Vehicle control device

Abstract

To appropriately suppress ratcheting in switching to a P range regardless of an individual difference of every vehicle.SOLUTION: When parking control for switching to a P range is executed, it is determined whether there is a ratcheting state or not, and when it is determined that there is a ratcheting state (determination in S3 is YES), parking control is stopped in S5, and a parking pole is moved to a non-parking position where engagement with a parking gear is released. With this, it is possible to appropriately suppress ratcheting of an electric parking device regardless of an individual difference of every vehicle such as a dimensional error between the parking pole and the parking gear, and an accuracy error of a vehicle speed sensor or the like.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a control device for a vehicle, and more particularly to a control device for a vehicle equipped with an electric parking device. [Background technology]

[0002] (a) A vehicle is provided with an electric parking device that electrically controls a parking pole to engage with a parking gear that is rotated in conjunction with the wheels to lock the wheels from rotating, and a range selection device that can select a plurality of ranges with different vehicle drive states including a P range for parking in which the wheels are locked from rotating by the electric parking device, and (b) a vehicle control device having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position where the parking pole engages with the parking gear when the P range is selected. The device described in Patent Document 1 is an example of such a device. In Patent Document 1, switching to the P range is permitted on the condition that the vehicle speed is equal to or lower than a predetermined vehicle speed, and switching to the P range is prohibited when the vehicle speed is higher than the predetermined vehicle speed, thereby preventing the vehicle from suddenly stopping or ratcheting from occurring due to switching to the P range. Ratcheting is a phenomenon in which the parking pole is repeatedly bounced off without engaging with the parking gear. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-280637 Summary of the Invention [Problem to be solved by the invention]

[0004] However, due to individual differences between vehicles, such as dimensional errors of the parking pole and parking gear and accuracy errors of the vehicle speed sensor, ratcheting may occur even when switching to P range at or below the specified vehicle speed. If ratcheting continues, the durability of the parking pole and parking gear may be impaired. If the switching speed to P range is set so that ratcheting does not occur regardless of individual differences between vehicles, switching to P range may be restricted more than necessary.

[0005] The present invention has been made against the background of the above circumstances, and its purpose is to appropriately suppress ratcheting when switching to P range, regardless of individual differences between vehicles. [Means for solving the problem]

[0006] In order to achieve this object, a first invention relates to a vehicle including: (a) an electric parking device that electrically controls a parking pole to engage with a parking gear that is rotated in conjunction with the wheels, thereby locking the wheels so that they cannot rotate; and a range selection device that can select a plurality of ranges in which a vehicle is driven in different driving states, including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device; (b) a vehicle control device having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position in which the parking pole engages with the parking gear when the P range is selected; (c) when executing the parking control, the parking control unit determines whether the parking pole is in a ratcheting state in which it is repelled without engaging with the parking gear, and if it determines that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which the parking pole is released from engagement with the parking gear. and (d) when a predetermined re-execution condition is satisfied after the parking control unit has determined that the vehicle is in the ratcheting state and stopped the parking control, the parking control unit re-executes the parking control, and (e) the re-execution condition is that the vehicle speed when the ratcheting state is determined to be a reference vehicle speed, and a decrease in the vehicle speed from the reference vehicle speed is equal to or greater than a predetermined decrease in the vehicle speed for determining re-execution. It is characterized by:

[0009] A second invention relates to a vehicle including: (a) an electric parking device that electrically controls a parking pole to engage with a parking gear that is rotated in conjunction with the wheels, thereby locking the wheels so that they cannot rotate; and a range selection device that can select a plurality of ranges with different driving states of the vehicle including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device; (b) a vehicle control device having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position in which it engages with the parking gear when the P range is selected, (c) when executing the parking control, the parking control unit determines whether the parking pole is in a ratcheting state in which it is repelled without engaging with the parking gear, and if it determines that it is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which it is released from engagement with the parking gear; and (d) (e) after determining that the vehicle is in the ratcheting state and suspending the parking control, if a predetermined re-execution condition is satisfied, the parking control unit re-executes the parking control;The re-execution condition is that the time elapsed after it has been determined that the ratcheting state has occurred is equal to or greater than a predetermined re-execution determination time.

[0011] A third invention relates to a vehicle including: (a) an electric parking device that electrically controls a parking pole to engage with a parking gear that is rotated in conjunction with the wheels, thereby locking the wheels so that they cannot rotate; and a range selection device that can select a plurality of ranges with different driving states of the vehicle including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device; (b) a vehicle control device having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position where the parking pole engages with the parking gear when the P range is selected; (c) when executing the parking control, the parking control unit determines whether the parking pole is in a ratcheting state in which it is repelled without engaging with the parking gear, and if it determines that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position where the engagement with the parking gear is released; and (d) the vehicle includes an electric braking device that can electrically control the braking force of the vehicle; and (e) The control device has a braking control unit that generates the braking force by the electric braking device when the parking control unit determines that the vehicle is in the ratcheting state and stops the parking control; and (f) The braking control unit is characterized in that it sets the vehicle speed at the time when the parking control unit determines that the ratcheting state is present as a reference vehicle speed, and continues generating the braking force by the electric braking device until the amount of decrease in vehicle speed from the reference vehicle speed becomes equal to or greater than a predetermined decrease amount for determining whether braking is to continue.

