Vehicle control method and vehicle control device
The present invention provides a vehicle control method capable of suppressing an increase in the frequency of stopping and restarting of the engine when the braking device is activated at the self-driving mode. When the operation mode is set as self-driving, the braking device is activated in accordance with a system deceleration request to keep an actual vehicle-speed at a target vehicle-speed or change the actual vehicle-speed at the target vehicle-speed or lower depending on environment surrounding the vehicle. Further, a braking amount is estimated, the braking amount is a magnitude of a braking force generated from the activated braking device. When the braking amount is an engine-stopping enabling threshold or more, enabling stopping is allowed. When the braking amount is less than the engine-stopping enabling threshold, enabling stopping is not allowed.
1. A vehicle control method that controls a vehicle including: a braking device configured to give a braking force to the vehicle in accordance with a driver's deceleration request in response to a driver's braking operation when an operation mode of the vehicle is not set as self-driving; and an engine configured to stop in response to an activation of the braking device, the method comprising:
when the operation mode is set as self-driving, activating the braking device in accordance with a system deceleration request to keep an actual vehicle-speed at a target vehicle-speed or change the actual vehicle-speed at the target vehicle-speed or lower depending on environment surrounding the vehicle;
detecting or estimating a braking amount that is a magnitude of a braking force generated from the activated braking device;
setting a threshold time in accordance with the braking force; and
when time elapsed after the system deceleration request is issued is the threshold time or longer, determining that the braking amount is an engine-stopping enabling threshold or more, and enabling stopping of the engine, and when the time elapsed after the system deceleration request is issued is less than the threshold time, determining that the braking amount is less than the engine-stopping enabling threshold, and not enabling stopping of the engine.
2. A vehicle control method that controls a vehicle including: a braking device configured to give a braking force to the vehicle in accordance with a driver's deceleration request in response to a driver's braking operation when an operation mode of the vehicle is not set as self-driving; and an engine configured to stop in response to an activation of the braking device, the method comprising:
when the operation mode is set as self-driving, activating the braking device in accordance with a system deceleration request to keep an actual vehicle-speed at a target vehicle-speed or change the actual vehicle-speed at the target vehicle-speed or lower depending on environment surrounding the vehicle;
integrating a braking force from the braking device to detect or estimate a braking amount that is a magnitude of a braking force generated from the activated braking device during operation of the braking device; and
when the braking amount is an engine-stopping enabling threshold or more, enabling stopping of the engine, and when the braking amount is less than the engine-stopping enabling threshold, not enabling stopping of the engine, wherein
the method uses at least one of
a regenerative force of a motor generator as the braking amount, or
a frictional force of a friction brake as the braking amount.
3. A vehicle control device configured to control a vehicle including: a braking device configured to give a braking force to the vehicle in accordance with a driver's deceleration request in response to a driver's braking operation when an operation mode of the vehicle is not set as self-driving; and an engine configured to stop in response to an activation of the braking device, the vehicle control device comprising:
a vehicle-speed control unit configured to, when the operation mode is set as self-driving, activate the braking device in accordance with a system deceleration request to keep an actual vehicle-speed at a target vehicle-speed or change the actual vehicle-speed at the target vehicle-speed or lower depending on environment surrounding the vehicle;
an engine-stop control unit configured to detect or estimate a braking amount that is a magnitude of a braking force generated from the activated braking device; set a threshold time in accordance with the braking force; and when time elapsed after the system deceleration request is issued is the threshold time or longer, determine that the braking amount is an engine-stopping enabling threshold or more, and enable stopping of the engine, and when the time elapsed after the system deceleration request is issued is less than the threshold time, determine that the braking amount is less than the engine-stopping enabling threshold, and not enable stopping of the engine.
4. The vehicle control method according to claim 1 , wherein
the braking device is a motor generator configured to give a driving force to the vehicle during stopping of the engine, and enable regeneration, and the method uses a regenerative force of the motor generator as the braking force.
5. The vehicle control method according to claim 1 , wherein
the braking device is a friction brake of the vehicle, and the method uses a frictional force of the friction brake as the braking force.