Control device, vehicle, and control method

Abstract

Provided is a control device which executes hill-hold control on a vehicle having a brake pedal and an accelerator pedal, and with which a vehicle that is more convenient than before can be realized. A control device according to the present invention is configured such that when it is determined that the vehicle being stopped is in a prescribed operation state in which both the brake pedal and the accelerator pedal are depressed at least at one point in time, the control device will be in a hill-hold prohibition state in which execution of hill-hold control is prohibited even when the brake pedal is not depressed.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device, vehicle and control method

[0003] [Technical Field]

[0004]

[001] The present invention relates to a control device that performs hill-hold control, a vehicle equipped with the control device, and a control method that performs hill-hold control.

[0005] [Background technology]

[0006]

[002] Some vehicles equipped with a brake pedal and an accelerator pedal are known to perform hill-hold control, which maintains braking force when the brake pedal is released while the vehicle is stopped (see, for example, Patent Document 1).

[0007] [Prior art documents]

[0008] [Patent documents]

[0009]

〇 0 0 3

[0010] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-246051

[0011] Summary of the Invention

[0012] [Problem to be solved by the invention]

[0013] [0 0 4] Depending on the vehicle's driving conditions, there are situations in which the driver does not want hill-hold control to be executed when trying to move a stopped vehicle. However, in vehicles that implement conventional hill-hold control, hill-hold control is executed when the brake pedal is not depressed in a stopped vehicle. For this reason, vehicles that implement conventional hill-hold control have the problem that, depending on the vehicle's driving conditions, the driver may find it difficult to use.

[0014]

[0005] The present invention has been made in light of the above-mentioned problems, and has a first object to provide a control device that executes hill-hold control in a vehicle having a brake pedal and an accelerator pedal, which can realize a vehicle that is easier to use than conventional vehicles. A second object of the present invention is to provide a vehicle equipped with such a control device. A third object of the present invention is to provide a control method that executes hill-hold control in a vehicle having a brake pedal and an accelerator pedal, which can realize a vehicle that is easier to use than conventional vehicles.

[0015] [Means for solving the problem]

[0016]

[0006] The control device according to the present invention is mounted on a vehicle having a brake pedal and an accelerator pedal, and executes hill-hold control to maintain braking force when the brake pedal is not depressed when the vehicle is stopped. When it is determined that the vehicle is in a specified operating state in which both the brake pedal and the accelerator pedal are depressed at least at one point in time, the control device is configured to enter a hill-hold prohibited state in which the execution of the hill-hold control is prohibited even when the brake pedal is not depressed.

[0017]

[0007] Furthermore, the vehicle according to the present invention is equipped with the control device according to the present invention.

[0018] [0 0 0 8] The control method according to the present invention is used in a vehicle having a brake pedal and an accelerator pedal, and performs hill-hold control to maintain braking force when the brake pedal is not depressed when the vehicle is stopped. The control method includes a hill-hold prohibition step that prohibits the execution of the hill-hold control even when the brake pedal is not depressed when it is determined that the vehicle is in a specified operating state in which both the brake pedal and the accelerator pedal are depressed at least at one point in time.

[0019] [Effects of the Invention]

[0020]

[0009] The present invention prohibits the execution of hill-hold control when it is determined that a stopped vehicle has entered the specified operating state. In other words, the driver can prohibit the execution of hill-hold control by entering the specified operating state while the vehicle is stopped. Therefore, the present invention can realize a vehicle that is easier to use than conventional vehicles.

[0021] [Brief explanation of the drawings]

[0022] [ 0 0 1 0 ]

[0023] [Figure 1] A side view of a vehicle equipped with a control device according to an embodiment of the present invention.

[0024] [Figure 2] A block diagram showing a control device according to an embodiment of the present invention.

[0025] [Figure 3] A diagram for explaining hill-hold control executed by a control device according to an embodiment of the present invention.

[0026] [Fig. 4] A diagram for explaining an example of a situation in which the driver of the vehicle according to the embodiment of the present invention does not want to execute hill hold control.

[0027] [Figure 5] A diagram for explaining an example of a situation in which the control device according to the embodiment of the present invention enters a hill hold prohibited state.

[0028] [Figure 6] A diagram for explaining an example of a situation in which the control device according to the embodiment of the present invention cancels the hill hold prohibited state.

[0029] [Figure 7] A control flow diagram showing an example of the operation of the control device according to the embodiment of the present invention.

[0030] [Figure 8] A diagram for explaining a modified example of the control device according to the embodiment of the present invention.

[0031] [Figure 9] A diagram for explaining a modified example of the control device according to the embodiment of the present invention.

[0032] [Fig. 11] A diagram for explaining a modified example of the control device according to the embodiment of the present invention. [Fig. 12] A diagram for explaining a modified example of the control device according to the embodiment of the present invention.

