Pedal control device

Abstract

A pedal control device comprises: a one-pedal that can receive an acceleration operation for accelerating an own vehicle and a deceleration operation for decelerating the own vehicle; a one-pedal sensor that detects an operation amount of the one-pedal and outputs a detection result as a voltage value; and a control device. The processor of the control device executes a process including: performing zero point learning for specifying a voltage value at a zero point indicating a boundary value between acceleration and deceleration in control of the one-pedal on the basis of a time change amount of a voltage value of the one-pedal sensor; determining whether the own vehicle is parked; performing, when the own vehicle is determined to be parked, processing of specifying a start-prohibition range indicating a range of the opening degree of the one-pedal that does not start the parked own vehicle even if the one-pedal is operated on the basis of a current value of a learned value that is a voltage value at the zero point specified by the zero-point learning; and performing correction processing of reducing the specified start-prohibition range.

Description

Technical Field

[0001] The present invention relates to a pedal control device.

Background Art

[0002] For example, Patent Document 1 discloses a one-pedal control technology that enables acceleration and deceleration operations of a vehicle with one pedal. In such Patent Document 1, a first pedal related to one-pedal control and a second pedal that can only perform a deceleration operation are provided. Further, in Patent Document 1, when it is detected that the vehicle speed is low and the second braking force of the second pedal is greater than or equal to the first braking force of the first pedal, at least one of creep torque running and driving force control running is permitted.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In one-pedal control technology, a range from 0% to a predetermined opening of the pedal is a deceleration range that accepts a deceleration operation, and a range from the predetermined opening to 100% of the pedal is an acceleration range that accepts an acceleration operation. Therefore, at the time of starting the vehicle, the vehicle cannot be started unless the deceleration range is depressed additionally. Then, in one-pedal control technology, there is a possibility that the acceleration operability at the time of starting may be reduced as compared with a mode of starting with a normal accelerator pedal that accepts only an acceleration operation.

[0005] Therefore, an object of the present invention is to provide a pedal control device capable of suppressing a reduction in acceleration operability at the time of starting.

Means for Solving the Problems

[0006] To solve the above problems, a pedal control device according to one embodiment of the present invention is provided. A one-pedal system that can accept acceleration and deceleration commands to accelerate and decelerate the vehicle, A one-pedal sensor that detects the amount of one-pedal operation and outputs the detection result as a voltage value, Control device and Equipped with, The control device is One or more processors, One or more memory connected to the processor, It has, The aforementioned processor, Based on the time change in the voltage value of the one-pedal sensor, zero-point learning is performed to identify the zero-point voltage value that indicates the boundary value between acceleration and deceleration in the control of the one-pedal. To determine whether the vehicle is stationary, When it is determined that the vehicle is stopped, the system performs a process to determine a non-starting range, which is the range of opening degrees of the one-pedal that will not cause the stationary vehicle to start moving, based on the current value of the learned value, which is the voltage value of the zero point identified by the zero-point learning process. Perform a correction process to reduce the identified range in which the vehicle cannot be launched, Execute the process that includes this. [Effects of the Invention]

[0007] According to the present invention, it is possible to suppress the decrease in acceleration operability when starting off. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing an example of the configuration of a vehicle to which the pedal control device according to this embodiment is applied. [Figure 2] Figure 2 illustrates the concept of a single-pedal system. [Figure 3] Figure 3 illustrates an example of the opening angle of the single pedal, the pressing angle of the single pedal, and the voltage value of the single pedal sensor. [Figure 4] Figure 4 illustrates the derivation of differential learning values. [Figure 5] Figure 5 is a diagram illustrating the derivation of the range in which starting is not permitted. [Figure 6] Figure 6 illustrates the correction process that reduces the range in which the vehicle cannot be started. [Figure 7] Figure 7 shows an example of the driving force when the range of movement that cannot be started is reduced. [Figure 8] Figure 8 shows another example of driving force when the range of inability to start is reduced. [Figure 9] Figure 9 is a flowchart illustrating the operation flow of the zero-point learning execution unit and the one-pedal control unit. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described in detail below with reference to the attached drawings. The specific dimensions, materials, numerical values, etc., shown in these embodiments are merely examples to facilitate understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to the present invention are omitted from the illustrations.