[0012] A fourth invention relates to a vehicle including: (a) an electric parking device that electrically controls a parking pole to engage with a parking gear that is rotated in conjunction with the wheels, thereby locking the wheels so that they cannot rotate; and a range selection device that can select a plurality of ranges that differ in the driving state of the vehicle, including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device; (b) a vehicle control device having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position in which the parking pole engages with the parking gear when the P range is selected; (c) when executing the parking control, the parking control unit determines whether the parking pole is in a ratcheting state in which it is repelled without engaging with the parking gear, and if it determines that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which the engagement with the parking gear is released; and (d) the vehicle is equipped with an electric braking device that can electrically control the braking force of the vehicle; and (e) The control device has a braking control unit that generates the braking force by the electric braking device when the parking control unit determines that the vehicle is in the ratcheting state and stops the parking control; and (f) The braking control unit is characterized in that it continues generating the braking force by the electric braking device until the elapsed time after the parking control unit determines that the ratcheting state is reached becomes equal to or greater than a predetermined braking continuation determination time.

[0015] No. 5 The invention is 1 or 2 In the vehicle control device of the second invention, (a) the vehicle is equipped with an electric braking device that can electrically control the braking force of the vehicle, and (b) the control device has a braking control unit that generates the braking force using the electric braking device when the parking control unit satisfies the re-execution condition and re-executes the parking control, determines that the ratcheting state has occurred again, and discontinues the parking control. In addition, this 5 The invention requires that a braking force be generated when the ratcheting state is determined again in the parking control after the re-execution condition is satisfied, and whether or not to generate a braking force when the ratcheting state is determined in the initial parking control can be determined as appropriate.

[0016] No. 6 The invention is 5In the vehicle control device of the invention, (a) the parking control unit re-executes the parking control when the re-execution condition is satisfied, and determines whether or not the ratcheting state is present, and repeats re-executing the parking control when the re-execution condition is satisfied until the ratcheting state is no longer determined, while (b) the braking control unit continues the generation of the braking force by the electric braking device until the parking control unit no longer determines the ratcheting state. Effect of the Invention

[0017] According to such a vehicle control device, when executing parking control, it is determined whether or not the ratcheting state is present, and if it is determined that the ratcheting state is present, the parking control is stopped and the parking pole is moved to a non-parking position, thereby making it possible to appropriately suppress ratcheting regardless of individual differences between vehicles.

[0018] No. 1 Invention ~ 2 In the present invention, when a predetermined re-execution condition is satisfied after the parking control is stopped, the parking control is re-executed, so that the vehicle can be quickly switched to the P range by re-executing the parking control while suppressing ratcheting. 1 In the present invention, parking control is re-executed based on the amount of decrease in vehicle speed, i.e., the amount of decrease in the rotational speed of the parking gear, so that the parking pawl becomes easier to mesh with by the amount of decrease in the rotational speed of the parking gear, thereby reducing the number of times ratcheting occurs and the number of times parking control is executed, thereby reducing power consumption.

[0019] No. 3 Invention ~ 4In the present invention, when the ratcheting state is determined and parking control is stopped, a braking force is generated by the electric braking device, so that a predetermined braking force can be obtained regardless of whether parking control is stopped, and the driver is prevented from feeling uncomfortable. In addition, since the vehicle speed is reduced by the braking force generated by the electric braking device, the rotation speed of the parking gear is reduced accordingly, so that the parking gear can be quickly switched to the P range in which the parking pole meshes with the parking gear by executing parking control again. 。

[0020] No. 5 Invention, No. 6 In the invention, when the parking control unit satisfies the re-execution conditions and re-executes parking control, if it determines that the ratcheting state has occurred again and stops parking control, a braking force is generated by the electric braking device, and the vehicle speed is reduced by this braking force, and the rotational speed of the parking gear is reduced accordingly. Therefore, by re-executing parking control, the range can be quickly switched to P range in which the parking pole meshes with the parking gear. [Brief description of the drawings]