[0033] [Fig. 12] A side view of a vehicle equipped with a modified example of the control device according to the embodiment of the present invention.

[0034] [Figure 13] A diagram for explaining a modified example of a control device according to an embodiment of the present invention.

[0035] [Mode for Carrying Out the Invention]

[0036]

[0011] Below, an example of a control device, vehicle, and control method according to the present invention will be described with reference to the drawings.

[0037]

[0012] In the following, a four-wheeled motor vehicle will be described as an example of a vehicle equipped with an example of a control device according to the present invention, but the number of wheels of a vehicle equipped with an example of a control device according to the present invention is not limited as long as it has a brake pedal and an accelerator pedal. A vehicle equipped with an example of a control device according to the present invention may also be, for example, a three-wheeled motor vehicle. In the following, an off-road vehicle (a vehicle that may travel on road surfaces other than paved roads) will be described as an example of a vehicle equipped with an example of a control device according to the present invention, but a vehicle equipped with an example of a control device according to the present invention may also be an on-road vehicle (a vehicle that travels on paved roads). In addition, the drive source of a vehicle equipped with an example of a control device according to the present invention is not particularly limited, and a vehicle equipped with an example of a control device according to the present invention may be a vehicle using at least one of an engine and an electric motor as a drive source.

[0038]

[0013] Furthermore, the configurations and operations, etc. described below are examples, and the present invention is not limited to such configurations and operations, etc. Furthermore, in each drawing, the same or similar members or parts may be assigned the same reference numerals or may not be assigned the reference numerals. Furthermore, illustrations of detailed structures may be simplified or omitted as appropriate.

[0039]

[0014] Embodiment. Below, we will explain a control device related to this embodiment, a vehicle equipped with the control device, and a control method related to this embodiment.

[0040]

[0015] <Configuration of vehicle and control device> Fig. 1 is a side view of a vehicle equipped with a control device according to an embodiment of the present invention. In Fig. 1, the left side of the paper is the front side of the vehicle 100. In other words, Fig. 1 is a view of the vehicle 100 observed from the left side. For example, the vehicle 100, which is an off-road vehicle, is equipped with a body 101, wheels 102 rotatably connected to the body 101, an accelerator pedal 103, and a brake pedal 104. The vehicle 100 according to this embodiment is a four-wheeled motor vehicle and is therefore equipped with four wheels 102. Specifically, the vehicle 100 is equipped with a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel as the wheels 102. These wheels 102 are rotatably connected to the body 101 by suspensions or the like. In FIG. 1, which shows the vehicle 100 from the left side, only the left front wheel and left rear wheel of the four wheels 102 are shown.

[0041]

[0016] The vehicle 100 is equipped with a brake system 110 that generates braking forces on each wheel 102 according to the amount of depression of a brake pedal 104. The configuration of the brake system 110 is not particularly limited. For example, the brake system 110 may be configured to control the hydraulic pressure of brake fluid in a wheel cylinder that moves the brake pads, thereby controlling the braking force generated on the wheel 102. Alternatively, for example, the brake system 110 may be configured to control a linear actuator that moves the brake pads, thereby controlling the braking force generated on the wheel 102.

[0042]

[0017] The vehicle 100 also includes a control device 1 that performs hill-hold control. Hill-hold control is a control that maintains the braking force of each wheel 102 when the brake pedal 104 of the vehicle 100 is not depressed while the vehicle is stopped. In this embodiment, when the brake pedal 104 of the vehicle 100 is not depressed while the vehicle is stopped, the control device 1 outputs a command to the brake system 110 to maintain the braking force of each wheel 102. The control device 1 may be a single device or may be divided into multiple devices. For example, at least a portion of the control device 1 may be formed integrally with a control device (not shown) of the brake system 110. Furthermore, part or all of the control device 1 may be composed of, for example, a microcomputer, a microprocessor unit, etc., or may be composed of updatable firmware, etc., or may be a program module, etc., executed by instructions from a CPU, etc.

[0043]

[0018] Figure 2 is a block diagram showing a control device according to an embodiment of the present invention. The control device 1 includes, as functional units, an acquisition unit 2, a determination unit 3, and an execution unit 4.