[0010] Figure 1 is a block diagram showing an example of the configuration of a vehicle 1 to which the pedal control device 10 according to this embodiment is applied. Vehicle 1 is, for example, a gasoline-powered vehicle equipped with an engine as a drive source. Vehicle 1 may also be an electric vehicle equipped with a motor generator as a drive source, or a hybrid electric vehicle equipped with both an engine and a motor generator as drive sources. Hereafter, the vehicle 1 to which the pedal control device 10 is applied may be referred to as "the vehicle."

[0011] Vehicle 1 is equipped with a one-pedal system 20, a one-pedal sensor 22, a speed sensor 24, a shift position sensor 26, a control mode selector switch 28, and a control device 30.

[0012] The one-pedal 20 is configured to accept an acceleration operation for accelerating the vehicle 1 and a deceleration operation for decelerating the vehicle 1 according to the depression degree of the one-pedal 20. Further, the one-pedal 20 is biased in a direction opposite to the depression direction of the one-pedal 20, and when the foot leaves the one-pedal 20, the opening degree returns to 0% by the biasing force. That is, as will be described later, the pedal control device 10 is configured to enable one-pedal control that enables acceleration and deceleration operations with the one-pedal 20.

[0013] The one-pedal sensor 22 is configured to detect the operation amount of the one-pedal 20 and output the detection result as a voltage value. The voltage value of the one-pedal sensor 22 increases as the operation amount of the one-pedal 20 increases.

[0014] FIG. 2 is a diagram for explaining the one-pedal 20. The one-pedal 20 is disposed, for example, below the front of the driver's seat and connected to the vehicle body 40.

[0015] The solid line 42 in FIG. 2 shows an example of the inclination angle of the one-pedal 20 when the opening degree of the one-pedal 20 is 0%, that is, when the one-pedal 20 is not depressed. The solid line 44 in FIG. 2 shows an example of the inclination angle of the one-pedal 20 when the opening degree of the one-pedal 20 is 100%, that is, when the one-pedal 20 is depressed to the maximum. The stroke of the one-pedal 20 is in the range from an opening degree of 0% to an opening degree of 100%.

[0016] In the one-pedal 20, as shown by the dashed-dotted line 46, a predetermined boundary opening degree is set between the opening degree of 0% and the opening degree of 100%. The predetermined boundary opening degree divides the stroke of the one-pedal 20 into an acceleration range for accepting an acceleration operation and a deceleration range for accepting a deceleration operation. More specifically, the deceleration range is the range from the opening degree of 0% to the predetermined boundary opening degree. The acceleration range is the range from the predetermined boundary opening degree to the opening degree of 100%. The predetermined boundary opening degree is set, for example, so that the acceleration range is larger than the deceleration range, but is not limited to this example.

[0017] In the acceleration range, the larger the opening, the greater the amount of acceleration input for vehicle 1. In the deceleration range, the smaller the opening, the greater the amount of deceleration input for vehicle 1.

[0018] Figure 3 illustrates an example of the opening degree of the one-pedal 20, the depression angle of the one-pedal 20, and the voltage value of the one-pedal sensor 22. The depression angle is shown as a relative angle with respect to the depression angle when the opening degree is 0%.

[0019] In the example shown in Figure 3, the differential opening angle of the one-pedal 20, "Δ0.4%", corresponds to the differential depression angle of the one-pedal 20, "Δ0.05°", and the differential voltage value of the one-pedal sensor 22, "Δ0.01V".

[0020] In the example in Figure 3, an opening of "0%" corresponds to a pedal angle of "0°", and an opening of "100%" corresponds to a pedal angle of "12.5°". If the voltage value at an opening of "0%" is "0.8V", then the voltage value at an opening of "100%" will be "3.3V".

[0021] In the example shown in Figure 3, the opening of the boundary between the acceleration range and the deceleration range is assumed to be "8%". In this example, the pedal depression angle at the boundary is "1°", and the voltage value at the boundary is "1.0V". The differential voltage value in the deceleration range is "Δ0.2V".

[0022] Let's return to Figure 1 for explanation. The speed sensor 24 can detect the speed of vehicle 1. The shift position sensor 26 can detect the current shift position of vehicle 1.