[0021] [Figure 1] 1 is a block diagram illustrating a schematic configuration of a vehicle having a control device according to an embodiment of the present invention, the block diagram also illustrating essential parts of a control system. [Diagram 2] FIG. 2 is a schematic perspective view illustrating an example of an electric parking device provided on the vehicle of FIG. [Diagram 3] 4 is a flowchart illustrating signal processing executed by a parking control unit that is functionally included in the electronic control device of the vehicle in FIG. [Figure 4] 4 is an example of a time chart illustrating changes in the operating state of each part when the decrease amount (V0-V) of the vehicle speed V becomes equal to or larger than the re-execution determination decrease amount ΔVs in S7 of FIG. 3 and S8 and subsequent steps are executed. [Diagram 5] 4 is an example of a time chart illustrating changes in the operating state of each part when the re-execution determination timer T0 becomes 0 in S7 of FIG. 3 and S8 and subsequent steps are executed. [Figure 6] FIG. 4 is a diagram for explaining another embodiment of the present invention, and is a flowchart for explaining signal processing executed by a parking control unit instead of that in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] The electric parking device is a so-called shift-by-wire (SBW) type parking device in which a range selected by a range selection device such as a shift lever is electrically established by an electric or other shift actuator. The ranges include at least a P (parking) range for parking that mechanically prevents rotation of a parking gear, and when the P range is selected, the parking pole of the electric parking device is brought into mesh with the parking gear to enter a parking state. In this P range, it is desirable to cut off power transmission. The vehicle may be applied to various vehicles, such as an engine-driven vehicle that generates power by burning fuel, an electric vehicle driven by an electric motor, or a hybrid vehicle equipped with multiple power sources.

[0023] The parking gear is provided on a rotating shaft (such as an output shaft) that is mechanically rotated with the rotation of the wheels, and the rotation of the rotating shaft and further the rotation of the wheels are mechanically prevented by meshing the parking gear with a parking pole. The parking pole is reciprocated between a parking position and a non-parking position by an actuator such as an electric motor. A biasing device such as a spring member is interposed between the parking pole and the actuator as necessary so as to allow relative movement when the parking pole interferes with the parking gear. Ratcheting, in which the parking pole is bounced off without meshing with the parking gear, occurs when the parking gear rotates while the vehicle is traveling, causing the parking pole to be repeatedly bounced off by multiple teeth of the parking gear against the biasing force of, for example, a biasing device. Whether or not the vehicle is in a ratcheting state can be determined, for example, from the position of the parking pole, but it can also be determined from the rotation speed of the wheels or the rotation speed of the parking gear.

[0024] The re-execution condition when re-executing parking control after suspending parking control due to a determination that the vehicle is in a ratcheting state is determined based on, for example, the amount of reduction in vehicle speed after the determination that the vehicle is in a ratcheting state, but various other aspects are possible, such as the time that has elapsed since the determination that the vehicle is in a ratcheting state or the distance traveled after the determination that the vehicle is in a ratcheting state. As an electric braking device that generates a braking force when parking control is suspended due to a determination that the vehicle is in a ratcheting state, for example, an electric wheel brake device that can electrically control the hydraulic pressure of the wheel brake is used. However, if an electric motor that also functions as a generator is provided as a driving power source, the electric motor can be regeneratively controlled to function as a generator to generate a braking force. That is, the electric motor provided as a driving power source can be used as an electric braking device. However, it is also possible to omit applying a braking force by the electric braking device. EXAMPLES

[0025] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that in the following embodiments, the drawings are appropriately simplified or modified for the purpose of explanation, and the shapes, dimensional ratios, angles, etc. of the various parts are not necessarily drawn accurately.

[0026] 1 is a block diagram illustrating a schematic configuration of a vehicle 8 equipped with an electronic control device 10 that functions as a control device to which the present invention is applied, and also shows the main parts of a control system. The vehicle 8 is an electric vehicle equipped with an electric motor MG as a driving power source. The electric motor MG is a so-called motor generator that also functions as a generator, and is mechanically connected to wheels 22 via a power transmission mechanism 20 such as a transaxle, and is electrically connected to a battery 26 via an inverter 24. The vehicle 8 is equipped with an electric parking device 30 that can lock the wheels 22 so that they cannot rotate by electric control, and an electric wheel brake device 32 that generates a braking force by electric control.

[0027] 2 is a schematic perspective view for explaining an example of the electric parking device 30. The electric parking device 30 is an SBW type parking device that electrically switches the driving state of the vehicle 8 to a plurality of different ranges by operating an SBW actuator 40 such as an electric motor according to the range selected by a range selection device 62 (see FIG. 1) such as a shift lever, and rotating a detent plate 44 via a shift shaft 42. The range selection device 62 is disposed near the driver's seat, and can select, for example, a P (parking) range for parking, an R (reverse) range for reverse driving, an N (neutral) range for cutting off power transmission, and a D (drive) range for forward driving, and a signal indicating the selected range Sra is supplied to the electronic control device 10. In the P range, power transmission is cut off in the same manner as in the N range.

