Control device and vehicle

Abstract

Provided is a control device capable of improving the usability of cruise control more than in the past. A control device according to the present invention is mounted to a vehicle with which it is possible to execute cruise control, and comprises: a determination unit that determines, during execution of the cruise control, whether or not the vehicle is in an obstacle stop state in which at least one of a plurality of wheels of the vehicle is caught by an obstacle and the vehicle cannot advance; and an execution unit that executes a driving assistance operation that is an operation for assisting the driver of the vehicle when the determination unit determines that the vehicle is in the obstacle stop state.

Description

[0001]

Document Name

[0002]

Title of the Invention

[0003]

Technical Field

[0004]

[001] The present invention relates to a control device mounted on a vehicle capable of executing cruise control, and a vehicle equipped with the control device.

[0005]

Background Art

[0006]

[002] Conventionally, vehicles capable of executing cruise control have been known (see, for example, Patent Document 1). Cruise control is a control that automatically controls the torque output by the drive source of the vehicle in a state where the accelerator is not being operated to set the vehicle speed to a specified vehicle speed.

[0007]

Prior Art Documents

[0008]

Patent Documents

[0009]

[0003]

[0010]

Patent Document 1

[0011]

Summary of the Invention

[0012]

Problems to be Solved by the Invention

[0013] [〇 0 0 4] In vehicles capable of cruise control, there is a possibility that at least one of the multiple wheels may get caught on an obstacle while cruise control is in operation, causing the vehicle to become unable to move. Hereinafter, the state in which at least one of the multiple wheels gets caught on an obstacle while cruise control is in operation, causing the vehicle to become unable to move, will be referred to as the obstacle-stopped state. In conventional vehicles capable of cruise control, the torque output by the drive source increases until the vehicle speed reaches a specified speed. Therefore, in conventional vehicles capable of cruise control, when the obstacle-stopped state occurs, the torque output by the drive source gradually increases because the vehicle cannot start moving. Then, the drive wheel that is not caught on the obstacle slips. Furthermore, in conventional vehicles capable of cruise control, if the vehicle is unable to start even in this state, the torque output by the drive source increases further and becomes excessive, and the amount of slip of the drive wheels that are not caught on obstacles also becomes excessive. In addition, in conventional vehicles capable of cruise control, if the torque output by the drive source becomes excessive, it is necessary to consider the possibility of increased noise from the vehicle's drive source, increased noise from the wheels, increased vibrations generated in the vehicle body, and skidding of the vehicle. Therefore, improvements in the usability of cruise control have been desired in conventional vehicles capable of cruise control.

[0014] [〇 0 0 5] The present invention was made against the backdrop of the above-mentioned problems, and its first objective is to obtain a control device that can improve the usability of cruise control control compared to conventional devices. The second objective of the present invention is to obtain a vehicle equipped with such a control device.

[0015] [Means for solving the problem]

[0016] [〇 0 0 6] The control device according to the present invention is a control device mounted on a vehicle capable of performing cruise control, and comprises: a determination unit that determines whether or not the vehicle is in an obstacle-stopped state in which at least one of the vehicle's multiple wheels is caught on an obstacle and the vehicle is unable to move during the execution of the cruise control; and an execution unit that performs a driving assistance operation, which is an operation to assist the driver of the vehicle, when the determination unit determines that the vehicle is in an obstacle-stopped state.

[0017] [〇 0 0 7] Furthermore, the vehicle according to the present invention is equipped with the control device according to the present invention.

[0018] [Effects of the Invention]

[0019] [〇 0 0 8] The control device according to the present invention performs a driving assistance operation, which is an operation to assist the driver of the vehicle, when the vehicle is stopped due to an obstacle. Therefore, the control device according to the present invention can shorten the time during which the torque output by the drive source is excessive when the vehicle is stopped due to an obstacle. Accordingly, the control device according to the present invention can improve the usability of cruise control compared to conventional systems.

[0020] [Brief explanation of the drawing]

[0021] [ 0 0 0 9 ]

[0022] [Figure 1] This is a side view of a vehicle equipped with a control device according to an embodiment of the present invention.

[0023] [Figure 2] This is a plan view of a vehicle equipped with a control device according to an embodiment of the present invention.