[0023] The control mode selector switch 28 can accept a switch operation to determine whether or not to perform one-pedal control. When the control mode selector switch 28 instructs the system to perform one-pedal control, the one-pedal 20 becomes capable of accepting both acceleration and deceleration operations. On the other hand, when the control mode selector switch 28 instructs the system to cancel one-pedal control, the one-pedal 20 switches to a state where it accepts only acceleration operations. In addition to the one-pedal 20, the vehicle 1 may also be provided with a brake pedal that accepts only deceleration operations to slow down the vehicle 1.

[0024] The control device 30 includes one or more processors 50 and one or more memories 52 connected to the processors 50. The memories 52 include ROM, which stores programs and the like, and RAM, which serves as a work area. The processors 50 of the control device 30 cooperate with the programs contained in the memories 52 to control the entire vehicle 1.

[0025] More specifically, the processor 50 works in cooperation with the program to function as a zero-point learning execution unit 60 and a one-pedal control unit 62.

[0026] In vehicle 1, a voltage value corresponding to the opening degree of the one-pedal 20 is output from the one-pedal sensor 22, and the driving force of vehicle 1 is derived based on that voltage value. If a malfunction occurs in the one-pedal sensor 22, the voltage value of the one-pedal sensor 22 may become a value different from the value that properly corresponds to the opening degree of the one-pedal 20. In such a case, a driving force different from the opening degree of the one-pedal 20 may be derived based on the voltage value of the malfunctioning one-pedal sensor 22. As a result, for example, unintended acceleration may occur.

[0027] Therefore, the zero-point learning execution unit 60 performs zero-point learning to identify the zero-point voltage value that represents the boundary value between acceleration and deceleration for the control of the one-pedal 20, based on the amount of time change in the voltage value of the one-pedal sensor 22. Hereafter, for the sake of explanation, the zero-point voltage value identified by zero-point learning may be referred to as the learned value.

[0028] The zero point in the One Pedal 20 system, which indicates the boundary value between acceleration and deceleration, represents the zero driving force between the acceleration and deceleration sides, and signifies the reference driving force for deriving the driving force. In other words, zero-point learning identifies the voltage value of the zero point that serves as the reference for deriving the driving force.

[0029] The zero-point learning execution unit 60 repeatedly performs zero-point learning at a predetermined period, such as a 500ms period. The zero-point learning execution unit 60 identifies the voltage value of the one-pedal sensor 22 when the opening degree of the one-pedal 20 is substantially maintained within a limited range near the boundary between the acceleration range and the deceleration range as the zero-point voltage value.

[0030] For example, suppose the boundary opening is "8%" as shown in Figure 3, and the voltage value corresponding to an opening of "8%" is "1.0V". In this case, the upper limit of the voltage value range at the zero point, i.e., the upper limit of the range of learned values, may be set to, for example, the voltage value "0.9V" corresponding to an opening of "4%". Also, the lower limit of the voltage value range at the zero point, i.e., the lower limit of the range of learned values, may be set to, for example, the voltage value "1.1V" corresponding to an opening of "12%".

[0031] The zero-point learning execution unit 60 acquires the voltage value of the one-pedal sensor 22 at predetermined intervals. The zero-point learning execution unit 60 determines whether the amount of change in the voltage value acquired this time relative to the voltage value acquired last time is within a predetermined range. The predetermined range is set, for example, to a range in which the voltage value acquired this time can be considered to be substantially the same as the voltage value acquired last time.

[0032] The zero-point learning execution unit 60 sets the voltage value acquired this time as the zero-point voltage value if the amount of change in the voltage value acquired this time relative to the voltage value acquired last time is within a predetermined range, the voltage value acquired this time is less than or equal to the upper limit of the learned value, and the voltage value acquired this time is greater than or equal to the lower limit of the learned value. As a result, the zero-point voltage value is updated.

[0033] On the other hand, the zero-point learning execution unit 60 does not update the zero-point voltage value if the amount of change in the voltage value obtained this time compared to the voltage value obtained last time exceeds a predetermined range.

