JP2005054660A - Constant-speed traveling control device of automobile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a constant-speed traveling control device of an automobile capable of traveling the automobile at a target vehicle speed without generating an overshoot or an undershoot from the time of setting of the target vehicle speed even if an environment or the state of a vehicle changes. <P>SOLUTION: A throttle control device 100A comprises a throttle opening correction item calculation part 120 which, when the throttle control device detects a constant-speed travel request by a driver, calculates a throttle opening item correction item according to the amount of the change of the vehicle speed at that time. A target throttle opening correction part 130 corrects the target throttle opening based on the throttle opening correction item obtained by the throttle opening correction item calculation part 120 to control the throttle opening so that the vehicle speed becomes the target vehicle speed for performing constant-speed traveling. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a constant speed traveling device for an automobile.

  A constant-speed traveling device for an automobile is a device that performs constant-speed traveling of a vehicle with a vehicle speed according to a driver's request as a target vehicle speed, and a throttle actuator that adjusts the output of the internal combustion engine so that the target vehicle speed matches the actual vehicle speed. The target throttle opening for controlling the output to the vehicle is obtained, and control is performed so that the vehicle speed becomes the set target value based on the target throttle opening.

  In such a constant speed traveling device, when acceleration / deceleration is performed immediately before the target vehicle speed is set, or when the target vehicle speed is set in a situation where the vehicle speed changes on a slope, etc., even if the vehicle shifts to constant speed, However, there was a problem that the vehicle speed slowed down or accelerated. This is because the vehicle is in an accelerating / decelerating state when the target vehicle speed is set, and the actual throttle opening or the target throttle opening at that time does not coincide with the necessary throttle opening for maintaining the vehicle speed. Therefore, in order to reduce this acceleration / deceleration shock, for example, as described in JP-A-10-103102, a throttle opening basic value for traveling at a target vehicle speed is stored in advance in a map, and this basic value is stored. Is compared with the throttle opening held at the time of setting the target vehicle speed, and if the result exceeds a certain range, a method of immediately operating the throttle opening to a basic value is known.

JP-A-10-103102

  However, since the throttle opening basic value is generally obtained by measuring the throttle opening on a flat road, in the method described in Japanese Patent Laid-Open No. 10-103102, even if the basic value is operated on a slope, the target vehicle speed is maintained. There is a problem that the vehicle cannot run and an overshoot or undershoot of the vehicle speed occurs. In addition, there is a problem that the same phenomenon occurs due to traction or increase in vehicle weight.

  The object of the present invention is to provide an auto cruise that is excellent in safety and comfort because it can travel at the target vehicle speed without causing overshoot or undershoot even when the environment such as hill or towing or the vehicle condition changes, from the time of setting the target vehicle speed. An object of the present invention is to provide an automobile constant speed traveling control device capable of realizing control.

(1) In order to achieve the above object, the present invention provides a constant speed traveling device for an automobile having throttle control means for controlling the throttle opening so that the vehicle speed becomes a target vehicle speed and traveling at a constant speed. The means includes a throttle opening correction term calculation means for calculating a throttle opening correction term according to the amount of change in the vehicle speed at the time when a request for constant speed travel by the driver is detected, and this throttle opening correction term calculation The target throttle opening is corrected based on the throttle opening correction term obtained by the means.
With this configuration, even when the environment or vehicle conditions such as hills and towings change, the vehicle is driven at the target vehicle speed without causing overshoot or undershoot from the target vehicle speed setting by correcting it based on the throttle opening correction term. It will be possible.

  (2) In the above (1), preferably, the throttle control means detects a throttle opening correction term from the actual throttle opening detected by the throttle opening sensor when detecting a constant speed travel request by the driver. The target throttle opening is corrected using the throttle opening correction term obtained by the computing means, and thereafter, the throttle obtained by the throttle opening correction term computing means from the target throttle opening corresponding to the target vehicle speed. The target throttle opening is corrected using the opening correction term.

  (3) In the above (1), preferably, when the throttle control means detects a constant speed travel request by the driver, the throttle control means is obtained according to the depression amount of the accelerator pedal detected by the accelerator opening sensor. From the target throttle opening, the target throttle opening is corrected using the throttle opening correction term obtained by the throttle opening correction term computing means, and thereafter, the throttle is corrected from the target throttle opening corresponding to the target vehicle speed. The target throttle opening is corrected using the throttle opening correction term obtained by the opening correction term computing means.

