JPH1120505A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To select a proper control pattern even when a deficiency is caused in detecting outputs without using a complicated selecting program in a vehicle control device to select a control patter from plural control pattern candidates on the basis of detecting outputs of a travel environment and a vehicle condition. SOLUTION: A reference evaluation value memory part 28 of an evaluation value generating part 2 stores a reference evaluation value converted into a numeric value from weighting of respective detecting outputs with every control pattern candidate. A detecting condition detecting part 26 is connected to a crowded degree detecting device 21, an inter-vehicle distance detecting device 22, a gradient detecting device 23, a road attribute detecting device 24 and a vehicle spied detecting device 25 of a detecting part 1, and detects a deficiency of the detecting outputs. An evaluation value setting part 27 sets an evaluation value according to the existence of the deficiency on the basis of the reference evaluation value. A comprehensive evaluation value calculating part 30 of a control pattern selecting part 3 calculates a comprehensive evaluation value from an evaluation value and a detecting result, and a selecting part 31 selects a proper control pattern, and outputs it to a control pattern connecting part 5. A vehicle control part 6 controls a vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control apparatus for automatically selecting a control pattern suitable for a running state or a running environment from a plurality of control patterns for controlling a vehicle and performing control. .

[0002]

2. Description of the Related Art In recent years, there has been developed a vehicle control apparatus which collects information on a running state and a running environment of a vehicle, integrates the information, and automatically selects an appropriate vehicle control pattern. . A conventional vehicle control device of this type is disclosed, for example, in Japanese Patent Laid-Open Publication No. Hei 6-324138, which describes a driving system such as a gradient, a curve, or a road surface condition recorded on a map of a navigation system. Environmental information is used to determine control patterns for automatic transmissions, engines, and the like. Further, in Japanese Unexamined Patent Application Publication No. 7-223457, the shift condition of the automatic transmission is changed according to the inter-vehicle distance detected by a camera or a laser radar. By using both the information on the gradient and the like recorded on the map of the navigation system and the information on the inter-vehicle distance detected by the laser radar or the like, a more appropriate control pattern can be determined.

FIG. 12 shows a congestion degree td which is a detection output from a camera, an inter-vehicle distance i which is a detection output from a laser radar, a gradient r and a road attribute rt which are a detection output from a navigation system, and a detection from a vehicle speed sensor. FIG. 9 is a diagram illustrating selection conditions and control contents when an output of a vehicle speed v is input and an optimum control pattern is selected from among three control pattern candidates, power, smooth, and controllable. A selection program is created so that an appropriate control pattern is selected from the three control pattern candidates according to the value of the detection output.

On an uphill road where the gradient r is greater than a predetermined value R1, the power of the control pattern is selected, and in an automatic transmission, overdrive is turned off and the power mode is selected, and at the same time, the gain of the throttle actuator is increased. Is set. The road attribute rt is a highway and the vehicle speed v
Is higher than or equal to a predetermined value V, and when the vehicle is traveling at a high speed on an expressway where the inter-vehicle distance i is equal to or more than a predetermined value I1, a smooth control pattern is selected. The gain is set to small. Whether the gradient r is smaller than a predetermined value R2,
Alternatively, on a downhill road or a congested road in an urban area where the inter-vehicle distance i is smaller than the predetermined value I2 and the congestion degree td is larger than the predetermined value TD, the controllable control pattern is selected, and the automatic transmission turns off the overdrive. In this case, the foot release upshift is prohibited, and the gain of the throttle actuator is set to normal.

[0005]

However, in such a conventional vehicle control device, when any of the detection outputs is lost, the selection of some control patterns is not performed or the detection output is not determined. It is necessary to prepare an alternative selection program in case of missing. If the control pattern is not selected, even if one of the outputs is missing,
Regardless of the importance of the output, all the control patterns whose outputs are used in the selection program cannot be selected.

When preparing an alternative program, an alternative selection program must be prepared for all missing outputs, and the selection program becomes complicated and large-scale. Further, in the conventional vehicle control device, the same control pattern can be selected even when the output accuracy changes due to a change over time of a detector such as a laser radar or when the output reliability changes due to a change in the traveling environment. Since a program is used, an appropriate control pattern may not be selected.

When the power of the control pattern is changed from the selected state to the control pattern of controllable state, the gain of the throttle actuator is switched from large to normal, as shown in FIG. When the throttle opening for the same accelerator opening is T
The speed suddenly drops from Hh to THn, and the driver feels uncomfortable. Therefore, in view of the above-described conventional problems, the present invention can provide an appropriate output without a complicated control pattern selection program, even when the output is missing or when the output accuracy or reliability changes. It is an object of the present invention to provide a vehicle control device capable of selecting a control pattern and reducing a sense of discomfort given to a driver when the control pattern is switched.

