Vehicle control device

Abstract

To prevent generation of noise and oscillation or disturbance in vehicle behavior due to an abrupt change in a demand value.SOLUTION: A control device executes calculation processing to calculate a demand value for identical control object equipment for each of a plurality of demand control RQ1 to RQ4. The control device also executes adjustment processing MP to select one demand value from a plurality of demand values for demand control RQ1 to RQ4. The adjustment processing MP includes size comparison adjustment MP2 and priority adjustment MP1. The priority adjustment MP1 receives input of the demand value selected through the size comparison adjustment MP2 in addition to the demand value from the demand control RQ1 and RQ2 having different priority. The control device selects one demand value through the priority adjustment MP1 and outputs a signal corresponding to the selected demand value. The demand control RQ1 and RQ2 which inputs the demand value into the priority adjustment MP1 inputs the demand value calculated through gradual change processing when stopping a demand for the control object equipment into the size comparison adjustment MP2.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] A vehicle is equipped with various devices such as an engine, a transmission, and actuators mounted on these devices. The control device calculates the required values ​​for these devices. The control device then outputs signals corresponding to the calculated required values ​​to the devices to control them.

[0003] In addition, for the same device, required values ​​may be calculated for various controls having different purposes. The vehicle control device executes an arbitration process to select one required value from the multiple required values ​​output to the same device.

[0004] Patent Document 1 discloses an example of such arbitration processing, in which priority arbitration is performed to select a request value according to a priority set according to the type of control. Patent Document 2 discloses, as an example of such arbitration processing, minimum value arbitration, which selects the smallest request value among multiple input request values, and maximum value arbitration, which selects the largest request value among multiple input request values.

[0005] The vehicle control device can perform arbitration processing that combines these various arbitration methods. The vehicle control device can then adjust multiple control requests through the arbitration processing and ultimately determine the required value for the device to be controlled. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2004-52769 A [Patent Document 2] JP 2009-47102 A Summary of the Invention [Problem to be solved by the invention]

[0007] Incidentally, when a signal according to a request value selected through priority arbitration is output, when a request from a control with a higher priority is no longer present, the request value from the control with the next highest priority is selected. In this case, if there is a large deviation between the request value selected up until that point and the request value in the control with the next highest priority, the request value for the device will suddenly change when the selected request value is switched. As a result, the behavior of the device will suddenly change due to the sudden change in the request value. This may result in vibrations, noise, and other disturbances in the vehicle's behavior. [Means for solving the problem]

[0008] The means for solving the above problems and their effects will be described below. A vehicle control device for solving the above problem executes a calculation process for calculating a request value for the same control amount for the same controlled device in a plurality of controls with different purposes. The control device also executes an arbitration process for selecting one of the request values ​​calculated through each calculation process in the plurality of controls. The arbitration process includes magnitude comparison arbitration including minimum value arbitration for selecting the smallest request value among the plurality of input request values ​​or maximum value arbitration for selecting the largest request value among the plurality of input request values, and priority arbitration for selecting the request value with the highest priority among the input request values ​​according to a priority preset according to the type of the control. In addition to the request values ​​from the plurality of controls with different priorities, the request value selected through the magnitude comparison arbitration is input as the request value with the lowest priority. The control device selects one of the request values ​​as the request value for the controlled device through the priority arbitration, and outputs a signal according to the selected request value to the controlled device. Among the multiple controls, the control that inputs the request value to the priority arbitration inputs the request value calculated through a gradual change process that gradually changes the request value toward the cessation of the request when the request to the controlled device is stopped, into the magnitude comparison arbitration instead of the priority arbitration.

[0009] When all requests from the control that inputs request values ​​to the priority arbitration are stopped, the request values ​​input to the priority arbitration are limited to the request values ​​selected through the magnitude comparison arbitration. As a result, the request values ​​selected through the arbitration process are switched to the request values ​​selected through the magnitude comparison arbitration.