  According to the present invention, even when the environment or the vehicle condition changes, the vehicle can travel at the target vehicle speed without causing overshoot or undershoot from the time of detecting the constant speed travel request.

Hereinafter, the configuration and operation of an automobile constant speed traveling control apparatus according to an embodiment of the present invention will be described with reference to FIGS.
First, the system configuration of the automobile constant speed traveling control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 1 is a system configuration diagram of a constant speed traveling control device for an automobile according to an embodiment of the present invention.

  The engine control unit (ECU) 100 is a device for executing various engine controls including auto-cruise control, a CPU that performs calculations necessary for engine control, a ROM that stores programs and various constants, and is necessary during calculations. It includes a RAM for temporarily storing information, an A / D converter used for an interface with an external device, a D / A converter, and the like.

  The main input to the ECU 100 related to auto-cruising is ON / OFF of various auto-cruise SWs (cruise main SW10, cancel SW12, set SW14, resume SW16, accelerator SW18, coast SW20) attached to the steering wheel or dashboard. Information, vehicle speed information from the vehicle speed sensor 22, brake SW 24 related to the driver's acceleration / deceleration operation, outputs of the accelerator opening sensor 26 and the throttle opening sensor 28, and the like.

  The ECU 100 calculates an appropriate target throttle opening according to the situation based on the input information, and outputs it to the throttle actuator 30. The throttle actuator 30 controls the throttle opening based on this signal, controls the intake air amount to the engine, and thus the engine output, and performs desired auto-cruise control.

Next, the block configuration and operation of the vehicle constant speed traveling control apparatus according to the present embodiment will be described with reference to FIGS. 2 and 3.
FIG. 2 is a block diagram of an automobile constant speed traveling control apparatus according to an embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts. FIG. 3 is a flowchart showing the control contents of the constant-speed driving control device for an automobile according to the embodiment of the present invention.

  A throttle control device 100A shown in FIG. 2 is realized by the ECU 100 of FIG. The throttle control device 100A includes a vehicle speed change amount calculation unit 110, a throttle opening correction term calculation unit 120, a target throttle opening correction unit 130, a throttle control unit 140, a target vehicle speed setting unit 150, a target throttle opening degree. And a calculation unit 160. Among them, the vehicle speed change amount calculation unit 110, the throttle opening correction term calculation unit 120, the target throttle opening correction unit 130, the throttle control unit 140, and the target vehicle speed setting unit 150 are requested to make a constant speed travel request. It functions when the detected constant speed travel request is made. The throttle control unit 140, the target vehicle speed setting unit 150, and the target throttle opening calculation unit 160 function during constant speed travel after the constant speed travel request is detected.

  The vehicle speed change amount calculation unit 110 detects the vehicle speed change amount based on the actual vehicle speed detected by the vehicle speed sensor 22 when a constant speed travel request is detected. Specifically, the vehicle speed change amount calculation unit 110 obtains the time differential value of the actual vehicle speed and sets it as the vehicle speed change amount. Note that filtering may be performed to prevent noise.

  The throttle opening correction term calculation unit 120 calculates a throttle opening correction term based on the vehicle speed change amount. The throttle opening correction term calculation unit 120 includes a correction coefficient storage unit 122, and calculates the product of the vehicle speed change amount obtained by the vehicle speed change amount calculation unit 110 and the correction coefficient stored in the correction coefficient storage unit 122. Then, a throttle opening correction term is calculated. The amount of change in the vehicle speed varies depending on the state such as a slope or a road surface having a different friction coefficient. By including this as a parameter, it is possible to deal with road environments other than flat roads. Here, the correction coefficient is a coefficient for converting the amount of change in the vehicle speed into the throttle opening, and is a value that varies depending on the weight of the vehicle, engine performance, and the like. The correction coefficient may be an equation using the throttle opening as a parameter as necessary.

  The target throttle opening correction unit 130 corrects the target throttle opening by subtracting the actual throttle opening detected by the throttle opening sensor 28 by the throttle opening correction term obtained by the throttle opening correction term calculation unit 120. To do.