[0034] Furthermore, if the change in the voltage value acquired this time relative to the voltage value acquired last time is within a predetermined range, but the voltage value acquired this time exceeds the upper limit of the learned value, the zero-point learning execution unit 60 may update the zero-point voltage value by adding a predetermined value to the current zero-point voltage value, up to the upper limit of the learned value. Also, if the change in the voltage value acquired this time relative to the voltage value acquired last time is within a predetermined range, but the voltage value acquired this time falls below the lower limit of the learned value, the zero-point learning execution unit 60 may update the zero-point voltage value by subtracting a predetermined value to the current zero-point voltage value, up to the lower limit of the learned value.

[0035] Suppose a malfunction occurs in the one-pedal sensor 22, causing, for example, the voltage value of the one-pedal sensor 22 to rise above the appropriate voltage value. Even if such a malfunction occurs, the pedal control device 10 can perform zero-point learning to correct the voltage value corresponding to the driving force, which is the reference for deriving the driving force, to the voltage value after the malfunction. As a result, even if a malfunction occurs in the one-pedal sensor 22, the pedal control device 10 can prevent unintended acceleration from occurring.

[0036] The one-pedal control unit 62 determines whether the vehicle 1 is stationary. More specifically, the one-pedal control unit 62 determines that the vehicle is stationary if both the shift position condition and the speed condition are met. The shift position condition is that the shift position detected by the shift position sensor 26 is one of the D range, B range, or P range. The speed condition is that the speed of the vehicle 1 detected by the speed sensor 24 is less than or equal to a predetermined speed. The predetermined speed is set to a value such that the vehicle 1 can be considered to be substantially not moving, for example, 3 km / h.

[0037] The one-pedal control unit 62, when the vehicle 1 is stationary, performs a process to identify the non-starting range based on the current value of the learned value obtained by zero-point learning. The non-starting range indicates the range of opening of the one-pedal 20 in which the stationary vehicle will not start even if the one-pedal 20 is operated. Roughly speaking, the deceleration range of the stroke of the one-pedal 20 roughly corresponds to the non-starting range.

[0038] More specifically, the one-pedal control unit 62 derives a differential learning value by subtracting a reference value, which represents the learning value at a predetermined reference point, from the current value of the learning value obtained by zero-point learning. The predetermined reference point may be, for example, the startup time of the processor 50.

[0039] For example, when the ignition is turned off (IG-OFF) for vehicle 1, the zero-point learning execution unit 60 stores the latest learned value in memory 52, and the processor 50 enters a sleep state. When the ignition is turned on (IG-ON) for vehicle 1 which is in the ignition off (IG-OFF) state, the sleeping processor 50 starts up. When the processor 50 starts up, the one-pedal control unit 62 reads the latest learned value from memory 52. ​​The learned value read in this way when the processor 50 starts up may be used as the reference value.

[0040] Figure 4 illustrates the derivation of the differential learning value. In the example in Figure 4, the reference value is "0.91V".

[0041] The one-pedal control unit 62 determines whether the current value of the learned value obtained by zero-point learning has fallen below a predetermined convergence threshold when the vehicle 1 is stationary. The predetermined convergence threshold is set based on a reference value. More specifically, the predetermined convergence threshold is set by adding a preset predetermined value to the reference value. The preset predetermined value is set to an arbitrary value such as "0.01V" that allows the system to determine that the current value of the learned value has become sufficiently close to the reference value. For example, if the preset predetermined value is "0.01V" and the reference value is "0.91V", the predetermined convergence threshold will be "0.92V".

[0042] When the one-pedal control unit 62 determines that the current value of the learned value is below a predetermined convergence threshold, it subtracts a reference value from the current value of the learned value to derive a differential learned value. In the example in Figure 4, the convergence threshold is "0.92V" and the current value of the learned value is "0.915V". In this example, since the current value of the learned value is below the convergence threshold, the reference value "0.91V" is subtracted from the current value of the learned value "0.915V", and a differential learned value "Δ0.005V" is derived.

[0043] The single-pedal control unit 62 converts the differential learning value "Δ0.005V" into the differential opening degree "Δ0.2%" of the single-pedal 20 corresponding to the differential learning value "Δ0.005V".