[0010] If there is a large discrepancy between the required value from the control that inputs the required value to the priority arbitration and the required value from the control that inputs the required value to the magnitude comparison arbitration, the required value for the equipment will change suddenly when the selected required value is switched.

[0011] In contrast, in the above configuration, after a request from a control that inputs a request value to priority arbitration is stopped, a request value calculated by performing gradual change processing on the request value output from the control that stopped the request is input to magnitude comparison arbitration. Therefore, even if the request value selected through arbitration processing is switched to the request value selected through magnitude comparison arbitration, the request value output as the request value to the controlled device will not suddenly change.

[0012] That is, the above-described vehicle control device has the effect of suppressing the generation of noise and vibrations and disturbances in the vehicle behavior caused by a sudden change in the required value. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram showing the relationship between a vehicle control unit, which is one embodiment of a vehicle control device, and an engine and a motor generator. [Diagram 2] FIG. 2 is a control block diagram illustrating the arbitration process executed by the vehicle control unit according to the embodiment. [Diagram 3] FIG. 3 is a time chart showing the transition of the required value output through the arbitration process of the vehicle control unit of the comparative example. [Figure 4] FIG. 4 is a time chart showing the transition of the required value output through the arbitration process of the control unit of the vehicle according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of a vehicle control device will be described with reference to FIGS. 1 to 4. FIG. <Relationship between the vehicle control unit 100 and the vehicle> 1 shows the relationship between a vehicle control unit 100, which is one embodiment of a vehicle control device, an engine 200, and a motor generator 300. The vehicle on which the vehicle control unit 100 is mounted is a hybrid vehicle equipped with the engine 200 and the motor generator 300.

[0015] As shown in Fig. 1, engine 200 includes an injector 201, an ignition device 202, and a throttle valve 203. The injector 201, the ignition device 202, and the throttle valve 203 are devices to be controlled by vehicle control unit 100. Vehicle control unit 100 controls injector 201, ignition device 202, and throttle valve 203 of engine 200 via engine control unit 120. Motor generator 300 is also a device to be controlled by vehicle control unit 100. Vehicle control unit 100 controls motor generator 300 via motor control unit 130.

[0016] The vehicle control unit 100, the engine control unit 120, and the motor control unit 130 are each configured to include a processing circuit and a memory that stores programs executed by the processing circuit.

[0017] <About sensors> As shown in FIG. 1, a vehicle control unit 100 is connected to various sensors for grasping the state of the vehicle.

[0018] Specifically, an accelerator position sensor 50 and a vehicle speed sensor 60 are connected to the vehicle control unit 100. The accelerator position sensor 50 detects the amount of accelerator operation. The vehicle speed sensor 60 detects the vehicle speed. In addition, a crank position sensor 10 and a water temperature sensor 20 are connected to the vehicle control unit 100. The crank position sensor 10 outputs a crank angle signal each time the crankshaft of the engine 200 rotates a certain angle. The vehicle control unit 100 calculates the rotation phase of the crankshaft and the engine rotation speed, which is the rotation speed of the crankshaft, based on the crank angle signal. The water temperature sensor 20 detects the coolant temperature of the engine 200.

[0019] An air flow meter 40 is also connected to the vehicle control unit 100. The air flow meter 40 is provided in an intake passage of the engine 200. The air flow meter 40 detects the intake air volume, which is the volume of intake air flowing through the intake passage, and the intake air temperature, which is the temperature of the intake air. Furthermore, an air-fuel ratio sensor 30 and an exhaust temperature sensor 70, both of which are provided in an exhaust passage of the engine 200, are connected to the vehicle control unit 100. The air-fuel ratio sensor 30 detects the air-fuel ratio of the exhaust. The exhaust temperature sensor 70 detects the exhaust temperature, which is the temperature of the exhaust. The vehicle control unit 100 calculates the temperature of an exhaust purification catalyst provided in the exhaust passage based on the intake air volume and the exhaust temperature.