[0008]

In order to achieve the above object, the present invention selects one control pattern suitable for a driving state or a driving environment from a plurality of control pattern candidates,
In a vehicle control device for controlling a vehicle, a plurality of detecting means for detecting a running state and a running environment, and a plurality of control pattern candidates and a reference evaluation value obtained by quantifying a weight of each output for each output of the plurality of detecting means. A reference evaluation value storage unit for storing the detection state, a detection state detection unit for detecting the detection state of the detection unit, and an evaluation value setting for setting an evaluation value based on the detection result of the detection state detection unit based on the reference evaluation value Evaluation value generation means comprising: means; control pattern selection means for selecting one control pattern from a plurality of control pattern candidates in accordance with the evaluation value and the detection results of the plurality of detection means; Vehicle control means for controlling the vehicle according to the above.

It is desirable that the detection state detecting means has a missing detecting means for detecting a missing output of the plurality of detecting means. The evaluation value setting means sets the reference evaluation value of the detection means in which the output loss has been detected by the loss detection means as a loss reference evaluation value, and when the loss reference evaluation value is equal to or less than a predetermined value, the missing reference evaluation value belongs to the evaluation value setting means. As another evaluation value of the control pattern candidate, there is provided a first evaluation value correcting means for setting a reference evaluation value as it is.

The evaluation value setting means sets the reference evaluation value of the detection device in which the output loss is detected by the loss detection means as a loss reference evaluation value, and the missing reference evaluation value is equal to or more than a predetermined value and When there is a reference evaluation value equal to or greater than a predetermined value among other reference evaluation values of the control pattern candidates to which the value belongs, the evaluation value corresponding to the reference evaluation value equal to or greater than the predetermined value is corrected using the missing reference evaluation value, The evaluation value corresponding to the remaining reference evaluation value of the control pattern candidate to which the missing reference evaluation value belongs may include a second evaluation value correction unit that sets the reference evaluation value as it is.

The evaluation value setting means sets the reference evaluation value of the detection means, in which the output loss is detected, to a missing reference evaluation value, wherein the missing reference evaluation value is not less than a predetermined value.
When there is no reference evaluation value equal to or more than a predetermined value among other reference evaluation values of the control pattern candidate to which the missing reference evaluation value belongs, a selection prohibition flag for inhibiting selection of the control pattern candidate to which the missing reference evaluation value belongs is set. A third evaluation value correcting means may be provided.

It is preferable that the detection state detecting means has a driving environment detecting means for detecting a driving environment which affects the reliability of the detection output. One of the detection means is
A congestion degree detecting device using a camera for detecting the congestion degree, wherein the traveling environment detecting means has a luminance detecting means for detecting an average luminance of an image photographed by the camera, and the evaluation value setting means includes a luminance detecting means. And a fourth evaluation value correcting means for setting an evaluation value based on the reference evaluation value in accordance with the luminance detected in the step (c).

Preferably, the detection state detecting means has an accuracy detecting means for detecting the detection accuracy of the output of the detecting means. One of the plurality of detecting means is a laser radar for detecting an inter-vehicle distance, the accuracy detecting means has a light amount detecting means for detecting a light emitting amount of a light emitting element of the laser radar, and the evaluation value setting means is a light amount detecting means. A fifth evaluation value is set according to the light emission amount of the light emitting element of the laser radar detected by the detection means.
Evaluation value correction means.

The control pattern selecting means has a selection prohibiting means for prohibiting the selection of a control pattern candidate for which the selection prohibiting flag is set, and the selection prohibiting means includes a control pattern candidate for which the selection prohibiting flag is set. A display unit for notifying the driver that the selection has been prohibited may be connected. The control pattern selecting means includes: a total evaluation value calculating unit for calculating a total evaluation value for each control pattern candidate from the detection results and the evaluation values of the plurality of detection means; and a control pattern candidate having the highest total evaluation value. It is assumed that there is a selecting means for selecting as.

When a control pattern different from the control pattern being executed by the vehicle control means is selected by the control pattern selecting means, a control operation based on the executed control pattern is performed based on another control pattern. It is also possible to have a control pattern connecting means for gradually changing the control operation.