[0044]

[0019] The acquisition unit 2 is a functional unit that acquires information used for control performed by the control device 1. For example, the acquisition unit 2 acquires stop information indicating that the vehicle 100 has stopped. The method for acquiring the stop information of the vehicle 100 is not particularly limited, but in this embodiment, the stop information of the vehicle 100 is acquired, for example, as follows. For example, the vehicle 100 according to this embodiment is equipped with a wheel speed sensor 111 that detects the wheel speed of the wheel 102. For example, the acquisition unit 2 acquires the stop information of the vehicle 100 based on the detection value of the wheel speed sensor 111. The acquisition unit 2 also acquires brake pedal 104 depression information, which includes at least information on whether the brake pedal 104 is depressed. The brake pedal 104 depression information may include information indicating the depression amount of the brake pedal 104. There are no particular limitations on the method for acquiring the brake pedal 104 depression information, but in this embodiment, the brake pedal 104 depression information is acquired, for example, as follows. As described above, the vehicle 100 according to this embodiment is equipped with the brake system 110. For example, the acquisition unit 2 acquires the brake pedal 104 depression information from a control device (not shown) of the brake system 110. The acquisition unit 2 also acquires accelerator pedal 103 depression information that includes at least information on whether the accelerator pedal 103 is depressed. The accelerator pedal 103 depression information may include information indicating the depression amount of the accelerator pedal 103. The method for acquiring accelerator pedal 103 depression information is not particularly limited, but in this embodiment, the accelerator pedal depression information is acquired, for example, as follows. For example, the vehicle 100 according to this embodiment is equipped with an accelerator sensor 112 that detects the amount of depression of the accelerator pedal 103. For example, the acquisition unit 2 acquires the accelerator pedal 103 depression information based on the detection value of the accelerator sensor 112.

[0045]

[0020] The determination unit 3 is a functional unit that determines whether or not the control device 1 should implement a control that can be implemented. For example, the determination unit 3 determines whether or not to implement hill-hold control. The execution unit 4 is a functional unit that executes hill-hold control. For example, the execution unit 4 executes hill-hold control as follows:

[0046]

[0021] Figure 3 is a diagram illustrating hill-hold control performed by a control device according to an embodiment of the present invention. The horizontal axis of Figure 3 represents time, with time increasing toward the right on the page. V in Figure 3(a) represents the speed of vehicle 100, with values ​​increasing toward the top of the page. B in Figure 3(b) represents the amount of depression of brake pedal 104, with values ​​increasing toward the top of the page. A in Figure 3(c) represents the amount of depression of accelerator pedal 103, with values ​​increasing toward the top of the page. HHC in Figure 3(d) indicates whether hill-hold control is being performed. Specifically, ON in Fig. 3(d) indicates that hill-hold control is being executed, and OFF in Fig. 3(d) indicates that hill-hold control is not being executed.

[0047]

[0022] The brake pedal 104 is depressed, causing the vehicle 100 to slow down and come to a stop at time T0. Then, at time T1, the amount of depression of the brake pedal 104 decreases. When the vehicle 100 is stopped on an inclined road surface 200, the control device 1 starts hill-hold control when the braking force acting on the wheel 102 reaches a specified value. Specifically, the determination unit 3 determines that hill-hold control should be executed, and the execution unit 4 executes hill-hold control. The specified value indicates the braking force that can prevent the vehicle 100 from moving under its own weight while stopped on the inclined road surface 200. In Figure 3, hill-hold control is executed at time T2. In addition, the control device 1 terminates hill-hold control, for example, at time T3, when a specified time has elapsed since the brake pedal 104 was released.

[0048]

[0023] Conventionally, depending on the driving situation of the vehicle, there are situations in which the driver does not want to execute hill-hold control when trying to move the stopped vehicle. An example of a situation in which the driver does not want to execute hill-hold control will be described below using vehicle 100 according to the present embodiment.

[0049]

[0024] Figure 4 is a diagram illustrating an example of a situation in which the driver of a vehicle according to an embodiment of the present invention does not want to execute hill hold control. In Figure 4, the left side of the page is the front of vehicle 100. Suppose vehicle 100, while climbing uphill road surface 200, gives up on reaching the top of road surface 200. In such a case, the driver of vehicle 100 depresses brake pedal 104 to temporarily stop vehicle 100 on uphill road surface 200. Then, the driver of vehicle 100, while still in drive gear, reduces the amount of depression on brake pedal 104, and while adjusting the amount of depression on brake pedal 104, vehicle 100 moves backward using its own weight. In this way, the driver of vehicle 100 attempts to move vehicle 100 to a safe haven, such as a place with no slope.

[0050]

[0025] In a configuration where vehicle 100 is configured to execute conventional hill-hold control, if vehicle 100 is stopped on an uphill road 200 and the driver gradually reduces the amount of depression of brake pedal 104, hill-hold control is executed. To cancel this executed hill-hold control, the driver must wait a specified time after brake pedal 104 is released. Because the driver cannot operate the vehicle during this specified time, the driver cannot control when vehicle 100 will roll back under its own weight. Also known is a conventional hill-hold control that cancels hill-hold control by depressing accelerator pedal 103 to an amount that allows vehicle 100 to move forward while brake pedal 104 is not being pressed. However, even when the vehicle 100 is configured to execute such conventional hill-hold control, the driver cannot operate the amount of depression of the accelerator pedal 103 to cancel the hill-hold control. For this reason, the driver cannot control when the vehicle 100 will roll back under its own weight. In other words, when the vehicle 100 is configured to execute conventional hill-hold control, if the vehicle 100 starts rolling back at a time that the driver cannot control, the driver must press the brake pedal 104 to adjust the rollback speed of the vehicle 100. In this way, when the vehicle 100 is configured to execute conventional hill-hold control, depending on the driving conditions of the vehicle 100, the driver may find the vehicle 100 difficult to use.

