Vehicle control devices

Abstract

The present invention provides a vehicle control device that can determine the parking brake position with increased accuracy, even when the vehicle is in an ignition-off state and not moving. [Solution] When switching to the ignition off state (IG off Igoff), the parking switch position (P switch position Ppos) at the time of switching to IG off Igoff is stored in each of the multiple non-volatile memories 62 and 108 as the previous position Mpp1 and Mpp2, respectively. If the previous position Mpp1 and Mpp2 obtained from each of the non-volatile memories 62 and 108 in IG off Igoff matches the P lock position Plp or the non-P lock position NPlp, the matching previous position Mpp1 and Mpp2 is determined to be the P switch position Ppos in IG off Igoff. As a result, even in IG off Igoff, the determination of the P switch position Ppos is performed with increased accuracy without performing initial position determination control.

Description

Technical Field

[0001] The present invention relates to a control device for a vehicle including a parking lock device in which a parking switching position can be selectively switched between a parking lock position and a non-parking lock position by driving an actuator.

Background Art

[0002] In a vehicle including a parking lock device in which a parking switching position can be selectively switched between a parking lock position and a non-parking lock position by driving an actuator, and the power supply state is switched between an ignition-on state enabling running and an ignition-off state turning off the power supply related to running and disabling running, when the switching is made to the ignition-on state, a vehicle control device that performs control to recognize and determine the parking switching position at the time of switching to the ignition-on state by driving an actuator is well known. For example, the shift control device for a vehicle described in Patent Document 1 is such a device. Patent Document 1 describes a parking lock device that switches the parking switching position using a motor as a drive source, and the rotation of the motor is controlled to a target rotation amount by being read by the count value of an encoder, and the switching to the target parking switching position is performed. Further, at the time of switching to the ignition-on state, a so-called wall contact control is performed in which the parking switching position is abutted against the limit position, that is, the wall position in the movement range, and the reference position is learned to initialize the parking lock device and determine the initial position (parking lock position or non-parking lock position) of the parking switching position (hereinafter, referred to as initial position determination control), and subsequent switching is enabled.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] In the aforementioned vehicles, the parking switch position is not determined until the ignition is turned on. However, in recent vehicles, it is sometimes necessary to determine the parking switch position even when the ignition is off. For example, electric vehicles are equipped with functions for charging power from outside the vehicle or supplying power to an external source (hereinafter referred to as external charging and supply). When performing external charging and supply in the ignition-off state where the vehicle is not moving, it is essential that the parking lock position is engaged to prevent accidents caused by the vehicle rolling or dragging cables, and to ensure safety when connecting to high-voltage systems (batteries). However, there was a problem in that the parking switch position could not be determined when the ignition was off.

[0005] As a countermeasure, when external charging and power supply is performed with the ignition off, it is conceivable to perform initial position determination control to determine the parking switch position. However, this would lead to an increase in the number of times initial position determination control is performed, potentially affecting the durability of the parking lock device. Another countermeasure is to store the parking switch position as the previous position in non-volatile memory when switching to the ignition off state, and then determine the parking switch position by referring to the stored previous position. However, since this is stored in only one non-volatile memory, there is a concern that it may misidentify the position even if it is not actually the parking lock position, for example, if the parking lock device is replaced. Therefore, there was a need to improve the accuracy of the determination.

[0006] The present invention was made against the above circumstances, and its objective is to provide a vehicle control device that can determine the parking position with increased accuracy even when the vehicle is in an ignition-off state and not moving. [Means for solving the problem]

[0007] The gist of the first invention is a vehicle control device that (a) has a parking lock device that can selectively switch the parking switching position between a parking lock position and a non-parking lock position by driving an actuator, and the power state is switched between an ignition-on state that enables driving and an ignition-off state that turns off the power related to driving and makes driving impossible, and when the vehicle is switched to the ignition-on state, the vehicle control device performs initial position determination control to recognize and determine the parking switching position at the time of switching to the ignition-on state by driving the actuator, and (b) when the vehicle is switched to the ignition-off state, the parking switching position at the time of switching to the ignition-off state is stored as the previous position in each of a plurality of non-volatile memories, and (c) in the case of the ignition-off state, if the previous position obtained from each of the non-volatile memories matches the parking lock position or the non-parking lock position, the matching previous position is determined to be the parking switching position in the ignition-off state.