[0024] [Figure 3] This is a block diagram illustrating a control device according to an embodiment of the present invention.

[0025] [Figure 4] This is a control flow diagram showing an example of the operation of a control device according to an embodiment of the present invention.

[0026] [Figure 5j is a block diagram illustrating a modified example of the control device according to an embodiment of the present invention.]

[0027] [Figure 6] This is a plan view of the vehicle equipped with the control device shown in Figure 5.

[0028] [Modes for Carrying Out the Invention]

[0029] [0 0 1 0] Below, an example of a control device and vehicle according to the present invention will be described with reference to the drawings.

[0030] [0 0 1 1] In the following, a four-wheeled vehicle will be described as an example of a vehicle equipped with an example of the control device according to the present invention, but the number of wheels of a vehicle equipped with an example of the control device according to the present invention is not limited. A vehicle equipped with an example of the control device according to the present invention may be, for example, a two-wheeled vehicle or a three-wheeled vehicle. Also, in the following, an off-road vehicle (a vehicle designed for driving on road surfaces other than paved roads) will be described as an example of a vehicle equipped with an example of the control device according to the present invention, but a vehicle equipped with an example of the control device according to the present invention may be an on-road vehicle (a vehicle that drives on paved roads).

[0031] [0 0 1 2] Furthermore, the configurations and operations described below are examples only, and the present invention is not limited to such configurations and operations. Also, in each figure, the same or similar members or parts may be given the same reference numerals, or the reference numerals may be omitted. In addition, detailed structures have been simplified or omitted from the illustration as appropriate.

[0032] [0 0 1 3] Embodiment. Below, a control device 1 according to an embodiment and a vehicle 100 equipped with the control device 1 will be described.

[0033] [0 0 1 4] Configuration of the vehicle and control device > Figure 1 is a side view of a vehicle equipped with a control device according to an embodiment of the present invention. Figure 2 is a top view of a vehicle equipped with a control device according to an embodiment of the present invention. Figure 3 is a block diagram for explaining the control device according to an embodiment of the present invention. Note that in Figures 1 and 2, the left side of the paper is the front side of the vehicle 100. The vehicle 100 is an off-road vehicle and comprises a body 101 and a plurality of wheels 103. Furthermore, the vehicle 100 according to this embodiment is a four-wheeled vehicle and comprises two front wheels and two rear wheels as wheels 103. Specifically, the vehicle 100 comprises a left front wheel 103 FL and a right front wheel 103 FR as front wheels. Furthermore, vehicle 100 is equipped with a left rear wheel 103RL and a right rear wheel 103RR.

[0034] [0 0 1 5] In addition, the vehicle 100 is equipped with wheel speed sensors 110 for detecting the wheel speed of each wheel 103. Specifically, the vehicle 100 is equipped with wheel speed sensors 110FL for detecting the wheel speed of the left front wheel 103FL, wheel speed sensor 110FR for detecting the wheel speed of the right front wheel 103FR, wheel speed sensor 110RL for detecting the wheel speed of the left rear wheel 103RL, and wheel speed sensor 11ORR for detecting the wheel speed of the right rear wheel 103RR.

[0035] [0 0 1 6] Vehicle 100 is also equipped with an engine as a drive source 105. Note that the drive source 105 of vehicle 100 may be a motor. The torque output by the drive source 105 is controlled by the drive source control device 1〇. In other words, vehicle 100 is equipped with a drive source control device 1〇 that controls the torque output by the drive source 1〇5. The drive source control device 1〇 controls the torque output by the drive source 1〇5 so that the torque value corresponds to the amount of operation of the accelerator 1〇2.

[0036] [0 0 1 7] Furthermore, the vehicle 1〇〇 according to this embodiment is equipped with at least a brake control device 30 capable of performing anti-lock brake control. In this embodiment, as shown in Figure 3, the brake control device 30 is equipped with a brake control unit 31 as a functional unit. The brake control unit 31 then performs anti-lock brake control. The method of anti-lock brake control performed by the brake control unit 31 is not particularly limited. Various conventionally known methods can be used as the method of anti-lock brake control performed by the brake control unit 31.