[0028] The detent plate 44 is rotated around the axis of the shift shaft 42 by the SBW actuator 40, and is positioned at four rotation positions: a P position for P range, an R position for R range, an N position for N range, and a D position for D range. A parking rod 46 is connected to the detent plate 44, and the parking rod 46 is caused to reciprocate in a substantially linear manner as the detent plate 44 rotates, and the operation state of the electric parking device 30 is switched according to the position of the parking rod 46. A parking head 48 is connected to the tip of the parking rod 46, and when the parking head 48 is moved (forward) by the SBW actuator 40 from the non-parking position shown in FIG. 2 to the parking position diagonally to the upper left, the parking pole 50 is rotated upward, and a parking state is established in which the meshing teeth 50t mesh with the parking gear 52. The parking head 48 has a tapered (conical) shape, and the taper pushes the parking pole 50 upward. With regard to the electric parking device 30, the operation of the SBW actuator 40 is simplified and referred to as a parking position corresponding to the above-mentioned P position, and an operating position other than the P position is referred to as a non-parking position. Note that various electric parking devices 30 that can be electrically switched between the parking state and the non-parking state can be used, such as one having a parking head with one or more rollers, or one that moves the parking pole by an electromagnet.

[0029] The parking gear 52 is attached to a rotating shaft 54, such as an output shaft of the power transmission mechanism 20, which is mechanically rotated with the rotation of the wheels 22, so as not to rotate relatively. The parking pole 50 is disposed in a transmission case or the like so as to be rotatable about the axis of a pole shaft 56 parallel to the rotating shaft 54, and is biased in the meshing release direction (counterclockwise direction in FIG. 2) by a return spring (not shown), and the parking head 48 rotates the parking pole 50 in the meshing direction (clockwise direction in FIG. 2) against the biasing force of the return spring. That is, the parking pole 50 is disposed so as to be able to approach and move away from the parking gear 52, and is moved between a non-parking position where meshing with the parking gear 52 is released and a parking position where the meshing teeth 50t mesh with the parking gear 52, as shown in FIG. 2. In the parking position, the meshing teeth 50t mesh with the parking gear 52, thereby mechanically preventing the rotation of the parking gear 52, and further the rotation of the rotary shaft 54 ​​and the wheels 22, thereby entering a parking state.

[0030] The parking head 48 is disposed so as to be movable relative to the parking rod 46 in the axial direction, and is normally held at the tip side in the upper left direction in FIG. 2 with respect to the parking rod 46 by a spring member (a compression coil spring in this embodiment) 58 serving as a biasing device. When the SBW actuator 40 is actuated from the non-parking position to the parking position, the parking pole 50 is rotated to the parking position via the parking head 48. However, when the meshing teeth 50t of the parking pole 50 interfere with the parking gear 52, the parking head 48 is allowed to be displaced relative to the parking rod 46 in the lower right direction in FIG. 2 against the biasing force of the spring member 58. In this case, when the parking gear 52 rotates due to an inclination of the road surface, the parking pole 50 meshes with the parking gear 52 according to the biasing force of the spring member 58, and the parking state is established. Furthermore, when the P range is selected while the vehicle is moving, there is a possibility that ratcheting will occur, in which the rotation of the parking gear 52 causes the parking pole 50 to be repeatedly bounced off of multiple teeth of the parking gear 52 against the biasing force of the spring member 58. In other words, the SBW actuator 40 and the parking rod 46 are operated to the parking position, but the parking head 48 and the parking pole 50 cannot reach the parking position, and the vehicle 8 remains in a state in which it can be driven.

[0031] The electric wheel brake device 32 includes a brake master cylinder and a cylinder actuator (not shown) for generating brake hydraulic pressure, and can electrically control the braking force, i.e., the brake hydraulic pressure, of the wheel brakes arranged on all the wheels of the vehicle 8 including the wheels 22. The electric wheel brake device 32 generates brake hydraulic pressure in response to the deceleration request Bra by the driver, for example, by depressing the brake pedal, and electrically controls the brake hydraulic pressure to increase or decrease during operation of the ABS function for preventing wheel lock, during skid suppression control, during vehicle speed control, during automatic driving control, during automatic brake function operation, etc., so as to obtain the wheel braking torque TBw required by each control.

[0032] The electronic control device 10 includes a so-called microcomputer having a CPU, ROM, RAM, an input / output interface, and the like, and executes various controls of the vehicle 8 by performing signal processing according to a program previously stored in the ROM while utilizing the temporary storage function of the RAM. The electronic control device 10 is supplied with a signal indicating the selected range Sra selected by the range selection device 62, and is also supplied with various vehicle information required for controlling the vehicle 8 from a vehicle information detection device 60. This vehicle information includes, for example, the deceleration request amount Bra, an accelerator opening degree θacc indicating an acceleration request amount by the driver due to depression of the accelerator pedal, an MG rotation speed Nm which is the rotation speed of the electric motor MG, a rotation speed Nout of the output shaft of the power transmission mechanism 20 corresponding to the vehicle speed V, a wheel speed ωfr which is the rotation speed of all the wheels including the wheels 22, and the vehicle information detection device 60 includes various rotation angle sensors, load sensors, vehicle speed sensors, and the like.