[0008] The gist of the second invention is that one of the non-volatile memories is provided in the parking lock device. [Effects of the Invention]

[0009] According to the first invention, when the system switches to the ignition-off state, the parking switch position at the time of switching to the ignition-off state is stored as the previous position in each of the multiple non-volatile memories. In the case of the ignition-off state, if the previous position obtained from each of the non-volatile memories matches the parking lock position or the non-parking lock position, the matching previous position is determined to be the parking switch position in the ignition-off state. As a result, even in the ignition-off state, the determination of the parking switch position is performed with increased accuracy without performing initial position determination control.

[0010] According to the second invention, one of the non-volatile memories is provided in the parking lock device. As a result, when the parking lock device is replaced, the previous positions of each of the non-volatile memories will no longer coincide, thus preventing the parking switch position in the ignition-off state from being mistakenly determined to be the parking lock position. [Brief explanation of the drawing]

[0011] [Figure 1] This diagram illustrates the schematic configuration of a vehicle to which the present invention is applied, as well as the control functions and key components of the control system for various control functions in the vehicle. [Figure 2] Figure 1 is a perspective view illustrating an example of the configuration of the parking lock mechanism. [Figure 3] This figure illustrates an example of wall-hitting control performed in initial position determination control. [Figure 4] This block diagram illustrates the data flow for an example of parking switch position determination control in a vehicle control system. [Figure 5] This flowchart illustrates an example of determining the parking switch position of a vehicle control device, and corresponds to Figure 4. [Figure 6] This is a diagram illustrating another embodiment of a vehicle control device. [Modes for carrying out the invention]

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that in the following embodiments, the drawings have been simplified or modified as appropriate, and the dimensional ratios and shapes of each part are not necessarily depicted accurately. [Examples]

[0013] Figure 1 is a diagram illustrating the schematic configuration of a vehicle 10 to which the present invention is applied, as well as illustrating the control functions and key parts of the control system for various controls in the vehicle 10. In Figure 1, the vehicle 10 is a hybrid vehicle equipped with an engine 12 and an electric motor M as driving power sources. The present invention is not limited to hybrid vehicles, but can also be applied to vehicles equipped with only an electric motor M or only an engine as a driving power source. The vehicle 10 is also equipped with a parking lock device 16, a transmission 18, a shift operation device 30, a shift range display device 42, a battery 50 for driving the electric motor M, etc., and a charging and supplying device 54 for charging power to the vehicle 10 from the outside and supplying power to the outside, and employs a shift-by-wire (SBW) system to electrically switch the shift position related to the driving of the vehicle 10, i.e., the shift position of the transmission 18. Furthermore, the transmission 18 transmits power from the engine 12, which is an internal combustion engine serving as a driving force source, to the pair of drive wheels 14 via the counter gear pair 20, final gear pair 24, differential gear 26, and a pair of axles 28, etc., sequentially from the output gear 22, which is the output rotating member of the transmission 18 that constitutes one of the counter gear pair 20, to the pair of drive wheels 14. These components, including the transmission 18, counter gear pair 20, final gear pair 24, and differential gear 26, etc., constitute a transaxle (T / A). The charging and supplying device 54 is a device that charges power to the battery 50 from outside the vehicle 10 and supplies power from the battery 50 to the outside (hereinafter referred to as external charging and supply), and is controlled by the electronic control device 100 described later.

[0014] The parking lock device 16 includes a parking lock ECU (hereinafter referred to as PECU) 62, a parking lock mechanism (hereinafter referred to as P-lock mechanism) 66, and the like. The PECU 60 is composed of a so-called microcomputer and controls the P-lock mechanism 66 based on commands from the electronic control unit 100, which will be described later, to selectively switch the parking switching position (hereinafter referred to as P-switch position) Ppos of the parking lock device 16 between the parking lock position (hereinafter referred to as P-lock position) Plp, which is the parking lock state, and the non-parking lock position (hereinafter referred to as non-P-lock position) NPlp, which is the state in which the parking lock is released. The PECU 60 also includes a non-volatile memory 62 as a non-volatile storage medium.

