JP2006123586A - Vehicular running safety device equipped with controller for constant speed running - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control a controller for constant speed running and a safety device in such a manner that both work appropriately and cooperatively, when a vehicle travels through a curve present ahead in the travelling direction while controlling for constant speed running is implemented. <P>SOLUTION: When an instruction to put the constant speed running control in operation is given by an operator of a vehicle, a constant speed running control part 65 implements the speed control by automatically accelerating or decelerating the vehicle so that a preset arbitrary target speed VO can be maintained. When a target speed correction part 67 detects a release or a decrease in the amount of operation for the driver's acceleration operation, for example, releasing the accelerator and easing up the accelerator, in a state that the present speed VP of the vehicle is greater than a fit speed VS at a curve recognized by a curve recognizing part 61 while the constant speed running control is implemented, it judges that the driver has the intention of decelerating the vehicle, and at this detection timing, sets the fit speed VS at the curve as the target speed VO in the constant speed running control. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a travel safety device for a vehicle including a constant speed travel control device.

Conventionally, for example, a constant speed travel control device that performs speed control so as to maintain a predetermined set speed set by a driver's switch operation is detected, and a curve existing ahead in the traveling direction of the vehicle is detected. A travel safety device that activates a safety device provided in a vehicle when the vehicle speed exceeds an appropriate speed for a curve is known (see, for example, Patent Document 1).
In addition, there is known a constant speed traveling control device capable of changing the set speed in accordance with an accelerator pedal operation or a brake pedal operation by the driver when speed control is performed so as to maintain the set speed set by the driver. (For example, refer to Patent Document 2).
Japanese Patent No. 3269897 Japanese Patent No. 2822039

By the way, the constant speed traveling control device according to the above prior art is added to the traveling safety device according to the above prior art, and the speed control set speed is updated according to the driver's accelerator pedal operation or brake pedal operation. If a curve that exists ahead of the direction of travel of the vehicle is detected during operation of the constant-speed driving control device, the timing for setting the appropriate speed for passing the curve appropriately as the set speed for speed control is operated. It is desired to set at an appropriate timing according to the driver's accelerator pedal operation or brake pedal operation, that is, according to the driver's state and driving intention.
The present invention has been made in view of the above circumstances, and when the constant speed traveling control is executed, the constant speed traveling control device and the operation of the safety device are coordinated when passing a curve existing ahead in the traveling direction of the vehicle. It is an object of the present invention to provide a vehicle travel safety device including a constant speed travel control device that can be appropriately controlled.

  In order to solve the above-described problems and achieve the object, a traveling safety device for a vehicle including the constant speed traveling control device according to the first aspect of the present invention includes storage means (for example, implementation) for storing road data. Map data storage unit 23) in the form, own vehicle position detecting means for detecting the position of the own vehicle (for example, current position detecting unit 21 in the embodiment), and vehicle speed detecting means for detecting the speed of the own vehicle. (For example, a vehicle speed sensor 33 in the embodiment) and curve recognition means for recognizing the shape of a curve existing in the traveling direction of the host vehicle based on the road data stored in the storage means (for example, in the embodiment A curve recognizing unit 61) and an appropriate speed setting unit (for example, an appropriate vehicle speed setting unit 6 in the embodiment) for setting an appropriate speed capable of appropriately passing through the curve based on the shape of the curve recognized by the curve recognizing unit. ), The speed detected by the vehicle speed detecting means and the appropriate speed set by the appropriate speed setting means (for example, the comparison unit 63 in the embodiment) and the comparison means In the comparison result, when the speed of the host vehicle is larger than the appropriate speed, an operating means (for example, the embodiment in the embodiment) that operates a safety device (for example, a safety device in the embodiment) provided in the host vehicle. An operating portion 64), target speed setting means for setting a target speed by an input operation of the driver (for example, the input portion 24 in the embodiment), and the speed detected by the vehicle speed detecting means is the target speed. Constant speed travel control means (for example, constant speed travel control unit 65 in the embodiment) for controlling acceleration or deceleration of the host vehicle so as to coincide with each other, and the driver's acceleration operation during the control of the constant speed travel control means By A vehicle travel safety device comprising a constant speed travel control device comprising update means (for example, a target vehicle speed update unit 66 in the embodiment) that updates and sets the converted speed of the host vehicle as the target speed. When it is detected that the driver's acceleration operation is canceled or the operation amount is reduced when the speed of the host vehicle is higher than the appropriate speed in the comparison result by the comparison unit during the control of the constant speed traveling control unit, It is characterized by comprising correction means (for example, target vehicle speed correction unit 67 in the embodiment) for correcting the target speed so that the speed detected by the vehicle speed detection means becomes the appropriate speed.

