Vehicle control apparatus, vehicle control method and vehicle slip suppressing apparatus

Abstract

A vehicle control section is operable to control the vehicle based on information on a degree of risk in a risky point through which the vehicle is predicted to drive.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

The above objects and advantages of the present invention will become more apparent by describing in detail preferred exemplary embodiments thereof with reference to the accompanying drawings, wherein;

FIG. 1 is a block diagram which shows the configuration of a vehicle driving support system which includes a vehicle control apparatus of the invention;

FIG. 2 is an example of vehicle information which is stored in a ROM;

FIG. 3 is an example of accident risk level data based on various driving environments which is stored in the ROM;

FIG. 4 is a table stored in the ROM which shows systems adapted to operate according to risk conditions;

FIG. 5 is an example of a table stored in the ROM which shows the order of preference of selection of vehicle equipped devices;

FIG. 6 is a function block diagram which represents the configuration of the vehicle control apparatus based on function;

FIG. 7(A) is a flowchart which shows the function of the vehicle control apparatus;

FIG. 7(B) is a flowchart which shows the function of the vehicle control apparatus;

FIG. 8 is an example of a driving route to a goal which shows conditions of respective points thereon;

FIG. 9 is an example of battery conditions that are acquired by the vehicle control apparatus;

FIG. 10 is an example of expected quantities of electricity used by an EBD according to degrees of risk which are stored in the ROM;

FIG. 11 is an example of calculation of expected quantities of electricity discharged by the systems operated at respective points where unique charging or discharging is expected;

FIG. 12 is an example of the results of determination on whether or not a risk can be avoided by comparison between the safety systems equipped on the vehicle and the safety systems that are activated to operate according to the risky conditions;

FIG. 13 is an example of the results of determination on risk avoidance by alternative section;

FIG. 14 is examples of driving conditions showing environment conditions at respective points to the goal, charging or discharging conditions of the battery and the results of determination on disablement of feeding;

FIG. 15 is examples of driving conditions under which feeding disablement results;

FIG. 16 is examples of driving conditions under which an insufficient electrical energy problem of the battery can be deal with by feeding restriction;

FIG. 17 is examples of driving conditions under which the insufficient electrical energy problem of the battery can be deal with by increasing the quantity of current to be generated;

FIG. 18 is examples of driving conditions under which feeding is disabled despite the increase in quantity of current to be generated;

FIG. 19(A) is a flowchart which shows the function of a vehicle control apparatus according to another embodiment when judging whether or not a risk can be avoided;

FIG. 19(B) is a flowchart which shows the function of a vehicle control apparatus according to a further embodiment when judging whether or not a risk can be avoided;

FIG. 20 is a block diagram which shows the configuration of a vehicle system which includes a vehicle control system of the invention;

FIG. 21 shows vehicle information stored in a ROM;

FIG. 22 shows accident risk level data based on various driving environments which is stored in the ROM;

FIG. 23 is a table stored in the ROM which shows safety systems adapted to operate according to risky conditions;

FIG. 24 shows consumed current data of respective devices equipped on a vehicle which is stored in the ROM;

FIG. 25 is a function block diagram which represents the configuration of an idling stop control unit based on function;

FIG. 26 is a flowchart which shows the function of a risky point setting program;

FIG. 27 shows a setting example of risky points on a driving route;

FIG. 28 is a flowchart which shows the function of a battery state decision program;

FIG. 29 is a diagram which shows wave forms of voltage and current of a battery;

FIG. 30 is a table of correction values of charging rate based on internal resistance;

FIG. 31 is a table of correction values of charging rate based on accumulated current values;

FIG. 33 is a flowchart which shows the function of a safety equipment discharging quantity estimation program;

FIG. 34 is a flowchart which shows the function of an electric equipment usage estimation program;

FIG. 35 is a flowchart which shows the function of a current generating quantity estimation program;

FIG. 36 shows an example of an estimated driving mode to a risky point;

FIG. 37 is a table in which engine speed is associated with current generating quantity;

FIG. 38 is a flowchart which shows the function of an idling stop permission/prohibition determination program;

FIG. 39 is a table in which degree of risk is associated with determination starting distance;

FIG. 40 shows a determination element selection table in which a plurality of determination elements are changed according to degrees of risk;

FIG. 41 is a block diagram which shows the configuration of a vehicle system which includes a vehicle control apparatus of the invention;

FIG. 42 shows an example of a risk element map stored in a ROM;

FIG. 43 shows an example of a table of actions stored in the ROM which are to be taken according to risk levels;

FIG. 44 is a table of safety equipment stored in the ROM which is expected to operate according to risk levels;

FIG. 45 shows an example of a table stored in the ROM which shows the order of preference of selection of vehicle equipped devices;

FIG. 46 is a function block diagram which represents the configuration of a vehicle control apparatus based on function;

FIG. 47 is a flowchart which shows the fiction of the vehicle control apparatus;

