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

Pedal control device

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

[0002] For example, Patent Document 1 discloses a one-pedal control technology that enables acceleration and deceleration of a vehicle with a single pedal. Patent Document 1 describes a one-pedal control system that includes a first pedal for one-pedal control and a second pedal for deceleration only. Patent Document 1 also describes a system that allows at least one of creep torque driving and driving force control when a low vehicle speed is detected and a second braking force of the second pedal is equal to or greater than the first braking force of the first pedal.

[0003] Japanese Patent Application Laid-Open No. 2017-47746

[0004] In one-pedal control technology, the pedal opening range from 0% to a predetermined opening is defined as the deceleration range in which deceleration operation is accepted, and the pedal opening range from the predetermined opening to 100% is defined as the acceleration range in which acceleration operation is accepted. Therefore, when starting the vehicle, the driver must depress the pedal an additional amount equal to the deceleration range in order for the vehicle to start. As a result, with one-pedal control technology, acceleration operability when starting may be reduced compared to a mode in which starting is performed using a normal accelerator pedal that only accepts acceleration operation.

[0005] SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a pedal control device that can suppress a decrease in acceleration operability when starting.

[0006] In order to solve the above problem, a pedal control device according to one embodiment of the present invention comprises: a one-pedal capable of accepting an acceleration operation to accelerate the vehicle and a deceleration operation to decelerate the vehicle; a one-pedal sensor that detects the amount of operation of the one-pedal and outputs the detection result as a voltage value; and a control device, wherein the control device has one or more processors and one or more memories connected to the processors, and the processor performs processing including: performing zero-point learning to identify a zero-point voltage value that indicates the boundary value between acceleration and deceleration in the control of the one-pedal based on the amount of change over time in the voltage value of the one-pedal sensor; determining whether the vehicle is stopped; and, when it is determined that the vehicle is stopped, performing processing to identify a non-start range that indicates the range of one-pedal opening in which the stopped vehicle will not start even if the one-pedal is operated, based on the current value of the learned value that is the zero-point voltage value identified by the zero-point learning; and performing correction processing to reduce the identified non-start range.

[0007] According to the present invention, it is possible to suppress a decrease in acceleration operability when starting.

[0008] FIG. 1 is a block diagram showing an example of the configuration of a vehicle to which a pedal control device according to this embodiment is applied. FIG. 2 is a diagram illustrating a one-pedal system. FIG. 3 is a diagram illustrating an example of the one-pedal opening, the one-pedal depression angle, and the voltage value of the one-pedal sensor. FIG. 4 is a diagram illustrating the derivation of a differential learning value. FIG. 5 is a diagram illustrating the derivation of a start-prohibited range. FIG. 6 is a diagram illustrating a correction process for reducing the start-prohibited range. FIG. 7 is a diagram illustrating an example of driving force when the start-prohibited range is reduced. FIG. 8 is a diagram illustrating another example of driving force when the start-prohibited range is reduced. FIG. 9 is a flowchart illustrating the operation of the zero-point learning execution unit and the one-pedal control unit.

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Specific dimensions, materials, numerical values, etc. shown in the embodiments are merely examples for facilitating understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0010] 1 is a block diagram showing an example of the configuration of a vehicle 1 to which a pedal control device 10 according to this embodiment is applied. The vehicle 1 is, for example, an engine vehicle equipped with an engine as a drive source. The vehicle 1 may be an electric vehicle equipped with a motor generator as a drive source, or a hybrid electric vehicle equipped with an engine and a motor generator as drive sources. Hereinafter, the vehicle 1 to which the pedal control device 10 is applied may be referred to as the host vehicle.

[0011] The vehicle 1 includes a one-pedal 20 , a one-pedal sensor 22 , a speed sensor 24 , a shift position sensor 26 , a control mode changeover switch 28 , and a control device 30 .