[0044] Figure 5 is a diagram illustrating the derivation of the non-starting range. The one-pedal control unit 62 derives the non-starting range by adding the differential opening, which is the opening corresponding to the differential learned value, to the opening corresponding to the range of the one-pedal stroke 20 in which deceleration operation is accepted. As shown in Figure 5, if the opening corresponding to the range in which deceleration operation is accepted is "8%", the differential opening "Δ0.2%" is added to the opening "8%", and a non-starting range of "8.2%" is derived.

[0045] After the range in which starting is not possible is derived, the one-pedal control unit 62 performs a correction process to reduce the identified range in which starting is not possible.

[0046] Figure 6 illustrates the correction process for reducing the range in which the vehicle cannot start. The one-pedal control unit 62 derives a correction value by subtracting a predetermined opening degree from the specified range in which the vehicle cannot start. The predetermined opening degree is set to any opening degree that corresponds to the range in which the vehicle cannot start after the range in which it cannot start has been reduced, such as an opening degree of "0.4%". Note that an opening degree of "0.4%" corresponds to a differential voltage value of "Δ0.01V". As shown in Figure 6, if the range in which the vehicle cannot start is "8.2%" and the predetermined opening degree is "0.4%", a correction value of "7.8%" is derived.

[0047] The one-pedal control unit 62 controls the system to subtract the derived correction value from the specified range in which starting is impossible. As a result, the effective range in which starting is impossible after the range in which starting is impossible is reduced to 0.4%, which is the original range in which starting is impossible (8.2%) minus the correction value (7.8%).

[0048] In this way, the pedal control device 10 reduces the range in which the vehicle 1 cannot start while it is stopped, so that when the vehicle 1 starts moving, the one-pedal control device 20 can function in substantially the same way as a normal accelerator pedal that only accepts acceleration operations.

[0049] Furthermore, after reducing the range in which the vehicle cannot start, a predetermined range of non-starting angles, such as "0.4%", remains. This allows the pedal control device 10 to prevent situations in which the vehicle 1 unintentionally starts moving, for example, even if the opening angle of the one-pedal 20 changes slightly from 0% unintentionally while the vehicle is stopped.

[0050] Figure 7 shows an example of the driving force when the range of the vehicle that cannot start is reduced. The dashed line 70 in Figure 7 shows an example of the driving force before reducing the range of the vehicle that cannot start. The solid line 72 in Figure 7 shows an example of the driving force when the range of the vehicle that cannot start is reduced.

[0051] As shown in Figure 7, reducing the range in which the vehicle 1 cannot be started while it is stopped reduces the amount the one-pedal 20 needs to be pressed before the driving force to start the vehicle 1 is generated, compared to before the range in which the vehicle 1 cannot be started is reduced. As a result, when the vehicle 1 is started, the driver can perform an acceleration operation with the one-pedal 20 that is substantially the same as that of a normal accelerator pedal that only accepts acceleration operations. In order to achieve the generation of such driving force, the one-pedal control unit 62 reduces the range in which the vehicle cannot be started by controlling it as follows.

[0052] The one-pedal control unit 62 derives the differential voltage value of the one-pedal sensor 22 corresponding to the derived correction value. For example, if the correction value is "7.8%", the differential voltage value corresponding to the correction value is "Δ0.195V" (Δ0.195V = Δ0.2V × 7.8% / 8%).

[0053] The one-pedal control unit 62 subtracts the learned value from zero-point learning from the current voltage value of the one-pedal sensor 22 to derive the current differential voltage value from the zero-point voltage value. The one-pedal control unit 62 adds the differential voltage value corresponding to the correction value to the current differential voltage value to derive the corrected differential voltage value. The one-pedal control unit 62 derives the driving force of the vehicle 1 corresponding to the derived corrected differential voltage value.

[0054] The driving force may also be derived using a driving force map in which the differential voltage value from the voltage value at the zero point is associated with the driving force. In this driving force map, the driving force on the acceleration side is set in the range where the differential voltage value is greater than 0, and the driving force on the deceleration side is set in the range where the differential voltage value is less than 0.

[0055] For example, suppose the one-pedal 20 is pressed to start vehicle 1, and the current differential voltage value obtained by subtracting the learned value from the current voltage value of the one-pedal sensor 22 is "Δ-0.1V". The differential voltage value "Δ-0.1V" is less than 0.