[0015] Vehicle 10 is equipped with an electronic control unit 100 for controlling vehicle 10. The electronic control unit 100 is composed of a so-called microcomputer. The electronic control unit 100 also includes a non-volatile memory 108 as a non-volatile storage medium. Note that PECU 60 and the electronic control unit 100 correspond to the "vehicle control device" of the present invention.

[0016] The electronic control unit 100 is supplied with various signals, such as a shift lever position signal Psh from a shift sensor 36, which is a position sensor for detecting the operating position of the shift lever 32; a P switch signal Pon, which indicates the operation of the P switch 34 for switching the shift range POSsh of the transmission 18 to the parking range; P lock information Ip, which is notified from the PECU 60 of the operating status of the parking lock device 16; a power switch signal SWon, which indicates the operation of the vehicle power switch 40 for switching the power supply status of the vehicle 10; and a power supply port signal Ib, which notifies the connection of the power supply device 54 to the external connection port 56.

[0017] The vehicle power switch 40 is a momentary push-button switch, for example, located near the driver's seat, and operated to switch the power state PWst of the vehicle 10. The power switch signal SWon is output only while the switch is pressed, i.e., the power switch signal SWon is in the ON state.

[0018] From the electronic control device 100, for example, an engine output control signal Se for controlling the output of the engine 12, a hybrid control signal for controlling the drive of the motor M in the transmission 18, a shift control signal for controlling the shift of the transmission 18, a shift position switching control signal Ssh for switching the shift position of the transmission 18, a shift position display control signal Sdsp for operating the shift range display device 42 to display the switching state of the shift range POSsh in the transmission 18, a PECU control signal Sp for controlling the parking lock device 16 with respect to the PECU 60, a charging control signal Sb for controlling external charging with respect to the charging device 54, etc. are respectively output.

[0019] Further, the electronic control device 100 functionally includes a power supply control unit 102, a charging control unit 104, a shift control unit 106, etc.

[0020] The power supply control unit 102 switches the power supply state PWst which is the power supply state of the vehicle 10. The power supply control unit 102 switches the power supply state PWst, by the pressing operation of the vehicle power switch 40, to an ignition on state Ig on which is a power on state for enabling vehicle travel, a power part on state AC Con which turns off the power related to vehicle travel to make it non - drivable and turns on the power not related to vehicle travel to enable some functions of the vehicle 10 to operate, and a power off state Poff which turns off all power sources, in sequence. Here, the state of power part on AC Con or power off Poff is defined as ignition off Ig off. Also, the power supply control unit 102, for example, when in the power off state Poff and the connection to the external connection port 56 of the charging device 54 is detected by the charging port signal Ib, switches to the power part on state AC Con so as to enable the charging device 54 to operate. Note that Ig on corresponds to the "ignition on state" in the present invention, and Ig off corresponds to the "ignition off state" in the present invention.

[0021] The charging and power supply control unit 104 controls external charging and power supply. When the charging and power supply control unit 104 detects a connection to the external connection port 56 of the charging and power supply device 54, or when it is instructed to operate external charging and power supply, such as through console operation (not shown), it transmits a charging and power supply control signal Sb to the charging and power supply device 54 and performs external charging and power supply.

[0022] Furthermore, prior to external charging and power supply, the charging and power supply control unit 104 confirms that the P switching position Ppos is in the P lock position Plp. This is because, when performing external charging and power supply, it is essential that the P lock position Plp is in order to prevent accidents caused by the vehicle 10 rolling or dragging cables, and to ensure safety when connecting to high-voltage systems (such as the battery 50).

