request is being set.

[0031] On the other hand, when a deceleration request is set as a control request, the target calculation / request unit 14 may be configured not to limit the deceleration request under a predetermined condition when the accelerator override determination unit 12 determines that accelerator override is being executed and the clutch determination unit 13 determines that the clutch is disengaged. The predetermined condition may be, for example, that accelerator override execution has not continued for a predetermined time while the clutch is determined to be disengaged. This prevents the driver from limiting the deceleration request if, for example, the driver temporarily operates the accelerator pedal to adjust the engine speed when the clutch is disengaged for a downshift. Furthermore, the target calculation / request unit 14 may be configured to limit the deceleration request under the condition that accelerator override execution has continued for a predetermined time while the clutch is determined to be disengaged. If accelerator override execution has continued for a predetermined time, it can be assumed that the driver's accelerator operation is not temporary for adjusting the engine speed. Therefore, by limiting the deceleration request, control according to the driver's intention can be performed.

[0032] Furthermore, if accelerator override determination unit 12 determines that accelerator override is being executed when a deceleration request is set as a control request, and the deceleration request set by target calculation / request unit 14 is limited, and then accelerator override determination unit 12 determines that accelerator override is not being executed, the target acceleration / deceleration may be gradually reduced to return to the deceleration request before the limit. By gradually reducing the target acceleration / deceleration toward the deceleration request before the limit rather than returning the target acceleration / deceleration to the deceleration request before the limit in one step at the time when it is determined that accelerator override is not being executed, it is possible to prevent the host vehicle from suddenly decelerating.

[0033] The gearshift determination unit 15 determines whether or not a gearshift of the host vehicle is required. The gearshift determination unit 15 can determine whether or not a gearshift is required based on various information input from the sensors 20 and the operation input device 30, object detection information obtained from the object detection unit 11, the determination result of the accelerator override state obtained from the accelerator override determination unit 12, and the determination result of the clutch state obtained from the clutch determination unit 13.

[0034] The shift change determination unit 15 is configured to change the control content based on the determination result of the clutch state when an acceleration request is being set as a control request and when a deceleration request is being set. The shift change determination unit 15 may be configured to be able to execute a combination of the controls when an acceleration request is being set and the controls when a deceleration request is being set, as exemplified below, or may be configured to be able to execute all of them.

[0035] For example, the shift change determination unit 15 may be configured to determine that a gear downshift is required when a high-speed gear is selected as the gear of the host vehicle and the clutch determination unit 13 determines that the clutch is disengaged, in a case where an acceleration request is set as a control request by the target calculation / request unit 14. By shifting down from the high-speed gear, the host vehicle becomes more likely to accelerate when the clutch state switches from disengaged to engaged.

[0036] Furthermore, when a deceleration request is set as a control request by target calculation / request unit 14, if accelerator override determination unit 12 determines that accelerator override is being executed and clutch determination unit 13 determines that the clutch is disengaged, shift change determination unit 15 may be configured to determine that a gear downshift of the host vehicle is required. When the clutch is disengaged and accelerator override is being executed, it can be assumed that the driver has temporarily operated the accelerator in order to adjust the engine rotation speed, and therefore by determining that a downshift is required, control can be executed in line with the driver's intention.

[0037] The controlled unit 40 includes an engine control unit 41 and a brake control unit 42. In accordance with a control request set by the target calculation / request unit 16 based on the target acceleration / deceleration of the host vehicle for controlling the host vehicle to follow the controlled object, the engine control unit 41 controls the drive device and the brake control unit 42 controls the braking device, thereby making it possible to follow the controlled object while maintaining a vehicle-to-vehicle distance, thereby realizing control of the host vehicle related to ACC. Although not shown, the controlled unit 40 may further include a steering control unit that controls the steering device, an interface control unit that controls a human interface (HMI), and the like.

[0038] The engine control unit 41 controls the operation of the engine. Specifically, it controls various actuators to control the opening and closing operations of the throttle valve, the ignition operation of the igniter, the opening and closing operations of the intake valve, and the like.

[0039] The brake control unit 42 controls the brake device. The brake device is composed of a group of devices (actuators) related to brake control, such as sensors, motors, valves, and pumps. The brake device determines the timing and amount of braking to apply the brakes, and controls the group of devices related to brake control so that the determined amount of braking is obtained at the determined timing.