[0016]

In a vehicle control device for controlling a vehicle by selecting a control pattern suitable for a driving state or a driving environment from a plurality of control pattern candidates, each of the plurality of control pattern candidate detection means outputs A reference evaluation value in which the weight of the output is quantified is determined in advance, the evaluation value is corrected based on the reference evaluation value, and for each control pattern candidate, the evaluation value and the traveling state and the traveling environment detected by the detection unit are detected. By calculating a comprehensive evaluation value from the above information and determining a control pattern candidate having the largest comprehensive evaluation value as a control pattern, an appropriate control pattern is selected without using a complicated selection program.

That is, when the detection state is detected and the detection output is missing, an overall evaluation value is calculated using the evaluation value obtained by modifying the reference evaluation value, and a control pattern is selected. Furthermore, even when the traveling environment changes and the detection reliability of the detecting unit changes, the change in the traveling environment is detected, and the evaluation value is set based on the reference evaluation value according to the detection result, By calculating a comprehensive evaluation value using the evaluation value and selecting a control pattern, an appropriate control pattern can be selected even when a change occurs in the driving environment without using a complicated selection program. . That is,
By detecting the brightness of the image captured by the camera, if the surroundings are dark and the reliability of the input information from the camera is low, the standard evaluation value of the congestion degree that reduces the reliability is reduced, and And an appropriate control pattern is selected.

Further, even when the state of the detecting means changes due to a change over time or the like and the detection accuracy changes, the change in the detection state is detected, and the evaluation is performed based on the reference evaluation value in accordance with the detection result. By setting a value, calculating an overall evaluation value using the evaluation value, and selecting a control pattern, an appropriate value can be obtained even when the detection state changes without using a complicated selection program. Select a control pattern. For example, by detecting the light amount of the light emitting element of the laser radar, if the light amount of the light emitting element decreases due to a change over time or the like, and the detection accuracy of the inter-vehicle distance is reduced, the detection accuracy decreases. Decrease the value and select an appropriate control pattern. Also, a control pattern connection means is provided,
When the control pattern is switched, the driver's uncomfortable feeling is reduced by gradually approaching the control value of the vehicle from the selected one to the switched control value.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to examples. FIG. 1 shows a configuration of a first embodiment of the present invention,
2 and 3 are flowcharts showing the flow of the operation. The detection unit 1 includes a congestion degree detection device 21, an inter-vehicle distance detection device 22, a gradient detection device 23, a road attribute detection device 24, and a vehicle speed detection device 25.

The congestion degree detecting device 21 calculates and outputs a congestion degree td from an image taken by a camera. The inter-vehicle distance detection device 22 detects and outputs the inter-vehicle distance i with a laser radar. The gradient detecting device 23 detects the current position by the GPS and the gyro compass, reads out the gradient r of the traveling road from the map data of the navigation system, and outputs it. The road attribute detection device 24 reads and outputs a road attribute rt such as a speed limit from map data of the navigation system. The vehicle speed detection device 25 detects and outputs a vehicle speed v when the vehicle is actually running.

The evaluation value generator 2 comprises a detection state detector 26, an evaluation value setting unit 27, and a reference evaluation value storage unit 28. The detection state detection unit 26 is connected to the congestion degree detection device 21, the inter-vehicle distance detection device 22, the gradient detection device 23, the road attribute detection device 24, and the vehicle speed detection device 25, detects the presence or absence of each output, and lacks the output. If there is
The detection result is output to the evaluation value setting unit 27. The reference evaluation value storage unit 28 stores a reference evaluation value in which the weight of each output is quantified for each control pattern candidate. Each standard evaluation value is 0
It takes a value of .about.1.0, and a value closer to 1.0 is set for a control pattern that is more important. The evaluation value setting unit 27 sets an evaluation value based on the detection result of the detection state detection unit 26 based on the reference evaluation value, and outputs each evaluation value to the control pattern selection unit 3.

The control pattern selection unit 3 includes a selection prohibition unit 29,
It is composed of a comprehensive evaluation value calculation unit 30 and a selection unit 31,
A control pattern is selected from the control pattern candidates, and the selected control pattern is output to the control pattern connection unit 5. The selection prohibition unit 29 is connected to the display unit 4 provided on the instrument panel. The control pattern connection unit 5 is connected to the vehicle control unit 6. The vehicle control unit 6 includes a throttle opening adjustment unit 32, a throttle actuator 33, and a transmission unit 34.
And an automatic transmission 35. Evaluation value generation unit 2, control pattern selection unit 3, and control pattern connection unit 5
Is mounted on an arithmetic unit including a microcomputer and the like.