[0012] The one-pedal 20 is configured to be able to accept an acceleration operation for accelerating the vehicle 1 and a deceleration operation for decelerating the vehicle 1, depending on the opening degree of the one-pedal 20. The one-pedal 20 is also biased in the direction opposite to the direction of depression of the one-pedal 20, and when the foot is released from the one-pedal 20, the biasing force returns the opening degree to 0%. In other words, as will be described later, the pedal control device 10 is configured to be able to perform one-pedal control that enables acceleration and deceleration operations using the one-pedal 20.

[0013] The one-pedal sensor 22 detects the amount of operation of the one-pedal 20 and outputs the detection result as a voltage value. The voltage value of the one-pedal sensor 22 increases as the amount of operation of the one-pedal 20 increases.

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

[0015] A solid line 42 in Fig. 2 shows an example of the tilt angle of the one-pedal 20 when the opening degree of the one-pedal 20 is 0%, i.e., when the one-pedal 20 is not depressed. A solid line 44 in Fig. 2 shows an example of the tilt angle of the one-pedal 20 when the opening degree of the one-pedal 20 is 100%, i.e., when the one-pedal 20 is depressed to the maximum. The stroke of the one-pedal 20 ranges from 0% opening to 100% opening.

[0016] In the one-pedal system 20, a predetermined boundary opening is set between 0% and 100% opening, as indicated by the dashed-dotted line 46. The predetermined boundary opening divides the stroke of the one-pedal system 20 into an acceleration range in which acceleration operations are accepted and a deceleration range in which deceleration operations are accepted. More specifically, the deceleration range is a range from 0% opening to the predetermined boundary opening. The acceleration range is a range from the predetermined boundary opening to 100% opening. The predetermined boundary opening 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 degree, the larger the acceleration operation amount of the vehicle 1. In the deceleration range, the smaller the opening degree, the larger the deceleration operation amount of the vehicle 1.

[0018] 3 is a diagram illustrating 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 based on the depression angle when the opening degree is 0%.

[0019] In the example of FIG. 3, the differential opening degree 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] 3, an opening of 0% corresponds to a depression angle of 0°, and an opening of 100% corresponds to a depression angle of 12.5°. If the voltage value at an opening of 0% is 0.8 V, the voltage value at an opening of 100% is 3.3 V.

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

[0022] 1 , the speed sensor 24 can detect the speed of the vehicle 1. The shift position sensor 26 can detect the current shift position of the vehicle 1.

[0023] The control mode selector switch 28 can accept a switching operation to determine whether or not to execute one-pedal control. When the control mode selector switch 28 instructs execution of one-pedal control, the one-pedal 20 enters a state in which it can accept acceleration and deceleration operations. On the other hand, when the control mode selector switch 28 instructs cancellation of one-pedal control, the one-pedal 20 switches to a state in which it can accept only acceleration operations. In addition to the one-pedal 20, the vehicle 1 may also be provided with a brake pedal that can only accept deceleration operations to decelerate the vehicle 1.

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

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

[0026] In the 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 the vehicle 1 is calculated based on the voltage value. If a malfunction occurs in the one-pedal sensor 22, the voltage value of the one-pedal sensor 22 may become 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 calculated based on the voltage value of the malfunctioning one-pedal sensor 22. As a result, for example, there is a risk of acceleration unintended by the driver.

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

[0028] The zero point, which indicates the boundary value between acceleration and deceleration in the control of the one-pedal 20, is a driving force of "0" between the driving force on the acceleration side and the driving force on the deceleration side, and means a driving force that serves as a reference for deriving the driving force. In other words, in zero-point learning, a voltage value of the zero point that serves as a reference for deriving the driving force is identified.

[0029] The zero-point learning execution unit 60 repeatedly executes the zero-point learning at a predetermined cycle, for example, every 500 ms. The zero-point learning execution unit 60 identifies, as the zero-point voltage value, 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.