[0037] [0 0 1 8] Incidentally, vehicles capable of performing cruise control are known. Cruise control is a control that automatically controls the torque output by the vehicle's drive source when the accelerator is not being operated, and sets the vehicle speed to a predetermined speed. The vehicle 10〇 according to this embodiment is also configured to perform cruise control. Specifically, the vehicle 10〇 is equipped with a torque request unit 2〇 as a functional unit in order to perform cruise control. Although there are no particular limitations on where the torque request unit 2〇 is mounted, in this embodiment the torque request unit 2〇 is mounted on the brake control device 3〇. For example, the torque request unit 2〇 is mounted together with the brake control unit 31 on the control board of the brake control device 3〇.

[0038] [0 0 1 9] The torque request unit 20 outputs requested torque information to the drive source control unit 10 while cruise control is being performed. The requested torque information is information indicating the torque to be requested from the drive source 105. The drive source control unit 10 then controls the torque output by the drive source 105 based on the requested torque information. Specifically, if the vehicle speed of vehicle 1〇〇 is lower than the specified speed, the torque request unit 2〇 outputs requested torque information to the drive source control unit io to increase the torque output by the drive source 1〇5. Also, if the vehicle speed of vehicle 1〇〇 is approximately the specified speed, the torque request unit 2〇 outputs requested torque information to the drive source control unit io to maintain the torque output by the drive source 1〇5. Furthermore, if the vehicle speed of vehicle 1〇〇 is higher than the specified vehicle speed, the torque request unit 2〇 outputs a requested torque information to the drive source control device 1〇 that reduces the torque output by the drive source 1〇5.

[0039] [0 0 2 0] The requested torque information may be information indicating a specific torque value, or information indicating an increase or decrease in torque. Furthermore, there are no particular limitations on how the specified vehicle speed used for cruise control is set, but in this embodiment, the specified vehicle speed is set as follows. The vehicle 100 is equipped with a display device 120 that functions as a notification device. This display device 120 has a touch panel and allows setting the start and end of cruise control, and setting the specified vehicle speed when cruise control is in operation.

[0040] [ 0 0 2 1 ] Herein, a vehicle capable of performing cruise control may, while performing cruise control, have a possibility of at least one of its wheels getting caught on an obstacle, resulting in a state in which the vehicle cannot move forward. Hereinafter, the state in which at least one of its wheels gets caught on an obstacle while performing cruise control, resulting in a state in which the vehicle cannot move forward, will be referred to as the obstacle-stopped state.

[0041] [ 0 0 2 2 ] Conventional vehicles capable of cruise control increase the torque output by the drive source until the vehicle speed reaches a specified speed. Therefore, when a conventional vehicle capable of cruise control comes to a standstill due to an obstacle, it cannot start moving, and the torque output by the drive source gradually increases. Then, the drive wheels that are not engaged with the obstacle slip. If the conventional vehicle capable of cruise control is still unable to start moving in this state, the torque output by the drive source increases further and becomes excessive, and the amount of slip of the drive wheels that are not engaged with the obstacle also becomes excessive. Furthermore, for conventional vehicles capable of cruise control, if the torque output by the drive source becomes excessive, it is necessary to consider the possibility of increased noise from the vehicle's drive source, increased noise from the wheels, increased vibrations generated in the vehicle body, and the possibility of the vehicle skidding. Therefore, conventional vehicles capable of cruise control have been hoping for improvements in the usability of cruise control.

[0042] [0 0 2 3] Therefore, the vehicle 100 according to this embodiment is equipped with a control device 1 in order to improve the usability of the cruise control compared to the conventional. In other words, the vehicle 100 is equipped with a control device 1.

[0043]

[0024] As shown in FIG. 3, the control device 1 includes a determination unit 2 and an execution unit 3 as functional units. Here, the control device 1 may be integrated into one unit or divided into multiple units. Also, 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 something that can be updated such as firmware, or may be a program module executed by a command from a CPU, etc.

[0044] 〇

[0045]

[0025] The determination unit 2 is a functional unit that determines whether or not it is in an obstacle stop state. The determination unit 2 is configured to determine whether or not it is in an obstacle stop state, for example, as follows.