[0020] The battery current, voltage, and temperature are input to the motor control unit 130. Based on the current, voltage, and temperature, the motor control unit 130 calculates a state of charge indicator value SOC, which is the ratio of the remaining charge to the battery's charge capacity.

[0021] The engine control unit 120 and the motor control unit 130 are each connected to the vehicle control unit 100 via a communication line. Each of these control units exchanges and shares information based on detection signals input from sensors via CAN communication and calculated information.

[0022] The various sensors as described above may be connected to the engine control unit 120 and the motor control unit 130. In this case, the vehicle control unit 100 acquires information from the engine control unit 120 and the motor control unit 130.

[0023] <Vehicle driving force control> This vehicle can perform motor running, in which the vehicle runs on the driving force of the motor generator 300, by using the electric power stored in the battery to drive the motor generator 300. In addition, the vehicle can also perform hybrid running, in which the vehicle runs on both the engine 200 and the motor generator 300.

[0024] The vehicle control unit 100 outputs a required power and a required engine rotation speed to the engine control unit 120 based on the accelerator operation amount, the vehicle speed, and the state of charge index value SOC. The vehicle control unit 100 also outputs a required torque and a target rotation speed for the motor generator 300 to the motor control unit 130.

[0025] The engine control unit 120 controls the engine 200 so as to realize the required power and the required engine rotation speed. The motor control unit 130 controls the motor generator 300 so as to realize the required torque and the target rotation speed.

[0026] <Regarding arbitration> In addition to the driving force control described above, various other controls are executed in the vehicle. The vehicle control unit 100 executes a calculation process for calculating a required value for each controlled device for the same control amount in various controls with different purposes. Then, it executes an arbitration process for selecting one required value from the multiple required values ​​calculated through the calculation processes in the multiple controls. The vehicle control unit 100 outputs a signal corresponding to the required value selected through the arbitration process to each controlled device via the engine control unit 120 and the motor control unit 130, and controls each controlled device.

[0027] Fig. 2 is a control block diagram showing an example of arbitration processing executed by the vehicle control unit 100. As described above, the arbitration processing MP executed by the vehicle control unit 100 arbitrates request values ​​from a plurality of controls with different purposes, and selects and outputs one request value. Fig. 2 shows four controls, a first request control RQ1, a second request control RQ2, a third request control RQ3, and a fourth request control RQ4, as examples of a plurality of controls that input request values ​​to the arbitration processing MP.

[0028] As shown in Fig. 2, the arbitration process MP includes priority arbitration MP1 and magnitude comparison arbitration MP2. The magnitude comparison arbitration MP2 is minimum value arbitration that selects the smallest request value among a plurality of input request values, or maximum value arbitration that selects the largest request value among a plurality of input request values. Priority arbitration MP1 is a process that selects the request value with the highest priority among the input request values ​​according to a priority that is preset according to the type of control that inputs the request values ​​to the arbitration process MP.

[0029] As shown in FIG. 2, in the arbitration process MP, the request value calculated through the calculation process of the third request control RQ3 is input to the magnitude comparison arbitration MP2. In addition, the request value calculated through the calculation process of the fourth request control RQ4 is also input to the magnitude comparison arbitration MP2. Also, as shown in FIG. 2, in the arbitration process MP, the request value calculated through the calculation process of the first request control RQ1 is input to the priority arbitration MP1. In addition, the request value calculated through the calculation process of the second request control RQ2 is also input to the priority arbitration MP1. Also, as shown in FIG. 2, in the arbitration process MP, the request value selected through the magnitude comparison arbitration MP2 is input to the priority arbitration MP1.