[0040] Fig. 2 shows a flowchart of the vehicle control process executed by the vehicle control device 10. The process shown in Fig. 2 is repeatedly executed by the vehicle control device 10 at a predetermined interval by the CPU of the vehicle control device 10 executing a vehicle control program installed in the ROM.

[0041] In step S101, a target acceleration / deceleration for executing ACC (ACC target acceleration / deceleration) is calculated. Based on various information input from the sensors 20 and the operation input device 30, and object detection information detected using the various acquired information, the target acceleration / deceleration is calculated so as to maintain a target inter-vehicle distance from the preceding vehicle, and set as a control request. Then, the process proceeds to step S102.

[0042] In step S102, it is determined whether the control request set based on the ACC target acceleration / deceleration calculated in step S101 is an acceleration request (ACC acceleration request). If it is an acceleration request, the process proceeds to step S103. If it is not an acceleration request, the process proceeds to step S111.

[0043] Steps S103 to S108 show the processing when an acceleration request is set as the control request. In step S103, it is determined whether the clutch is in a disengaged state. If the clutch is in a disengaged state, the processing proceeds to step S104. If the clutch is in an engaged state, the processing ends.

[0044] In step S104, the set ACC acceleration request is cancelled. Note that instead of cancelling, the acceleration request may be reduced. The following description will be given taking as an example a case where the control request (acceleration request, deceleration request) is "released", but it is sufficient that the control request is "limited", and the control request may be cancelled, or the degree of the request may be reduced without being cancelled. As shown in steps S102 to S104, when an acceleration request is set as a control request, if it is determined that the clutch is in a disengaged state, the acceleration request is cancelled. Then, the process proceeds to step S105.

[0045] In step S105, it is determined whether the gear of the host vehicle is a high-speed gear. If it is a high-speed gear, the process proceeds to step S106, where it is determined that a downshift is required. After the downshift is performed, the process proceeds to step S107. If the gear is not a high-speed gear, step S106 is avoided and the process proceeds directly to step S107. As shown in steps S102, S103, and S105, if an acceleration request is set, it is determined that the clutch is disengaged and a high-speed gear is selected, and it is determined that a downshift is required, and the gear is downshifted.

[0046] In step S107, it is determined whether the clutch is engaged. If the clutch is engaged, the process proceeds to step S108. If the clutch is disengaged, the process ends.

[0047] In step S108, the release of the acceleration request is canceled, and the target acceleration / deceleration of the host vehicle is gradually increased back toward the ACC acceleration request, which is the acceleration request before the release. As shown in steps S104, S107, and S108, if it is determined that the clutch is disengaged after the acceleration request is released, the target acceleration / deceleration is gradually increased back toward the acceleration request before the release.

[0048] When the process proceeds from step S102 to step S111, it is determined whether the control request set based on the ACC target acceleration / deceleration calculated in step S101 is a deceleration request (ACC deceleration request). If it is a deceleration request, the process proceeds to step S112. If it is not a deceleration request, the process ends.

[0049] Steps S112 to S124 show the processing when a deceleration request is set as the control request. In step S112, it is determined whether the clutch is in a disengaged state. If the clutch is in a disengaged state, the process proceeds to step S113. If the clutch is in an engaged state, the process proceeds to step S121.

[0050] In step S113, it is determined whether accelerator override is being executed. An acceleration request is calculated from the operation input amount of the accelerator pedal, and if the calculated acceleration request exceeds the acceleration / deceleration request currently being set, it is determined that accelerator override is being executed. If accelerator override is being executed, the process proceeds to step S114. If accelerator override is not being executed, the process ends.

[0051] In step S114, it is determined that a downshift is required. Then, after a downshift is performed, the process proceeds to step S115. As shown in steps S111 to S114, when a deceleration request is set as a control request, if it is determined that accelerator override is being executed and the clutch is in a disengaged state, it is determined that a downshift of the gears of the host vehicle is required.

[0052] In step S115, it is determined whether the execution of the accelerator override has continued for a predetermined time or more. If the execution of the accelerator override has continued for a predetermined time or more, the process proceeds to step S116. If the execution of the accelerator override has not continued for a predetermined time or more, the process ends.

[0053] In step S116, the set ACC deceleration request is canceled. Then, the process proceeds to step S117. As shown in steps S111 to S113, S115, and S116, when a deceleration request is set as a control request, if it is determined that accelerator override is being executed and that the clutch is in a disengaged state, the deceleration request is not canceled under a predetermined condition (a condition in which execution of accelerator override has not continued for a predetermined time or more). On the other hand, the deceleration request is canceled on the condition that it is determined that execution of accelerator override has continued for a predetermined time in a state in which it is determined that the clutch is in a disengaged state.