FIG. 48 is a drawing which explains a method of calculating an accident risk level;

FIG. 49 is a flowchart which shows the function of a vehicle control apparatus of another embodiment;

FIG. 50 is a drawing which shows a method of calculating a risk level by weighting scores of respective risk elements of disturbance, the state of the driver and the conditions of a subject vehicle;

FIG. 51 is a function block diagram which represents the configuration of a vehicle control apparatus of an embodiment based on function;

FIG. 52 is a flowchart which shows the function of the vehicle control apparatus in FIG. 51;

FIG. 53 is a block diagram which shows the configuration of a vehicle system which includes a vehicle control apparatus of a father embodiment;

FIG. 54 is a block diagram which shows the configuration of a slip avoidance system;

FIG. 55 is a flowchart which shows the function of a vehicle control ECU when performing a slip avoidance control;

FIG. 56 shows an example of tables stored in the ROM which show associated relationships between curve level and control starting distance, and vehicle speed and control starting distance correction value, respectively;

FIG. 57 shows an example of tables stored in the ROM which show associated relationships between curve level and permissible speed, and curve level and permissible G, respectively;

FIG. 58 shows an example of tables stored in the ROM which show associated relationships between score of risk level and permissible speed correction value, and score of risk level and permissible G correction value, respectively.

FIG. 59 is a drawing which explains a positional relationship between corner, vehicle positions and control starting point; and

FIG. 60 is a view showing a radio communication between a vehicle information center and a vehicle according to an embodiment of the present invention.

Claims

1. A vehicle control apparatus adapted to be mounted on a vehicle, comprising: a vehicle control section operable to control the vehicle based on information on a degree of risk in a risky point through which the vehicle is predicted to drive.

2. The vehicle control apparatus as set forth in claim 1, wherein the information on the degree of risk in the no point is information acquired from outside of the vehicle control apparatus.

3. The vehicle control apparatus as set forth in claim 1, further comprising: an environment information acquiring section operable to acquire environment information on a driving route through which the vehicle is predicted to drive;a degree-of-risk calculating section operable to calculate the degree of risk based on the acquired environment information on the driving route;a point setting section operable to set a point on the driving route, where the calculated degree of risk thereof is equal to or greater than a predetermined degree of risk as a point where unique charging or discharging of a battery is predicted;a safety function confirming section operable to confirm a safety function required at the set point on the driving route,wherein the vehicle control section is a control section operable to judge whether the battery has a power required to activate the safety function required at the set point, and notify a driver of an predicted risk in a case where the battery do not have the power required to activate the safety

4. The vehicle control apparatus as set forth in claim 3, further comprising: an alternative availability judging section operable to judge whether the safety function required at the set point is replaceable with the other function equipped on the vehicle in a case where the required safety function is not equipped on the vehicle.

5. The vehicle control apparatus as set forth in claim 3, wherein the control section judges whether a restriction for feeding the power to the electric equipment and intervene in the charging control are required by predicting a charging or discharging control of the battery based on a battery condition of the battery, a driving condition of electric equipment mounted on the vehicle, the acquired environment information on the driving route, and the unique charging or discharging of the battery.

6. The vehicle control apparatus as set forth in claim 5, further comprising: a driver's intension acquiring section operable to acquire a driver's intention,wherein the control section judges whether the restriction for feeding the power to the electric equipment and the intervene in the charging control are required based on the acquired driver's intention.

7. The vehicle control apparatus as set forth in claim 1, further comprising: a risky point determination section operable to determine whether a position through which the vehicle is predicted to drive is the risky point,wherein the vehicle control section is an idling stop permission/prohibition determination section operable to determine whether an idling stop of the vehicle is permitted or prohibited by determining whether there is a possibility to occur a disablement of feeding to a safety equipment mounted on the vehicle based on the degree of risk at the determined risky point.

8. The vehicle control apparatus as set forth in claim 7, wherein the idling stop permission/prohibition determination section determines whether the disablement of the feeding to the safety equipment is occurred by predicting a quantity of residual electrical energy of a battery from a quantity of current predicted to be used and a quantity of current predicted to be generated until the vehicle reaches the risky point and a quantity of current predicted to be discharged by the safety equipment at the risky point.

9. The vehicle control apparatus as set forth in claim 7, wherein the idling stop permission/prohibition determination section determines whether the idling stop of the vehicle is permitted or prohibited only in a case where the vehicle is within a predetermined distance from the determined risky point.

10. The vehicle control apparatus as set forth in claim 9, wherein the idling stop determination section changes the predetermined distance according to the degree of risk at the risky point.

11. The vehicle control apparatus as set forth in claim 7, wherein the risky point determination section calculates a degree of risk at the risky point by weighting a score of a risk element.

12. The vehicle control apparatus as set forth in claim 1, further comprising: a degree-of-risk calculating section operable to calculate the degree of risk in a driving area through which the vehicle is predicted to drive,wherein the vehicle control section is a load restriction executing section operable to compare the calculated degree of risk with a predetermined value and execute a cut-off of feeding to a load according to the calculated degree of risk in a case where the calculated degree of risk is greater than the predetermined value.