[0051]

[0026] On the other hand, when the conditions for executing hill-hold control are met, the control device 1 according to this embodiment can enter a hill-hold prohibited state in which the execution of hill-hold control is prohibited as follows:

[0052]

[0027] Figure 5 is a diagram illustrating an example of a situation in which a control device according to an embodiment of the present invention enters a hill-hold prohibition state. The horizontal axis of Figure 5 indicates time, with time passing as one moves to the right on the page. Also, V in Figure 5(a) indicates the speed of vehicle 100, with values ​​increasing toward the top of the page. Also, B in Figure 5(b) indicates the amount of depression of brake pedal 104, with values ​​increasing toward the top of the page. Also, A in Figure 5(c) indicates the amount of depression of accelerator pedal 103, with values ​​increasing toward the top of the page. Also, HHC in Figure 5(d) indicates whether hill-hold control is being performed. Specifically, ON in Fig. 5(d) indicates a state in which hill-hold control is being executed. ◯ FF in Fig. 5(d) indicates a state in which hill-hold control is not being executed. Furthermore, FF in Fig. 5(e) indicates whether or not the control device 1 is in a hill-hold prohibited state. Specifically, ON in Fig. 5(e) indicates a state in which the control device 1 is in a hill-hold prohibited state. OFF in Fig. 5(e) indicates a state in which the control device 1 is not in a hill-hold prohibited state.

[0053]

[0028] At time T4, vehicle 100, which came to a stop at time T0, has brake pedal 104 depressed and accelerator pedal 103 depressed. In other words, vehicle 100 has both brake pedal 104 and accelerator pedal 103 depressed at least at one point. Hereinafter, the state in which both brake pedal 104 and accelerator pedal 103 are depressed is referred to as the specified operation state. When the driver depresses both the brake pedal 104 and the accelerator pedal 103, the driver may depress the brake pedal 104 and the accelerator pedal 103 with separate feet, or may depress both the brake pedal 104 and the accelerator pedal 103 with one foot.

[0054]

[0029] As shown in Figure 5 (e), the control device 1 enters a hill-hold prohibited state when it determines that the stopped vehicle 100 has entered a specified operation state. Specifically, when it determines that the stopped vehicle 100 has entered a specified operation state, the determination unit 3 of the control device 1 determines that hill-hold control will not be executed. In addition, the execution unit 4 of the control device 1 sets a prohibition flag that prohibits hill-hold control. As a result, the control device 1 enters a hill-hold prohibited state. The determination of whether the stopped vehicle 100 has entered a specified operation state may be made by the determination unit 3 or by a control device other than the control device 1.

[0055]

[0030] As shown in Fig. 5, when the control device 1 is in the hill-hold prohibited state, hill-hold control is not executed even if the brake pedal 104 is not depressed in the stopped vehicle 100. In this way, by the driver of the stopped vehicle 100 putting the vehicle 100 into the specified operation state, the control device 1 according to this embodiment can prohibit the execution of hill-hold control in a situation where the driver does not want the execution of hill-hold control. Therefore, the control device 1 according to this embodiment can execute the vehicle 100 with improved usability compared to conventional vehicles.

[0056]

[0031] The control device 1 according to this embodiment is configured not to maintain the hill-hold prohibited state when the vehicle 100, which has entered a hill-hold prohibited state and started to move, comes to a stop. By configuring the control device 1 in this way, the driver can select whether or not to prohibit hill-hold control each time the vehicle 100 is stopped. A control device 1 configured not to maintain the hill-hold prohibited state when the vehicle 100, which has entered a hill-hold prohibited state and started to move, comes to a stop may be configured, for example, as follows:

[0057]

[0032] Figure 6 is a diagram illustrating an example of a situation in which the control device according to the embodiment of the present invention cancels the hill-hold prohibition state. The horizontal axis of Figure 6 indicates time, with time passing as one moves to the right on the page. V in Figure 6(a) indicates the speed of vehicle 100, with values ​​increasing toward the top of the page. B in Figure 6(b) indicates the amount of depression of brake pedal 104, with values ​​increasing toward the top of the page. A in Figure 6(c) indicates the amount of depression of accelerator pedal 103, with values ​​increasing toward the top of the page. HHC in Figure 6(d) indicates whether hill-hold control is being performed. Specifically, ON in Fig. 6(d) indicates a state in which hill-hold control is being executed. OFF in Fig. 6(d) indicates a state in which hill-hold control is not being executed. Furthermore, FF in Fig. 6(e) indicates whether or not the control device 1 is in a hill-hold prohibited state. Specifically, ON in Fig. 6(e) indicates a state in which the control device 1 is in a hill-hold prohibited state. OFF in Fig. 6(e) indicates a state in which the control device 1 is not in a hill-hold prohibited state.