[0023] The shift control unit 106 switches the shift range POSsh of the transmission 18 based on the shift lever position signal Psh and the P switch signal Pon. The shift range POSsh includes, for example, the forward driving range, reverse driving range, neutral range, and parking range. When the shift control unit 106 detects the input of the P switch signal Pon while the shift range POSsh is in the non-parking range, it outputs a shift position switching control signal Ssh to the transmission 18 to set the shift range POSsh to the parking range, and also outputs a PECU control signal Sp to the PECU 60 to set the P switching position Ppos of the parking lock device 16 to the P lock position Plp.

[0024] When the shift control unit 106 detects the input of a shift lever position signal Psh while the shift range POSsh is in the parking range, it outputs a PECU control signal Sp to the PECU 60 to set the P switching position Ppos to the non-P lock position NPlp, in order to switch to the requested shift range POSsh, and also outputs a shift position switching control signal Ssh to the transmission 18.

[0025] Furthermore, when the shift control unit 106 switches to IG off (Igoff), it stores the P switching position Ppos at the time of the switch as the previous position Mpp2 in the non-volatile memory 108.

[0026] Furthermore, the shift control unit 106 outputs a shift position display control signal Sdsp to the shift range display device 42 to display the switching status of the shift range POSsh.

[0027] Figure 2 is a perspective view illustrating an example of the configuration of the P-lock mechanism 66. The P-lock mechanism 66 includes an electric actuator 68, an encoder 70, a shaft 72 rotationally driven by the actuator 68, a detent plate 74 that rotates with the rotation of the shaft 72 and functions as a positioning member for switching between the P-lock position Plp and the non-P-lock position NPlp, a rod 76 that operates in conjunction with the rotation of the detent plate 74, a parking gear 78 (see Figure 1) which is fixed concentrically to the output gear 22 of the transmission 18 and rotates in conjunction with the drive wheel 14, a parking lock pawl 80 for preventing (locking) the rotation of the parking gear 78, a detent spring 82 for limiting the rotation of the detent plate 74 and fixing the shift position, and rollers 84, etc.

[0028] Furthermore, the detailed shape of the detent plate 74 is shown within the outlet in Figure 2. On both sides of the peak 88, there are valley-shaped P positions 92, which perform positioning corresponding to the P-lock position Plp, and non-P positions 90, which perform positioning corresponding to the non-P-lock position NPlp. In addition, a wall is formed on the surface located away from the peak 88 in each valley. The wall is located where the roller 84 of the detent spring 82 collides with the roller 84 when it passes over the peak 88 and falls into the valley. The wall at P position 92 is called the "P wall," and the wall at non-P position 90 is called the "non-P wall." The P wall 96 and the non-P wall 94 restrict the amount of rotation of the detent plate 74, i.e., the amount of rotation of the actuator 68.

[0029] Figure 2 shows the state in the non-P-lock position NPlp. From this state, when the shaft 72 is rotated in the direction of arrow C, the rod 76 is pushed in the direction of arrow A, and the parking lock pole 80 is pushed up in the direction of arrow B. As the detent plate 74 rotates, the roller 84, which was in the non-P position 90, moves over the peak 88 and to the P position 92. When the detent plate 74 has rotated until the roller 84 is in the P position 92, the parking lock pole 80 is pushed up by the tapered member 86 to a position where it engages with the parking gear 78. As a result, the rotation of the parking gear 78 is mechanically prevented, and the P switching position Ppos is switched to the P-lock position Plp. Furthermore, when the shaft 72 is rotated in the direction of arrow D from the P-lock position Plp, the detent plate 74 rotates, causing the rod 84, which was in the P position 92, to move over the peak 88 and to the non-P position 90, and the rod 76 returns in the opposite direction to arrow A, disengaging the parking lock pole 80 from the parking gear 78. As a result, the P switching position Ppos is switched to the non-P-lock position NPlp.

[0030] The encoder 70 is, for example, a rotary encoder that rotates integrally with the actuator 68 and supplies a pulse signal Ro to the PECU 60 to acquire a count value (encoder count) corresponding to the amount of movement (rotation) of the actuator 68. The PECU 60 uses the P wall 96 and the non-P wall 94 as reference positions and controls the drive signal Sa of the actuator 68 so that the amount of movement of the actuator 68 from the reference position becomes a target amount of movement preset based on the encoder count.