[0054] This predetermined time is set to the time for accelerator operation when, for example, the driver temporarily operates the accelerator in order to adjust the engine rotation speed when the clutch is disengaged for downshifting.

[0055] In step S117, it is determined whether the accelerator override has been released. If the accelerator override is not being executed, it is determined that the accelerator override has been released, and the process proceeds to step S118. If the accelerator override is being executed, it is determined that the accelerator override has not been released, and the process ends.

[0056] In step S118, the target acceleration / deceleration of the host vehicle is gradually reduced back to the ACC deceleration request that was in effect before the deceleration request was released. As shown in steps S116 to S118, if it is determined that accelerator override is not being executed after the deceleration request is released, the target acceleration / deceleration is gradually reduced to return to the deceleration request that was in effect before the deceleration request was released.

[0057] When the process proceeds from step S112 to step S121, it is determined whether or not an accelerator override is being executed, as in step S113. If an accelerator override is being executed, the process proceeds to step S122. If an accelerator override is not being executed, the process ends.

[0058] In step S122, the set ACC deceleration request is canceled. Then, the process proceeds to step S123. As shown in steps S111, S112, S121, and S122, when a deceleration request is set as a control request, if it is determined that accelerator override is being executed and the clutch is in an engaged state, the deceleration request is canceled.

[0059] In step S123, similar to step S117, it is determined whether the accelerator override has been released. If the accelerator override is not being executed, it is determined that the accelerator override has been released, and the process proceeds to step S124. If the accelerator override is being executed, it is determined that the accelerator override has not been released, and the process ends.

[0060] In step S124, similar to step S118, the target acceleration / deceleration of the host vehicle is gradually reduced back to the ACC deceleration request that was in effect before the deceleration request was released. As shown in steps S122 to S124, if it is determined that accelerator override is not being executed after the deceleration request is released, the target acceleration / deceleration is gradually reduced to return to the deceleration request that was in effect before the deceleration request was released.

[0061] According to the above vehicle control process, a target acceleration / deceleration is calculated and set as a control request in a target calculation / request step shown in step S101. If it is determined in step S102 that an acceleration request has been set as a control request, and if it is determined in a clutch determination step shown in step S103 that the clutch is disengaged, the acceleration request is released in a request release determination step shown in step S104. This makes it possible to suppress engine revving, which is a concern when maintaining an acceleration request in the event that the clutch is disengaged during an acceleration request.

[0062] Furthermore, after the acceleration request is released in the request release determination step shown in step S104, if it is determined in the clutch determination step shown in step S107 that the clutch is in an engaged state, the release of the acceleration request is canceled in the request release determination step shown in step S108, and the target acceleration / deceleration is gradually increased toward the acceleration request before it was released in step S104. In this way, when the clutch goes from a disengaged state to an engaged state, the target acceleration / deceleration is gradually increased toward the acceleration request before it was released, thereby preventing the host vehicle from suddenly accelerating.

[0063] Furthermore, if it is determined in the shift change determination steps shown in steps S105 and S106 that a high-speed gear is selected as the gear of the host vehicle and that the clutch is disengaged, it is determined that a gear downshift is required. By shifting down from the high-speed gear, the host vehicle becomes more likely to accelerate when the clutch state switches from disengaged to engaged.

[0064] Furthermore, if it is determined in step S111 that a deceleration request has been set as a control request, then if it is determined in the clutch determination step shown in step S112 that the clutch is engaged, and if it is determined in the accelerator override determination step shown in step S121 that accelerator override is being executed, the deceleration request is released in the request release determination step shown in step S121. This allows the deceleration request to be quickly released if, for example, an acceleration request is made by the driver's operation while the deceleration request is being set.

[0065] Furthermore, when it is determined in step S111 that a deceleration request has been set as a control request, and when it is determined in the clutch determination step shown in step S112 that the clutch is disengaged and when it is determined in the accelerator override determination step shown in step S113 that accelerator override is being executed, the deceleration request is not canceled unless the condition shown in step S115 is satisfied. This makes it possible to prevent the deceleration request from being canceled if, for example, the driver temporarily operates the accelerator to adjust the engine rotation speed when the clutch is disengaged for a downshift. On the other hand, when the condition shown in step S115 is satisfied, the deceleration request is canceled. This makes it possible to cancel the deceleration request unless the driver's accelerator operation is temporary.