Next, the basic operation of this embodiment will be described with reference to the flowcharts shown in FIGS. In step 101, the congestion degree detection device 21 of the detection unit 1 detects the congestion degree td, the inter-vehicle distance detection device 22 calculates the inter-vehicle distance i, the gradient detection device 23 calculates the gradient r, and the road attribute detection device 24 , The road attribute rt, the vehicle speed sensor 25 calculates the vehicle speed v
Is detected.

In step 102, the detection state detecting section 26
Then, it is determined whether or not any of the five detection outputs is missing. If there is any missing, the process proceeds to step 104, and if there is no missing, the process proceeds to step 103. In step 103, each reference evaluation value is set as an evaluation value as it is, and the process proceeds to step 110 in the flowchart shown in FIG. In step 104, it is determined whether the correction of the evaluation value has been completed. If not completed, the process proceeds to step 105, and if completed, the process proceeds to step 110 in the flowchart shown in FIG.

In step 105, the reference evaluation value storage unit 2
From 8, the reference evaluation value of the missing output is read, and it is determined whether the value is 0.5 or more. When it is smaller than 0.5, the process proceeds to step 106. When it is 0.5 or more,
Proceed to step 107. Step 106 sets an evaluation value of the missing output to 0, sets a reference evaluation value as an evaluation value of another output in the control pattern candidate,
Return to step 104. In step 107, among the reference evaluation values of other outputs in the control pattern candidate,
It is determined whether or not there is a value of 0.5 or more. If not, proceed to Step 108; otherwise, go to Step 11
Go to 0. In step 108, a selection prohibition flag is set for the control pattern candidate, and the process returns to step 104.

In step 109, when the reference evaluation value of the missing output is S1 and the reference evaluation value of the output whose other reference evaluation value is 0.5 or more is S2, the other reference evaluation value is 0.5 or more. Is set so that S3 = (S1 + S2) / 2. Also, the evaluation value of the missing output is set to 0, and the reference evaluation value is set as it is as the other evaluation value in the control pattern candidate.
Return to 04.

In step 110, the selection prohibition unit 29
It is determined whether there is a control pattern candidate for which the selection prohibition flag is set. If there is no control pattern candidate, the process proceeds to step 113; otherwise, the process proceeds to step 111. Step 1
In step 11, the selection of the control pattern candidate for which the selection prohibition flag is set is prohibited. In step 112, the display unit 4 displays that the selection of some control pattern candidates has been prohibited and notifies the driver.

In step 113, the total evaluation value calculation unit 3
At 0, the congestion degree td, the following distance i, the gradient r, the road attribute rt, and the vehicle speed v are read. In step 114,
In order to select a control pattern from the remaining control pattern candidates excluding the control pattern candidates for which selection has been prohibited, the value of the detection output read in step 114 and the evaluation value are integrated to calculate an overall evaluation value. . As a calculation method,
"A Decision-making Method Using Hierarchical Fuzzy Integral" reported by Shiizuka et al. (Journal of the Japanese Society for Fuzzy Science, August 1993)
Is used. For example, from the evaluation value as shown in FIG. 4A and the detection output as shown in FIG. 4B, the total evaluation value HP of the control pattern candidate power and the control pattern as shown in FIG. An overall evaluation value HS of the candidate smoothness and an overall evaluation value HC of the control pattern candidate controllable are calculated.

In step 115, the selection unit 31 determines a control pattern candidate having the largest overall evaluation value from among the overall evaluation values HP, HS, and HC as a control pattern. In step 116, the control pattern connection unit 5 determines whether the control pattern determined in step 115 is the same as the control pattern being executed. If they are the same, proceed to step 118; if they are different, proceed to step 117. At step 117, the control pattern being executed is gradually changed from the control pattern being executed to the control pattern determined at step 115.
In step 118 proceeding to step 8, the control pattern determined in step 115 is executed by the vehicle controller 6.

Step 10 of the flowchart shown in FIG.
Step 1 and Step 113 constitute the detecting means of the invention,
Step 102 constitutes a detection state detecting means and also constitutes a missing detecting means. Steps 103 to 109
The evaluation value generating means of the present invention is constituted. In particular, step 106 constitutes a first evaluation value modification means, step 108 constitutes a third evaluation value modification means, and step 109 constitutes a second evaluation value modification means. Steps 110 to 115 of the flowchart shown in FIG. 3 constitute control pattern selecting means of the present invention. In particular, steps 110 and 111 are selection prohibiting means, step 114 is comprehensive evaluation value calculating means, and step 115 is selection Configure means. Step 116
And step 117 constitute control pattern connection means,
Step 118 constitutes vehicle control means.