  According to the traveling safety device for a vehicle including the above-described constant speed traveling control device, the updating means for updating and setting the speed of the own vehicle changed by the driver's acceleration operation during the control of the constant speed traveling control means as the target speed. By providing, it is possible to recognize the deceleration intention in addition to the driver's acceleration intention from the driver's accelerator pedal operation at the time of constant speed traveling control. Then, when the speed of the host vehicle is higher than the appropriate speed of the curve existing in the traveling direction during the constant speed traveling control, the driver cancels the acceleration operation or decreases the operation amount, for example, canceling the accelerator pedal operation or the accelerator pedal When stepping back is detected, it is determined that the driver has a willingness to decelerate, and the appropriate speed is set as the target speed at this detection timing. As a result, the driver's intention to decelerate can be appropriately reflected in the timing for setting the appropriate speed for passing the curve appropriately as the target speed for constant speed traveling control.

  Furthermore, a vehicle travel safety device comprising the constant speed travel control device of the present invention according to claim 2 includes a slope detection means (for example, the gyro sensor 32 in the embodiment) for detecting the road slope, The appropriate speed setting means is set so that the appropriate speed changes in an increasing tendency as the upward gradient of the gradient detected by the gradient detecting means increases.

  According to the traveling safety device for a vehicle including the above-described constant speed traveling control device, when there is an ascending slope before the curve existing in the traveling direction, the appropriate speed tends to increase according to the magnitude of the slope. By setting so as to change to, it is possible to prevent the vehicle speed from being excessively reduced when entering the curve.

As described above, according to the traveling safety device for a vehicle including the constant speed traveling control device according to the first aspect of the present invention, the appropriate speed for appropriately passing the curve is set as the target speed for the constant speed traveling control. The driver's intention to decelerate can be appropriately reflected in the timing set as VO. Furthermore, according to the travel safety device for a vehicle including the constant speed travel control device of the present invention according to claim 2, It is possible to prevent the speed of the vehicle from excessively decreasing during entry.

  Hereinafter, a travel safety device for a vehicle including a constant speed travel control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  As shown in FIG. 1, a vehicle travel safety device 10 including a constant speed travel control device according to the present embodiment, for example, uses an automatic transmission (AT) or a continuously variable automatic transmission ( A safety device equipped with a navigation device 13, a control device 14, a brake actuator 15, and an alarm device (not shown), which is mounted on a vehicle that transmits to a driving wheel of the vehicle via a transmission (T / M) 12 such as a CVT). And a device (not shown).

The navigation device 13 includes, for example, a current position detection unit 21, a navigation processing unit 22, a map data storage unit 23, an input unit 24, and a display unit 25.
Further, the current position detection unit 21 corrects an error in the GPS signal using, for example, a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite or an appropriate base station, for example. A positioning signal receiving unit 31 that receives a positioning signal such as a D (Differential) GPS signal for improving positioning accuracy, and an inclination angle (for example, a longitudinal axis of the vehicle) A gyro sensor 32 that detects a tilt angle with respect to the vertical direction and a yaw angle that is a rotation angle of the center of gravity of the vehicle about the vertical axis, and a change amount of the tilt angle (for example, a yaw rate) and a vehicle speed (vehicle speed) are detected. A vehicle speed sensor 33, and the current position of the vehicle by a received positioning signal or by an autonomous navigation calculation process based on a detection signal such as a vehicle speed or a yaw rate. The position is calculated.

  The map data storage unit 23 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map data storage unit 23 stores road data such as road width data, intersection angles of multiple roads, intersection shapes and positions, and the like as map data for displaying a map on the display unit 25, for example. Yes.

For example, for the road data acquired from the map data storage unit 23, the navigation processing unit 22 performs the positioning signal and / or autonomous navigation calculation processing in the current position detection unit 21 or the vehicle current obtained from either of them. Map matching is performed based on the position information, the result of position detection is corrected, and the current position of the detected vehicle, or an appropriate input input by the operator via the input unit 24 including various switches, a keyboard, etc. The map display on the display unit 25 is controlled with respect to the position of the vehicle.
In addition, the navigation processing unit 22 performs processing such as vehicle route search and route guidance, and displays, for example, route information to the destination and various additional information along with the road data acquired from the map data storage unit 23. To the unit 25.