[0066] Furthermore, if it is determined in the accelerator override determination step shown in steps S117 and S123 that the accelerator override has been released after the deceleration request has been released in steps S116 and S122, the target acceleration / deceleration may be gradually reduced to return to the deceleration request before the release. By gradually reducing the target acceleration / deceleration toward the deceleration request that has been released, rather than returning the target acceleration / deceleration to the deceleration request before the release in one step when it is determined that the accelerator override is not being executed, it is possible to prevent the host vehicle from suddenly decelerating.

[0067] Furthermore, if the clutch determination step shown in step S112 determines that the clutch is disengaged and the accelerator override determination step shown in step S113 determines that accelerator override is being executed, then the shift change determination step shown in step S115 determines that the gear of the host vehicle needs to be downshifted. If the clutch is disengaged and accelerator override is being executed, it is highly likely that the driver has temporarily operated the accelerator with the purpose of adjusting the engine rotation speed, so by determining that a downshift is required, control can be executed in line with the driver's intention.

[0068] 2 can be appropriately interchanged. For example, as shown in steps S112 and S113, the accelerator override determination step is performed after the clutch determination step, but this order may be interchanged. Also, as shown in steps S103 and S105, the clutch determination step is performed after the determination step of whether a high-speed driving gear is selected, but this order may be interchanged. Also, in the vehicle control processing executed by the vehicle control device 10, the downshift determination steps shown in steps S105, S106, and S114 are not essential, and these steps may or may not be included.

[0069] 3 to 6 are time charts showing acceleration / deceleration support by the vehicle control device 10. FIG. 3 shows a case where an acceleration request is set as a control request. In FIG. 3, the upper vertical axis indicates the acceleration of the host vehicle, the lower vertical axis indicates gear shifting of the host vehicle, and the horizontal axis indicates time. A solid line 51 indicates the target acceleration / deceleration, and a dashed line 52 indicates the acceleration / deceleration when acceleration / deceleration is released (for example, acceleration / deceleration equivalent to throttle off). In FIG. 3, the clutch is in a disengaged state between times t13 and t15, and is in an engaged state at other times.

[0070] Between times t11 and t13, an acceleration request is set based on a target acceleration / deceleration for executing ACC (ACC target acceleration / deceleration) as target acceleration / deceleration 51. At time t11, target acceleration / deceleration 51, which had been approximately constant, begins to increase, and between times t11 and t12, target acceleration / deceleration 51 gradually increases in an approximately linear manner, and between times t12 and t13, target acceleration / deceleration 51 becomes approximately constant again.

[0071] At time t13, when it is determined that the clutch is disengaged, it is determined that the acceleration request is to be released, and target acceleration / deceleration 51 is decreased in one step to acceleration / deceleration when acceleration / deceleration is released 52. Between times t13 and t15 when the clutch is in the disengaged state, target acceleration / deceleration 51 is approximately equal to acceleration / deceleration when acceleration / deceleration is released 52.

[0072] Also, at time t13, the vehicle's gear is shifted to a high-speed driving gear, and when it is determined that the clutch is disengaged, it is determined that a downshift is required, and at time t14, the vehicle is shifted down to a low-speed driving gear.

[0073] At time t15, when it is determined that the clutch is in an engaged state, it is determined that the release of the acceleration request is to be canceled, and target acceleration / deceleration 51 begins to increase. Between times t15 and t16, target acceleration / deceleration 51 gradually increases in a substantially linear manner toward the value of target acceleration / deceleration 51 at time t13. When target acceleration / deceleration 51 reaches the value of target acceleration / deceleration 51 at time t13 at time t16, target acceleration / deceleration 51 becomes substantially constant again between times t16 and t17. After time t16, the acceleration request is set based on the ACC target acceleration / deceleration, and between times t17 and t18, the acceleration request gradually decreases in a substantially linear manner.

[0074] 4 to 6 show cases where a deceleration request is set as a control request. In Fig. 4, the vertical axis represents the acceleration of the host vehicle, and the horizontal axis represents time. In Figs. 5 and 6, the upper vertical axis represents the acceleration of the host vehicle, and the lower vertical axis represents the gear shift of the host vehicle, and the horizontal axis represents time. A solid line 51 represents the target acceleration / deceleration, and a dashed line 52 represents the acceleration / deceleration when acceleration / deceleration is released.