  The throttle control unit 140 outputs a control signal to the throttle actuator 30 of the vehicle AUTO based on the corrected target throttle opening, and controls the throttle actuator 30 so that the opening of the throttle valve becomes the target throttle opening. .

  The target vehicle speed setting unit 150 sets the actual vehicle speed detected by the vehicle speed sensor 22 as the target vehicle speed when a constant speed travel request is detected.

  During constant speed travel, the target throttle opening calculation unit 160 calculates the target throttle opening so that the actual vehicle speed detected by the vehicle speed sensor 22 matches the target vehicle speed set in the target vehicle speed setting unit 150. The target throttle opening correction unit 130 subtracts the target throttle opening calculated by the target throttle opening calculation unit 160 by the throttle opening correction term obtained by the throttle opening correction term calculation unit 120 to obtain the target throttle opening. Correct. The throttle control unit 140 outputs a control signal to the throttle actuator 30 of the vehicle AUTO based on the corrected target throttle opening, and controls the throttle actuator 30 so that the opening of the throttle valve becomes the target throttle opening. .

  The present embodiment is characterized in that the target throttle opening degree calculation has a throttle opening degree correction term, and this throttle opening degree correction term is calculated based on the vehicle speed change amount.

  Next, the control contents of the constant speed traveling control apparatus according to the present embodiment will be described with reference to FIG.

  In step s10, the ECU 100 initializes various variables related to auto cruise control. Next, in step s15, the ECU 100 performs input processing of sensor signals (reference numerals 22, 24, 26, and 28 in the figure) and cruise-related SW (reference numerals 10, 12, 14, 16, 18, and 20 in FIG. 1). .

  Next, in step s20, ECU 100 performs state determination in cruise control in accordance with these input information, and stores it as a state. The states are, for example, a constant speed travel request state, a constant speed travel state, a cruise non-permission control state, a cruise control permission state, a target vehicle speed setting state, a vehicle speed feedback state, an acceleration state, a deceleration state, a resume state, and the like.

  In step s25, the ECU 100 determines whether or not the state has detected a constant speed travel request. If the constant speed travel request is detected, the ECU 100 proceeds to step s30. If the constant speed travel is detected, the ECU 100 proceeds to step s60.

  When the constant speed travel request is detected, in step s30, the target vehicle speed setting unit 150 of the throttle control device 100A sets the target vehicle speed based on the actual vehicle speed input in step s15.

  Next, in step s35, the vehicle speed change amount calculation unit 110 calculates the vehicle speed change amount based on the actual vehicle speed input in step s15.

  Next, in step s40, the throttle opening correction term calculation unit 120 calculates a target throttle opening correction term based on the vehicle speed change amount calculated in step Ss35.

  Next, in step s45, the target throttle opening correction unit 130 corrects the target throttle opening by subtracting the actual throttle opening detected in step s15 by the throttle opening correction term obtained in step s40.

  Next, in step s50, the throttle control unit 140 controls the throttle actuator so that the opening degree of the throttle valve becomes the target throttle opening degree. Then, the process returns to step s15.

  When constant speed travel is detected in step s25, in step s60, the target throttle opening calculation unit 160 matches the actual vehicle speed detected in the previous step s15 with the target vehicle speed set in step s30. The target throttle opening is calculated as follows.

  In step s45, the target throttle opening correction unit 130 corrects the target throttle opening by subtracting the actual throttle opening detected in step s15 by the throttle opening correction term obtained in step s40. Further, in step s50, the throttle control unit 140 controls the throttle actuator so that the opening degree of the throttle valve becomes the target throttle opening degree. Then, the process returns to step s15.

Next, with reference to FIGS. 4 and 5, the behavior of the vehicle when the target throttle opening is corrected and not corrected by the constant speed traveling control device for an automobile according to the present embodiment will be described.
FIG. 4 is an explanatory diagram of the behavior of the vehicle when the target throttle opening is not corrected by the constant speed traveling control device for an automobile according to the embodiment of the present invention. FIG. 5 is an explanatory diagram of the behavior of the vehicle when the target throttle opening is corrected by the constant speed traveling control device for an automobile according to the embodiment of the present invention. The horizontal axis of FIG.4 and FIG.5 has shown time. 4A and 5A show the vehicle speed when the target vehicle speed is set during acceleration with the accelerator pedal, and FIGS. 4B and 5B show the vehicle speed change amount. (C) and FIG. 5 (C) show changes in the throttle opening.