[0046]

[0026] During the execution of cruise control, when the stopped vehicle 100 starts, the torque request unit 20 outputs request torque information to increase the torque output by the drive source 105 so that the vehicle speed of the vehicle 100 becomes the specified vehicle speed to the drive source control device 10. Then, the drive source control device 10 increases the torque output by the drive source 105. At this time, as shown in FIGS. 1 and 2, it is assumed that the left front wheel 103FL is caught by the obstacle 200 and the vehicle 100 is in an obstacle stop state.

[0047] [0 0 2 7] In this case, the left front wheel 103 FL, which is caught on the obstacle 200, will be unable to rotate or will have a low wheel speed. Also in this case, the torque request unit 20 will output request torque information to the drive source control device 10 that will further increase the torque output by the drive source 105 so that the vehicle speed of the vehicle 100 reaches the specified speed. The drive source control device 10 will then further increase the torque output by the drive source 105. As a result, the drive wheels that are not caught on the obstacle 200 will slip and their wheel speed will increase. Therefore, when vehicle 100 is stopped by an obstacle, the difference between the wheel speed of the drive wheels that are not caught on obstacle 200 and the wheel speed of the left front wheel 103FL that is caught on obstacle 200 increases.

[0048] Therefore, for example, when the difference between the wheel speed of at least one of the drive wheels and the wheel speed of at least one of the wheels 1〇3 is greater than or equal to a specified value or greater than the specified value, the determination unit 2 is configured to determine that the vehicle is in an obstacle stop state. Specifically, assume that the vehicle 1〇〇 shown in FIGS. 1 and 2 is a four-wheel drive vehicle. In other words, for the vehicle 100, the left front wheel 1〇3FL, the right front wheel 103FR, the left rear wheel 103RL, and the right rear wheel 1〇3RR are assumed to be drive wheels. In this case, when the vehicle 1〇〇 is in an obstacle stop state, the difference between the wheel speed of the right front wheel 103FR and the wheel speed of the left front wheel 1〇3FL becomes large. Also, the difference between the wheel speed of the left rear wheel 103RL and the wheel speed of the left front wheel 1〇3FL becomes large. Also, the difference between the wheel speed of the right rear wheel 1〇3RR and the wheel speed of the left front wheel 103FL becomes large. Therefore, for example, when the difference between the wheel speed of the right front wheel 103FR and the wheel speed of the left front wheel 103FL is greater than or equal to a specified value or greater than the specified value, the determination unit 2 determines that the vehicle is in an obstacle stop state. Also, for example, when the difference between the wheel speed of the left rear wheel 103RL and the wheel speed of the left front wheel 103FL is greater than or equal to a specified value or greater than the specified value, the determination unit 2 determines that the vehicle is in an obstacle stop state. Also, for example, when the difference between the wheel speed of the right rear wheel 103RR and the wheel speed of the left front wheel 103FL is greater than or equal to a specified value or greater than the specified value, the determination unit 2 determines that the vehicle is in an obstacle stop state.

[0049] [0 0 2 9] Furthermore, for example, the determination unit 2 is configured to determine that the vehicle is stopped due to an obstacle when the difference between the average value of the front wheel speed and the average value of the rear wheel speed is equal to or greater than a specified value. In this embodiment, the average value of the front wheel speed is the average of the wheel speed of the left front wheel 103FL and the wheel speed of the right front wheel 103FR. The average value of the rear wheel speed is the average of the wheel speed of the left rear wheel 103RL and the wheel speed of the right rear wheel 103RR. This determination method is useful when the side of the front and rear wheels that is not caught on the obstacle 200 is the drive wheel. Specifically, in the vehicle 100 shown in Figures 1 and 2, one of the front wheels, the left front wheel 103FL, is caught on obstacle 200. If the vehicle 100 is a rear-wheel drive vehicle, in other words, if the left rear wheel 103RL and the right rear wheel 103RR are drive wheels, the difference between the average speed of the front wheels and the average speed of the rear wheels will be large, making this configuration determination method useful.

[0050] [0 0 3 0] The execution unit 3 is a functional unit that performs driving assistance actions, which are actions to assist the driver of the vehicle 100, when the determination unit 2 determines that the vehicle is stopped due to an obstacle. For example, the driving assistance action includes a notification action that outputs a notification signal. A notification signal is a signal that is notified to the display device 120, which functions as a notification device. When the execution unit 3 performs a notification action, a notification is sent from the display device 120. For example, the display device 120 displays information indicating that the vehicle 100 is stopped due to an obstacle, that cruise control is not being executed properly, etc. As a result, the driver who notices the notification from the display device 120 can take actions to resolve the obstacle-stopped state, such as temporarily ending the cruise control. Therefore, by having the execution unit 3 perform a notification operation, it becomes possible to shorten the time during which the torque output by the drive source 1 〇 5 is excessive.