[0058]

[0033] At time T5, vehicle 100 is stopped with brake pedal 104 not depressed. When accelerator pedal 103 is depressed, vehicle 100 begins to move. When stopped vehicle 100 begins to move, control device 1 cancels the hill-hold prohibited state. As a result, when vehicle 100, which has been in the hill-hold prohibited state and has started to move, stops, control device 1 is configured not to maintain the hill-hold prohibited state.

[0059]

[0034] Note that the configuration of the control device 1 that does not maintain the hill hold prohibited state when the vehicle 100, which has started to move with the hill hold prohibited state, stops is not limited to the configuration shown in Fig. 6. For example, suppose the vehicle 100 continues to travel with the hill hold prohibited state and then stops. In this case, the control device 1 may cancel the hill hold prohibited state when the vehicle 100 stops and the brake pedal 104 is depressed. Also, for example, suppose the vehicle 100 continues to travel with the hill hold prohibited state and then stops. Then, if the vehicle 100 is not in a specified operating state by the time the amount of depression of the brake pedal 104 decreases and the braking force acting on the wheel 102 reaches a value that determines whether or not to execute hill-hold control, the control device 1 may cancel the hill-hold prohibited state.Even with this configuration, the control device 1 can be configured not to maintain the hill-hold prohibited state when the vehicle 100, which has been in the hill-hold prohibited state and has started to move, stops.

[0060]

[0035] <Operation of the Control Device> The operation of the control device 1 according to this embodiment will be described.

[0061]

[0036] Fig. 7 is a control flow diagram showing an example of the operation of a control device according to an embodiment of the present invention. When a control start condition is met, in step S1, the control device 1 starts the control shown in Fig. 7. The control start condition is, for example, when the ignition of vehicle 1 is turned on. Step S2 after step S1 is an acquisition step. In step S2, the acquisition unit 2 of the control device 1 acquires information used for the control executed by the control device 1. Step S3 after step S2 is a hill-hold condition determination step that determines whether the conditions for executing hill-hold control are met. In step S3, the determination unit 3 of the control device 1 determines whether the conditions for hill-hold control, for example, as described in Fig. 3, are met. If the conditions for hill-hold control are not met in step S3, the control device 1 proceeds to step S9. On the other hand, if the conditions for hill hold control are met in step S3, the control device 1 proceeds to step S4.

[0062]

[0037] Step S4 is a hill-hold prohibition condition determination step that determines whether the conditions for a hill-hold prohibition state are met. In step S4, the determination unit 3 determines whether the stopped vehicle 100 has entered a specified operation state. If it is determined in step S4 that the stopped vehicle 100 has entered a specified operation state, the control device 1 proceeds to step S5. On the other hand, if it is determined in step S4 that the stopped vehicle 100 has not entered a specified operation state, the control device 1 proceeds to step S7.

[0063]

[0038] Step S5 is a hill-hold prohibition step that prohibits the execution of hill-hold control. In step S5, the execution unit 4 of the control device 1 sets a prohibition flag that prohibits hill-hold control. This puts the control device 1 into a hill-hold prohibited state. In other words, the hill-hold prohibition step of step S5 is a step that prohibits the execution of hill-hold control even if the brake pedal 104 is no longer depressed when it is determined that the stopped vehicle 100 has entered a specified operation state. Step S6 following step S5 is a hill-hold prohibition release step that releases the hill-hold prohibition state. In step S6, if the conditions for releasing the hill-hold prohibition state described in Figure 6, for example, are met, the execution unit 4 clears the prohibition flag and releases the hill-hold prohibition state. The control device 1 then proceeds to step S9.

[0064]

[0039] Meanwhile, step S7 is a hill-hold control execution step. In step S7, the execution unit 4 executes hill-hold control. Step S8 after step S7 is a hill-hold control cancellation step. In step S8, the execution unit 4 cancels the hill-hold control when the conditions for canceling the hill-hold control are met. In other words, the execution unit 4 ends the hill-hold control.

[0065]

[0040] Step S9 is an end determination step. In step S9, the determination unit 3 of the control device 1 determines whether the end condition of the control shown in Fig. 7 has been met. The end condition of the control is, for example, when the vehicle 100 is in the ignition-off state. If it is determined in step S9 that the end condition of the control shown in Fig. 7 has been met, the control device 1 proceeds to step S1 ○ and ends the control shown in Fig. 7. On the other hand, if it is determined in step S9 that the end condition of the control shown in Fig. 7 has not been met, the control device 1 returns to step S2.