Next, the operation in the flowcharts of FIGS. 2 and 3 will be described in detail using specific evaluation values. Control pattern candidates include power, smooth, and controllable, and the contents of each control are the same as in the conventional example shown in FIG. The reference evaluation value for each output of the detection unit 1 is set as shown in FIG. The control program for the automatic transmission issues an instruction to select a control pattern at regular time intervals, and the operation starts.

The flow of the flowchart in the case where a part of the navigation system fails and the output of the gradient r cannot be read and the output of the gradient detecting device 23 is lost will be described. For example, in the case of the control pattern candidate smooth, each reference evaluation value is determined in advance as shown in FIG. Since the reference evaluation value of the gradient r is 0.2, the steps 1 and 2 in the flowchart are repeated from the step 1
In step 105, since the reference evaluation value of the missing output is 0.5 or less in step 105, the processing proceeds to step 106, where the evaluation value of the gradient r is set to 0 as shown in FIG. As the evaluation value, a reference evaluation value is set. That is,
When the reference evaluation value of the missing output is low, only the outputs that are not so important for the selection of the control pattern are missing, so the reference evaluation values are used as the other evaluation values as they are.

When the congestion degree td, which is the output of the congestion detection device 21, is lost due to a camera failure, the reference evaluation value of the congestion degree td in the control pattern candidate smooth is:
Since it is 0.8, the process proceeds from step 105 to step 107. In step 107, since there is an output in which another reference evaluation value of 0.5 or more is set, the process proceeds to step 109. In step 109, as shown in FIG.
The evaluation value of the congestion degree r is set to 0, and the evaluation value of the inter-vehicle distance i is set to 0.7 which is an average value of the reference evaluation values of the inter-vehicle distance i and the congestion degree td. The evaluation value of the road attribute rt is also set to 0.7 which is the average value of the road attribute rt and the congestion degree td. The evaluation values of other outputs set the reference evaluation values as they are. That is, when there is an output for which the Takai reference evaluation value is set other than the missing output, the output complements the evaluation value of the missing output.

For example, as shown in FIG. 4A, when the reference evaluation value is determined for the control pattern candidate power and the gradient r is lost, the reference evaluation value of the gradient r becomes 0. .8, there is no other output for which a reference evaluation value of 0.5 or more is set, so the process proceeds from step 107 to step 108, where a selection prohibition flag is set for the control pattern candidate power. At this time, step 110
Then, since there is a control pattern candidate for which the selection prohibition flag is set, the process proceeds to step 111 to prohibit the selection of the control pattern candidate power, and displays the prohibition of the selection of the control pattern candidate power in step 112. In other words, important output in control pattern selection is missing,
In addition, the control pattern candidate that has no other output that can compensate for the lack is prohibited from being selected, and the safety of the driver is improved.

In steps 113, 114 and 115, the total evaluation value is calculated, and the control pattern having the highest total evaluation value is selected from the control pattern candidates. Next, when the power of the control pattern shown in FIG. 4 is selected, the output gradient r is lost, the selection of the power of the control pattern is prohibited, and the controllable control pattern is selected instead. Step 1 in
Consider the operation of step 16 and step 117. Since the control pattern has been switched, the process proceeds from step 116 to step 117. In step 117, the control operation is gradually changed. When the power is switched from the control pattern power to the controllable state, the throttle opening TH is set to the throttle opening THp when the gain of the throttle actuator is large as shown in the following equation according to the number n of accelerator-offs.
From the normal throttle opening THc. TH = {THp × (N−n) + THc × n} / N (N: constant) As a result, even if the control pattern is switched to controllable, the throttle opening for the same accelerator opening sharply decreases. You won't.

The present embodiment is configured as described above. When the detection state is detected and the detection output is missing,
The control pattern is selected by calculating the overall evaluation value using the evaluation value modified from the reference evaluation value, so that even if the output is missing without using a complicated control pattern or selection program, appropriate Control patterns can be selected. As the reference evaluation value, the importance of the detection output with respect to the selection of the control pattern is relatively indicated by quantifying the weight of the detection output with respect to the selection of the control pattern from 0 to 1.0. Can be. Furthermore, since the control pattern having the largest total evaluation value is selected, a plurality of control patterns are not selected at the same time, and a selection program that takes into account the priority order between control patterns is not required.
The selection program can be further simplified. A control pattern connection is provided, and when the control pattern is switched, the control value of the vehicle is gradually brought closer to the switched control value from the one being executed, so that the uncomfortable feeling given to the driver can be reduced.