[0033] The ratcheting detection device 64 also supplies the electronic control device 10 with ratcheting information Prt, which can be used to determine whether the electric parking device 30 is in a ratcheting state. The ratcheting detection device 64 can be, for example, a proximity switch or a limit switch that switches ON / OFF when the parking pole 50 rotates to the parking position, or an angle sensor that detects the rotation angle of the parking pole 50, and can determine that the ratcheting state is present when the parking pole 50 does not rotate to the parking position even though the SBW actuator 40 is operated to the parking position while the vehicle is traveling. The ratcheting state can also be determined when the rotation angle of the parking pole 50 repeatedly increases and decreases by a predetermined angle. Instead of detecting the position of the parking pole 50, it can also be determined that the ratcheting state is present based on whether the wheel speed ωfr or the MG rotation speed Nm corresponding to the rotation of the parking gear 52 decreases or stops rotating.

[0034] The electronic control unit 10 functionally comprises an MG control unit 12, a braking control unit 14, and a parking control unit 16.

[0035] The MG control unit 12 calculates the driving demand amount of the vehicle 8 by the driver, for example, by applying the accelerator opening θacc and the vehicle speed V to a driving demand amount map. The driving demand amount map is a relationship for calculating the driving demand amount that is experimentally or design-wise obtained and stored in advance, i.e., is predetermined. The driving demand amount is, for example, a required driving torque Trdem [Nm], a required driving force Frdem [N], a required driving power Prdem [W], etc. at the wheels 22. The MG control unit 12 calculates a target MG torque Tmtgt that can realize the required driving amount, taking into account a transmission loss, an auxiliary load, a reduction ratio of the power transmission mechanism 20, etc. Then, the electric motor MG is controlled via the inverter 24 so that the target MG torque Tmtgt is output.

[0036] The braking control unit 14 sets the required braking torque TBdem based on, for example, the accelerator operation by the driver (for example, the accelerator opening θacc, the rate of decrease of the accelerator opening θacc), the vehicle speed V, the gradient of a downhill road, the deceleration request amount Bra due to the brake operation by the driver, etc. The braking control unit 14 generates a braking torque TB of the vehicle 8 so as to obtain the required braking torque TBdem while the vehicle 8 is decelerating. The required braking torque TBdem is basically a required braking torque for the wheel braking torque TBw by the electric wheel brake device 32, and is realized by the wheel braking torque TBw, but from the viewpoint of improving energy efficiency, for example, a regenerative braking torque TBr may be used in combination or given priority. The regenerative braking torque TBr is a braking torque TB obtained by braking due to regeneration of the electric motor MG, and is generated by the regenerative control of the electric motor MG by the MG control unit 12. The regenerative torque of the electric motor MG is the MG torque Tm during regeneration of the electric motor MG, which is obtained by converting the regenerative braking torque TBr at the wheels 22 based on the reduction ratio of the power transmission mechanism 20 and the like.

[0037] The parking control unit 16 switches the operating state of the electric parking device 30 according to the selected range Sra selected by the range selection device 62, and specifically executes signal processing according to steps S1 to S10 of the flowchart in Fig. 3 (hereinafter, the steps will be omitted and simply referred to as S1 to S10. The same applies to other flowcharts). In the decision steps indicated by diamonds in this flowchart, YES means affirmative, and NO means negative. Figs. 4 and 5 are examples of time charts that explain the changes in the operating state of each part when parking control is executed to switch the electric parking device 30 to the parking state according to the flowchart in Fig. 3 when the P range is selected.

[0038] In S1 of FIG. 3, it is determined whether the P range is selected by the range selection device 62, and if a non-P range other than the P range is selected, the process ends. However, if the P range is selected, S2 and the following steps are executed. In S2, the SBW actuator 40 of the electric parking device 30 is driven to the parking position to establish the P range. This basically moves the parking head 48 together with the parking rod 46 to the parking position, and the parking pole 50 is engaged with the parking gear 52, resulting in a parking state in which the rotating shaft 54 ​​and the wheels 22 are locked so as not to rotate. However, if an attempt is made to switch to the P range while the vehicle is traveling, ratcheting may occur in which the parking pole 50 is repeatedly bounced off multiple teeth of the parking gear 52 due to the rotation of the parking gear 52, and if this ratcheting continues, the durability of the parking pole 50 and the parking gear 52 may be impaired. For this reason, in the next step S3, it is determined whether or not the ratcheting state is present based on the ratcheting information Prt supplied from the ratcheting detection device 64, and if it is determined that the ratcheting state is present, S4 and subsequent steps are executed; if it is not determined that the ratcheting state is present, the parking pole 50 is engaged with the parking gear 52, which is the correct parking state, so the process ends there.