[0051] [0 0 3 1] The notification method by the display device 120 is not particularly limited, as long as it is recognizable to the driver. For example, the notification method may be a method of displaying characters or marks. Also, for example, the notification method may be a method of turning on or flashing a light source. Also, for example, the notification method may be a method of outputting sound such as voice. Furthermore, the notification device is not limited to the display device 120. For example, the notification device may be a device other than the display device 120, such as a smart helmet worn by the driver.

[0052] [0 0 3 2] Also, for example, the driving assistance operation includes a torque increase suppression operation that suppresses the increase in torque output by the drive source 1 〇 5. This torque increase suppression operation also includes a torque suppression command operation that outputs a torque suppression command to the torque request unit 2 〇. A torque suppression command is a command that suppresses the increase in torque output by the drive source 1 〇 5. By executing the torque suppression command operation, the execution unit 3 can suppress the torque output by the drive source 1 〇 5 from becoming excessive. In other words, by executing the torque suppression command operation, the execution unit 3 can further shorten the time during which the torque output by the drive source 1 0 5 is excessive. Here, the execution unit 3 may execute only the torque suppression command operation without executing the notification operation, or it may execute both the notification operation and the torque suppression command operation. Furthermore, it is preferable that the execution unit 3 performs both notification and torque suppression command operations. This is because the driver of vehicle 1〇〇 can recognize earlier that vehicle 1〇〇 is stopped due to an obstacle.

[0053] [0 0 3 3] For example, the torque suppression command output during torque suppression command operation is a command to stop the torque request unit 2 from outputting the requested torque information. As a result, the torque output by the drive source 1 5 will be reduced to the same value as when cruise control is not being performed and the accelerator 1 2 is not being operated. Therefore, by outputting a torque suppression command in this configuration, it is possible to suppress the torque output by the drive source 1 5 from becoming excessive. In addition, by outputting a torque suppression command in this configuration, the drive wheels will not slip when the vehicle is stopped due to an obstacle. For this reason, by outputting a torque suppression command in this configuration, the driver can perform operations to resolve the obstacle-stopped state with peace of mind and concentration.

[0054] [0 0 3 4] Also, for example, the torque suppression command output during torque suppression command operation is a command that causes the torque request unit 2 to output required torque information so that the torque output by the drive source 1 0 5 becomes a specified torque. The specified torque mentioned above is a value limited to a magnitude that does not become excessive. By outputting a torque suppression command with this configuration, it is possible to suppress the torque output by the drive source 1 0 5 from becoming excessive. In addition, by outputting a torque suppression command with this configuration, the drive wheels will slip slightly when the vehicle is stopped due to an obstacle. For this reason, by outputting a torque suppression command with this configuration, the driver will be more likely to notice that the vehicle is stopped due to an obstacle.

[0055] [0 0 3 5] Operation of the control device > Figure 4 is a control flow diagram showing an example of the operation of a control device according to an embodiment of the present invention. When the disclosure conditions for the operation shown in Figure 4 are met, in step S1, the control device 1 starts the operation shown in Figure 4. The start condition for the operation is when cruise control control is started. Step S2 following step S1 is an obstacle stop state determination step. In step S2, the determination unit 2 of the control device 1 determines whether or not the vehicle 100 is in an obstacle stop state, as described above. If the determination unit 2 determines that the vehicle 100 is in an obstacle stop state, it proceeds to step S3. On the other hand, if the determination unit 2 determines that the vehicle 100 is not in an obstacle stop state, it proceeds to step S4.

[0056] [0 0 3 6] Step S3 is a driving assistance operation execution step. In step S3, the execution unit 3 of the control device 1 executes the driving assistance operation as described above. Step S4, following step S3, is a termination determination step. In step S4, the control device 1 determines whether the termination condition for the operation has been met. The termination condition for the operation is when the cruise control operation is terminated. If the termination condition for the operation has been met, the control device 1 proceeds to step S5 and terminates the operation shown in Figure 4. On the other hand, if the termination condition for the operation has not been met, the control device 1 returns to step S2.

