Vehicle control device
A prediction unit predicts a limit time at which a limit request value corresponding to a minimum acceleration or torque is reached when a vehicle is decelerated with only a first deceleration control by a drive device based on change over time of a request value indicating a degree of longitudinal direction vehicle acceleration. A mode determination unit selects one of: a first mode in which only the first control is executed, and before the limit time is reached, in addition to the first control, a second deceleration control is started by a braking device; or a second mode in which only the first control is executed, and before the limit time is reached, in addition to the first control, a braking preparation control is started. A calculation unit calculates an operation amount of the drive and braking devices based on the request value in accordance with the determined mode.
1. A control device for a vehicle capable of executing first deceleration control, in which the vehicle is decelerated by a drive device, second deceleration control, in which the vehicle is decelerated by a braking device, and braking preparation control, in which the braking device is brought into a preparation state, in the case where deceleration control of the vehicle is executed in accordance with a reduction in a request value indicative of a degree of longitudinal acceleration of the vehicle, the control device for the vehicle comprising:
a prediction unit that predicts limit time at which the request value reaches a limit request value corresponding to lower limit acceleration or torque that can be achieved by the first deceleration control when the vehicle is decelerated by the first deceleration control only on the basis of a change of the request value over time;
a control mode determination unit that determines a control mode on the basis of the request value, the control mode determination unit selecting, as the control mode, one of a first control mode and a second control mode, in the first control mode, only the first deceleration control being executed and the second deceleration control being initiated in addition to the first deceleration control before arrival of the limit time, and in the second control mode, only the first deceleration control being executed and the braking preparation control being initiated in addition to the first deceleration control before the arrival of the limit time; and
an operation amount calculation unit that calculates an operation amount of each of the drive device and the braking device based on the request value in accordance with the determined control mode.
2. The control device for the vehicle according to claim 1 , wherein
the control mode determination unit selects the first control mode in the case where a reduction at a reduction rate of the request value per unit time is more rapid than a reduction by a specified reduction rate threshold, and selects the second control mode in the case where the reduction at the reduction rate is more gradual than the reduction by the reduction rate threshold.
3. The control device for the vehicle according to claim 1 , wherein
the control mode determination unit can determine the control mode after the second control mode to one of a third control mode and a fourth control mode, in the third control mode, the second deceleration control is executed after a lapse of a first threshold period from initiation of the braking preparation control in the second control mode, and in the fourth control mode, the second deceleration control is executed before the lapse of the first threshold period from the initiation of the braking preparation control in the second control mode, and
the operation amount calculation unit can output an operation amount that is acquired by adding a first operation amount by feedforward control and a second operation amount by feedback control, and, in the fourth control mode, prohibits addition of the second operation amount before a lapse of a second threshold period from initiation of the fourth control mode.
4. The control device for the vehicle according to claim 2 , wherein
the control mode determination unit can determine the control mode after the second control mode to one of a third control mode and a fourth control mode, in the third control mode, the second deceleration control is executed after a lapse of a first threshold period from initiation of the braking preparation control in the second control mode, and in the fourth control mode, the second deceleration control is executed before the lapse of the first threshold period from the initiation of the braking preparation control in the second control mode, and
the operation amount calculation unit can output an operation amount that is acquired by adding a first operation amount by feedforward control and a second operation amount by feedback control, and, in the fourth control mode, prohibits addition of the second operation amount before a lapse of a second threshold period from initiation of the fourth control mode.
5. A control device for a vehicle capable of executing first deceleration control, in which the vehicle is decelerated by a drive device, second deceleration control, in which the vehicle is decelerated by a braking device, and braking preparation control, in which the braking device is brought into a preparation state, in the case where deceleration control of the vehicle is executed in accordance with a reduction in a request value indicative of a degree of longitudinal acceleration of the vehicle, the control device for the vehicle comprising:
an electronic control unit configured to
predict limit time at which the request value reaches a limit request value corresponding to lower limit acceleration or torque that can be achieved by the first deceleration control when the vehicle is decelerated by the first deceleration control only on the basis of a change of the request value over time;
determine a control mode on the basis of the request value, by selecting, as the control mode, one of a first control mode and a second control mode, in the first control mode, only the first deceleration control being executed and the second deceleration control being initiated in addition to the first deceleration control before arrival of the limit time, and in the second control mode, only the first deceleration control being executed and the braking preparation control being initiated in addition to the first deceleration control before the arrival of the limit time; and
calculate an operation amount of each of the drive device and the braking device based on the request value in accordance with the determined control mode.
6. The control device for the vehicle according to claim 5 , wherein
the electronic control unit selects the first control mode in the case where a reduction at a reduction rate of the request value per unit time is more rapid than a reduction by a specified reduction rate threshold, and selects the second control mode in the case where the reduction at the reduction rate is more gradual than the reduction by the reduction rate threshold.
7. The control device for the vehicle according to claim 5 , wherein
the electronic control unit can determine the control mode after the second control mode to one of a third control mode and a fourth control mode, in the third control mode, the second deceleration control is executed after a lapse of a first threshold period from initiation of the braking preparation control in the second control mode, and in the fourth control mode, the second deceleration control is executed before the lapse of the first threshold period from the initiation of the braking preparation control in the second control mode, and
the electronic control unit can output an operation amount that is acquired by adding a first operation amount by feedforward control and a second operation amount by feedback control, and, in the fourth control mode, prohibits addition of the second operation amount before a lapse of a second threshold period from initiation of the fourth control mode.
8. The control device for the vehicle according to claim 6 , wherein
the electronic control unit can determine the control mode after the second control mode to one of a third control mode and a fourth control mode, in the third control mode, the second deceleration control is executed after a lapse of a first threshold period from initiation of the braking preparation control in the second control mode, and in the fourth control mode, the second deceleration control is executed before the lapse of the first threshold period from the initiation of the braking preparation control in the second control mode, and
the electronic control unit can output an operation amount that is acquired by adding a first operation amount by feedforward control and a second operation amount by feedback control, and, in the fourth control mode, prohibits addition of the second operation amount before a lapse of a second threshold period from initiation of the fourth control mode.