[0056] However, the one-pedal control unit 62 adds the differential voltage value "Δ0.195V" corresponding to the correction value to the current differential voltage value "Δ-0.1V" to derive the corrected differential voltage value "Δ0.095V". Since the corrected differential voltage value "Δ0.095V" is greater than 0, an acceleration-side driving force is derived. As a result, even if the opening of the one-pedal 20 is within the deceleration range at the time of starting, an acceleration-side driving force is generated, making it possible to start the vehicle 1.

[0057] Furthermore, if the one-pedal control unit 62 performs control to reduce the range in which starting is not possible and the vehicle 1 actually starts moving, it may also perform a process to reduce the degree to which the range in which starting is not possible is reduced over time.

[0058] For example, immediately after starting, the one-pedal control unit 62 adds the differential voltage value corresponding to the correction value to the current differential voltage value, as described above, to derive the corrected differential voltage value. The one-pedal control unit 62 may also gradually reduce the differential voltage value corresponding to the correction value, which was added when deriving the corrected differential voltage value, as time passes after starting.

[0059] In this embodiment, as time passes, the corrected differential voltage value gradually decreases, and eventually, the corrected differential voltage value reaches the current differential voltage value. Consequently, the one-pedal control unit 62 ultimately derives the driving force from the current differential voltage value. In other words, the correction that reduces the range where starting is impossible is released.

[0060] Figure 8 shows another example of driving force when the range of inability to start is reduced. The solid line 74 in Figure 8 shows another example of driving force when the range of inability to start is reduced.

[0061] In the example shown in Figure 7 above, as indicated by the solid line 72, the driving force reached its maximum value before the opening angle reached 100%. In contrast, in the example shown in Figure 8, as indicated by the solid line 74, even if the range in which starting is impossible is reduced, the driving force reaches its maximum value precisely when the opening angle reaches 100%. To achieve such a driving force generation, the one-pedal control unit 62 may reduce the range in which starting is impossible by controlling it as follows.

[0062] The one-pedal control unit 62 derives the differential voltage value of the one-pedal sensor 22 corresponding to the derived correction value. The one-pedal control unit 62 subtracts the learned value from zero-point learning from the current voltage value of the one-pedal sensor 22 to derive the current differential voltage value from the zero-point voltage value.

[0063] The one-pedal control unit 62 adds the differential voltage value corresponding to the correction value to the current differential voltage value, and multiplies the added value by a predetermined discount factor to derive the corrected differential voltage value. The predetermined discount factor is set to a value of at least 1 or less. More specifically, the predetermined discount factor is set to a value such that, assuming that the differential voltage value of the one-pedal sensor 22 corresponds to a value corresponding to a 100% opening, the corrected differential voltage value corresponds to a value corresponding to the maximum driving force. The one-pedal control unit 62 derives the driving force of the vehicle 1 corresponding to the derived corrected differential voltage value.

[0064] In this way, by multiplying by a predetermined discount factor, the slope of the change in driving force with respect to the change in opening degree is adjusted. This makes it possible to reduce the range in which starting is impossible, while ensuring that the driving force changes so that it reaches its maximum value exactly when the opening degree reaches 100%.

[0065] Furthermore, the one-pedal control unit 62 may gradually reduce the differential voltage value corresponding to the correction value, which was added when deriving the corrected differential voltage value, as time passes after starting, and may also change the discount coefficient so that it gradually approaches 1 as time passes after starting. In this embodiment, as time passes, the corrected differential voltage value gradually decreases, and eventually the corrected differential voltage value reaches the current differential voltage value. That is, the degree to which the range of non-starting is reduced is reduced as time passes, and the correction that reduces the range of non-starting is canceled.

[0066] Figure 9 is a flowchart illustrating the operation flow of the zero-point learning execution unit 60 and the one-pedal control unit 62. The zero-point learning execution unit 60 and the one-pedal control unit 62 repeatedly execute the process shown in Figure 9 each time a predetermined interrupt timing occurs, for example, at a predetermined period such as a 500ms cycle.

