JP3313311B2 - Automatic constant speed traveling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic constant speed running device whereby the car speed cannot deviate from the target value to any great extent even in case a tap-up or tap-down operation is conducted continuously and which enables controlling the car speed in quick follow-up after a new target value updated through the tap-up or tap-down operation. SOLUTION: When a tap-up or tap-down command signal is generated from a switch means 3, the stored car speed in a memory means 6a is immediately updated to a tapped-up or tapped-down car speed, followed by the emission of an initialize calculated a tap-up initialize calculating means 6c or tap-down initialize calculating means 6d so as to drive the actuator 4 in the accelerative or decelerative direction, and after the emission of the initialize, a feedback control consisting of constant speed control is executed until the tap-up command signal or tap-down command signal goes out or a specified period of time has elapsed since the generation of the command signal. This is performed by a tap-up control means 6f and tap-down control means 6g.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can automatically maintain the running speed of a vehicle at an arbitrarily set target vehicle speed, and allows the vehicle to run at a set constant speed without operating an accelerator pedal. The present invention relates to an automatic constant-speed traveling device capable of performing such operations.

[0002]

2. Description of the Related Art Conventionally, various devices have been proposed and developed as automatic constant-speed traveling devices for maintaining the speed of a vehicle at an arbitrarily set target vehicle speed. What is provided is known.

That is, the automatic constant-speed traveling device includes a set coast switch that also serves as a set operation, coast-down operation, and tap-down operation switch, and a resume-accelerate switch that also serves as a resume operation, an accelerate operation, and a tap-up operation switch. Prepared,
During driving of the car, when the driver reaches a desired speed, when the driver operates a set coast switch provided on the switch panel of the device, a cruise command signal is generated,
The actual vehicle speed signal at the time of the off operation detected by the vehicle speed sensor is stored in the controller as the target vehicle speed. As a result, the constant speed traveling control is started, and the controller constantly compares the actual vehicle speed signal generated by the vehicle speed sensor with the vehicle speed signal stored as the target vehicle speed, and performs the control calculation according to the difference, thereby controlling the actuator. The opening degree of the throttle valve is adjusted via the controller, and control is performed so that the actual vehicle speed signal matches the stored vehicle speed signal.

[0004] When a brake operation is performed during the constant speed traveling control, the constant speed traveling control is canceled without erasing the stored vehicle speed signal stored by the set operation, and the normal driving state by the driver's operation of the accelerator pedal. Move to

When the resume acceleration switch is operated in a state where the constant-speed running control is cancelled, control is performed to return the vehicle speed to the previously stored target vehicle speed. After the vehicle speed has returned to the target vehicle speed, the brake operation is performed. The same constant-speed running control as before is resumed.

When the resume acceleration switch is operated during the constant speed traveling control, the actuator is driven in the acceleration direction by a tap-up control signal (tap-up initialization output) corresponding to the actual vehicle speed when the switch is turned on. Is turned off, a signal value obtained by adding a signal value corresponding to a predetermined tap-up speed to the actual vehicle speed signal at the time of the on operation is stored in the controller as a new target vehicle speed, and the predetermined target speed is set to a predetermined value higher than the speed at the time of the on operation. Constant-speed traveling control at a speed higher by the tap-up speed is started (tap-up operation).

If the resume acceleration switch continues to be turned on without being turned off, acceleration by constant acceleration control is started, and the switch is turned off when the desired speed is reached. The actual vehicle speed signal at the time of the off operation is stored in the controller as a new target vehicle speed, and constant speed traveling control is performed with the newly stored vehicle speed at the time of the off operation being targeted (accelerate operation).

When the set coast switch is operated during the cruise control, the actuator is driven in the deceleration direction by a tap-down control signal (tap-down initialization output) corresponding to the actual vehicle speed at the time of the on-operation, and then the switch is turned off. Then, a signal value obtained by subtracting a signal value corresponding to a predetermined tap-down speed from the actual vehicle speed signal at the time of the ON operation is stored in the controller as a new target vehicle speed, and is set to a predetermined value which is lower than the speed at the time of the ON operation of the set coast switch. The constant speed traveling control at a speed lower by the tap down speed is started (tap down operation).

If the set coast switch is kept turned off without being turned off, the throttle valve is driven in the closing direction via the actuator to start deceleration, and when the desired speed is reached, the switch is turned off. By doing so, the actual vehicle speed signal at the time of the off operation is stored in the controller as a new target vehicle speed, and constant speed traveling control is performed with the newly stored vehicle speed at the time of the off operation being targeted (coast down operation).