[0030] For example, as shown in FIG. 3 , assume that the boundary opening is "8%" and the voltage value corresponding to the opening "8%" is "1.0 V." In this case, the upper limit of the range of voltage values ​​at the 0 point, i.e., the upper limit of the range of the learning value, may be set to, for example, a voltage value of "0.9 V" corresponding to an opening of "4%." Furthermore, the lower limit of the range of voltage values ​​at the 0 point, i.e., the lower limit of the range of the learning value, may be set to, for example, a voltage value of "1.1 V" corresponding to an opening of "12%."

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

[0032] If the amount of change in the currently acquired voltage value relative to the previously acquired voltage value is within a predetermined range, the currently acquired voltage value is equal to or less than the upper limit of the learning value, and is equal to or greater than the lower limit of the learning value, the zero-point learning execution unit 60 sets the currently acquired voltage value as the zero-point voltage value. This updates the zero-point voltage value.

[0033] On the other hand, if the amount of change between the voltage value acquired this time and the voltage value acquired previously exceeds a predetermined range, the zero-point learning execution unit 60 does not update the zero-point voltage value.

[0034] Furthermore, if the amount of change in the currently acquired voltage value from the previously acquired voltage value is within a predetermined range but the currently acquired voltage value exceeds the upper limit of the learning 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, with the upper limit being the learning value. Furthermore, if the amount of change in the currently acquired voltage value from the previously acquired voltage value is within a predetermined range but the currently acquired voltage value is below the lower limit of the learning value, the zero-point learning execution unit 60 may update the zero-point voltage value by subtracting a predetermined value from the current zero-point voltage value, with the lower limit being the learning value.

[0035] Suppose a malfunction occurs in the one-pedal sensor 22, causing the voltage value of the one-pedal sensor 22 to rise above an appropriate voltage value. Even if such a malfunction occurs, the pedal control device 10 can correct the voltage value corresponding to the driving force that serves as the reference for deriving the driving force to the voltage value that has risen due to the malfunction by performing zero-point learning. As a result, the pedal control device 10 can prevent unintended acceleration by the driver even if a malfunction occurs in the one-pedal sensor 22.

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

[0037] When the vehicle 1 is stopped, the one-pedal control unit 62 performs processing to identify the start-prohibited range based on the current value of the learned value obtained by zero-point learning. The start-prohibited range indicates the range of the opening degree of the one-pedal 20 within which the stopped host vehicle will not start even if the one-pedal 20 is operated. Roughly speaking, the deceleration range within the stroke of the one-pedal 20 roughly corresponds to the start-prohibited range.

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

[0039] For example, when an instruction to turn off the ignition (IG-OFF) is given to the vehicle 1, the zero-point learning execution unit 60 stores the latest learned value in the memory 52, and the processor 50 goes into a sleep state. When the ignition is turned on (IG-ON) for the vehicle 1 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 out the latest learned value from the memory 52. ​​The learned value read out in this way when the processor 50 starts up may be used as the reference value.

[0040] 4 is a diagram illustrating the derivation of the differential learning value. In the example of FIG. 4, the reference value is "0.91V."

[0041] When the vehicle 1 is stopped, the one-pedal control unit 62 determines whether the current value of the learned value obtained by zero-point learning has become equal to or less than a predetermined convergence threshold. The predetermined convergence threshold is set based on a reference value. More specifically, the predetermined convergence threshold is set by adding a predetermined value to the reference value. The predetermined value is set to an arbitrary value, such as "0.01 V," that allows determination that the current value of the learned value has become sufficiently close to the reference value. For example, if the predetermined value is "0.01 V" and the reference value is "0.91 V," the predetermined convergence threshold is set to "0.92 V."

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

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

[0044] 5 is a diagram illustrating the derivation of the start-disabled range. The one-pedal control unit 62 derives the start-disabled range by adding a differential opening, which is an opening corresponding to the differential learning value, to an opening corresponding to a range of the stroke of the one-pedal 20 where a deceleration operation is accepted. As shown in FIG. 5, if the opening corresponding to the range where a deceleration operation is accepted is "8%," the differential opening "Δ0.2%" is added to the opening "8%" to derive the start-disabled range of "8.2%".