[0067] When a predetermined interrupt timing arrives, the zero-point learning execution unit 60 performs zero-point learning (S10). For example, the zero-point learning execution unit 60 acquires the current voltage value of the one-pedal sensor 22 and determines whether the amount of change in the currently acquired voltage value relative to the previously acquired voltage value is within a predetermined range. If the amount of change in the currently acquired voltage value relative to the previously acquired voltage value is within the predetermined range, the currently acquired voltage value is less than or equal to the upper limit of the learning value, and the currently acquired voltage value is greater than or equal to the lower limit of the learning value, the zero-point learning execution unit 60 updates the zero-point voltage value by setting the currently acquired voltage value as the zero-point voltage value.

[0068] Next, the one-pedal control unit 62 determines whether one-pedal control is currently in operation (S11). For example, if the control mode selector switch 28 has instructed the one-pedal control unit 62 to execute one-pedal control, it determines that one-pedal control is in operation. If it determines that one-pedal control is not in operation (NO in S11), the one-pedal control unit 62 terminates this series of processes.

[0069] If it is determined that one-pedal control is in progress (YES in S11), the one-pedal control unit 62 determines whether vehicle 1 is currently stopped (S12). More specifically, the one-pedal control unit 62 determines that vehicle 1 is stopped if both the above-mentioned shift position condition and speed condition are met. On the other hand, the one-pedal control unit 62 determines that vehicle 1 is not stopped if at least one of the above-mentioned shift position condition and speed condition is not met. If it is determined that vehicle 1 is not stopped (NO in S12), the one-pedal control unit 62 terminates this series of processes.

[0070] If it is determined that vehicle 1 is stationary (YES in S12), the one-pedal control unit 62 determines whether the current value of the learned value derived by zero-point learning in step S10 is less than or equal to the convergence threshold (S13). If it is determined that the current value of the learned value is greater than the convergence threshold (NO in S13), the one-pedal control unit 62 terminates this series of processes.

[0071] If the one-pedal control unit 62 determines that the current value of the learned value is below the convergence threshold (YES in S13), it proceeds with the processing from step S14 onward.

[0072] The one-pedal control unit 62 derives a differential learning value by subtracting a reference value from the current learning value (S14). The one-pedal control unit 62 converts the derived differential learning value into a differential opening corresponding to that differential learning value (S15).

[0073] The one-pedal control unit 62 adds the derived difference in opening to the opening corresponding to the deceleration range to derive the range in which starting is not possible (S16). The one-pedal control unit 62 subtracts a predetermined opening from the derived range in which starting is not possible to derive a correction value (S17).

[0074] The one-pedal control unit 62 performs a correction process to reduce the derived range of non-starting based on the derived correction value (S18).

[0075] For example, the one-pedal control unit 62 derives a differential voltage value corresponding to the correction value. The one-pedal control unit 62 subtracts the learned value from the current voltage value of the one-pedal sensor 22 to derive the current differential voltage value from the voltage value at zero. The one-pedal control unit 62 adds the differential voltage value corresponding to the correction value to the current differential voltage value to derive the corrected differential voltage value. The one-pedal control unit 62 derives the driving force of the vehicle 1 corresponding to the corrected differential voltage value.

[0076] With this correction process, if the current differential voltage value measured by the one-pedal sensor 22 becomes greater than the differential voltage value corresponding to the reduced non-starting range, the acceleration driving force will be derived and the vehicle 1 will start moving.

[0077] The one-pedal control unit 62 determines whether vehicle 1 has started moving (S20). For example, the one-pedal control unit 62 may determine that vehicle 1 has started moving if the detected value of the speed sensor 24 is equal to or greater than a predetermined speed. If it determines that vehicle 1 has not started moving (NO in S20), the one-pedal control unit 62 terminates this series of processes.

[0078] If it is determined that vehicle 1 has started moving (YES in S20), the one-pedal control unit 62 gradually reduces the degree to which it reduces the range in which starting is not possible as time progresses, thereby releasing the correction that reduces the range in which starting is not possible (S21).

[0079] As described above, the zero-point learning execution unit 60 of the pedal control device 10 in this embodiment performs zero-point learning based on the time change of the voltage value of the one-pedal sensor 22. The one-pedal control unit 62 of the pedal control device 10 in this embodiment determines whether the vehicle is stationary. When the one-pedal control unit 62 determines that the vehicle is stationary, it identifies a non-starting range, which indicates the range of opening degrees of the one-pedal 20 that will not cause the stationary vehicle to start moving even if the one-pedal 20 is operated, based on the current value of the learned value obtained by zero-point learning. The one-pedal control unit 62 performs a correction process to reduce the identified non-starting range.