[0075] In Figure 4, the clutch is in an engaged state. Also, accelerator override is executed between times t23 and t24, and is not executed at other times. Between times t21 and t23, a deceleration request is set as target acceleration / deceleration 51 based on the ACC target acceleration / deceleration. At time t21, target acceleration / deceleration 51, which had been approximately constant, begins to decrease, and between times t21 and t22, target acceleration / deceleration 51 gradually decreases in an approximately linear manner, and between times t22 and t23, target acceleration / deceleration 51 becomes approximately constant again.

[0076] At time t23, when it is determined that accelerator override is being executed, it is determined that the deceleration request is to be released, and target acceleration / deceleration 51 is increased in one step to acceleration / deceleration when acceleration / deceleration is released 52. Between times t23 and t24 when accelerator override is being executed, target acceleration / deceleration 51 is approximately equal to acceleration / deceleration when acceleration / deceleration is released 52.

[0077] At time t24, when it is determined that accelerator override is not being executed, it is determined that the release of the deceleration request is to be canceled, and target acceleration / deceleration 51 begins to decrease. Between times t24 and t25, target acceleration / deceleration 51 gradually decreases in an approximately linear manner toward the value of target acceleration / deceleration 51 at time t23. When target acceleration / deceleration 51 reaches the value of target acceleration / deceleration 51 at time t23 at time t25, target acceleration / deceleration 51 becomes approximately constant again between times t25 and t26. After time t25, a deceleration request is set based on the ACC target acceleration / deceleration, and the deceleration request gradually decreases in an approximately linear manner between times t26 and t27.

[0078] In Figure 5, the clutch is disengaged between times t33 and t36 and engaged at other times. Also, accelerator override is executed between times t34 and t35 and is not executed at other times.

[0079] Between times t31 and t33, a deceleration request is set based on the ACC target acceleration / deceleration as target acceleration / deceleration 51. At time t31, target acceleration / deceleration 51, which had been approximately constant, starts to decrease, and between times t31 and t32, target acceleration / deceleration 51 gradually decreases in an approximately linear manner, and between times t32 and t37, target acceleration / deceleration 51 becomes approximately constant again.

[0080] At time t33, it is determined that the clutch is disengaged, but because accelerator override is not being executed, no determination is made to cancel the deceleration request.

[0081] At time t34, it is determined that accelerator override is being executed, and the accelerator override is executed and the clutch is disengaged. However, because the accelerator override has not been executed for the predetermined time, no determination is made to cancel the deceleration request.

[0082] On the other hand, at time t34, accelerator override is executed and the clutch is determined to be disengaged, so it is determined that a downshift is required, and at time t34, the vehicle's gear is shifted down from the high-speed gear to the low-speed gear.

[0083] Then, at time t35, it is determined that accelerator override is not being executed. Because the time during which accelerator override is executed from time t34 to t35 is shorter than the predetermined time, no determination is made to release the deceleration request until time t36, at which time it is determined that the clutch is engaged. Between times t37 and t38, the deceleration request gradually decreases in an approximately linear manner. Although there are times when the clutch is disengaged and accelerator override is executed, the deceleration request is not released during any of the time periods shown in FIG. 5, and the deceleration request is set based on the ACC target acceleration / deceleration, and acceleration / deceleration assistance is executed.

[0084] 6, the clutch is disengaged between times t42 and t46 and engaged at other times. Also, accelerator override is executed between times t43 and t35 and is not executed at other times.

[0085] Between times t41 and t42, a deceleration request is set based on the ACC target acceleration / deceleration as target acceleration / deceleration 51. At time t42, target acceleration / deceleration 51, which had been approximately constant, starts to decrease, and between times t41 and t42, target acceleration / deceleration 51 gradually decreases in an approximately linear manner, and between times t42 and t44, target acceleration / deceleration 51 becomes approximately constant again.

[0086] At time t43, it is determined that the clutch is disengaged, but because accelerator override is not being executed, no determination is made to cancel the deceleration request.

[0087] At time t44, it is determined that accelerator override is being executed, and the accelerator override is executed and the clutch is disengaged. However, because the accelerator override has not been executed for the predetermined time Xt or longer, no determination is made to cancel the deceleration request.

[0088] On the other hand, at time t44, accelerator override is executed and the clutch is determined to be disengaged, so it is determined that a downshift is required, and at time t44, the vehicle's gear is shifted down from the high-speed gear to the low-speed gear.