[0010]

In the above-described automatic constant-speed traveling device, after a resume-accelerate switch or a set-coast switch as a tap-up switch or a tap-down switch is turned on, it is waited until it is turned off. The controller stores a vehicle speed obtained by adding or subtracting a predetermined tap-up vehicle speed or a tap-down vehicle speed to or from the actual vehicle speed at the time of the ON operation as a new target vehicle speed. When these switches are continuously turned on for a predetermined time after the output of the control signal, the mode shifts to the acceleration control or the coast-down control. Drive in the direction I had to odd.

Therefore, when the resume accelerator switch or the set coast switch is operated continuously and at the timing of turning off immediately before shifting to the accelerator control or the coast down control, the control signal output and the actuator fixed Since the output becomes continuous and the feedback control for the target vehicle speed becomes substantially impossible, the deviation of the actual vehicle speed from the target vehicle speed becomes large, and there is a problem that it is impossible to quickly follow the target vehicle speed. It has been a problem of the conventional automatic constant-speed traveling device to solve the problems described above and to improve the followability to the target vehicle speed in the tap-up or tap-down control.

[0012]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in a conventional automatic constant-speed traveling apparatus, and is provided in which a resume acceleration switch or a set coast switch is continuously operated at the above timing. The present invention provides an automatic constant-speed traveling device that can make the vehicle speed quickly follow the target vehicle speed updated by the tap-up or tap-down operation without increasing the vehicle speed deviation even when the vehicle speed deviation increases. The purpose is.

[0013]

According to the first aspect of the present invention, there is provided an automatic constant-speed traveling device which includes a vehicle speed sensor for generating a vehicle speed signal proportional to the current vehicle speed of a vehicle, a cruise command signal in response to operation, and a tap-up signal. Switch means for selectively generating a command signal; vehicle speed storage means connected to the vehicle speed sensor and the switch means for storing a vehicle speed signal generated by the vehicle speed sensor in response to a cruise command signal from the switch means as a target vehicle speed; Comparing the vehicle speed signal generated by the vehicle speed sensor with the stored vehicle speed signal stored in the vehicle speed storage means,
An automatic cruise control system comprising: control means having an arithmetic means for generating an actuator drive signal corresponding to a difference between the two; and an actuator for adjusting an opening of a throttle valve of the vehicle by an actuator drive signal from the control means. The control means calculates a tap-up control signal (tap-up initialization output) based on a vehicle speed signal at the time of signal generation in response to a tap-up command signal from the switch means. Up-initialization calculation means), timer means for counting the signal duration from generation of the tap-up command signal to its disappearance in response to the tap-up command signal from the switch means, and generation of the tap-up command signal from the switch means Then, the vehicle speed signal at the time of occurrence The signal value obtained by adding the signal value corresponding to the tap-up vehicle speed is stored in the vehicle speed storage means as a new target vehicle speed, and the actuator is accelerated by the tap-up control signal calculated by the tap-up control signal calculating means. When the tap-up command signal continues even after the output of the tap-up control signal and continues until the tap-up command signal disappears, the timer means And a tap-up control means for generating an actuator drive signal by constant speed control until the signal duration obtained by the above reaches a predetermined time, and the automatic constant speed according to claim 2 of the present invention. The traveling device is a vehicle speed sensor that generates a vehicle speed signal proportional to the current vehicle speed of the vehicle. A switch means for selectively generating a cruise command signal and a tap-down command signal in accordance with an operation; and a vehicle speed connected to the vehicle speed sensor and the switch means and generated by the vehicle speed sensor in response to a cruise command signal from the switch means. Vehicle speed storing means for storing a signal as a target vehicle speed, and calculating means for comparing a vehicle speed signal generated by a vehicle speed sensor with a stored vehicle speed signal stored in the vehicle speed storing means and generating an actuator drive signal corresponding to a difference between the two. And an actuator for adjusting the opening of the throttle valve of the vehicle in accordance with an actuator drive signal from the control means, wherein the control means taps down from the switch means. In response to the command signal, a tap-down control signal (tap-down A tap-down control signal calculating means (tap-down initializing calculating means) for calculating a shaping output) and a tap-down command signal from the switch means.
A timer means for counting the signal duration from the generation of the tap-down command signal to its disappearance; and a signal value corresponding to a predetermined tap-down vehicle speed from the vehicle speed signal at the time of the generation of the tap-down command signal from the switch means. Is stored in the vehicle speed storage unit as a new target vehicle speed, and the actuator is driven in the deceleration direction by the tap-down control signal calculated by the tap-down control signal calculation unit, and the tap-down is performed. When the command signal continues even after the output of the tap-down control signal, the signal duration obtained by the timer means until the tap-down command signal disappears until the tap-down command signal disappears. Constant speed control until the time reaches a predetermined time And characterized in that a configuration that includes a tap-down control means for generating an actuator drive signal by, and a means for solving the conventional problems described above the configuration of such an automatic constant speed running device.