Next, a description will be given of a second embodiment of the present invention in which a luminance detecting device is newly provided and the configuration of the evaluation value setting section is changed. FIG. 6 is a part of a configuration diagram of the present embodiment, and FIG. 7 is a part of a flowchart for explaining the operation of the present embodiment.
The luminance detecting device 7 detects the average luminance of an image captured by the camera of the congestion degree detecting device 21 and outputs the average luminance to the evaluation value generating section 8. The evaluation value generation unit 8 includes a detection state detection unit 26, an evaluation value setting unit 36 having a memory 37, and a reference evaluation value storage unit 28.

The operation of this embodiment is the same as that of the first embodiment shown in FIG. 2 and FIG.
Are added before Step 131 to Step 134 shown in FIG. In step 131, the luminance detecting device 7 detects the luminance m〓 of the image. In step 132, the reference evaluation value stored in the reference evaluation value storage unit 28 is read into the memory 37 of the evaluation value setting unit 8. For the sake of simplicity, the reference evaluation value of control pattern candidate smooth shown in FIG. 8A will be described as an example. Step 1
At 33, the detection result of the luminance detecting device 7 is read, and if the luminance m is equal to or more than the predetermined value M, the process proceeds to step 101; Step 1
At 34, as shown in FIG. 8B, the reference evaluation value of the congestion degree is reduced from 0.8 to 0.2, and the reference evaluation value of the following distance is increased from 0.6 to 0.8. Go to 101.
In the steps after step 101, the corrected reference evaluation value stored in the memory 37 is used instead of the reference evaluation value stored in the reference evaluation value storage unit 28.

Step 131 constitutes the detection state detecting means of the invention, and also constitutes the traveling environment detecting means and the luminance detecting means. Steps 132, 133 and 134 constitute the evaluation value generating means of the present invention.
Of the evaluation value correction means. Other configurations and operations are the same as those of the first embodiment. In the present embodiment, by detecting the brightness of an image captured by the camera, when the surroundings are dark and the reliability of the input information from the camera is low, the reference evaluation value of the congestion degree at which the reliability is low is reduced. Instead, an appropriate control pattern is selected by increasing the reference evaluation value of the following distance.

As a result, the same effects as in the first embodiment can be obtained, and even when the driving environment changes and the detection reliability of the detecting device changes, the change in the driving environment is detected and the detection result is obtained. In accordance with the above, the reference evaluation value is corrected, an evaluation value is set based on the corrected reference evaluation value, an overall evaluation value is calculated using the evaluation value, and a control pattern is selected. An appropriate control pattern can be selected even when a change occurs in the traveling environment without using a control pattern or a selection program.

Further, a description will be given of a third embodiment of the present invention in which a light meter is provided and the configuration of the evaluation value setting section is changed. FIG. 9 is a part of a configuration diagram of the present embodiment, and FIG. 10 is a part of a flowchart for explaining the operation of the present embodiment. The light meter 9 includes a photodiode, detects the light amount of the light emitting element of the laser radar for detecting the distance between the vehicles, and outputs the light amount to the evaluation value generation unit 10. The evaluation value generation unit 10 includes a detection state detection unit 26, an evaluation value setting unit 38 having a memory 39, and a reference evaluation value storage unit 28.

The operation of this embodiment is the same as the operation of the first embodiment shown in FIG. 2 and FIG.
Before step 141 to step 144 shown in FIG.
Is added. In step 141, the light meter 9 detects the light intensity of the light emitting element of the laser radar. In step 142, the reference evaluation value in the reference evaluation value storage unit 28 is read into the memory 39 of the evaluation value setting unit 38. In step 143, the detection result of the light meter 9 is read. If the light amount e is equal to or more than the predetermined value E, the process proceeds to step 101. If the light amount e is smaller than the predetermined value E, the process proceeds to step 144. Step 1
At 44, as shown in the graph of FIG. 11, when the light quantity e becomes smaller, the reference evaluation value of the following distance is corrected so that the reference evaluation value of the following distance also becomes smaller, and the routine proceeds to step 101. In the steps after step 101, the corrected reference evaluation value stored in the memory 39 is used instead of the reference evaluation value stored in the reference evaluation value storage unit 28.

Step 141 constitutes the detection state detecting means of the invention, and also constitutes the accuracy detecting means and the light quantity detecting means. Steps 142, 143 and 144 constitute an evaluation value generating means of the present invention, and in particular, step 144 constitutes a fifth evaluation value correcting means. Other configurations and operations are the same as those of the first embodiment. In this embodiment, by detecting the light amount of the light emitting element of the laser radar, if the light amount of the light emitting element decreases due to a change with time or the like, and the detection accuracy of the following distance decreases, the detection accuracy decreases. And an appropriate control pattern is selected.