[0041] <Effects of the Control Device> The control device 1 according to this embodiment is mounted on a vehicle 100 having a brake pedal 104 and an accelerator pedal 103, and is a control device that executes hill-hold control to maintain braking force when the brake pedal 104 is not depressed in the stopped vehicle 100. The control device 1 is configured to enter a hill-hold prohibited state in which the execution of hill-hold control is prohibited even when the brake pedal 104 is not depressed when it is determined that the stopped vehicle 100 has entered a specified operation state in which both the brake pedal 104 and the accelerator pedal 103 are depressed at least at one point.

[0066]

[0042] The driver of a vehicle 100 equipped with the control device 1 configured in this manner can prohibit the execution of hill-hold control by setting the vehicle 100 to the specified operating state while the vehicle is stopped. Therefore, the control device 1 configured in this manner can realize a vehicle 100 that is easier to use than conventional vehicles.

[0067] [ 0 0 4 3 ]

[0068] <Modification> Figure 8 is a diagram illustrating a modification of the control device according to the embodiment of the present invention. The horizontal axis of Figure 8 represents time, with time increasing toward the right on the page. V in Figure 8(a) represents the speed of vehicle 100, with values ​​increasing toward the top of the page. B in Figure 8(b) represents the amount of depression of brake pedal 104, with values ​​increasing toward the top of the page. A in Figure 8(c) represents the amount of depression of accelerator pedal 103, with values ​​increasing toward the top of the page. HHC in Figure 8(d) indicates whether hill hold control is being performed. Specifically, ON in Figure 8(d) indicates a state in which hill hold control is being performed. The ∘ FF in Fig. 8(d) indicates a state in which hill-hold control is not being performed. The FF in Fig. 8(e) indicates whether the control device 1 is in a hill-hold prohibited state. Specifically, the ON in Fig. 8(e) indicates a state in which the control device 1 is in a hill-hold prohibited state. The FF in Fig. 8(e) indicates a state in which the control device 1 is not in a hill-hold prohibited state.

[0069]

[0044] In Figure 8, vehicle 100 stops at time T0, and at time T4, the brake pedal 100

[0070] 8, the control device 1 is in the hill-hold prohibited state when the brake pedal 104 is depressed and the accelerator pedal 103 is depressed. When the accelerator pedal 103 continues to be depressed for a specified period until time T6, the control device 1 enters the hill-hold prohibited state. That is, in the control device 1 shown in FIG. 8, the specified operation state is a state in which both the brake pedal 104 and the accelerator pedal 103 are continuously depressed for a specified time. The control device 1 configured in this manner can prevent the hill-hold prohibited state from being entered if the driver unintentionally depresses the accelerator pedal 103 while the brake pedal 104 is depressed. Therefore, the control device 1 configured in this manner can further improve the usability of the vehicle 100.

[0071]

[0045] Figure 9 is a diagram illustrating a modified example of a control device according to an embodiment of the present invention. The horizontal axis of Figure 9 represents time, with time increasing toward the right on the page. Also, V in Figure 9(a) represents the speed of vehicle 100, with the value increasing toward the top of the page. Also, B in Figure 9(b) represents the amount of depression of brake pedal 104, with the value increasing toward the top of the page. Also, A in Figure 9(c) represents the amount of depression of accelerator pedal 103, with the value increasing toward the top of the page. Also, HHC in Figure 9(d) indicates whether hill hold control is being performed. Specifically, ON in Figure 9(d) indicates a state in which hill hold control is being performed. The circle FF in Fig. 9(d) indicates that hill-hold control is not being performed. The FF in Fig. 9(e) indicates whether the control device 1 is in a hill-hold prohibited state. Specifically, the ON in Fig. 9(e) indicates that the control device 1 is in a hill-hold prohibited state. The OFF in Fig. 9(e) indicates that the control device 1 is not in a hill-hold prohibited state.

[0072]

[0046] In Figure 9, the vehicle 100 is stopped with the brake pedal 104 depressed, and the control device 1 enters the hill-hold prohibited state at time T7 when the accelerator pedal 103 is depressed multiple times. Figure 9 also shows an example in which the control device 1 enters the hill-hold prohibited state when the accelerator pedal 103 is depressed twice. That is, in the control device 1 shown in Figure 9, the specified operation state is when the brake pedal 104 is depressed and the accelerator pedal 103 is depressed multiple times. The control device 1 configured in this way can also prevent the hill-hold prohibited state from being entered if the driver unintentionally depresses the accelerator pedal 103 while the brake pedal 104 is depressed. Therefore, the control device 1 configured in this manner can further improve the usability of the vehicle 100.