[0030] In the priority arbitration MP1, the request value input from the first request control RQ1 has the highest priority, and the request value input from the magnitude comparison arbitration MP2 has the lowest priority. In short, in the arbitration process MP shown in Fig. 2, the priority of the request value decreases in the order of the request value from the first request control RQ1, the request value from the second request control RQ2, and the request value from the magnitude comparison arbitration MP2. In this way, in addition to the request values ​​from multiple controls with different priorities, the request value selected through the magnitude comparison arbitration MP2 as the request value with the lowest priority is input to the priority arbitration MP1. Then, the request value selected through the priority arbitration MP1 becomes the output of the arbitration process MP.

[0031] Next, the arbitration process MP in the vehicle control unit 100 will be specifically described by taking as an example the arbitration of required values ​​for the ignition device 202, which is one of the devices to be controlled. The vehicle control unit 100 determines an efficiency coefficient for determining the amount of retardation of the ignition timing as a required value for the ignition device 202, and outputs the efficiency coefficient to the engine control unit 120. The retard amount is the amount of retardation of the ignition timing from the optimal ignition timing at which the torque is greatest. The larger the retard amount, the slower the combustion becomes and the lower the efficiency of the operation of the engine 200 becomes, so that the torque generated by the combustion becomes smaller. On the other hand, the temperature of the exhaust gas becomes higher. The efficiency coefficient is a coefficient in which the efficiency at the optimal ignition timing is set to "1.0". The efficiency coefficient is a positive value less than or equal to "1.0". The engine control unit 120 controls the ignition device 202 according to the efficiency coefficient so that the smaller the efficiency coefficient, the larger the amount of retardation of the ignition timing becomes.

[0032] The efficiency coefficient, which is the requested value, is a positive value less than or equal to "1.0", and when there is no request from each control, the requested value is "1.0". Therefore, in this example, the magnitude comparison arbitration MP2 is the minimum value arbitration that selects the requested value that results in a larger retard amount.

[0033] The efficiency coefficient, which is a required value for the ignition device 202, is calculated through various controls with different purposes. For example, the exhaust purification catalyst efficiently purifies the exhaust gas when the warm-up is completed and the temperature of the catalyst is equal to or higher than the activation temperature. The catalyst warm-up control calculates the efficiency coefficient as a required value for the ignition device 202 for the purpose of raising the temperature of the exhaust gas to warm up the exhaust purification catalyst. The vehicle control unit 100 estimates the temperature of the exhaust purification catalyst based on the exhaust temperature, the fuel injection amount, the engine rotation speed, and the like. Then, when the estimated temperature of the exhaust purification catalyst is lower than the activation temperature, the vehicle control unit 100 calculates the required value through a calculation process as part of the catalyst warm-up control. The required value calculated in this way is input to the arbitration process MP as a required value from the catalyst warm-up control. Note that when the temperature of the exhaust purification catalyst becomes equal to or higher than the activation temperature, the request from the catalyst warm-up control is stopped.

[0034] If the engine 200 has not yet finished warming up and the temperature of the combustion chamber is low, the air-fuel mixture does not burn properly, and particulate matter is likely to be generated. The engine warm-up control calculates an efficiency coefficient as a required value for the ignition device 202 in order to increase the temperature of the exhaust gas in order to warm up the engine 200. When the coolant temperature detected by the water temperature sensor 20 is lower than the warm-up determination threshold, the vehicle control unit 100 calculates the required value through a calculation process as part of the engine warm-up control. The required value calculated in this way is input to the arbitration process MP as the required value from the engine warm-up control. Note that when the coolant temperature becomes equal to or higher than the threshold, the request from the engine warm-up control is stopped.

[0035] Heat generated by the engine 200 is used to heat the passenger compartment. The heat management control calculates an efficiency coefficient as a required value for the ignition device 202 to ensure the heat required for heating. The vehicle control unit 100 calculates the required value through a calculation process as part of the heat management control, based on the intake air temperature and the coolant temperature. The required value calculated in this way is input to the arbitration process MP as a required value from the heat management control.