As a result, the same effects as those of the first embodiment can be obtained, and even when the state of the detection device changes due to a change over time or the like and the detection accuracy changes, the change in the detection state is detected. The reference evaluation value is corrected according to the detection result, the evaluation value is set based on the corrected reference evaluation value, the overall evaluation value is calculated, and the control pattern is selected. Without using, even when the detection state changes, an appropriate control pattern can be selected.

[0045]

As described above, the present invention relates to a vehicle control device for controlling a vehicle by selecting a control pattern suitable for a driving state or a driving environment from a plurality of control pattern candidates.
For each output of the plurality of detection means of the plurality of control pattern candidates,
A reference evaluation value that quantifies the weight of each output is determined in advance,
Based on the reference evaluation value, the evaluation value is corrected, and for each control pattern candidate, an overall evaluation value is calculated from the evaluation value and the information on the driving state and the driving environment detected by the detecting means, and the overall evaluation value is calculated. By determining the largest control pattern candidate as a control pattern, an appropriate control pattern can be selected without using a complicated control pattern or a selection program.

If the detection output is missing, the overall evaluation value is calculated using the evaluation value obtained by correcting the reference evaluation value, and the control pattern is selected. Also, an appropriate control pattern can be selected.
Also, a control pattern connection means is provided, and when the control pattern is switched, by gradually bringing the control value of the vehicle from the selected one to the switched one,
The discomfort given to the driver when switching the control pattern is reduced.

Further, even when the driving environment changes and the detection reliability of the detecting means changes, the change in the driving environment is detected, and the evaluation value is set based on the reference evaluation value according to the detection result. And use that rating to calculate the overall rating,
By selecting a control pattern, an appropriate control pattern can be selected even when a change occurs in the traveling environment without using a complicated selection program. That is, the brightness of the image captured by the camera is detected, the surroundings are dark,
When the reliability of the input information from the camera is low, an appropriate control pattern can be selected by reducing the evaluation value of the congestion degree at which the reliability decreases and increasing the evaluation value of the following distance instead.

Further, even when the state of the detecting means changes due to aging or the like, and the detection accuracy changes, the change in the detection state is detected, and the evaluation value is determined based on the reference evaluation value in accordance with the detection result. By using the evaluation value to calculate the overall evaluation value and selecting the control pattern, it is possible to use an appropriate control pattern even if the detection state changes without using a complicated selection program. Can be selected. That is, the light amount of the light emitting element of the laser radar is detected, and when the light amount of the light emitting element decreases due to a change over time or the like, and the detection accuracy of the following distance decreases, the evaluation value of the following distance at which the detection accuracy decreases becomes lower. Thus, an appropriate control pattern can be selected.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating the operation of the first embodiment.

FIG. 3 is a flowchart illustrating the operation of the first embodiment.

FIG. 4 is a diagram showing reference evaluation values.

FIG. 5 is a diagram showing a setting example of an evaluation value.

FIG. 6 is a part of a configuration diagram of a second embodiment of the present invention.

FIG. 7 is a part of a flowchart illustrating the operation of the second embodiment.

FIG. 8 is a diagram showing a modification example of a reference evaluation value.

FIG. 9 is a part of a configuration diagram of a third embodiment.

FIG. 10 is a part of a flowchart illustrating the operation of the third embodiment.

FIG. 11 is a diagram showing a modification example of a reference evaluation value.

FIG. 12 is a diagram illustrating a control pattern selection condition and control contents in a conventional example.

FIG. 13 is a diagram illustrating a gain of a throttle actuator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Detection part 2, 8, 10 Evaluation value generation part 3 Control pattern selection part 4 Display part 5 Control pattern connection part 6 Vehicle control part 7 Luminance detection device 9 Light meter 21 Congestion degree detection device 22 Inter-vehicle distance detection device 23 Gradient detection device 24 Road attribute detection device 25 Vehicle speed detection device 26 Detection state detection unit 27, 36, 38 Evaluation value setting unit 28 Reference evaluation value storage unit 29 Selection prohibition unit 30 Overall evaluation value calculation unit 31 Selection unit 32 Throttle opening adjustment unit 33 Throttle Actuator 34 Transmission unit 35 Automatic transmission 37, 39 Memory

Claims (12)