[0039] In S4, which is executed when the vehicle is in the ratcheting state, the vehicle speed V at that time (when the ratcheting state is determined) is stored as a reference vehicle speed V0, and the re-execution determination timer T0 is set to a predetermined re-execution determination time. The remaining time of the re-execution determination timer T0 decreases according to the elapsed time after the ratcheting state is determined in S3, and when the set time (=re-execution determination time) is reached, T0=0. In S5, in order to prevent the ratcheting state from continuing, the SBW actuator 40 is temporarily returned to the non-parking position, and the parking pole 50 of the electric parking device 30 is switched to a non-parking state in which it is separated from the parking gear 52. In addition, in S6, a braking request is output to the braking control unit 14 so that a predetermined braking force is applied to the vehicle 8. In accordance with this braking request, the braking control unit 14 generates a predetermined braking force via, for example, the electric wheel brake device 32. It is also possible to generate a predetermined braking force by regenerative control of the electric motor MG, and it is also possible to generate a braking force by both of them. The electric wheel brake device 32 and the electric motor MG correspond to an electric braking device.

[0040] 4 and 5, time t1 is the time when the P range is selected, and time t2 is the time when the SBW actuator 40 is driven to the parking position (P position) by execution of S2. Time t3 is the time when the ratcheting state is determined, the SBW actuator 40 is returned to the non-parking position (non-P position) by execution of S5, and control for applying braking force is started by execution of S6. The braking force is increased to a predetermined set value at a predetermined rate of change. The magnitude of the braking force at this time may be a constant value, or may be variably set according to the vehicle speed V, etc.

[0041] Returning to Fig. 3, in S7, it is determined whether or not the vehicle speed reduction amount ΔV (=V0-V) obtained by subtracting the current vehicle speed V from the reference vehicle speed V0 is equal to or greater than a predetermined re-execution determination reduction amount ΔVs, and if ΔVs ≦ ΔV, then in S8, switching to the P range is re-executed, i.e., parking control for switching the electric parking device 30 to the parking state is re-executed. In S7, it is also determined whether or not the re-execution determination timer T0 has reached 0, i.e., whether or not the elapsed time since it was determined in S3 that the vehicle is in the ratcheting state has reached the set time (=re-execution determination time) of the re-execution determination timer T0, and if T0 = 0, then switching to the P range is re-executed in S8. ΔVs ≦ ΔV and T0 = 0 are re-execution conditions for re-executing switching to the P range, and if either one of the conditions is satisfied, then switching to the P range is re-executed in S8. The re-execution determination decrease amount ΔVs and the set time of the re-execution determination timer T0 (=re-execution determination time) may be preset to a fixed value, or may be variably set according to the vehicle speed V, etc. Note that it is also possible to simply set either ΔVs ≦ ΔV or T0 = 0 as the re-execution condition.

[0042] In the next S9, similarly to S3, it is determined whether or not the vehicle is in the ratcheting state based on the ratcheting information Prt, and if it is determined that the vehicle is in the ratcheting state, the above-mentioned S4 and subsequent steps are repeatedly executed. On the other hand, if it is not determined that the vehicle is in the ratcheting state, the vehicle is in a proper parking state in which the parking pole 50 is engaged with the parking gear 52, so that a brake release request for releasing the braking force is output to the brake control unit 14 in S10, and a series of controls is terminated. In accordance with the brake release request, the brake control unit 14 gradually reduces the braking force by the regenerative control of the electric wheel brake device 32 and / or the electric motor MG at a predetermined rate of change. That is, after the vehicle is determined to be in the ratcheting state and the electric parking device 30 is switched to the non-parking state in S5, and a predetermined braking force is generated in accordance with the first braking request in S6, the brake control unit 14 continues to generate the braking force even when the re-execution condition is satisfied and switching to the P range is re-executed in S8, and the braking force is released when the vehicle is no longer determined to be in the ratcheting state in S9 and a brake release request is made in S10. From another perspective, the vehicle speed V when it is determined in S3 that the ratcheting state is present is set as a reference vehicle speed V0, and the generation of the braking force is continued until the amount of decrease ΔV in the vehicle speed V from the reference vehicle speed V0 becomes equal to or greater than a predetermined re-execution determination decrease amount ΔVs, and the re-execution determination decrease amount ΔVs can be regarded as a braking continuation determination decrease amount for continuing the generation of the braking force. Also, the generation of the braking force is continued until the elapsed time after it is determined in S3 that the ratcheting state is present reaches the set time (=re-execution determination time) of the re-execution determination timer T0, and the re-execution determination timer T0 can be regarded as a braking continuation determination time for continuing the generation of the braking force.

[0043] 4 shows a case where the vehicle speed reduction amount ΔV (=V0-V) obtained by subtracting the current vehicle speed V from the reference vehicle speed V0 becomes equal to or larger than the re-execution determination reduction amount ΔVs, the determination in S7 becomes YES at time t4, S8 and subsequent steps are executed, and parking control is re-executed to switch to the P range, i.e., to put the electric parking device 30 into the parking state. In FIG. 4, it is determined in S9 that the vehicle is in the ratcheting state again, and S4 and subsequent steps are repeatedly executed, and when ΔVs ≦ ΔV again occurs and parking control is re-executed at time t5, the electric parking device 30 enters the parking state, the determination in S9 becomes NO, S10 is executed, and the braking force is released at a predetermined rate of change at time t6.