[0036] When the vehicle is traveling, filter regeneration control is executed to remove particulate matter accumulated in a filter provided in the exhaust passage. The filter regeneration control calculates an efficiency coefficient as a required value for the ignition device 202 to remove the particulate matter accumulated in the filter. When the amount of particulate matter accumulated in the filter increases, the vehicle control unit 100 calculates the required value through a calculation process based on the temperature of the filter as part of the filter regeneration control. The required value calculated in this way is input to the arbitration process MP as the required value from the filter regeneration control.

[0037] The catalyst warm-up control and the engine warm-up control are controls related to exhaust emission regulations, and therefore have a high priority. In particular, unless the exhaust purification catalyst has been warmed up, the exhaust gas cannot be properly purified. For this reason, the catalyst warm-up control has a particularly high priority.

[0038] 2, the catalyst warm-up control corresponds to the first demand control RQ1, the engine warm-up control corresponds to the second demand control RQ2, the heat management control corresponds to the third demand control RQ3, and the filter regeneration control corresponds to the fourth demand control RQ4.

[0039] Fig. 3 is a time chart for explaining an example of arbitration processing MP of a required value for the ignition device 202. The dashed line in Fig. 3 indicates the transition of the required value from the catalyst warm-up control. The dashed line in Fig. 3 indicates the transition of the required value from the filter regeneration control. The solid line in Fig. 3 indicates the transition of the required value selected through the arbitration processing MP, that is, the required value output from the arbitration processing MP.

[0040] As indicated by the dashed line, in the example shown in Fig. 3, the required value from the catalyst warm-up control gradually decreases until it reaches "0.8" at time T1. The required value from the catalyst warm-up control is maintained at "0.8" from time T1 to time T3. The required value from the catalyst warm-up control gradually increases from time T3 to time T5. The required value from the catalyst warm-up control reaches "1.0" at time T5 and is then maintained at "1.0".

[0041] 3, the required value from the filter regeneration control is maintained at "1.0" until time T2, as indicated by the dashed line. After the required value from the filter regeneration control is changed to "0.9" at time T2, it is maintained at "0.9".

[0042] If the input of the required value to the arbitration process MP is immediately stopped when it is no longer necessary to request a retard of the ignition timing, the required value selected through the arbitration process MP will suddenly change. Therefore, in the example shown in Fig. 3, when it is no longer necessary to request a retard of the ignition timing at time T3, the catalyst warm-up control executes a gradual change process in which the required value is gradually changed toward "1.0" in the calculation process in the catalyst warm-up control. Then, the catalyst warm-up control continues to input the required value calculated through the gradual change process to the priority arbitration MP1 until the required value calculated through the gradual change process at time T5 becomes approximately "1.0".

[0043] As a result, in the example shown in Fig. 3, the request value continues to be input from the catalyst warm-up control, which is the first request control RQ1, to the priority arbitration MP1 until time T5. Therefore, until time T5, the request value of the catalyst warm-up control shown by the dashed line is selected as the request value output by the arbitration process MP, as shown by the solid line in Fig. 3. By adopting such a configuration, a sudden change in the request value caused by the request from the catalyst warm-up control being stopped is suppressed.

[0044] However, as shown in Fig. 3, after the request value returns to "1.0" at time T5, the request value selected by minimum value arbitration by magnitude comparison arbitration MP2 is selected as the request value to be output from arbitration processing MP. In this example, even though the request value for filter regeneration control indicated by the dashed dotted line continues to be input from time T2, the request value for filter regeneration control is not selected from time T4 to time T6. Then, after the request value returns to "1.0", the request value for filter regeneration control is finally selected at time T6.

[0045] Thus, in the example shown in Fig. 3, the requested value from the catalyst warm-up control, which is the first request control RQ1 that inputs a requested value to the priority arbitration MP1, is selected until time T5. Then, from time T5 onwards, the requested value from the filter regeneration control, which is the fourth request control RQ4 that inputs a requested value to the magnitude comparison arbitration MP2, is selected. In Fig. 3, the period during which the requested value input to the priority arbitration MP1 is selected and output is shown as "priority request". Also, the period during which the requested value input to the minimum value arbitration, which is the magnitude comparison arbitration MP2, is selected and output is shown as "minimum value request".