[0045] After the start-disabled range is derived, the one-pedal control unit 62 performs a correction process to reduce the identified start-disabled range.

[0046] FIG. 6 is a diagram illustrating a correction process for reducing the start-disabled range. The one-pedal control unit 62 subtracts a predetermined opening from the identified start-disabled range to derive a correction value. The predetermined opening is set to an arbitrary opening, such as 0.4%, that corresponds to the start-disabled range that is desired to remain after the start-disabled range is reduced. Note that the opening of 0.4% corresponds to a differential voltage value of Δ0.01V. As shown in FIG. 6, if the start-disabled range is 8.2% and the predetermined opening is 0.4%, a correction value of 7.8% is derived.

[0047] The one-pedal control unit 62 performs control to subtract the derived correction value from the identified non-startable range. As a result, the effective non-startable range after the non-startable range is reduced becomes "0.4%" which is the value obtained by subtracting the correction value "7.8%" from the non-startable range "8.2%" before the reduction.

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

[0049] Furthermore, after the no-start range is reduced, a no-start range with a preset predetermined opening, such as 0.4%, remains. This allows the pedal control device 10 to prevent the vehicle 1 from unintentionally starting even if, for example, the opening of the one-pedal 20 changes slightly from 0% unintentionally while the vehicle is stopped.

[0050] Figure 7 is a diagram showing an example of the driving force when the start-prohibited range is reduced. A dashed line 70 in Figure 7 shows an example of the driving force before the start-prohibited range is reduced. A solid line 72 in Figure 7 shows an example of the driving force when the start-prohibited range is reduced.

[0051] 7, when the start-prohibited range is reduced while the vehicle 1 is stopped, the amount of depression of the one-pedal 20 until the generation of driving force to start the vehicle 1 can be reduced compared to before the start-prohibited range was reduced. This allows the driver to perform an acceleration operation with the one-pedal 20 when starting the vehicle 1, which is essentially the same as an ordinary accelerator pedal that only accepts acceleration operations. To achieve this generation of driving force, the one-pedal control unit 62 reduces the start-prohibited range by performing the following control.

[0052] The one-pedal control unit 62 derives a 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 the zero-point learning from the current voltage value of the one-pedal sensor 22 to derive a current differential voltage value from the zero-point voltage value. The one-pedal control unit 62 adds a differential voltage value corresponding to the correction value to the current differential voltage value to derive a corrected differential voltage value. The one-pedal control unit 62 derives a driving force for the vehicle 1 corresponding to the derived corrected differential voltage value.

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

[0055] For example, suppose that the one-pedal 20 is depressed to start the vehicle 1, and the current differential voltage value obtained by subtracting the learning value from the current voltage value of the one-pedal sensor 22 is "Δ-0.1 V." The differential voltage value "Δ-0.1 V" is smaller 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 a corrected differential voltage value "Δ0.095V." Because 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 degree of the one-pedal 20 is within the deceleration range when starting, an acceleration-side driving force is generated, making it possible to start the vehicle 1.

[0057] Furthermore, when the one-pedal control unit 62 performs control to reduce the no-start range and the vehicle 1 actually starts, the one-pedal control unit 62 may perform processing to reduce the degree to which the no-start range is reduced over time.

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

[0059] In this mode, the corrected differential voltage value gradually decreases over time, and eventually reaches the current differential voltage value. Finally, the one-pedal control unit 62 derives the driving force from the current differential voltage value. In other words, the correction for reducing the non-start range is canceled.

[0060] 8 is a diagram showing another example of the driving force when the start-prohibited range is reduced, where a solid line 74 in FIG. 8 shows another example of the driving force when the start-prohibited range is reduced.

[0061] In the example of Figure 7 described above, the driving force reaches its maximum value before the opening reaches 100%, as shown by the solid line 72. In contrast, in the example of Figure 8, even if the start-prohibited range is reduced, the driving force reaches its maximum value just when the opening reaches 100%, as shown by the solid line 74. In order to achieve such generation of driving force, the one-pedal control unit 62 may reduce the start-prohibited range by performing the following control.