[0057] [0 0 3 7] <Effects of the control device> The control device 1 according to this embodiment is a control device mounted on a vehicle 1〇〇 capable of performing cruise control. The control device 1 comprises a determination unit 2 and an execution unit 3. The determination unit 2 determines whether or not the vehicle is in an obstacle-stopped state. An obstacle-stopped state is a state in which, during the execution of cruise control, at least one of the multiple wheels 103 of the vehicle 100 gets caught on an obstacle 200, preventing the vehicle 100 from moving forward. When the determination unit 2 determines that the vehicle is in an obstacle-stopped state, the execution unit 3 performs a driving assistance operation, which is an operation to assist the driver of the vehicle 100.

[0058] [0 0 3 8] The control device 1 configured in this way performs a driving assistance operation, which is an operation to assist the driver of the vehicle 100, when the vehicle 100 is stopped due to an obstacle. Therefore, the control device 1 configured in this way can shorten the time during which the torque output by the drive source 105 is excessive, as described above, when the vehicle 100 is stopped due to an obstacle. Thus, the control device 1 configured in this way can improve the usability of cruise control compared to conventional systems.

[0059] [ 0 0 3 9 ]

[0060] <Modification> The vehicle 100 described above was an off-road vehicle. However, the vehicle 100 is not limited to this and may be an on-road vehicle. On-road vehicles basically travel on paved roads, but they may also travel on unpaved roads such as gravel roads. For example, if the wheels 103 of an on-road vehicle 1〇〇 get stuck in a depression in a gravel road while cruise control is in operation, the side of the depression may become an obstacle 200, and the vehicle may be stopped due to an obstacle. In other words, even if the control device 1 is installed on an on-road vehicle 100, the usability of the cruise control can be improved compared to conventional methods. However, it is preferable that the vehicle 100 is an off-road vehicle. On the roads where off-road vehicles travel, there are many more things that can become obstacles 200, such as stones and branches, compared to the roads where on-road vehicles travel. Therefore, by equipping the vehicle 100, which is an off-road vehicle, with the control device 1, the improved usability of the cruise control can be more readily appreciated.

[0061] [0 0 4 0] Figure 5 is a block diagram illustrating a modified example of the control device according to an embodiment of the present invention. Figure 6 is a plan view of a vehicle equipped with the control device shown in Figure 5. The control device 1 described above was mounted on vehicle 1〇〇 as a separate unit from other control devices mounted on vehicle 1〇〇. However, control device 1 may be mounted on other control devices mounted on vehicle 1〇〇. In this case, as shown in Figures 5 and 6, it is preferable that control device 1 is mounted on brake control device 30. In this case, for example, the determination unit 2 and execution unit 3 of control device 1 are mounted together with brake control unit 31 on the control board of brake control device 30.

[0062] [0 0 4 1] The brake control device 3 is connected to each wheel speed sensor 11 in order to obtain the wheel speed of each wheel 103 in order to perform anti-lock brake control, etc. Therefore, if the control device 1 and the brake control device 30 are separate units, the vehicle 100 will need a communication line to connect each wheel speed sensor 110 to the control device 1, in addition to the communication line to connect each wheel speed sensor 110 to the brake control device 30. On the other hand, if the control device 1 is mounted on the brake control device 30, the control device 1 can obtain the detected values ​​of each wheel speed sensor 110 within the brake control device 30. Therefore, when the control device 1 is mounted on the brake control device 30, the vehicle 100 does not need communication lines to connect each wheel speed sensor 110 to the control device 1. Consequently, when the control device 1 is mounted on the brake control device 30, the parts cost of the vehicle 100 can be reduced by the amount of communication lines that are no longer needed. Furthermore, when the control device 1 is mounted on the brake control device 30, the amount of man-hours required to arrange the communication lines can be reduced by the amount of communication lines that are no longer needed, thereby reducing the manufacturing cost of the vehicle 100. In addition, when the control device 1 is mounted on the brake control device 30, the space required to arrange the communication lines can be reduced by the amount of communication lines that are no longer needed, allowing the vehicle 100 to be made smaller.

