Vehicle control apparatus
A vehicle control apparatus executes braking assist control to decelerate a vehicle by automatic operation of a braking device. When the vehicle control apparatus obtains a deceleration request from a driver during execution of the braking assist control, while a driver request deceleration requested to the braking device by the driver is constant or in an increasing trend, the vehicle control apparatus executes first arithmetic processing to suppress a system request deceleration requested to the braking device by the braking assist control from being decreased by the braking assist control.
1. A vehicle control apparatus that executes braking assist control to decelerate a vehicle by automatic operation of a braking device, wherein
when the vehicle control apparatus obtains a deceleration request from a driver during execution of the braking assist control, while a driver request deceleration requested to the braking device by the driver is constant or in an increasing trend, the vehicle control apparatus executes first arithmetic processing to suppress a system request deceleration requested to the braking device by the braking assist control from being decreased by the braking assist control.
2. The vehicle control apparatus according to claim 1 ,
wherein, in the braking assist control, the vehicle control apparatus calculates the system request deceleration based on a target acceleration, and
wherein, in the first arithmetic processing, when updating the target acceleration, the vehicle control apparatus permits only updating to a side that increases a vehicle deceleration.
3. The vehicle control apparatus according to claim 2 ,
wherein, in the braking assist control, the vehicle control apparatus determines the target acceleration from an acceleration feedforward term that is a planned acceleration and a speed feedback term calculated based on a difference between a planned speed and an actual speed to calculate the system request deceleration based on the target acceleration, and
wherein, in the first arithmetic processing, when updating the acceleration feedforward term, the vehicle control apparatus permits only updating to a side that increases the vehicle deceleration.
4. The vehicle control apparatus according to claim 2 ,
wherein, in the braking assist control, the vehicle control apparatus determines the target acceleration from an acceleration feedforward term that is a planned acceleration and a speed feedback term calculated based on a difference between a planned speed and an actual speed to calculate the system request deceleration based on the target acceleration, and
wherein, in the first arithmetic processing, the vehicle control apparatus holds a value of the speed feedback term.
5. The vehicle control apparatus according to claim 4 ,
wherein, in the first arithmetic processing, the vehicle control apparatus updates the planned speed so as to make the planned speed coincide with the actual speed.
6. The vehicle control apparatus according to claim 1 ,
wherein, in the braking assist control, the vehicle control apparatus calculates an acceleration feedback term from a difference between a target acceleration and an actual acceleration by using integral control, and calculates the system request deceleration based on an acceleration obtained by summing the target acceleration and the acceleration feedback term, and
wherein, in the first arithmetic processing, the vehicle control apparatus updates the acceleration feedback term if the acceleration feedback term is updated to a side that increases a vehicle deceleration, and holds a previous value of the acceleration feedback term without updating the acceleration feedback term if the acceleration feedback term isn't updated to the side that increases the vehicle deceleration.
7. The vehicle control apparatus according to claim 1 ,
wherein, when the driver request deceleration decreases during the execution of the braking assist control, the vehicle control apparatus executes second arithmetic processing to decrease the system request deceleration in accordance with a decreasing degree of the driver request deceleration.
8. The vehicle control apparatus according to claim 7 ,
wherein, in the braking assist control, the vehicle control apparatus calculates the system request deceleration based on a target acceleration, and
wherein, in the second arithmetic processing, the vehicle control apparatus changes the target acceleration to a side that decreases the system request deceleration in accordance with the decreasing degree of the driver request deceleration.
9. The vehicle control apparatus according to claim 8 ,
wherein, in the braking assist control, the vehicle control apparatus determines the target acceleration from an acceleration feedforward term that is a planned acceleration and a speed feedback term calculated based on a difference between a planned speed and an actual speed to calculate the system request deceleration based on the target acceleration, and
wherein, in the second arithmetic processing, the vehicle control apparatus changes the acceleration feedforward term to a side that decreases the system request deceleration in accordance with the decreasing degree of the driver request deceleration while holding a value of the speed feedback term.