[0062] The one-pedal control unit 62 derives a 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 obtained by the zero-point learning from the current voltage value of the one-pedal sensor 22 to derive a current differential voltage value from the voltage value at the zero point.

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

[0064] In this way, the slope of the change in driving force relative to the change in opening degree is adjusted by multiplying by a predetermined discount coefficient, so that even if the range in which starting is not permitted is reduced, the change in driving force can be such that the driving force reaches its maximum value when the opening degree reaches 100%.

[0065] Furthermore, the one-pedal control unit 62 may gradually reduce the difference voltage value corresponding to the correction value added when deriving the corrected difference voltage value over time after start-up, and may change the discount coefficient so that it gradually approaches 1 over time after start-up. In this mode, the corrected difference voltage value gradually decreases over time, and eventually reaches the current difference voltage value. That is, the degree to which the start-prohibited range is reduced over time, and the correction for reducing the start-prohibited range is canceled.

[0066] 9 is a flowchart illustrating the operation 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 of FIG. 9 each time a predetermined interrupt timing occurs, which occurs at a predetermined cycle, such as every 500 ms.

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

[0068] Next, the one-pedal control unit 62 determines whether one-pedal control is currently being performed (S11). For example, the one-pedal control unit 62 determines that one-pedal control is currently being performed if the control mode changeover switch 28 has instructed the one-pedal control to be performed. If it determines that one-pedal control is not currently being performed (NO in S11), the one-pedal control unit 62 ends the current 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 the vehicle 1 is currently stopped (S12). More specifically, if both the shift position condition and the speed condition described above are satisfied, the one-pedal control unit 62 determines that the vehicle 1 is stopped. On the other hand, if at least one of the shift position condition and the speed condition described above is not satisfied, the one-pedal control unit 62 determines that the vehicle 1 is not stopped. If it is determined that the vehicle 1 is not stopped (NO in S12), the one-pedal control unit 62 ends the current series of processes.

[0070] If it is determined that the vehicle 1 is stopped (YES in S12), the one-pedal control unit 62 determines whether the current value of the learned value derived by the zero-point learning in step S10 is equal to or less than 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 ends this series of processes.

[0071] If it is determined that the current value of the learned value is equal to or less than the convergence threshold value (YES in S13), the one-pedal control unit 62 performs the processes from step S14 onwards.

[0072] The one-pedal control unit 62 subtracts the reference value from the current learned value to derive a differential learned value (S14). The one-pedal control unit 62 converts the derived differential learned value into a differential opening degree corresponding to the differential learned value (S15).

[0073] The one-pedal control unit 62 derives the start-disabled range by adding the derived differential opening to the opening corresponding to the deceleration range (S16).The one-pedal control unit 62 subtracts a predetermined opening from the derived start-disabled range to derive a correction value (S17).

[0074] The one-pedal control unit 62 performs a correction process to reduce the derived no-start range 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 learning value from the current voltage value of the one-pedal sensor 22 to derive a current differential voltage value from the voltage value at the zero point. The one-pedal control unit 62 adds a differential voltage value corresponding to the correction value to the current differential voltage value to derive a corrected differential voltage value. The one-pedal control unit 62 derives a driving force of the vehicle 1 corresponding to the corrected differential voltage value.

[0076] By performing such a correction process, if the current differential voltage value from the one-pedal sensor 22 becomes larger than the differential voltage value corresponding to the range in which starting is not possible after the reduction, the driving force on the acceleration side is derived and the vehicle 1 starts moving.

[0077] The one-pedal control unit 62 determines whether the vehicle 1 has started moving (S20). For example, the one-pedal control unit 62 may determine that the 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 is determined that the vehicle 1 has not started moving (NO in S20), the one-pedal control unit 62 ends the current series of processes.