  4 and 5, it is assumed that a constant speed traveling request is detected at time t1, acceleration driving by an accelerator pedal is performed before that, and transition to constant speed traveling is performed after time t1.

  As shown in FIG. 4, when starting constant speed running during acceleration, the actual throttle opening shown in FIG. 4C is set as the target throttle opening as it is. In this case, an overshoot of the vehicle speed occurs as shown in FIG. 4A until the vehicle speed is stabilized at a constant speed state by feedback control. This is because the vehicle travels at the vehicle speed change amount shown in FIG.

  When the vehicle shifts to a constant speed, the excess amount of the target throttle opening is corrected by the vehicle speed feedback control, and eventually the vehicle speed change amount = 0 is set to a constant speed state, but a time lag until then occurs.

  On the other hand, FIG. 5 shows a case where correction is performed using the throttle opening correction term according to the present embodiment. As shown in FIG. 5 (C), as shown in FIG. 5 (A), the actual throttle opening is subtracted and corrected by the throttle opening correction term based on the vehicle speed change amount to obtain the target throttle opening. There is no overshoot of the vehicle speed, and it is possible to shift to the constant speed running state from the time when the constant speed running is requested.

  In the above description, the vehicle speed overshoot when starting to run at a constant speed during acceleration is taken as an example, but for example, the vehicle speed undershoot when descending a hill is also used by using the throttle opening correction term. It is possible to correct similarly. Further, it is possible to similarly correct the increase in traction and vehicle weight by using the throttle opening correction term.

  As described above, according to the present embodiment, even when an environment such as a hill or towing or a vehicle condition changes, the vehicle can travel at the target vehicle speed without causing overshoot or undershoot from the target vehicle speed setting, and safety. And auto cruise control with excellent comfort.

Next, with reference to FIGS. 6 and 7, the configuration and operation of a constant speed travel control device for a vehicle according to another embodiment of the present invention will be described. The system configuration of the constant speed travel control device for an automobile according to the present embodiment is the same as that shown in FIG.
FIG. 6 is a block diagram of an automobile constant speed travel control apparatus according to another embodiment of the present invention. The same reference numerals as those in FIG. 2 indicate the same parts. FIG. 7 is a flowchart showing the control contents of the constant-speed driving control device for an automobile according to another embodiment of the present invention.

  In the embodiment shown in FIG. 2, a system using a mechanical throttle that directly drives a throttle valve with an accelerator pedal is mainly assumed. When the actual throttle opening was used. On the other hand, in this embodiment, a system using an electronically controlled throttle is assumed, and the target throttle opening is used when reflecting the operation amount of the accelerator pedal to the throttle valve. Therefore, in the embodiment of FIG. In this embodiment, the target throttle opening is substituted for the throttle opening.

  In the present embodiment, the throttle control device 100B includes a driver target throttle opening calculation unit 170 and a target throttle opening selection unit 180 in addition to the configuration shown in FIG.

  The driver target throttle opening calculation unit 170 calculates the driver target throttle opening for driving the throttle valve based on the output of the accelerator opening sensor 26 that detects the depression amount of the accelerator pedal ACC.

  The target throttle opening selection unit 180 includes a driver target throttle opening calculated by the target throttle opening selection unit 180 and a constant speed travel target throttle opening calculated by the constant speed travel target throttle opening calculation unit 160. Select either one and set it as the target throttle opening. For this selection method, a method of switching from the driver target throttle opening to the constant speed driving target throttle opening when a constant speed driving request is made, or the larger of the driver target throttle opening and the constant speed driving target throttle opening is selected. There is a method to do.

  Next, the content of target throttle opening calculation at the time of detecting a constant speed traveling request in the constant speed traveling control apparatus according to the present embodiment will be described with reference to FIG.

  In step s100, the vehicle speed change amount detection unit 110 calculates the vehicle speed change amount based on the actual vehicle speed detected by the vehicle speed sensor 22.

  Next, in step s110, the driver target throttle opening calculator 170 calculates the driver target throttle opening for driving the throttle valve based on the depression amount of the accelerator pedal ACC detected by the accelerator opening sensor 26. calculate.