13. The vehicle control apparatus as set forth in claim 12, wherein the degree-of-risk calculating section calculates the degree of risk in the driving area by weighting a score of risk element.

14. The vehicle control apparatus as set forth in claim 12, wherein the load restriction executing section predicts an activation of a safety equipment mounted on the vehicle according to the calculated degree of risk and determines whether the cut-off of the feeding to the load is executed based on a quantity of power to be used by the predicted activation of the safety equipment, a quantity of power of the battery, and a quantity of power generated by an alternator.

15. The vehicle control apparatus as set forth in claim 12, wherein the load control executing section instruct the load to stop an operation thereof, whereby the load stops the operation thereof in a case where the load control executing section executes the cut-off of the feeding to the load.

16. The vehicle control apparatus as set forth in claim 12, wherein the load control executing section cuts off a power supply to the load in a case where the load control executing section executes the cut-off of the feeding to the load.

17. A vehicle control method comprising; calculating a degree of risk in a risky point through which a vehicle is predicted to drive; andcontrolling the vehicle based on the calculated degree of risk.

18. The vehicle control method as set forth in claim 17, further comprising: calculating the degree of risk in the risky point based on environment information on a driving route through which the vehicle is predicted to drive;setting a point on the driving route, where the calculated degree of risk there of is equal to or greater than a predetermined degree of risk as a point where unique charging or discharging of a battery is predicted;judging whether the battery has a power required to activate a safety function required at the set point; andnotify a driver of an predicted risk in a case where the battery do not have the power required to activate the safety function.

19. A vehicle control method as set forth in claim 18, further comprising: predicting a charging or discharging control of the battery based on a battery condition of the batter, a driving condition of electric equipment mounted on the vehicle, the acquired environment information on the driving route, and the unique charging or discharging of the battery; andjudging whether a restriction for feeding the power to the electric equipment and intervene in the charging control are required based on the predicted charging or discharging control.

20. The vehicle control method as set forth in claim 17, further comprising: comparing the calculated degree of risk with a predetermined value; andexecuting a cut-off of feeding to a load according to the calculated degree of risk in a case where the calculated degree of risk is greater than the predetermined value.

21. A vehicle slip suppressing apparatus adapted to be mounted on a vehicle, comprising: a permissible G calculating section operable to calculate an ideal vehicle G;a vehicle G detecting section operable to detect a vehicle G; anda vehicle slip judging section operable to judge whether a vehicle slip is occurring,wherein the vehicle slip suppressing apparatus executes a vehicle slip avoidance control according to the result of the slip judgment.

22. The vehicle slip suppressing apparatus as set forth in claim 21, further comprising: a permissible speed calculating section operable to calculate a curve entering permissible speed,wherein the vehicle slip suppressing apparatus advise a user to reduce a vehicle speed to the curve entering permissible speed in a case where the vehicle speed is detected to be higher than a primary threshold value based on the curve entering permissible speed when the vehicle is within a predetermined distance from a curve entering point.

23. The vehicle slip suppressing apparatus as set forth in claim 22, wherein the vehicle slip suppressing apparatus reduces the vehicle speed in a case where the vehicle speed is detected to be higher than a secondary threshold value which is higher than the primary threshold value.

24. The vehicle slip suppressing apparatus as set forth in claim 23, wherein the vehicle slip suppressing apparatus notify the user that the vehicle speed is reduced or a slip avoidance control is executed when the vehicle slip suppressing apparatus reduces the vehicle speed or executes the slip avoidance control.

25. The vehicle slip suppressing apparatus as set forth in claim 21, wherein the vehicle slip suppressing apparatus notify a user that the slip of the vehicle is likely to occur when a deviation between the permissible G and the vehicle G becomes less than the primary threshold value.

26. The vehicle slip suppressing apparatus as set forth in claim 25, wherein the vehicle slip suppressing apparatus executes a vehicle slip avoidance control when the deviation between the permissible G and the vehicle G becomes less than a secondary threshold value which is smaller than the primary threshold value.

27. The vehicle slip suppressing apparatus as set forth in claim 21, further comprising: a road condition detecting section operable to detect road information;an external environment detecting section operable to detect an external environment;a vehicle condition detecting section operable to detect a vehicle condition; anda degree-of-risk predicting section operable to predict a degree of risk according to the results of detections,wherein the permissible G is corrected according to the predicted degree of risk.

28. The vehicle slip suppressing apparatus as set forth in claim 21, wherein the slip avoidance control is executed when a user does not perform an intervention prohibiting operation.

29. The vehicle slip suppressing apparatus as set forth in claim 28, wherein the vehicle slip suppressing apparatus advise the user to reduce a vehicle speed according to the result of the slip judgment when the user performs the intervention prohibiting operation.