[0014]

According to the first aspect of the present invention, there is provided an automatic constant-speed traveling device which includes a tap-up control signal calculating means for calculating a tap-up control signal based on a vehicle speed signal when a tap-up command signal is generated, and a tap-up command. Timer means for counting the signal duration of the signal and tap-up control means are provided. When a tap-up command signal is generated by a tap-up operation of the switch means, the tap-up control means immediately determines a vehicle speed signal at the time of occurrence. The signal value obtained by adding the signal value corresponding to the tap-up vehicle speed is written in the vehicle speed storage means as a new target vehicle speed, and the actuator is moved in the acceleration direction by the tap-up control signal calculated by the tap-up control signal calculation means. Drive. When the tap-up command signal continues to be output when the output of the tap-up control signal is completed, the actuator drive signal by the constant speed control is output until the tap-up command signal disappears, and the vehicle speed is set to the new target. Control to match the vehicle speed is performed. Further, when the tap-up command signal does not disappear and is still continuing, after the output of the tap-up control signal is finished, the actuator drive signal by the constant speed control is continued until the timer means counts a predetermined time. Is output to match the vehicle speed with the new target vehicle speed.

That is, in the automatic constant speed traveling device, the actuator output is not fixed until the next tap-up command signal is generated after the tap-up control signal is output, and the switch is turned on. While the operation continues and the tap-up command signal is generated,
Since the constant speed control (feedback control) for the target vehicle speed that has already been updated is performed when the switch is turned on, the on operation is continued even after the tap-up control signal is output, and the operation shifts to the acceleration control. Even when the switch operation is performed continuously at the timing of turning off immediately before, the vehicle speed deviation does not increase and the actual vehicle speed quickly follows the new target vehicle speed.

According to a second aspect of the present invention, there is provided an automatic constant-speed traveling device which calculates a tap-down control signal based on a vehicle speed signal when a tap-down command signal is generated, and a tap-down control signal calculating means. A timer means for counting a signal duration; and a tap-down control means. When a tap-down command signal is generated from the switch means, the tap-down control means immediately determines a predetermined tap-down vehicle speed from a vehicle speed signal at the time of occurrence or a stored vehicle speed signal. Is written into the vehicle speed storage means as a new target vehicle speed, and the actuator is driven in the deceleration direction by the tap-down control signal calculated by the tap-down control signal calculation means. When the tap-down command signal continues to be output at the time when the output of the tap-down control signal is finished, the actuator drive signal by the constant speed control is output until the tap-down command signal disappears to set the vehicle speed at the new target. When the tap-down command signal is output without being extinguished and is still continuing, the constant-speed control is performed until the timer means counts a predetermined time. An actuator drive signal is output to control the vehicle speed to match the new target vehicle speed.

That is, in the automatic constant-speed traveling device according to the second aspect, the tap-down control signal is output and then the next tap-down operation is performed basically in the same manner as the automatic constant-speed traveling device according to the first aspect. Until the switch is turned on, the switch-on operation is continued and the tap-down command signal is generated without fixing the actuator output. Since the control is executed, even if the on operation is continued after the output of the tap down control signal and the switch operation at the timing of turning off immediately before shifting to the coast down control is continuously performed. Therefore, the actual vehicle speed quickly follows the new target vehicle speed without increasing the vehicle speed deviation.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below with reference to the drawings.

FIGS. 1 to 4 are diagrams for explaining the configuration and control of an automatic constant speed traveling device according to an embodiment of the present invention. FIG. 1 is a circuit diagram of the automatic constant speed traveling device. is there.

An automatic constant-speed traveling device 1 shown in FIG. 1 includes a vehicle speed sensor 2, a set coast switch 3a which also serves as a set operation, a coast down operation, and a tap down operation switch, and a resume switch, which serves as an accelerator operation, and a tap up operation switch. Switch means 3 having a resume acceleration switch 3b, an actuator 4 connected to a throttle valve of an engine (not shown),
The control means 5 mainly includes a control means 5 connected to the vehicle speed sensor 2 and the switch means 3, and the control means 5 includes a vehicle speed storage means 6a, a calculation means 6b, a tap-up control signal calculation means (tap-up initialization calculation means) 6c, The microcomputer 6 includes a tap-down control signal calculator (tap-down initialization calculator) 6d, a timer 6e, a tap-up controller 6f, and a tap-down controller 6g.