[0046] <Arbitration Processing MP in the Present Embodiment> The vehicle control unit 100 is provided with measures to eliminate unnecessary fluctuations in the request value, such as those occurring between time T4 and time T6 in Fig. 3. Specifically, the vehicle control unit 100 inputs the request value calculated through the gradual change process when stopping a request to the controlled device to magnitude comparison arbitration MP2, as shown by the dashed line in Fig. 2. That is, the vehicle control unit 100 inputs the request value calculated through the gradual change process when stopping a request to the controlled device to magnitude comparison arbitration MP2, rather than priority arbitration MP1.

[0047] <effect> Next, the arbitration process in the vehicle control unit 100 of this embodiment will be described with reference to FIG. 4, in comparison with the example shown in FIG.

[0048] As described above, when the vehicle control unit 100 stops a request to a controlled device, the vehicle control unit 100 inputs the request value calculated through the gradual change process to magnitude comparison arbitration MP2, as shown by the dashed line in Fig. 2. That is, when the vehicle control unit 100 stops a request from the catalyst warm-up control, which is the first request control RQ1, it immediately stops the input of the request value from the catalyst warm-up control to the priority arbitration MP1 at time T3. Then, after time T3, the vehicle control unit 100 inputs the request value that has been subjected to the gradual change process to minimum value arbitration, which is the magnitude comparison arbitration MP2.

[0049] Therefore, as shown in FIG. 4, in the vehicle control unit 100, the "minimum value request" is made after time T3, and the request value from the filter regeneration control indicated by the dashed dotted line is selected at time T4.

[0050] As a result, as shown in FIG. 4, after time T4, the required value from the filter regeneration control becomes the required value output from the arbitration process MP. In other words, it is possible to eliminate unnecessary fluctuations in the required value, such as those that occur between time T4 and time T6 in FIG.

[0051] The effects of this embodiment will be described. (1) When all requests from the control that inputs request values ​​to priority arbitration MP1 are stopped, the request values ​​input to priority arbitration MP1 will be only the request values ​​selected through magnitude comparison arbitration MP2. As a result, the request values ​​selected through arbitration processing MP are switched to the request values ​​selected through magnitude comparison arbitration MP2.

[0052] If there is a large discrepancy between the required value from the control that inputs the required value to priority arbitration MP1 and the required value from the control that inputs the required value to magnitude comparison arbitration MP2, the required value for the equipment will change suddenly when the selected required value is switched.

[0053] In response to this, after a request from a control that inputs a request value to priority arbitration MP1 is stopped, the vehicle control unit 100 inputs a request value calculated by applying gradual change processing to the request value output from the control that stopped the request to magnitude comparison arbitration MP2. Therefore, even if the request value selected through arbitration processing MP is switched to the request value selected through magnitude comparison arbitration MP2, the request value output as the request value to the controlled device will not suddenly change.

[0054] That is, the vehicle control unit 100 has the effect of suppressing disturbances in the vehicle behavior caused by a sudden change in the required value. (2) In the control of inputting a request value to priority arbitration MP1, the vehicle control unit 100 inputs the request value calculated through the gradual change process to magnitude comparison arbitration MP2, rather than to priority arbitration MP1. This makes it possible to immediately realize the "minimum value request" at time T3, compared to the case in which the "minimum value request" is finally realized after the request value is returned to "1.0" as shown in Fig. 3.