  The control device 14 includes a speed control unit 41, an engine control unit 42, a shift control unit 43, and a brake control unit 44. The speed control unit 41 further includes a curve recognition unit 61, an appropriate vehicle speed. The setting part 62, the comparison part 63, the action | operation part 64, the constant speed travel control part 65, the target vehicle speed update part 66, and the target vehicle speed correction part 67 are comprised.

The curve recognition unit 61 acquires road data stored in the map data storage unit 23, and detects a curve existing on the road as a road shape in the traveling direction of the host vehicle based on the road data.
For example, the curve recognizing unit 61 is a node that is a basis of road data, that is, a point for grasping the road shape (for example, white circles and black circles shown in FIG. 2) and a link that connects each node (for example, FIG. The shape of the curve is recognized based on the white circle and the black circle shown in FIG. Then, for example, a curve shape value including a curve diameter, a curvature and a polarity, a curve length (curve depth), a turning angle required for passing through the curve, and the like is calculated and output to the appropriate vehicle speed setting unit 62.

Based on the curve shape value recognized by the curve recognition unit 61, the appropriate vehicle speed setting unit 62 calculates the speed of the vehicle (proper speed VS) that can properly pass through this curve. Then, the appropriate vehicle speed setting unit 62 outputs data of the set appropriate speed VS to the comparison unit 63.
Here, the appropriate vehicle speed setting unit 62 includes a lateral acceleration calculation unit that calculates acceleration (lateral acceleration) generated in the lateral direction of the vehicle when passing the curve. That is, first, the lateral acceleration calculation unit calculates the lateral acceleration that is allowed when the curve recognition unit 61 appropriately passes through the curve based on the shape of the curve recognized by the curve recognition unit 61. Next, the appropriate vehicle speed setting unit 62 calculates the speed of the vehicle that causes the vehicle to generate this lateral acceleration, and sets this speed as the appropriate speed VS.
Note that the lateral acceleration allowed for the host vehicle when passing the curve changes depending on the road surface condition, the tire condition, the loading condition, and the like. Therefore, the appropriate speed VS may be set in consideration of these factors.
Further, when it is detected that an ascending slope exists before the recognized curve shape based on the detection signal of the gyro sensor 32 or the road data stored in the map data storage unit 23, the magnitude of this slope is large. Accordingly, the appropriate speed VS is set to increase.

The comparison unit 63 compares the vehicle speed (current speed) VP detected by the vehicle speed sensor 33 of the current position detection unit 21 with the appropriate speed VS set by the appropriate vehicle speed setting unit 62, and compares the comparison result. Output to the operating unit 64.
The operating unit 64 controls the operation of the engine control unit 42, the shift control unit 43, and the brake control unit 44 based on the comparison result in the comparison unit 63. For example, if the current speed VP detected by the vehicle speed sensor 33 is different from the appropriate speed VS set by the appropriate vehicle speed setting section 62 in the comparison result of the comparison unit 63, for example, the detected current speed VP of the vehicle is appropriate. When the vehicle is not in the proper vehicle state, such as a state higher than the speed VS, the alarm device is activated to alert the driver or the brake actuator 15 is activated via the brake control unit 44. Automatically decelerate the vehicle.

The operating unit 64 activates the safety device including the alarm device and the brake actuator 15 from the current speed VP to the appropriate speed VS until the vehicle reaches the entrance position of the curve recognized by the curve recognition unit 61. It is set based on the time or distance required for deceleration.
For example, as shown in FIG. 2, when the vehicle A is traveling at a speed V1 (for example, speed V1> appropriate speed VS), in order to properly pass the curve C existing forward in the traveling direction, the curve C The vehicle speed is set to the appropriate speed VS at the entrance position CS.
At this time, for example, at a predetermined deceleration GS (for example, 0.2 G = 0.2 × 9.8 m / s ² ), the current speed V1 (for example, 100 km / h) to the appropriate speed VS (for example, 40 km / h). In the case of deceleration to h), the time T required for deceleration is obtained by T = (V1−VS) / GS. Then, based on this time T, the distance required for deceleration, that is, the required deceleration distance L0 is calculated, and the deceleration start position C0 (black circle C0 shown in FIG. 2) just before the required deceleration distance L0 from the entrance position CS of the curve C is calculated. Is set.