[0031] The encoder 70 is a relative position sensor, and when the IG is off (Igoff), the PECU 60 loses information about the absolute position of the actuator 68, such as the position of P wall 96 and the position of non-P wall 94, and the corresponding P switching position Ppos. Therefore, when the IG is switched on (Igon), the PECU 60 performs wall contact control as initialization control of the parking lock device 16 to detect the position of the actuator 68 at P wall 96 and the position of non-P wall 94 and set a reference position in order to recognize the absolute position of the actuator 68 and the P switching position Ppos.

[0032] Figure 3 is a schematic diagram illustrating the wall-contact control when detecting the position of the P wall 96. In Figure 3, the PECU 60 rotates the detent plate 74 in the direction of arrow C shown in Figure 2 using the rotational force F1 of the actuator 68, pressing the P wall 96 against the roller 84. When the rotational force F1 balances the spring force F2 due to the deflection of the detent spring 82 and the push-back force F3 by the rod 76, the rotation of the detent plate 74 stops, and this stop in rotation is detected. This detection is performed, for example, by determining that the rotation has stopped when the encoder count stops, i.e., when the minimum or maximum value of the encoder count does not change for a predetermined time. Then, by setting the detected position obtained by the stopping of the encoder count as the reference position of the P position 92, it becomes possible to control the absolute position of the actuator 68 by controlling the amount of movement from the reference position based on the encoder count in subsequent operations. Wall-contact control is well known, so a detailed explanation is omitted. Similarly, the reference position of the non-P position 90 is set for the non-P wall 94 in the same manner.

[0033] Thus, when the IG is switched to Igon, the PECU 60 performs wall-contact control to initialize the parking lock device 16 and performs control to determine the initial position of the P switching position Ppos (whether it is the P-lock position Plp or the non-P-lock position NPlp) (hereinafter referred to as initial position determination control). The PECU 60 also transmits the result of the initial position determination control as the initial position Rp to the electronic control unit 100. The initial position Rp transmitted may be, for example, the P-lock position Plp, the non-P-lock position NPlp, or determination incomplete Uk, which indicates that the initial position determination control is not yet complete.

[0034] Furthermore, when the PECU 60 switches to IG off (Igoff), it stores the P switching position Ppos at the time of the switch as the previous position Mpp1 in the non-volatile memory 62. The previous position Mpp1 is also transmitted to the electronic control unit 100 at the same time as the initial position Rp is transmitted. Additionally, when the parking lock device 16 is replaced, the previous position Mpp1 is stored as "position undetermined Up," indicating that the P switching position Ppos is undetermined.

[0035] Previously, the parking switch position Ppos could not be determined unless the ignition was switched to Igon. However, when external charging and power supply is performed, for example, the ignition is off (Igoff), which presented a problem in that the parking switch position could not be determined. As a countermeasure, when external charging and power supply is performed, it is conceivable to perform initial position determination control to determine the parking switch position Ppos. However, this would lead to an increase in the number of times initial position determination control, including wall contact control, is performed, which could potentially affect the durability of the parking lock device 16.

[0036] Furthermore, when external charging and power supply is performed, a measure could be considered to determine the P switching position Ppos by referring to the previous position Mpp2 stored in the non-volatile memory 108. However, since this is stored in only one non-volatile memory, there was a concern that it might misidentify the P lock position Plp even when it is not actually the P lock position, for example, if the parking lock device 16 is replaced. Therefore, there was a need to improve the accuracy of the determination.

[0037] Figure 4 is a block diagram illustrating the data flow for determining the parking switch position of the electronic control unit 100 when the ignition is off (IGoff), and shows an example of control when external charging and power supply is performed. In Figure 4, the numbers in parentheses indicate the order of processing, and the parallelograms show the output results or values ​​of each process. The following explanation will follow the order of processing.