[0044] Fig. 5 shows a case where the re-execution determination timer T0 becomes 0, the determination in S7 becomes YES at time t4, S8 and subsequent steps are executed, and parking control is re-executed to switch to the P range, i.e., to put the electric parking device 30 into the parking state. In Fig. 5, it is determined again that the vehicle is in the ratcheting state in S9, and S4 and subsequent steps are repeatedly executed, and when T0=0 again and parking control is re-executed at time t5, the electric parking device 30 enters the parking state, the determination in S9 becomes NO, S10 is executed, and the braking force is released at a predetermined rate of change at time t6.

[0045] While Fig. 4 shows a case where two re-executions of parking control at times t4 and t5 both satisfy ΔVs ≦ ΔV, and Fig. 5 shows a case where two re-executions of parking control at times t4 and t5 both satisfy T0 = 0, for example, the second re-execution of parking control at time t5 in Fig. 5 may be executed by satisfying ΔVs ≦ ΔV. In other words, when either one of the re-execution conditions ΔVs ≦ ΔV or T0 = 0 is satisfied, the determination in S7 becomes YES, and S8 is executed.

[0046] According to the electronic control device 10 of the vehicle 8 of this embodiment, when executing parking control, it is determined whether or not the ratcheting state is present, and if it is determined that the ratcheting state is present (the determination in S3 is YES), the parking control is stopped in S5 and the parking pole 50 is moved to a non-parking position, so that ratcheting of the electric parking device 30 can be appropriately suppressed regardless of individual differences between vehicles 8, such as dimensional errors of the parking pole 50 and the parking gear 52 and accuracy errors of the vehicle information detection device 60, such as a vehicle speed sensor.

[0047] Furthermore, if a predetermined re-execution condition is met after parking control is stopped, i.e., if the determination in S7 becomes YES, parking control is re-executed in S8, so that it is possible to quickly switch to the P range by re-executing parking control while suppressing ratcheting. In particular, when parking control is re-executed based on the amount of decrease ΔV of the vehicle speed V, i.e., the amount of decrease in the rotational speed of the parking gear 52, the parking pole 50 becomes more likely to mesh by the amount of decrease in the rotational speed of the parking gear 52, so that the number of ratcheting occurrences is reduced and the number of times parking control is executed is reduced, thereby reducing power consumption.

[0048] In addition, when the ratcheting state is determined and the parking control is stopped, a braking force is generated on the vehicle 8 by utilizing the electric wheel brake device 32, which is an electric braking device, and the regenerative control of the electric motor MG, so that a predetermined braking force can be obtained regardless of the parking control being stopped, and the driver is prevented from feeling uncomfortable. In addition, the vehicle speed V is reduced by the braking force generated by the electric braking device, and the rotation speed of the parking gear 52 is reduced accordingly, so that the parking pole 50 can be quickly switched to the P range in which the parking gear 52 meshes with the parking gear 52 by executing the parking control again. In addition, when the ratcheting state is no longer determined and the determination in S9 becomes NO, the braking force by the electric braking device is released in S10, so that the application of the braking force is controlled to the minimum necessary.

[0049] In the above embodiment, if the ratcheting state is determined in the first switching control to the P range, parking control is stopped in S5 and S6 is executed to immediately generate a braking force by the electric braking device, but as shown in the flowchart of Fig. 6, S6 may be omitted, and if the ratcheting state is determined again even when the switching control to the P range is re-executed in S8 and the determination in S9 becomes YES, a braking force may be generated by the electric braking device in S13. That is, it is sufficient to only generate a braking force when the vehicle speed V does not decrease sufficiently and ratcheting is repeated, and the application of the braking force can be suppressed to the minimum necessary. In Fig. 6, S11 to S17 are substantially the same as S4 to S10 in Fig. 3, and detailed explanations will be omitted.

[0050] Although the embodiments of the present invention have been described in detail above with reference to the drawings, these are merely one embodiment, and the present invention can be embodied in various modified and improved forms based on the knowledge of those skilled in the art. [Explanation of symbols]

[0051] 8: Vehicle 10: Electronic control device (control device) 14: Braking control unit 16: Parking control unit 22: Wheel 30: Electric parking device 32: Electric wheel brake device (electric braking device) 50: Parking pole 52: Parking gear 62: Range selection device 64: Ratcheting detection device MG: Electric motor (electric braking device) V0: Reference vehicle speed ΔVs: Re-execution judgment decrease amount (re-execution condition, braking continuation judgment decrease amount) T0: Re-execution judgment timer (re-execution condition, re-execution judgment time, braking continuation judgment time)