[0089] At time t45, when it is determined that the time during which the accelerator override is being executed has continued for a predetermined time Xt or more, it is determined that the deceleration request is to be released, and target acceleration / deceleration 51 is increased in one step to acceleration / deceleration 52 at the time of release of acceleration / deceleration. Thereafter, between t45 and t46 while the accelerator override is being executed, target acceleration / deceleration 51 substantially matches acceleration / deceleration 52 at the time of release of acceleration / deceleration.

[0090] At time t46, when it is determined that accelerator override is not being executed, it is determined that the release of the deceleration request is to be canceled, and target acceleration / deceleration 51 begins to decrease. Between times t46 and t47, target acceleration / deceleration 51 gradually decreases in an approximately linear manner toward the value of target acceleration / deceleration 51 at time t45. When target acceleration / deceleration 51 reaches the value of target acceleration / deceleration 51 at time t45 at time t47, target acceleration / deceleration 51 becomes approximately constant again between times t47 and t48. After time t47, the deceleration request is set based on the ACC target acceleration / deceleration, and between times t48 and t49, the deceleration request gradually decreases in an approximately linear manner.

[0091] According to each of the above embodiments, the following effects can be obtained.

[0092] A vehicle control device 10 that supports acceleration and deceleration of the host vehicle includes a clutch determination unit 13 that determines the state of the host vehicle's clutch, and a target calculation / request unit 14 that calculates a target acceleration / deceleration of the host vehicle and sets a control request based on the target acceleration / deceleration. When an acceleration request is set as a control request, the target calculation / request unit 14 limits the acceleration request if the clutch determination unit 13 determines that the clutch is in a disengaged state. This makes it possible to suppress engine revving, which is a concern when maintaining the acceleration request when the clutch is in a disengaged state at the time of an acceleration request.

[0093] When an acceleration request is set as a control request, the target calculation / request unit 14 determines that the clutch is in a disengaged state by the clutch determination unit 13 and then limits the acceleration request, and if the clutch determination unit 13 determines that the clutch is in an engaged state, the target calculation / request unit 14 gradually increases the target acceleration / deceleration rate toward the acceleration request before the limit. This makes it possible to prevent the host vehicle from suddenly accelerating.

[0094] The vehicle control device 10 further includes a shift change determination unit 15 that determines whether a gear change of the host vehicle is necessary. When an acceleration request is set as a control request by the target calculation / request unit 14, the shift change determination unit 15 determines that a gear downshift is necessary if a high-speed gear is selected as the gear of the host vehicle and the clutch determination unit 13 determines that the clutch is in a disengaged state. This makes it easier for the host vehicle to accelerate when the clutch state switches from a disengaged state to an engaged state.

[0095] Vehicle control device 10 includes clutch determination unit 13, target calculation / request unit 14, and accelerator override determination unit 12 that determines that accelerator override is being executed when an acceleration request input by an operation of the driver exceeds an acceleration / deceleration request set as a control request by target calculation / request unit 14. In this case, when a deceleration request is set as a control request, target calculation / request unit 14 limits the deceleration request if accelerator override determination unit 12 determines that accelerator override is being executed and clutch determination unit 13 determines that the clutch is in an engaged state. This makes it possible to quickly limit the deceleration request when an acceleration request is made by an operation of the driver while the deceleration request is being set.

[0096] Furthermore, when a deceleration request is set as a control request, if accelerator override determination unit 12 determines that accelerator override is being executed and clutch determination unit 13 determines that the clutch is disengaged, the deceleration request is not restricted under predetermined conditions. This makes it possible to not restrict the deceleration request if, for example, the driver temporarily operates the accelerator to adjust the engine rotation speed when the clutch is disengaged for a downshift.

[0097] When a deceleration request is set as a control request, if accelerator override determination unit 12 determines that accelerator override is being executed and clutch determination unit 13 determines that the clutch is disengaged, target calculation / request unit 14 limits the deceleration request on the condition that it is determined that execution of accelerator override has continued for a predetermined time. Because it can be assumed that the driver's accelerator operation is not a temporary operation for adjusting the engine rotation speed, limiting the deceleration request makes it possible to execute control in accordance with the driver's intention.

[0098] If accelerator override determination unit 12 determines that accelerator override is being executed when a deceleration request is set as a control request, and if it is determined that accelerator override is not being executed after the deceleration request set by target calculation / request unit 14 is limited, target calculation / request unit 14 gradually reduces the target acceleration / deceleration to return to the deceleration request before it was limited. This makes it possible to prevent the host vehicle from suddenly decelerating.