[0055] This makes it possible to eliminate unnecessary fluctuations in the required value, such as the example shown in FIG. This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0056] Although an example of arbitration of the request value for the ignition device 202 has been shown, a configuration similar to the arbitration processing MP shown in Fig. 3 can also be applied to arbitration of request values ​​for other controlled devices. The block diagram shown in Fig. 2 is merely an example of the arbitration processing MP. Therefore, the type and number of controls that input request values ​​to the priority arbitration MP1, and the type and number of controls that input request values ​​to the magnitude comparison arbitration MP2 are not limited to the above example.

[0057] For example, a similar configuration can be applied to arbitration processing in which the target rotation speed of the motor generator 300 is set as a required value, or arbitration processing in which the target rotation speed of the engine 200 is set as a required value. In this case, maximum value arbitration, which selects the largest required value among multiple required values, may be used as the magnitude comparison arbitration MP2. For example, immediately after the start of the engine 200, in order to avoid operation in a high rotation range, a control immediately after start that outputs the target rotation speed of the engine 200 is executed as a control for inputting a required value to the priority arbitration MP1. A target rotation speed required to achieve the purpose of other controls is input to the magnitude comparison arbitration MP2. In this case, when the request by the immediately after start control is no longer made, a value obtained by subjecting the target rotation speed output by the immediately after start control to a gradual change process is input to the magnitude comparison arbitration MP2. This makes it possible to suppress a sudden change in the target rotation speed, as in the above embodiment.

[0058] A similar arbitration process configuration can also be applied to the control of the opening of a valve that controls the amount of intake air or the flow of engine cooling water. In the case of controlling such valves, control may be executed to check the opening and closing operation immediately after operation. The control for such a check is the control for inputting a required value to priority arbitration MP1. Then, after the control for the check is completed, the required value required to achieve the objective of the other control is output. Therefore, in this case, the "required value required to achieve the objective of the other control" is input to magnitude comparison arbitration MP2.

[0059] In the above embodiment, an example of the vehicle control unit 100 that controls a hybrid vehicle is shown, but the target vehicle is not limited to a hybrid vehicle. A similar configuration can also be applied to a vehicle equipped with only the engine 200. As described above, the arbitration process MP is not limited to the control of the ignition timing. Therefore, a similar configuration can also be applied to a vehicle equipped with a diesel engine. Of course, a similar configuration can also be applied to a battery-electric vehicle equipped with only a motor. [Explanation of symbols]

[0060] 10...Crank position sensor 20...Water temperature sensor 30...Air-fuel ratio sensor 40…Air flow meter 50...Accelerator position sensor 60...Vehicle speed sensor 70...Exhaust temperature sensor 100...Vehicle control unit 120…Engine control unit 130...Motor control unit 200…Engine 201...Injector 202…Ignition device 203...Throttle valve 300…Motor generator RQ1: First request control RQ2: Second requirement control RQ3: Third requirement control RQ4: Fourth requirement control MP: Mediation process MP1…Priority arbitration MP2…Size comparison mediation

Claims

[Claim 1] Executing a calculation process for calculating a required value for the same control amount for the same control target device in a plurality of controls having different purposes, and executing an arbitration process for selecting one of the required values ​​calculated through each of the calculation processes in the plurality of controls; the arbitration process includes a magnitude comparison arbitration including a minimum value arbitration for selecting the smallest of the plurality of inputted request values ​​or a maximum value arbitration for selecting the largest of the plurality of inputted request values, and a priority arbitration for selecting the request value having the highest priority among the inputted request values ​​according to a priority preset according to the type of control, In addition to the request values ​​from the plurality of controls having different priorities, the request value selected through the magnitude comparison arbitration as the request value with the lowest priority is input to the priority arbitration, a control device for a vehicle that selects one of the requirement values ​​as the requirement value for the control-target device through the priority arbitration and outputs a signal corresponding to the selected requirement value to the control-target device, Among the multiple controls, the control that inputs the request value to the priority arbitration is a vehicle control device that, when stopping a request to the controlled device, inputs the request value calculated through a gradual change process that gradually changes the request value toward stopping the request into the magnitude comparison arbitration rather than the priority arbitration.

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