Furthermore, for example, a reaction time (for example, about 0.5 s) from when an alarm is issued to alert the driver until the driver actually reacts and depresses the brake, and after the driver depresses the brake. The reaction idling distance ΔL0 is calculated in consideration of the idling time (for example, about 0.3 s) until the brake actually starts to work. As a result, the alarm start position CW is set by the reaction idling distance ΔL0 from the deceleration start position C0 (black circle C0 shown in FIG. 2).
That is, when the vehicle A reaches the alarm start position CW set before the curve C, that is, the distance between the current position of the vehicle A and the entrance position CS of the curve C (distance Ln between deceleration target points) An alarm is issued when the required alarm distance LW is set as shown in the following formula (1).

The constant speed traveling control unit 65 is operated via the input unit 24 in advance when the operation of the constant speed traveling control is instructed by an operator's on operation by a switch or the like provided in the input unit 24 of the navigation device 13, for example. An appropriate target speed VO set by the user is maintained, for example, the throttle opening degree, the brake fluid pressure, and the like are controlled, and the vehicle is automatically accelerated or decelerated to perform speed control.
Here, the constant speed traveling control unit 65 enables an acceleration operation by an accelerator pedal, an intervention operation such as a deceleration operation by a brake pedal and a stop of the constant speed traveling control during the execution of the constant speed traveling control, and the traveling behavior of the vehicle. Is set so that the will of the driver is appropriately reflected.
The constant speed running control is stopped when an operator's off operation is input by a switch or the like provided in the input unit 24 or when it is detected that the current speed VP of the vehicle has decreased below a predetermined lower limit speed. It has become so.

The target vehicle speed update unit 66 is, for example, various switches provided in the input unit 24 of the navigation device 13, for example, an acceleration switch that increases the currently set target speed VO, or a deceleration that reduces the currently set target speed VO. In addition to the operator's manual input operation using a switch or the like, the target speed VO is updated in accordance with the operating state of the driver's accelerator pedal or brake pedal. For example, when the vehicle is accelerated by depressing the accelerator pedal during execution of constant speed traveling control, the speed at the time when the depressing operation of the accelerator pedal is completed is updated and set as the target speed VO.
The constant speed traveling control unit 65 can control the reaction force load against the pedal stroke of the accelerator pedal, for example, by appropriate hydraulic control with respect to the displacement of the accelerator pedal, or a member that regulates the displacement of the accelerator pedal, for example. The accelerator pedal was operated when the constant speed running control was executed, and the accelerator pedal operation was stopped with the pedal stroke of the accelerator pedal at an appropriate value (that is, the driver's pedaling force and reaction force load were equalized) Is detected), the driver is able to place his / her feet lightly on the accelerator pedal while maintaining the throttle opening at this point, It is set so that it can be used as a so-called footrest.
For this reason, in addition to the detection signal output from the vehicle speed sensor 33, the speed control unit 41 includes an accelerator opening sensor 51 that detects an accelerator opening related to the amount of operation of the accelerator pedal by the driver, and a brake by the driver. The detection signals output from the brake pedal sensor 52 that detects the pedal operation amount and the throttle opening sensor 53 that detects the throttle opening are input.

  The target vehicle speed correction unit 67 cancels or manipulates the driver's acceleration operation in a state where the current speed VP of the vehicle is larger than the appropriate curve speed VS recognized by the curve recognition unit 61 when the constant speed traveling control is executed. If, for example, the release of the accelerator pedal operation or the depressing operation of the accelerator pedal is detected, it is determined that the driver is willing to decelerate, and the appropriate speed VS of the curve is determined at this detection timing. It is set as the target speed VO for high-speed running control.

  The vehicle travel safety device 10 including the constant speed travel control device according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel safety device 10 including the constant speed travel control device, in particular, Processing for setting the target speed VO in a state in which execution of constant speed traveling control is instructed by an operator's on operation by a switch or the like provided in the input unit 24 will be described with reference to the accompanying drawings.

First, in step S01 shown in FIG. 3, it is determined whether or not the accelerator pedal operation by the driver is stopped.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
In step S02, the current speed VP and the current position of the vehicle are acquired.
Next, in step S03, the acquired current speed VP is set as the target speed VO, and constant speed speed control is executed.
Next, in step S04, based on the map data stored in the map data storage unit 23, it is determined whether or not a curve shape exists ahead of the traveling direction of the host vehicle.
If this determination is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.

In step S05, for the detected curve shape, a curve shape value including, for example, the minimum curve diameter, maximum curvature and polarity, curve length (curve depth), turning angle required for passing the curve, etc. is estimated. Then, based on the estimated curve shape value, an appropriate speed VS at which the curve shape can be properly passed is calculated.
Next, in step S06, for example, by determining whether or not the detected current speed VP is greater than the calculated appropriate speed VS, whether or not deceleration control is necessary to properly pass the detected curve shape. Determine whether.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S07.