[0080] As a result, the pedal control device 10 of this embodiment operates in such a way that the deceleration range of the one-pedal 20 is substantially omitted when the vehicle 1 starts moving. In other words, the pedal control device 10 of this embodiment allows the one-pedal 20 to function substantially the same as a normal accelerator pedal that only accepts acceleration operations when the vehicle 1 starts moving.

[0081] Therefore, the pedal control device 10 of this embodiment makes it possible to suppress a decrease in acceleration operability when the vehicle 1 starts up, even when one-pedal control is being performed.

[0082] Embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to these embodiments. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. [Explanation of symbols]

[0083] 1 vehicle 10 Pedal control device 20 One-Pedal 22 One-pedal sensor 30 Control device 50 processors 52 memory 600-point learning execution unit 62 One-pedal control unit

Claims

1. A one-pedal system that can accept acceleration and deceleration commands to accelerate and decelerate the vehicle, A one-pedal sensor that detects the amount of one-pedal operation and outputs the detection result as a voltage value, Control device and Equipped with, The control device is One or more processors, One or more memories connected to the processor, It has, The aforementioned processor, Based on the time change in the voltage value of the one-pedal sensor, zero-point learning is performed to identify the zero-point voltage value that indicates the boundary value between acceleration and deceleration in the control of the one-pedal. To determine whether the vehicle is stationary, When it is determined that the vehicle is stopped, the system performs a process to determine a non-starting range, which is the range of opening degrees of the one-pedal that will not cause the stationary vehicle to start moving even if the one-pedal is operated, based on the current value of the learned value, which is the voltage value of the zero point identified by the zero-point learning process. Perform a correction process to reduce the identified range in which the vehicle cannot be launched, A pedal control device that performs processing including the following.

2. The aforementioned processor, To determine whether the current value of the learned value obtained by the zero-point learning is below a predetermined convergence threshold, Execute the process that includes, The process of identifying the range in which starting is not permitted, and the correction process of reducing the range in which starting is not permitted, are performed when the current value of the learned value becomes less than or equal to the convergence threshold. The pedal control device according to claim 1.

3. The aforementioned processor, In the correction process that reduces the range in which starting is not possible, A correction value is derived by subtracting a predetermined opening angle from the specified range in which starting is impossible, Control to subtract the derived correction value from the specified non-starting range, A pedal control device according to claim 1, which performs a process including the following:

4. The aforementioned processor, In a process that controls the subtraction of the derived correction value from the specified non-starting range, The current differential voltage value is derived by subtracting the learned value obtained by zero-point learning from the current voltage value of the one-pedal sensor. The current differential voltage value derived is added to the differential voltage value corresponding to the derived correction value to derive the corrected differential voltage value. To derive the driving force corresponding to the corrected differential voltage value that was derived, The pedal control device according to claim 3, which performs a process including the following:

5. The aforementioned processor, In a process that controls the subtraction of the derived correction value from the specified non-starting range, The current differential voltage value is derived by subtracting the learned value obtained by zero-point learning from the current voltage value of the one-pedal sensor. The current differential voltage value derived is added to the differential voltage value corresponding to the derived correction value, and the result of the addition is multiplied by a predetermined discount factor to derive the corrected differential voltage value. To derive the driving force corresponding to the corrected differential voltage value that was derived, The pedal control device according to claim 3, which performs a process including the following:

6. The aforementioned processor, In the process of identifying the range in which departure is not permitted, The difference learning value is derived by subtracting a reference value, which represents the learning value at a predetermined reference point, from the current value of the learning value. The range in which starting is not possible is derived by adding the differential opening corresponding to the differential learning value to the opening corresponding to the range in the stroke of the single pedal in which the deceleration operation is accepted, A pedal control device according to claim 1, which performs a process including the following:

7. The aforementioned processor, If, after the correction process that reduces the range where starting is impossible, it is determined that the vehicle has started, the degree to which the range where starting is impossible is reduced is reduced over time. A pedal control device according to claim 1, which performs a process including the following:

Images