[0038] In (1) of Figure 4, when external charging and power supply is performed, the charging and power supply control unit 104 queries the shift control unit 106 for the P switching position Ppos. Next, in (2), the shift control unit 106 activates the PECU 60 and receives the previous position Mpp1 and the initial position Rp from the PECU 60. Furthermore, in (3), the shift control unit 106 receives the power status PWst from the power supply control unit 102, and if the IG is off (Igoff) and the initial position Rp is not yet determined (Uk), in (4) the shift control unit 106 obtains the previous position Mpp2 from the non-volatile memory 108. Next, in (5), the shift control unit 106 compares the previous position Mpp1 and the previous position Mpp2. If both positions match the P-lock position Plp (Mpp1=Mpp2=Plp), the P-switching position Ppos is determined to be the P-lock position Plp (Ppos=Plp). If both positions match the non-P-lock position NPlp (Mpp1=Mpp2=NPlp), the P-switching position Ppos is determined to be the non-P-lock position NPlp (Ppos=NPlp). If both positions do not match, or if there is an undefined position Up, the PECU 60 is instructed to perform initial position determination control, and the P-switching position Ppos is determined by obtaining the initial position Rp, which is the result of the control, again. Then, in (6), the shift control unit 106 transmits the determined P-switching position Ppos to the charging / power supply control unit 104. After the charging / power supply control unit 104 confirms that the transmitted P-switching position Ppos is the P-lock position Plp, it starts the operation of external charging / power supply. As a result, when the IG is off (Igoff), if the previous position Mpp1 and the previous position Mpp2 match the P-lock position Plp or the non-P-lock position NPlp, the P-switching position Ppos is determined with increased accuracy without performing initial position determination control. Furthermore, if the parking lock device 16 is replaced, the previous position Mpp1 of the non-volatile memory 62 becomes undefined Up, and the previous position Mpp1 and the previous position Mpp2 do not match, thus preventing the P-switching position Ppos in the IG off (Igoff) state from being mistakenly determined as the P-lock position Plp. Then, initial position determination control is performed to determine the P-switching position Ppos.

[0039] Figure 5 is a flowchart corresponding to Figure 4, illustrating an example of parking position determination control performed by the shift control unit 106 functionally provided by the electronic control unit 100. This flowchart is executed when the shift control unit 106 is inquired about the parking position Ppos. The inquiry about the parking position Ppos corresponds, for example, to process (1) in Figure 4.

[0040] First, in step S10 (the steps will be omitted hereafter), the PECU 60 is started up. Next, in S20, the previous position Mpp1 and the initial position Rp are received from the PECU 60. In S30, the power supply status PWst is received from the power supply control unit 102. S20 corresponds to the process in (2) in Figure 4, and S30 corresponds to the process in (3) in Figure 4.

[0041] Next, in S40, it is determined whether the IG is off (Igoff) (PWst=IGoff) and whether the initial position Rp is not yet determined (Rp=Uk not yet determined). If the determination in S40 is affirmative, in S50, the previous position Mpp2 is obtained from the non-volatile memory 108. S50 corresponds to process (4) in Figure 4.

[0042] Next, in S60, it is determined whether the previous positions Mpp1 and Mpp2 coincide with the P-lock position Plp (Mpp1=Mpp2=Plp). If the determination in S60 is affirmative, in S80, the P-switching position Ppos is confirmed to be the P-lock position Plp (Ppos=Plp). If the determination in S60 is negative, in S70, it is determined whether the previous positions Mpp1 and Mpp2 coincide with the non-P-lock position NPlp (Mpp1=Mpp2=NPlp). If the determination in S70 is affirmative, in S90, the P-switching position Ppos is confirmed to be the non-P-lock position NPlp (Ppos=NPlp). If the judgment in S70 is rejected, in S100, the P switching position Ppos is determined to be mismatched or in an undefined position (Up), and in S110, the PECU60 is instructed to perform initial position determination control, and the P switching position Ppos is determined by obtaining the initial position Rp, which is the result of the control, again. The process from S60 to S110 corresponds to the process in (5) in Figure 4.