[Claims] 1. A control pattern suitable for a driving state or a driving environment is selected from a plurality of control pattern candidates,
In a vehicle control device for controlling a vehicle, a plurality of detecting means for detecting a running state and a running environment, and a reference in which a weight of each output is quantified for each of the plurality of control pattern candidates and the outputs of the plurality of detecting means A reference evaluation value storage unit that stores an evaluation value, a detection state detection unit that detects a detection state of the detection unit, and an evaluation value based on a detection result of the detection state detection unit based on the reference evaluation value. An evaluation value generation unit including an evaluation value setting unit to be set; and a control for selecting the one control pattern from the plurality of control pattern candidates in accordance with the evaluation value and a detection result of the plurality of detection units. A vehicle control device comprising: a pattern selection unit; and a vehicle control unit that controls a vehicle according to the selected control pattern. 2. The vehicle control device according to claim 1, wherein the detection state detection unit includes a missing detection unit that detects a missing output of the plurality of detection units. 3. The evaluation value setting means sets a reference evaluation value of a detection means in which the output loss is detected by the loss detection means as a loss reference evaluation value, and when the loss reference evaluation value is equal to or less than a predetermined value. 3. The vehicle control device according to claim 2, further comprising a first evaluation value correction unit that sets a reference evaluation value as another evaluation value of the control pattern candidate to which the missing reference evaluation value belongs. 4. The evaluation value setting means sets a reference evaluation value of a detection means in which a loss of output is detected by the loss detection means as a loss reference evaluation value, and the loss reference evaluation value is a predetermined value or more. And when there is a reference evaluation value equal to or more than a predetermined value among other reference evaluation values of the control pattern candidate to which the missing reference evaluation value belongs, the evaluation value corresponding to the reference evaluation value equal to or more than the predetermined value is replaced with the missing reference evaluation value. The evaluation value corresponding to the remaining reference evaluation value of the control pattern candidate to which the missing reference evaluation value belongs is provided with a second evaluation value correction unit that sets the reference evaluation value as it is. Claim 2
Or the vehicle control device according to 3. 5. The evaluation value setting means, wherein when the loss detection means sets a reference evaluation value of a detection device in which a loss of output is detected as a loss reference evaluation value, the loss reference evaluation value is not less than a predetermined value. And a selection prohibition flag for prohibiting the selection of the control pattern candidate to which the missing reference evaluation value belongs when there is no reference evaluation value equal to or more than a predetermined value among other reference evaluation values of the control pattern candidate to which the missing reference evaluation value belongs. Third to set
3. An evaluation value correcting means according to claim 2,
5. The vehicle control device according to 3 or 4. 6. The apparatus according to claim 1, wherein said detection state detecting means includes a driving environment detecting means for detecting a driving environment affecting the reliability of the detection output. Vehicle control device. 7. One of the plurality of detecting means is a congestion degree detecting device using a camera for detecting a congestion degree,
The traveling environment detecting means has a luminance detecting means for detecting an average luminance of an image photographed by a camera, and the evaluation value setting means, according to the luminance detected by the luminance detecting means,
7. The vehicle control device according to claim 6, further comprising: fourth evaluation value correction means for setting an evaluation value based on the reference evaluation value. 8. The apparatus according to claim 1, wherein said detection state detection means has an accuracy detection means for detecting the detection accuracy of the output of said detection means. Vehicle control device. 9. One of the plurality of detecting means is a laser radar for detecting an inter-vehicle distance, and the accuracy detecting means has a light amount detecting means for detecting a light emitting amount of a light emitting element of the laser radar. 9. The apparatus according to claim 8, wherein the evaluation value setting unit includes a fifth evaluation value correction unit that sets an evaluation value according to a light emission amount of the light emitting element of the laser radar detected by the light amount detection unit. Vehicle control device. 10. The control pattern selection means includes selection prohibition means for prohibiting selection of a control pattern candidate for which a selection prohibition flag is set, wherein the selection prohibition means has the selection prohibition flag set. 6. The vehicle control device according to claim 5, wherein a display unit that notifies a driver that selection of a control pattern candidate that is present is prohibited is connected. 11. The total evaluation value calculating means for calculating a total evaluation value for each control pattern candidate from the detection results of the plurality of detecting means and the evaluation value, the control pattern selecting means, 11. The vehicle control device according to claim 1, further comprising a selection unit that selects a largest control pattern candidate as a control pattern. 12. The control pattern selecting means,
When a control pattern different from the control pattern being executed by the vehicle control means is selected, the control operation based on the executed control pattern is gradually changed to a control operation based on the another control pattern. 4. A control pattern connection means, comprising:
The vehicle control device according to 4, 5, 6, 7, 8, 9, 10, or 11.