[0073]

[0047] Figure 10 is a diagram illustrating a modified example of a control device according to an embodiment of the present invention. The horizontal axis of Figure 10 indicates time, with time increasing toward the right on the page. V in Figure 10(a) indicates the speed of vehicle 100, with the value increasing toward the top of the page. B in Figure 10(b) indicates the amount of depression of brake pedal 104, with the value increasing toward the top of the page. A in Figure 10(c) indicates the amount of depression of accelerator pedal 103, with the value increasing toward the top of the page. HHC in Figure 10(d) indicates whether hill-hold control is being performed. Specifically, ON in Fig. 10(d) indicates a state in which hill-hold control is being executed. OFF in Fig. 10(d) indicates a state in which hill-hold control is not being executed. Furthermore, FF in Fig. 10(e) indicates whether or not the control device 1 is in a hill-hold prohibited state. Specifically, ON in Fig. 10(e) indicates a state in which the control device 1 is in a hill-hold prohibited state. OFF in Fig. 10(e) indicates a state in which the control device 1 is not in a hill-hold prohibited state.

[0074]

[0048] In Figure 1〇, the vehicle 100 is stopped with the brake pedal 104 depressed, and the control device 1 enters the hill-hold prohibited state at time T8 when the depression of the accelerator pedal 103 becomes equal to or greater than the specified amount A1 or A1. In other words, in the control device 1 shown in Figure 1〇, the specified operation state is when the brake pedal 104 is depressed and the depression of the accelerator pedal 103 becomes equal to or greater than the specified amount A1 or A1. The control device 1 configured in this way can also prevent the hill-hold prohibited state from being entered if the driver unintentionally depresses the accelerator pedal 103 while the brake pedal 104 is depressed. Therefore, the control device 1 configured in this manner can further improve the usability of the vehicle 1 XX.

[0075]

[0049] Figure 11 is a diagram illustrating a modified example of a control device according to an embodiment of the present invention. The horizontal axis of Figure 11 represents time, with time increasing toward the right on the page. Also, V in Figure 11(a) represents the speed of vehicle 100, with the value increasing toward the top of the page. Also, B in Figure 11(b) represents the amount of depression of brake pedal 104, with the value increasing toward the top of the page. Also, A in Figure 11(c) represents the amount of depression of accelerator pedal 103, with the value increasing toward the top of the page. Also, HHC in Figure 11(d) indicates whether hill-hold control is being performed. Specifically, ON in Fig. 11(d) indicates a state in which hill-hold control is being executed. OFF in Fig. 11(d) indicates a state in which hill-hold control is not being executed. Furthermore, FF in Fig. 11(e) indicates whether or not the control device 1 is in a hill-hold prohibited state. Specifically, ON in Fig. 11(e) indicates a state in which the control device 1 is in a hill-hold prohibited state. OFF in Fig. 11(e) indicates a state in which the control device 1 is not in a hill-hold prohibited state.

[0076]

[0050] In Figure 11, at time T9, vehicle 100 starts moving with control device 1 still in the hill-hold disabled state. Control device 1 remains in the hill-hold disabled state even after time T10, when the vehicle stops again. Control device 1 also remains in the hill-hold disabled state from time T11, when the depression of brake pedal 104 begins to decrease, and from time T12, when the braking force acting on wheel 102 becomes the initiation condition for hill-hold control. In other words, the control device 1 shown in Figure 11 is configured to maintain the hill-hold disabled state when vehicle 100, which has started moving in the hill-hold disabled state, stops. By configuring control device 1 in this way, the driver can disable hill-hold control without performing a specified operation until hill-hold control is required.

[0077]

[0051] Here, the control device 1 may be configured to cancel the hill hold prohibited state in response to an operation by the driver when the hill hold prohibited state is in effect. By configuring the control device 1 in this way, the driver can cancel the hill hold prohibited state at a timing that is convenient for the driver, further improving the usability of the vehicle 100. Below, an example of a configuration for canceling the hill hold prohibited state in response to an operation by the driver will be introduced using Figures 12 and 13.

[0078]

[0052] Figure 12 is a side view of a vehicle equipped with a modified control device according to an embodiment of the present invention. The control device 1 mounted on the vehicle 100 shown in Figure 12 is configured to release the hill-hold prohibited state in response to a manual operation by the driver when the hill-hold prohibited state is active. For example, the vehicle 100 shown in Figure 12 is equipped with an operation unit 113. The operation unit 113 is, for example, a mechanical switch or a capacitance switch provided on a touch panel or the like. For example, when the driver operates the operation unit 113 when the hill-hold prohibited state is active, the control device 1 releases the hill-hold prohibited state.