[0099] When a deceleration request is set as a control request by target calculation / request unit 14, and accelerator override determination unit 12 determines that accelerator override is being performed and clutch determination unit 13 determines that the clutch is disengaged, shift change determination unit 15 determines that a downshift of the gears of the host vehicle is required. Since it can be assumed that the driver has temporarily operated the accelerator in order to adjust the engine rotation speed, determining that a downshift is required makes it possible to execute control in line with the driver's intention.

[0100] The following describes characteristic configurations extracted from the above-described embodiments. [Configuration 1] A vehicle control device (10) that supports acceleration and deceleration of a vehicle, a clutch determination unit (13) for determining the state of the clutch of the host vehicle; a target calculation / request unit (14) that calculates a target acceleration / deceleration of the host vehicle and sets a control request based on the target acceleration / deceleration, A vehicle control device in which, when an acceleration request is set as the control request, the target calculation / request unit limits the acceleration request when the clutch determination unit determines that the clutch is in a disengaged state. [Configuration 2] The vehicle control device according to configuration 1, wherein when an acceleration request is set as the control request, the target calculation / request unit determines that the clutch is in a disengaged state and limits the acceleration request, and then, if the clutch determination unit determines that the clutch is in an engaged state, gradually increases the target acceleration / deceleration toward the acceleration request before it was limited. [Configuration 3] A shift change determination unit (15) is further provided to determine whether a gear shift change of the host vehicle is necessary, The vehicle control device according to configuration 1 or 2, wherein the shift change determination unit determines that a downshift of the gear is required when the target calculation / request unit sets an acceleration request as the control request, a high-speed driving gear is selected as the gear of the host vehicle, and the clutch determination unit determines that the clutch is disengaged. [Configuration 4] A vehicle control device (10) that supports acceleration and deceleration of a vehicle, a target calculation / request unit (14) that calculates a target acceleration / deceleration of the host vehicle and sets a control request based on the target acceleration / deceleration; an accelerator override determination unit (12) that determines that an accelerator override is being executed when an acceleration request input by a driver exceeds an acceleration / deceleration request set as the control request by the target calculation / request unit; a clutch determination unit (13) that determines the state of the clutch of the host vehicle, When a deceleration request is set as the control request, the target calculation / request unit: limiting the deceleration request when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in an engaged state; a vehicle control device that does not limit the deceleration request under predetermined conditions when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in a disengaged state; [Configuration 5] The vehicle control device according to configuration 4, wherein when a deceleration request is set as the control request, if the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in a disengaged state, the target calculation / request unit limits the deceleration request on the condition that it is determined that the execution of the accelerator override has continued for a predetermined time. [Configuration 6] 6. The vehicle control device according to configuration 4 or 5, wherein the target calculation / request unit gradually reduces the target acceleration / deceleration to return to the deceleration request before it was limited when the accelerator override determination unit determines that an accelerator override is being executed when a deceleration request is set as the control request, and when it determines that the accelerator override is not being executed after the deceleration request set by the target calculation / request unit is limited. [Configuration 7] A shift change determination unit (15) is further provided to determine whether a gear shift change of the host vehicle is necessary, The vehicle control device according to any one of configurations 4 to 6, wherein the shift change determination unit determines that a gear downshift of the host vehicle is required when the accelerator override determination unit determines that an accelerator override is being performed and the clutch determination unit determines that the clutch is in a disengaged state, in a case where the target calculation / request unit sets a deceleration request as the control request. [Configuration 8] A vehicle control method for assisting acceleration and deceleration of a vehicle, comprising: a clutch determination step of determining a state of the clutch of the host vehicle; a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration; a request restriction determination step of determining a restriction on the control request, A vehicle control method in which the request limitation determination step limits the acceleration request when an acceleration request is set as the control request and the clutch determination step determines that the clutch is in a disengaged state. [Configuration 9] A vehicle control program applied to a vehicle control device that supports acceleration and deceleration of a host vehicle, the program comprising: a clutch determination step of determining a state of the clutch of the host vehicle; a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration; a request restriction determination step of determining a restriction on the control request, A vehicle control program in which the request limitation determination step limits the acceleration request when the clutch determination step determines that the clutch is in a disengaged state when an acceleration request is set as the control request. [Configuration 10] A vehicle control method for assisting acceleration and deceleration of a vehicle, comprising: a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration; an accelerator override determination step of determining that an accelerator override is being executed when an acceleration request input by a driver exceeds an acceleration / deceleration request set as the control request in the target calculation / request step; a clutch determination step of determining a state of the clutch of the host vehicle; a request restriction determination step of determining a restriction on the control request, When a deceleration request is set as the control request, the request limitation determination step limiting the deceleration request when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in an engaged state; a vehicle control method in which, when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in a disengaged state, the deceleration request is not limited under a predetermined condition. [Configuration 11] A vehicle control program applied to a vehicle control device that supports acceleration and deceleration of a host vehicle, the program comprising: a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration; an accelerator override determination step of determining that an accelerator override is being executed when an acceleration request input by a driver exceeds an acceleration / deceleration request set as the control request in the target calculation / request step; a clutch determination step of determining a state of the clutch of the host vehicle; a request restriction determination step of determining a restriction on the control request, When a deceleration request is set as the control request, the request limitation determination step limiting the deceleration request when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in an engaged state; a vehicle control program that does not limit the deceleration request under predetermined conditions when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in a disengaged state;