[0078] If it is determined that the vehicle 1 has started (YES in S20), the one-pedal control unit 62 cancels the correction that reduces the no-start range by gradually reducing the degree to which the no-start range is reduced over time (S21).

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

[0080] As a result, the pedal control device 10 of this embodiment acts to substantially eliminate the deceleration range of the one-pedal 20 when starting the vehicle 1. In other words, the pedal control device 10 of this embodiment can cause the one-pedal 20 to function substantially in the same way as a normal accelerator pedal that only accepts acceleration operations when starting the vehicle 1.

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

[0082] While the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such embodiments. It is clear that those skilled in the art can conceive of various modifications and alterations within the scope of the claims, and it is understood that such modifications and alterations also fall within the technical scope of the present invention.

[0083] REFERENCE SIGNS LIST 1 Vehicle 10 Pedal control device 20 One-pedal 22 One-pedal sensor 30 Control device 50 Processor 52 Memory 60 Zero-point learning execution unit 62 One-pedal control unit

Claims

1. A pedal control device comprising: a one-pedal capable of accepting an acceleration operation to accelerate a vehicle and a deceleration operation to decelerate the vehicle; a one-pedal sensor that detects the amount of operation of the one-pedal and outputs the detection result as a voltage value; and a control device, wherein the control device has one or more processors and one or more memories connected to the processors, wherein the processor executes processes including: performing zero-point learning to identify a zero-point voltage value that indicates the boundary value between acceleration and deceleration in the control of the one-pedal based on the amount of change over time in the voltage value of the one-pedal sensor; determining whether the vehicle is stopped; when it is determined that the vehicle is stopped, performing a process to identify a non-start range that indicates the range of one-pedal opening within which the stopped vehicle will not start even if the one-pedal is operated, based on the current value of the learned value, which is the zero-point voltage value identified by the zero-point learning; and performing a correction process to reduce the identified non-start range.

2. The pedal control device described in claim 1, wherein the processor executes a process including: determining whether the current value of the learned value obtained by the zero-point learning has become equal to or less than a predetermined convergence threshold; and the process of identifying the no-start range and the correction process of reducing the no-start range are performed when the current value of the learned value has become equal to or less than the convergence threshold.

3. A pedal control device as described in claim 1, wherein the processor, in a correction process for reducing the no-start range, executes a process including: subtracting a predetermined opening amount set in advance from the identified no-start range to derive a correction value; and controlling so as to subtract the derived correction value from the identified no-start range.

4. A pedal control device as described in claim 3, wherein the processor, in a process of controlling to subtract the derived correction value from the identified no-start range, executes processes including: subtracting the learning value obtained by the zero-point learning from the current voltage value of the one-pedal sensor to derive a current differential voltage value; adding a differential voltage value corresponding to the derived correction value to the derived current differential voltage value to derive a corrected differential voltage value; and deriving a driving force corresponding to the derived corrected differential voltage value.

5. A pedal control device as described in claim 3, wherein the processor, in a process of controlling to subtract the derived correction value from the identified no-start range, executes processes including: subtracting the learning value obtained by the zero-point learning from the current voltage value of the one-pedal sensor to derive a current differential voltage value; adding a differential voltage value corresponding to the derived correction value to the derived current differential voltage value and multiplying the result of the addition by a predetermined discount coefficient to derive a corrected differential voltage value; and deriving a driving force corresponding to the derived corrected differential voltage value.

6. A pedal control device as described in claim 1, wherein the processor, in the process of identifying the no-start range, executes processes including: subtracting a reference value indicating the learning value at a predetermined reference point in time from the current value of the learning value to derive a differential learning value; and adding a differential opening corresponding to the differential learning value to an opening corresponding to a range of the one-pedal stroke in which the deceleration operation is accepted to derive the no-start range.

7. The pedal control device according to claim 1, wherein the processor executes processing including: when it is determined that the vehicle has started after the correction processing for reducing the no-start range, reducing the degree to which the no-start range is reduced over time.

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