Vehicle control unit and vehicle control method
A vehicle control unit includes a controller configured to make a state transition to a normal control state via a start-up state after a power source system of a vehicle is started. The start-up state is a state where it is possible to execute a preparation process, required for making a state transition to the normal control state, by controlling an operation member so as to move automatically. The controller is configured to execute, in the start-up state: a forced-ending condition determination process of determining whether a forced-ending condition showing that the preparation process being executed is to be forcedly ended from start of execution of the preparation process is met; a forced-ending process of forcedly ending the preparation process being executed when the forced-ending condition is met; and a notification process of notifying the driver of forced ending of the preparation process.
1. A vehicle control unit that controls a steering device of a vehicle, the steering device having a structure in which a power transmission path between a steering unit having an operation member and a turning unit configured to turn turning wheels is cut off,
the vehicle control unit comprising a controller configured to make a state transition to a normal control state via a start-up state after a power source system of the vehicle is started, the start-up state being a state where it is possible to execute a preparation process, required for making a state transition to the normal control state, by controlling the operation member so as to move automatically, the normal control state being a state where it is possible to execute a normal process for turning the turning wheels according to operation of the operation member by a driver,
wherein the controller is configured to execute, in the start-up state:
a forced-ending condition determination process of determining whether a forced-ending condition showing that the preparation process being executed is to be forcedly ended from start of execution of the preparation process is met;
a forced-ending process of forcedly ending the preparation process being executed when the forced-ending condition is met; and
a notification process of notifying the driver of forced ending of the preparation process,
wherein the preparation process includes a correction process including a process of calculating a reference position for defining a position of the operation member, and
wherein the controller is configured to execute the forced-ending process before the reference position is calculated by the correction process when the forced-ending condition is met.
2. The vehicle control unit according to claim 1 , wherein the controller includes a steering controller that mainly executes control of the steering device and a vehicle controller that mainly executes control other than control of the steering device.
3. The vehicle control unit according to claim 2 , wherein:
the vehicle includes a notification device provided independently of the steering device;
the notification device is configured to, when the forced-ending condition is met, execute notification to the driver that the preparation process being executed is to be forcedly ended;
the steering controller is configured to execute the forced-ending condition determination process, the forced-ending process, and some processes of the notification process; and
the vehicle controller is configured to execute remaining processes of the notification process other than the some processes, the some processes including a notification content specification process of specifying a notification content showing a content to be notified to the driver, the remaining processes including a notification control process of controlling the notification device so as to make a notification according to the notification content specified by the notification content specification process.
4. The vehicle control unit according to claim 3 , wherein:
the controller includes executing, in the start-up state, a cause-for-ending determination process of determining a cause due to which the forced-ending condition is met; and
the notification content specification process is a process of specifying, based on the cause due to which the forced-ending condition is met, the notification content that varies according to the cause, and the notification content includes a content that allows a driver to be prompted to act subsequently according to the cause due to which the forced-ending condition is met.
5. The vehicle control unit according to claim 1 , wherein:
the operation member is a steering wheel capable of rotating in leftward and rightward directions; and
the controller is configured to execute calculating the reference position by automatically rotating the steering wheel.
6. The vehicle control unit according to claim 5 , wherein:
the preparation process includes a synchronization process;
the synchronization process includes a process of synchronizing the position of the steering wheel and a turning position of the turning wheels by automatically rotating the steering wheel such that a positional relationship between the position and the turning position corresponds to a predetermined positional relationship; and
a condition of the correction process for the forced-ending condition differs from a condition of the synchronization process for the force-ending condition.
7. A vehicle control unit that controls a steering device of a vehicle, the steering device having a structure in which a power transmission path between a steering unit having an operation member and a turning unit configured to turn turning wheels is cut off,
the vehicle control unit comprising a controller configured to make a state transition to a normal control state via a start-up state after a power source system of the vehicle is started, the start-up state being a state where it is possible to execute a preparation process, required for making a state transition to the normal control state, by controlling the operation member so as to move automatically, the normal control state being a state where it is possible to execute a normal process for turning the turning wheels according to operation of the operation member by a driver,
wherein the controller is configured to execute, in the start-up state:
a forced-ending condition determination process of determining whether a forced-ending condition showing that the preparation process being executed is to be forcedly ended from start of execution of the preparation process is met;
a forced-ending process of forcedly ending the preparation process being executed when the forced-ending condition is met; and
a notification process of notifying the driver of forced ending of the preparation process,
wherein the preparation process includes a synchronization process,
wherein the synchronization process includes a process of synchronizing a position of the operation member and a turning position of the turning wheels by automatically moving the operation member such that a positional relationship between the position and the turning position corresponds to a predetermined positional relationship, and
wherein the controller is configured to execute the forced-ending process before the synchronizing is completed by the synchronization process when the forced-ending condition is met after a start of the automatically moving the operation member.
8. A vehicle control method for controlling a steering device of a vehicle, the steering device having a structure in which a power transmission path between a steering unit having an operation member and a turning unit configured to turn turning wheels is cut off, the vehicle control method comprising:
making a state transition to a normal control state via a start-up state in response to a power source system of the vehicle being started, the start-up state being a state where it is possible to execute a preparation process, required for making a state transition to the normal control state, by controlling the operation member so as to move automatically, the normal control state being a state where it is possible to execute a normal process for turning the turning wheels according to operation of the operation member by a driver,
wherein the vehicle control method includes executing the following in the start-up state:
a forced-ending condition determination process of determining whether a forced ending condition showing that the preparation process being executed is to be forcedly ended from start of execution of the preparation process is met;
a forced-ending process of forcedly ending the preparation process being executed in response to the forced-ending condition being met; and
a notification process of notifying the driver of forced ending of the preparation process,
wherein the preparation process includes a correction process including a process of calculating a reference position for defining a position of the operation member, and
wherein the forced-ending process is executed before the reference position is calculated by the correction process in response to the forced-ending condition being met.
9. A vehicle control method for controlling a steering device of a vehicle, the steering device having a structure in which a power transmission path between a steering unit having an operation member and a turning unit configured to turn turning wheels is cut off, the vehicle control method comprising:
making a state transition to a normal control state via a start-up state in response to a power source system of the vehicle being started, the start-up state being a state where it is possible to execute a preparation process, required for making a state transition to the normal control state, by controlling the operation member so as to move automatically, the normal control state being a state where it is possible to execute a normal process for turning the turning wheels according to operation of the operation member by a driver,
wherein the vehicle control method includes executing the following in the start-up state:
a forced-ending condition determination process of determining whether a forced ending condition showing that the preparation process being executed is to be forcedly ended from start of execution of the preparation process is met;
a forced-ending process of forcedly ending the preparation process being executed in response to the forced-ending condition being met; and
a notification process of notifying the driver of forced ending of the preparation process,
wherein the preparation process includes a synchronization process,
wherein the synchronization process includes a process of synchronizing a position of the operation member and a turning position of the turning wheels by automatically moving the operation member such that a positional relationship between the position and the turning position corresponds to a predetermined positional relationship, and
wherein the forced-ending process is executed before the synchronizing is completed by the synchronization process in response to the forced-ending condition being met after a start of the automatically moving the operation member.