[0043] Furthermore, if the determination in S40 is negative, S120 determines whether the initial position determination is incomplete (Rp = determination incomplete Uk). If the determination in S120 is positive, the process transitions to S110 and the initial position determination control is performed. If the determination in S120 is negative, the process transitions to S130 because the P switching position Ppos has been determined.

[0044] Then, in S130, the confirmed P switching position Ppos is sent to the query source, and this routine is terminated. S130 corresponds to process (6) in Figure 4.

[0045] As described above, according to this embodiment, when switching to IG off (Igoff), the P switching position Ppos at the time of switching to IG off (Igoff) is stored in each of the multiple non-volatile memories 62 and 108 as the previous position Mpp1 and Mpp2, respectively. If the previous position Mpp1 and Mpp2 obtained from each of the non-volatile memories 62 and 108 in IG off (Igoff) matches the P-lock position Plp or the non-P-lock position NPlp, the matching previous position Mpp1 and Mpp2 are determined to be the P switching position Ppos in IG off (Igoff). As a result, even in IG off (Igoff), the determination of the P switching position Ppos is performed with increased accuracy without performing initial position determination control.

[0046] Furthermore, according to this embodiment, the non-volatile memory 62 is provided in the parking lock device 16. As a result, when the parking lock device 16 is replaced, the previous position Mpp1 of the non-volatile memory 62 becomes an undefined value, and the previous position Mpp1 and the previous position Mpp2 do not match, thus preventing the P switching position Ppos in IG off state from being mistakenly determined as the P lock position Plp. Also, when the parking lock device 16 is replaced, initial position determination control is performed, so the P switching position Ppos is determined.

[0047] Next, other embodiments of the present invention will be described. In the following description, parts common to multiple embodiments will be denoted by the same reference numerals and their descriptions will be omitted. [Examples]

[0048] Figure 6 shows an example in which the PECU 60 is functionally incorporated into the electronic control unit 200 as a parking control unit 202, compared to the electronic control unit 100 and parking lock device 16 of the aforementioned Embodiment 1. However, the non-volatile memory 62 is provided in the parking lock device 204, and the previous position Mpp1 is stored and retrieved from the electronic control unit 200 (parking control unit 202). In this embodiment as well, the same effects as in Embodiment 1 can be obtained by having the parking control unit 202 operate in the same way as the PECU 60 in Embodiment 1.

[0049] Although embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is also applicable to other embodiments.

[0050] For example, in the above-described Examples 1 and 2, there were two non-volatile memories (62, 108), but there may be three or more non-volatile memories.

[0051] It should be noted that the above-described embodiment is merely one example, and the present invention can be implemented in various modified and improved forms based on the knowledge of those skilled in the art. [Explanation of symbols]

[0052] 10: Vehicle 16, 204: Parking lock device 60: Parking ECU (PECU) (Vehicle control unit) 62, 108: Non-volatile memory 68: Actuator 100, 200: Electronic control unit (Vehicle control unit) Igoff: IG off (Ignition off state) Igon: IG on (Ignition on state) Mpp1, Mpp2: Previous position NPlp: Non-P lock position (Non-parking lock position) Plp: P lock position (Parking lock position) Ppos: P switch position (Parking switch position) PWst: Power state

Claims

1. A vehicle control device is provided with a parking lock device that can selectively switch the parking position between a parking lock position and a non-parking lock position by driving an actuator, and in a vehicle in which the power state can be switched between an ignition-on state that enables driving and an ignition-off state that turns off the power related to driving and makes driving impossible, and when the vehicle switches to the ignition-on state, the vehicle control device performs initial position determination control to recognize and determine the parking position at the time of switching to the ignition-on state by driving the actuator, When the ignition is switched to the ignition off state, the parking switch position at the time of switching to the ignition off state is stored as the previous position in each of the multiple non-volatile memories. In the ignition-off state, if the previous position obtained from each of the non-volatile memories matches the parking lock position or the non-parking lock position, the matching previous position is determined to be the parking switch position in the ignition-off state. A vehicle control device characterized by the following features.

2. One of the non-volatile memories is provided in the parking lock device. The vehicle control device according to feature 1.

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