[0079]

[0053] Figure 13 is a diagram illustrating a modified example of a control device according to an embodiment of the present invention. The horizontal axis of Figure 13 represents time, with time increasing toward the right on the page. Also, V in Figure 13(a) represents the speed of vehicle 100, with the value increasing toward the top of the page. Also, B in Figure 13(b) represents the amount of depression of brake pedal 104, with the value increasing toward the top of the page. Also, A in Figure 13(c) represents the amount of depression of accelerator pedal 103, with the value increasing toward the top of the page. Also, HHC in Figure 13(d) indicates whether hill-hold control is being performed. Specifically, ON in Fig. 13(d) indicates a state in which hill-hold control is being executed. OFF in Fig. 13(d) indicates a state in which hill-hold control is not being executed. Furthermore, FF in Fig. 13(e) indicates whether or not the control device 1 is in a hill-hold prohibited state. Specifically, ON in Fig. 13(e) indicates a state in which the control device 1 is in a hill-hold prohibited state. OFF in Fig. 13(e) indicates a state in which the control device 1 is not in a hill-hold prohibited state.

[0080]

[0054] In Figure 13, the control device 1 releases the hill-hold prohibited state at time T13 when the vehicle 100 enters the specified operation state again while in the hill-hold prohibited state. That is, the control device 1 shown in Figure 13 is configured to release the hill-hold prohibited state when it is determined that the vehicle 100 has entered the specified operation state again while in the hill-hold prohibited state. Note that in Figure 13, the vehicle 100 enters the specified operation state again while the vehicle 100 is stopped. However, the control device 1 may also release the hill-hold prohibited state when the vehicle 100 enters the specified operation state again while the vehicle 100 is moving.

[0081]

[0055] Although an example of the control device according to the present invention has been described above in the embodiment, the control device according to the present invention is not limited to the description of the embodiment. For example, the control device according to the present invention may be implemented in a manner that is only part of the description of the embodiment.

[0082] [Explanation of symbols]

[0083] [ 0 0 5 6 ]

[0084] 1 control device, 2 acquisition unit, 3 determination unit, 4 execution unit, 1 〇 〇 vehicle, 1 〇 1 vehicle body,

[0085] 102 Wheel, 103 Accelerator pedal, 104 Brake pedal, 110 Brake system, !11 Wheel speed sensor, 112 Accelerator sensor, 113 Operating unit, 200 Road surface.

Claims

[Document name] Scope of claims

1. A control device (1) mounted on a vehicle (100) having a brake pedal (104) and an accelerator pedal (103), for executing hill-hold control to maintain braking force when the brake pedal (104) is not depressed in the vehicle (100) that is stopped, wherein the control device (1) is configured to enter a hill-hold prohibited state in which execution of the hill-hold control is prohibited even when the brake pedal (104) is not depressed when it is determined that the vehicle (100) that is stopped is in a specified operation state in which both the brake pedal (104) and the accelerator pedal (103) are depressed at least at one point in time.

2. The control device (1) according to claim 1, configured to maintain the hill hold prohibited state when the vehicle (100) that has started to move in the hill hold prohibited state stops.

3. The control device (1) according to claim 1, configured not to maintain the hill hold prohibited state when the vehicle (100) that has started to move in the hill hold prohibited state comes to a stop.

4. A control device (1) as claimed in any one of claims 1 to 3, configured to release the hill-hold prohibited state in response to an operation by the driver when the hill-hold prohibited state is in effect.

5. The control device (1) according to claim 4, configured to release the hill-hold prohibited state in response to a manual operation by the driver when the hill-hold prohibited state is in effect.

6. The control device (1) according to claim 4, configured to release the hill-hold prohibited state when it is determined that the vehicle (100) has again entered the specified operation state while in the hill-hold prohibited state.

3. The control device (1) according to any one of claims 1 to 3, wherein the specified operation state is a state in which both the brake pedal (104) and the accelerator pedal (103) are continuously depressed for a specified time.

8. The control device (1) according to any one of claims 1 to 3, wherein the specified operation state is a state in which the accelerator pedal (103) is depressed a plurality of times while the brake pedal (104) is depressed.

9. The control device (1) according to any one of claims 1 to 3, wherein the specified operation state is a state in which the brake pedal (104) is depressed and an amount of depression of the accelerator pedal (103) is equal to or greater than a specified amount.

10. A vehicle (100) equipped with a control device (1) according to any one of claims 1 to 3.

11. A brake pedal (104) and an accelerator pedal (103) are used in a vehicle (100) having the brake pedal (104) and an accelerator pedal (103), and when the vehicle (100) is stopped, the brake pedal (104) is depressed. The control method executes hill-hold control to maintain braking force when the vehicle (100) is in a state where the brake pedal (104) is not depressed, the control method comprising a hill-hold prohibiting step (S5) for prohibiting the execution of the hill-hold control when it is determined that the vehicle (100) in a stopped state has entered a specified operation state where both the brake pedal (104) and the accelerator pedal (103) are depressed at least at one point in time, even if the brake pedal (104) is not depressed.

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