[0101] The controller and methods described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the controller and methods described herein may be implemented by a special-purpose computer configured with a processor configured with one or more dedicated hardware logic circuits. Alternatively, the controller and methods described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions in combination with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium. [Explanation of symbols]

[0102] 10... vehicle control device, 12... accelerator override determination unit, 13... clutch determination unit, 14... target calculation / request unit, 15... shift change determination unit

Claims

1. A vehicle control device (10) that supports acceleration and deceleration of a vehicle, a target calculation / request unit (14) that calculates a target acceleration / deceleration of the host vehicle and sets a control request based on the target acceleration / deceleration; an accelerator override determination unit (12) that determines that an accelerator override is being executed when an acceleration request input by a driver exceeds an acceleration / deceleration request set as the control request by the target calculation / request unit; a clutch determination unit (13) that determines the state of the clutch of the host vehicle, When a deceleration request is set as the control request, the target calculation / request unit: limiting the deceleration request when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in an engaged state; a vehicle control device that does not limit the deceleration request under predetermined conditions when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in a disengaged state;

2. 2. The vehicle control device according to claim 1, wherein, when a deceleration request is set as the control request, if the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is in a disengaged state, the target calculation / request unit limits the deceleration request on the condition that it is determined that the execution of the accelerator override has continued for a predetermined time.

3. 2. The vehicle control device according to claim 1, wherein the target calculation / request unit gradually reduces the target acceleration / deceleration to return to the deceleration request before it was limited when the accelerator override determination unit determines that accelerator override is being executed when a deceleration request is set as the control request, and when it determines that accelerator override is not being executed after the deceleration request set by the target calculation / request unit is limited.

4. A shift change determination unit (15) is further provided for determining whether or not a shift change of the gear of the host vehicle is necessary, 2. The vehicle control device according to claim 1, wherein the shift change determination unit determines that a downshift of the gear of the host vehicle is required when the accelerator override determination unit determines that an accelerator override is being executed and the clutch determination unit determines that the clutch is disengaged, in a case where the target calculation / request unit sets a deceleration request as the control request.

5. A vehicle control method executed by a computer to assist in accelerating and decelerating a vehicle, comprising: a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration; an accelerator override determination step of determining that an accelerator override is being executed when an acceleration request input by a driver exceeds an acceleration / deceleration request set as the control request by the target calculation / request unit; a clutch determination step of determining a state of the clutch of the host vehicle; a request restriction determination step of determining a restriction on the control request, When a deceleration request is set as the control request, the request limitation determination step limiting the deceleration request when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in an engaged state; a vehicle control method that does not limit the deceleration request under predetermined conditions when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in a disengaged state.

6. A vehicle control program applied to a vehicle control device that supports acceleration and deceleration of a host vehicle, the program comprising: a target calculation / request step of calculating a target acceleration / deceleration of the host vehicle and setting a control request based on the target acceleration / deceleration; an accelerator override determination step of determining that an accelerator override is being executed when an acceleration request input by a driver exceeds an acceleration / deceleration request set as the control request by the target calculation / request unit; a clutch determination step of determining a state of the clutch of the host vehicle; a request restriction determination step of determining a restriction on the control request, When a deceleration request is set as the control request, the request limitation determination step limiting the deceleration request when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in an engaged state; a vehicle control program that does not limit the deceleration request under predetermined conditions when it is determined in the accelerator override determination step that an accelerator override is being executed and when it is determined in the clutch determination step that the clutch is in a disengaged state;

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