The control means 5 further comprises a constant voltage circuit 7, a reset circuit 8, interfaces A to F, an actuator power supply circuit 9 having transistors TR1 and TR2.
a, a vacuum valve switching circuit 9b having a transistor TR3, a vent valve switching circuit 9c having a transistor TR4, and a transistor TR
5 having a cruise lamp power supply circuit 10 having
The constant voltage circuit 7 and the reset circuit 8 are connected to the power supply 5 via an ignition switch 51 and a main switch 11.
When the ignition switch 51 and the main switch 11 are turned on, a constant voltage power source set by the constant voltage circuit 7 is supplied to the microcomputer 6. The reset circuit 8 resets the microcomputer 6 to an initial state when the main switch 11 is turned on.

The interface A is connected to the vehicle speed sensor 2
And the microcomputer 6 and the vehicle speed sensor 2
The vehicle speed signal is input to the microcomputer 6 and the interfaces B and C are connected to the switch means 3.
A signal based on the operation of the switch means 3 is interposed between the microcomputer 6 and the set coast switch 3a and the resume accelerated switch 3b, which constitute the above, and a signal is input to the microcomputer 6.

The interfaces D and E are provided with a normally open contact 12a (turned on by depressing the brake pedal) and a normally closed contact 12b (depressed brake pedal) of the brake switch 12, which is interlocked with the operation of the brake pedal of the vehicle. (Turned off by operation)
And a signal based on the brake operation is input to the microcomputer 6 via the microcomputer 6.

The interface F is interposed between the clutch switch 13 (inhibitor switch in the case of an automatic transmission) and the microcomputer 6 which are linked to the operation of the clutch pedal of the vehicle, and sends a signal based on the clutch operation to the microcomputer 6. input.

The actuator power supply circuit 9a is connected to a power supply 50 via a normally closed contact 12b of the brake switch 12, and when the transistors TR1 and TR2 are turned on by an output from the microcomputer 6 of the control means 5, an actuator power supply circuit 9a to be described later. Power is supplied to each solenoid of the vacuum valve 4a, vent valve 4b and safety valve 4c. When the normally closed contact 12b of the brake switch 12 is opened by the brake operation, the actuator power supply circuit 9a is cut off and the power supply to the electromagnetic valves 4a, 4b, 4c is cut off. Closed, vent valve 4
When b and the safety valve 4c are opened, the atmosphere is introduced into the diaphragm of the actuator 4, and the throttle valve is driven to the closed side.

Vacuum valve switching circuit 9b
When the transistor TR3 is turned on by an output from the microcomputer 6, the vacuum valve 4
The vacuum valve 4a is opened by forming the grounding circuit a.
Similarly, when the transistor TR4 is turned on by an output from the microcomputer 6, the vent valve switching circuit 9c forms a ground circuit for the vent valve 4b and closes the vent valve 4b.

The automatic constant-speed traveling device 1 further includes a brake lamp 14, a cruise lamp 15, and a horn 16. That is, the brake lamp 14 is connected between the normally open contact 12a of the brake switch 12 and the interface D, and lights up when the normally open contact 12a is closed by operating the brake pedal. Cruise lamp 15
Is provided in the speedometer, and is turned on when the transistor TR5 of the cruise lamp power supply circuit 10 is turned on in accordance with the output from the microcomputer 6 during the execution of the constant speed traveling control, so that the vehicle is fixed. The driver can be informed that the vehicle is automatically traveling by the high-speed traveling control. Also, the horn 16
The horn is connected to the power supply 50 via the relay 16a, and the horn is sounded by the operation of the relay 16a based on the push operation of the horn switch 16b.

Further, the set coast switch 3a
A cancel switch 17 is provided on a switch panel on which the resume acceleration switch 3b is disposed (for example, disposed on a steering wheel), and is connected to the interfaces B and C via diodes D and D. The operation of the cancel switch 17 is detected by simultaneously inputting the signals from the interfaces B and C (cancel command signal), and the constant speed traveling control cancel processing is performed based on this. Note that the cancel processing is also executed by a cancel command signal due to a brake operation or a clutch operation.

The vehicle speed sensor 2 is built in a speedometer and constantly generates a vehicle speed signal having a pulse number proportional to the current vehicle speed when the vehicle is running. This vehicle speed signal is transmitted to the interface A as described above. Is input to the microcomputer 6 of the control means 5 via the.

