Vehicle control device and vehicle control method
The present invention makes it possible to appropriately grasp a stop cause when a vehicle stops. An ECU 5 , which controls a vehicle including wheels and a vehicle body connected to the wheels includes: a wheel stop detection unit 138 that detects a stop of the wheels; a vehicle body stop detection unit 133 that detects a stop of the vehicle body; and a stop cause determination unit 141 that determines a stop cause of the vehicle based on a stop timing of the wheels detected by the wheel stop detection unit 138 and a stop timing of the vehicle body detected by the vehicle body stop detection unit 133 . The stop cause determination unit 141 may determine that the stop cause is contact of the vehicle body with an obstacle when the stop timing of the vehicle body is earlier than the stop timing of the wheels.
1. A vehicle control device, which controls a vehicle comprising wheels, a vehicle body connected to the wheels, the vehicle control device comprising:
an electronic control unit configured to:
detect a stop timing of the wheels;
detect a stop timing of the vehicle body;
determine that the stop timing of the wheels occurred prior to the stop timing of the vehicle body;
determine, responsive to determining that the stop timing of the wheels occurred prior to the stop timing of the vehicle body, and based on an amount of braking force applied by the vehicle, that the vehicle has stopped due to contact between the wheels and an obstacle and not due to the amount of braking force; and
determine, responsive to determining that the vehicle has stopped due to contact between the wheels and the obstacle, and based on the obstacle that the obstacle is not configured to stop the vehicle.
2. The vehicle control device of claim 1 , wherein the electronic control unit is further configured to:
detect a second stop timing of the wheels;
detect a second stop timing of the vehicle body; and
determine that the vehicle has stopped due to a second contact between the vehicle body and a second obstacle when the second stop timing of the vehicle body occurs prior to the second stop timing of the wheels.
3. The vehicle control device of claim 2 , wherein the electronic control unit is further configured to perform stop control to stop the vehicle when the vehicle has stopped the second contact between the vehicle body and the second obstacle.
4. The vehicle control device of claim 2 , wherein the electronic control unit is further configured to:
estimate a rotation of the wheels at a predetermined time based on a braking force of the vehicle; and
determine that the vehicle has stopped due to the second contact between the vehicle body and the second obstacle based on the rotation of the wheels at the stop timing of the vehicle body.
5. The vehicle control device of claim 4 , wherein the vehicle further comprises an imaging device that captures an image around the vehicle body, and the electronic control unit is further configured to:
determine, based on the second obstacle as represented in the image captured by the imaging device, that the second obstacle is a vehicle stop structure; and
perform stop control to stop the vehicle responsive to determining that the second obstacle is the vehicle stop structure.
6. The vehicle control device of claim 1 , wherein the wheels and the vehicle body are connected via an electronically controlled suspension capable of controlling a damping force, and wherein the electronic control unit is further configured to adjust the damping force of the electronically controlled suspension when increasing a driving torque of a drive motor of the vehicle to enhance the driving torque of the vehicle.
7. The vehicle control device of claim 1 , wherein the vehicle further comprises an imaging device that captures an image around the vehicle body, and the electronic control unit is further configured to determine the stop timing of the vehicle body further based on a position of a predetermined feature point in the image captured by the imaging device.
8. The vehicle control device of claim 1 , wherein the electronic control unit is further configured to indicate, on a liquid crystal display of the vehicle, that the vehicle has stopped due to contact between the wheels and the obstacle and not due to the amount of braking force.
9. A vehicle control method performed by a vehicle control device, which controls a vehicle comprising wheels, a vehicle body connected to the wheels, the vehicle control method comprising:
detecting a stop timing of the wheels;
detecting a stop timing of the vehicle body;
determining that the stop timing of the wheels occurred prior to the stop timing of the vehicle body;
determining, responsive to determining that the stop timing of the wheels occurred prior to the stop timing of the vehicle body, and based on an amount of braking force applied by the vehicle, that the vehicle has stopped due to contact between the wheels and an obstacle and not due to the amount of braking force; and
determining, responsive to determining that the vehicle has stopped due to contact between the wheels and the obstacle, that the obstacle is not configured to stop the vehicle.
10. The vehicle control device of claim 1 , wherein the electronic control unit is further configured to increase a driving torque of a drive motor of the vehicle to move the vehicle beyond the obstacle responsive to determining that the obstacle is not configured to stop the vehicle.
11. The vehicle control method of claim 9 , further comprising increasing a driving torque of a drive motor of the vehicle to move the vehicle beyond the obstacle responsive to determining that the obstacle is not configured to stop the vehicle.