Claims

1. A vehicle equipped with an electric parking device that electrically controls a parking pole to engage with a parking gear that is rotated in conjunction with the wheels to lock the wheels from rotating, and a range selection device that can select a plurality of ranges with different vehicle drive states, including a P range for parking in which the wheels are locked from rotating by the electric parking device, A control device for a vehicle having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position where the parking pole meshes with the parking gear when the P range is selected, When executing the parking control, the parking control unit determines whether or not the parking pole is in a ratcheting state in which it is not engaged with the parking gear and is bounced off, and when determining that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which it is released from engagement with the parking gear, and the parking control unit, after determining that the vehicle is in the ratcheting state and suspending the parking control, resumes the parking control when a predetermined re-execution condition is satisfied; The re-execution condition is that the vehicle speed when it is determined that the ratcheting state is a reference vehicle speed, and the amount of decrease in vehicle speed from the reference vehicle speed is equal to or greater than a predetermined re-execution determination decrease amount. A vehicle control device comprising:

2. A vehicle equipped with an electric parking device that electrically controls a parking pole to engage with a parking gear that rotates in conjunction with the wheels to lock the wheels so that they cannot rotate, and a range selection device that can select a plurality of ranges that have different drive states for the vehicle, including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device, A control device for a vehicle having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position where the parking pole meshes with the parking gear when the P range is selected, When executing the parking control, the parking control unit determines whether or not the parking pole is in a ratcheting state in which it is not engaged with the parking gear and is bounced off, and when determining that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which it is released from engagement with the parking gear, and The parking control unit resumes the parking control when a predetermined re-execution condition is satisfied after determining that the vehicle is in the ratcheting state and suspending the parking control, The re-execution condition is that the time elapsed after it is determined that the ratcheting state is present is equal to or longer than a predetermined re-execution determination time. A vehicle control device comprising:

3. A vehicle equipped with an electric parking device that electrically controls a parking pole to engage with a parking gear that rotates in conjunction with the wheels to lock the wheels so that they cannot rotate, and a range selection device that can select a plurality of ranges that have different drive states for the vehicle, including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device, A control device for a vehicle having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position where the parking pole meshes with the parking gear when the P range is selected, When executing the parking control, the parking control unit determines whether or not the parking pole is in a ratcheting state in which it is not engaged with the parking gear and is bounced off, and when determining that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which it is released from engagement with the parking gear, and the vehicle is equipped with an electric braking device capable of electrically controlling a braking force of the vehicle, the control device has a braking control unit that generates the braking force by the electric braking device when the parking control unit determines that the vehicle is in the ratcheting state and stops the parking control, The braking control unit sets the vehicle speed at the time when the parking control unit determines that the vehicle is in the ratcheting state as a reference vehicle speed, and continues the generation of the braking force by the electric braking device until the amount of decrease in the vehicle speed from the reference vehicle speed becomes equal to or greater than a predetermined decrease amount for determining whether the vehicle is in the ratcheting state. A vehicle control device comprising:

4. A vehicle equipped with an electric parking device that electrically controls a parking pole to engage with a parking gear that rotates in conjunction with the wheels to lock the wheels so that they cannot rotate, and a range selection device that can select a plurality of ranges that have different drive states for the vehicle, including a P range for parking in which the wheels are locked so that they cannot rotate by the electric parking device, A control device for a vehicle having a parking control unit that executes parking control to move the parking pole of the electric parking device to a parking position where the parking pole meshes with the parking gear when the P range is selected, When executing the parking control, the parking control unit determines whether or not the parking pole is in a ratcheting state in which it is not engaged with the parking gear and is bounced off, and when determining that the parking pole is in the ratcheting state, stops the parking control and moves the parking pole to a non-parking position in which it is released from engagement with the parking gear, and the vehicle is equipped with an electric braking device capable of electrically controlling a braking force of the vehicle, the control device has a braking control unit that generates the braking force by the electric braking device when the parking control unit determines that the vehicle is in the ratcheting state and stops the parking control, The braking control unit continues the generation of the braking force by the electric braking device until the elapsed time after the parking control unit determines that the vehicle is in the ratcheting state becomes equal to or longer than a predetermined braking continuation determination time. A vehicle control device comprising:

5. the vehicle is equipped with an electric braking device capable of electrically controlling a braking force of the vehicle, The control device has a braking control unit that generates the braking force by the electric braking device when the parking control unit determines that the ratcheting state has occurred again and stops the parking control when the parking control unit satisfies the re-execution condition and re-executes the parking control.

3. The vehicle control device according to claim 1 or 2.

6. The parking control unit re-executes the parking control when the re-execution condition is satisfied, and determines whether or not the ratcheting state is present. The parking control unit repeats re-executing the parking control when the re-execution condition is satisfied until the ratcheting state is no longer determined. The braking control unit continues the generation of the braking force by the electric braking device until the parking control unit determines that the ratcheting state is no longer present.

6. The vehicle control device according to claim 5.

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