[0063] [0 0 4 2] Although an example of the control device according to the present invention has been described above in the embodiments, the control device according to the present invention is not limited to the embodiments described. For example, the control device according to the present invention may be implemented in only a part of the embodiments described.

[0064] [Explanation of symbols]

[0065] [ 0 0 4 3 ]

[0066] 1 Control device, 2 Determination unit, 3 Execution unit, 1 Drive source control device, 2 Torque request unit

[0067] 3 ○ Brake control device, 3 1 Brake control unit, 1 0 0 Vehicle, 1 ○ 1 Vehicle body, 1 ○

[0068] 2 Accelerator, 103 Wheels, 1〇3 FL Left Front Wheel, 1〇3 FR Right Front Wheel, 103 RL Left Rear Wheel, 103 RR Right Rear Wheel, 1〇5 Drive Source, 110 (11〇FL, 110FR, 11

[0069] 0 RL, 1 1 0 RR) Wheel speed sensor, 1 2 0 Display device, 2 0 0 Obstacle

Claims

【Document Name 】 Claims

1. A control device (1) mounted on a vehicle (100) capable of performing cruise control control, comprising: a determination unit (2) that determines whether or not the vehicle (100) is in an obstacle-stopped state in which at least one of a plurality of wheels (103) of the vehicle (100) is caught on an obstacle (200) and the vehicle (100) is unable to move during the execution of the cruise control control; and an execution unit (3) that performs a driving assistance operation which is an operation to assist the driver of the vehicle (100) when the determination unit (2) determines that the vehicle is in an obstacle-stopped state.

2. The control device (1) according to claim 1, wherein the driving assistance operation includes a notification operation that outputs a notification signal which is a signal to be notified to a notification device (120).

3. The control device (1) according to claim 2, wherein the vehicle (100) comprises a drive source control device (1〇) for controlling the torque output by a drive source (105) of the vehicle (100), and a torque request unit (2〇) for outputting requested torque information, which is information indicating the torque to be requested from the drive source (105), to the drive source control device (10) during the execution of the cruise control control, wherein the driving assistance operation includes a torque increase suppression operation for suppressing an increase in the torque output by the drive source (105), and the torque increase suppression operation includes a torque suppression command operation for outputting a torque suppression command, which is a command to suppress an increase in the torque output by the drive source (105), to the torque request unit (20).

4. The control device (1) according to Claim 1, wherein the vehicle (100) comprises a drive source control device (1〇) for controlling the torque output by a drive source (105) of the vehicle (100), and a torque request unit (2〇) for outputting requested torque information, which is information indicating the torque to be requested from the drive source (105), to the drive source control device (10) during the execution of the cruise control, wherein the driving assistance operation includes a torque increase suppression operation for suppressing an increase in the torque output by the drive source (105), and the torque increase suppression operation includes a torque suppression command operation for outputting a torque suppression command, which is a command to suppress an increase in the torque output by the drive source (105), to the torque request unit (20).

5. The control device (1) according to claim 3 or claim 4, wherein the torque suppression command is a command to stop the torque request unit (20) from outputting the requested torque information.

6. The torque suppression command is a command that causes the torque request unit (20) to output the requested torque information such that the torque output by the drive source (105) becomes a specified torque. 8 A control device according to claim 3 or claim 4 (1). [Claim ?] The control device (1) according to any one of Claims 1 to 4, wherein the determination unit (2) is configured to determine that the obstacle is stopped when the difference between the speed of at least one of the drive wheels and the speed of at least one of the wheels (103) is equal to or greater than a specified value.

8. The control device (1) according to any one of Claims 1 to 4, wherein the determination unit (2) is configured to determine that the obstacle is stopped when the difference between the average value of the wheel speed of the front wheels (103FL, 103FR) and the average value of the wheel speed of the rear wheels (103RL, 103RR) is equal to or greater than a specified value.

9. The vehicle (100) comprises a brake control device (30) capable of performing at least antilock brake control, and the control device (1) according to any one of claims 1 to 4 is mounted on the brake control device (30). [Claim 1 ○] A vehicle (100) comprising a control device (1) according to any one of claims 1 to 4.

11. The vehicle (100) according to claim 1〇, wherein the vehicle (100) is an off-road vehicle. 9

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