  Next, in step s120, the constant speed travel target throttle opening calculation unit 160 travels at a constant speed based on the actual vehicle speed detected by the vehicle speed sensor 22 and the target vehicle speed set in the target vehicle speed setting unit 150 when a constant speed travel request is made. The constant speed travel target throttle opening for performing the above is calculated.

  Next, in step s130, the target throttle opening selection unit 180 selects either the driver target throttle opening obtained in step s110 or the constant speed traveling target throttle opening obtained in step s120, and the target throttle. The opening.

  Next, in step s140, the throttle opening correction term calculation unit 120 calculates a throttle opening correction term based on the vehicle speed change obtained in step s100.

  Next, in step s150, the target throttle opening correction unit 130 corrects the target throttle opening by subtracting the target throttle opening selected in step s130 by the throttle opening correction term obtained in step s140. The corrected target throttle opening is input to the throttle control unit, and the throttle actuator is controlled so that the opening of the throttle valve becomes the target throttle opening.

As described above, according to the present embodiment, even when an environment such as a hill or towing, or a vehicle condition changes, the vehicle can travel at the target vehicle speed without causing overshoot or undershoot from the target vehicle speed setting, and safety. And auto cruise control with excellent comfort.

1 is a system configuration diagram of a constant speed traveling control device for an automobile according to an embodiment of the present invention. 1 is a block diagram of an automobile constant speed traveling control apparatus according to an embodiment of the present invention. FIG. It is a flowchart which shows the control content of the constant speed travel control apparatus of the motor vehicle by one Embodiment of this invention. It is explanatory drawing of the behavior of the vehicle when not correcting the target throttle opening by the constant-speed driving | running control apparatus of the motor vehicle by one Embodiment of this invention. It is explanatory drawing of the behavior of the vehicle at the time of correct | amending the target throttle opening with the constant-speed driving control apparatus of the motor vehicle by one Embodiment of this invention. It is a block diagram of the constant-speed driving | running control apparatus of the motor vehicle by other embodiment of this invention. It is a flowchart which shows the control content of the constant-speed driving control apparatus of the motor vehicle by other embodiment of this invention.

Explanation of symbols

22 ... Vehicle speed sensor 26 ... Accelerator opening sensor 28 ... Throttle opening sensor 100 ... ECU
DESCRIPTION OF SYMBOLS 100A, 100B ... Throttle control device 110 ... Vehicle speed change amount calculation part 120 ... Throttle opening correction term calculation part 130 ... Target throttle opening correction part 140 ... Throttle control part 150 ... Target vehicle speed setting part 160 ... Constant speed driving target throttle opening Degree calculation unit 170 ... Driver target throttle opening calculation unit 180 ... Target throttle opening selection unit

Claims (3)

In a constant speed traveling device for an automobile having throttle control means for controlling the throttle opening so that the vehicle speed becomes a target vehicle speed and traveling at a constant speed,
The throttle control means includes a throttle opening correction term calculating means for calculating a throttle opening correction term according to the amount of change in the vehicle speed when detecting a constant speed travel request by the driver,
A constant speed traveling apparatus for an automobile, wherein the target throttle opening is corrected based on a throttle opening correction term obtained by the throttle opening correction term computing means. The constant speed traveling device for an automobile according to claim 1,
When the throttle control means detects a constant speed travel request by the driver, the throttle control means obtains a throttle opening correction term obtained by the throttle opening correction term calculating means from the actual throttle opening detected by the throttle opening sensor. Use to correct the target throttle opening,
Thereafter, the target throttle opening is corrected from the target throttle opening corresponding to the target vehicle speed by using the throttle opening correction term obtained by the throttle opening correction term calculating means. Traveling device. In the constant-speed driving | running | working apparatus of the motor vehicle of Claim 1,
When the throttle control means detects a constant speed travel request by the driver, the throttle control means calculates a throttle opening correction term from the target throttle opening obtained according to the accelerator pedal depression amount detected by the accelerator opening sensor. Using the throttle opening correction term obtained by the means to correct the target throttle opening,
Thereafter, the target throttle opening is corrected from the target throttle opening corresponding to the target vehicle speed by using the throttle opening correction term obtained by the throttle opening correction term calculating means. Traveling device.

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