In step S07, it is determined whether or not the driver releases the accelerator pedal operation or depresses the accelerator pedal.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S08.
In step S08, the necessary deceleration required in the deceleration control is calculated.
In step S09, a deceleration to be actually output is set according to the calculated required deceleration, and deceleration control is executed.

In step S10, it is determined whether or not the current speed VP is greater than the appropriate speed VS.
If this determination is “NO”, the flow proceeds to step S 12 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S11.
In step S11, it is determined whether or not the accelerator pedal operation by the driver is stopped or the accelerator pedal is depressed.
If the determination result in step S11 is “NO”, that is, if the accelerator pedal operation is released or the accelerator pedal is stepped back, it is determined that the driver has a willingness to decelerate, and the above-described step Proceed to S09.
On the other hand, when the determination result of step S11 is “YES”, it is determined that the driver desires acceleration or deceleration stop of the vehicle, and the process proceeds to step S12.
In step S12, the deceleration control is terminated, and the series of processes is terminated.

  As described above, according to the traveling safety device 10 for a vehicle including the constant speed traveling control device according to the present embodiment, the current speed VP is larger than the appropriate speed VS of the curve existing in the traveling direction during the constant speed traveling control. In the state, when the release of the driver's acceleration operation or the decrease in the operation amount is detected, it is determined that the driver has the intention to decelerate, and the appropriate speed is set as the target speed VO at this detection timing. As a result, the driver's intention to decelerate can be appropriately reflected in the timing at which the appropriate speed VS for passing the curve properly is set as the target speed VO of the constant speed traveling control.

It is a functional block diagram which shows the structure of the vehicle travel safety apparatus which comprises the constant speed travel control apparatus which concerns on one Embodiment of this invention. It is a figure which shows the action | operation timing of the alarm when a vehicle approachs a curve. It is a flowchart which shows operation | movement of the travel safety apparatus of the vehicle which comprises the constant speed travel control apparatus shown in FIG.

Explanation of symbols

10. Travel safety device 21 for a vehicle equipped with a constant speed travel control device 21 Current position detection unit (own vehicle position detection means)
23 Map data storage unit (storage means)
24 input unit (target speed setting means)
32 Gyro sensor (gradient detection means)
33 Vehicle speed sensor (vehicle speed detection means)
61 Curve recognition unit (curve recognition means)
62 Appropriate vehicle speed setting section (appropriate speed setting means)
63 Comparison part (comparison means)
64 Actuating part (actuating means)
65 Constant speed traveling control unit (constant speed traveling control means)
66 Target vehicle speed update unit (update means)
67 Target vehicle speed correction section (correction means)

Claims (2)

Storage means for storing road data;
Own vehicle position detecting means for detecting the position of the own vehicle;
Vehicle speed detection means for detecting the speed of the host vehicle;
Curve recognition means for recognizing the shape of the curve existing in the traveling direction of the host vehicle based on the road data stored by the storage means;
An appropriate speed setting means for setting an appropriate speed at which the curve can be properly passed based on the shape of the curve recognized by the curve recognition means;
A comparing means for comparing the speed detected by the vehicle speed detecting means with the appropriate speed set by the appropriate speed setting means;
An operating means for operating a safety device provided in the host vehicle when the speed of the host vehicle is higher than the appropriate speed in the comparison result by the comparing unit;
Target speed setting means for setting the target speed by the driver's input operation;
Constant speed travel control means for controlling acceleration or deceleration of the host vehicle so that the speed detected by the vehicle speed detection means matches the target speed;
A vehicle travel safety device comprising a constant speed travel control device comprising an update means for updating and setting the speed of the host vehicle, which has been changed by the driver's acceleration operation during the control of the constant speed travel control means, as the target speed. And
When detecting the release of the driver's acceleration operation or a decrease in the operation amount when the speed of the host vehicle is larger than the appropriate speed in the comparison result by the comparison means during the control of the constant speed traveling control means, A vehicle travel safety device comprising a constant speed travel control device, comprising: a correction means for correcting the target speed so that the speed detected by the vehicle speed detection means becomes the appropriate speed. Equipped with a slope detection means for detecting the slope of the road,
2. The constant speed according to claim 1, wherein the appropriate speed setting unit sets the appropriate speed so as to increase in accordance with an increase in the upward gradient of the gradient detected by the gradient detection unit. A vehicle travel safety device including a travel control device.

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