The set coast switch 3a of the switch means 3 is, as described above, together with the resume acceleration switch 3b and the cancel switch 17, for example, an automatic return type switch arranged on a switch panel mounted on a steering wheel. When the set coast switch 3a is operated after the vehicle starts running, this signal is input to the microcomputer 6 of the control means 5 via the interface B (cruise command signal). The constant speed traveling control in which the vehicle speed at the time of the operation is the target vehicle speed is started.

When the set coast switch 3a is turned on during the constant speed traveling control, a signal based on this operation is similarly input to the microcomputer 6 via the interface B (tap down command signal), and the signal when the switch is turned on. Constant speed running is started with a vehicle speed obtained by subtracting a predetermined tapdown vehicle speed Vtap from the vehicle speed as a new target vehicle speed.
Further, if the set coast switch 3a is not turned off and the on operation is continued, the vehicle speed gradually decreases (coast command signal). If the set coast switch 3a is turned off, the vehicle speed at the time of the off operation is set to a new target. The constant speed running with the vehicle speed starts.

Resume accelerate switch 3b
Is an automatic return type switch also arranged in the switch panel, and when turned on during constant speed traveling control,
A signal based on this operation is input to the microcomputer 6 via the interface C (tap-up command signal), and the vehicle speed obtained by adding the above-described predetermined tap-up vehicle speed Vtap to the vehicle speed at the time of the ON operation is set as a new target vehicle speed. High-speed running is started. Further, when the on-operation of the resume acceleration switch 3b is continued, the vehicle speed gradually increases until the off-operation is performed (acceleration command signal), and when the resume acceleration switch 3b is off-operated, the time when the off operation is performed The constant speed traveling with the vehicle speed of the vehicle at the new target vehicle speed is started.

When the resume acceleration switch 3b is operated in a state where the cruise control is canceled by the operation of the cancel switch 17, the brake operation, the clutch operation, or the like, a signal based on this operation is transmitted via the interface C. It is input to the microcomputer 6 (resume command signal), whereby
Control for returning the vehicle speed to the target vehicle speed at the time when the constant speed traveling control is canceled is started.

The actuator 4 is of a diaphragm type having a diaphragm (not shown), and includes a vacuum valve 4a, a vent valve 4b, and a safety valve 4c, one end of which communicates with a chamber formed by the diaphragm. The other end is connected to an intake manifold (negative pressure source) of the engine, and is connected to the vent valve 4 b and the safety valve 4.
The other end side of c is open to the atmosphere.

Each of these valves 4a, 4b, 4c is an electromagnetic valve provided with a solenoid. When the respective solenoids are excited by energization, the vacuum valve 4a opens, and the vent valve 4b and the safety valve 4c. Is to be closed.

Therefore, when the cruise control is started, the transistor TR1 is turned on by the output from the microcomputer 6, and the power supply is turned off.
It is supplied to each valve 4a, 4b, 4c via R2.
At this time, since the safety valve 4c is directly grounded, the solenoid is energized and the valve 4c is closed. In this state, when the transistors TR3 and TR4 are turned on by the output from the microcomputer 6 and the grounding circuits of the vacuum valve 4a and the vent valve 4b are formed, the solenoids of these valves are excited to excite the vacuum valve. 4a is opened and the vent valve 4b is closed.

As a result, the interior of the chamber formed by the diaphragm is shut off from the atmosphere by the closing operation of the vent valve 4b and the safety valve 4c, a negative pressure is introduced from the vacuum valve 4a, and the air in the diaphragm chamber is eliminated through the vacuum valve 4a. For this purpose, the diaphragm moves in a direction to reduce the volume of the room, thereby driving a throttle valve connected via an output member attached to the diaphragm in an opening direction, that is, an acceleration direction.

When the output from the microcomputer 6 is interrupted to turn off the transistors TR3 and TR4, the vacuum valve 4a is closed and the vent valve 4b is opened, so that the atmosphere is introduced into the diaphragm chamber. Operates in a direction to increase the volume of the room, and the throttle valve is driven in the closing direction, that is, the deceleration direction via the output member. That is, the vehicle speed can be controlled to be constant by adjusting the output from the microcomputer 6 to the transistor TR3 (vacuum valve switching circuit 9b) and the transistor TR4 (vent valve switching circuit 9c). In addition, in the case of performing a large deceleration control or in the case of a canceling process using a cancel command signal, the output to the transistor TR1 (actuator power supply circuit 9a) is interrupted, so that the vacuum valve 4a closes and the vent valve 4b and By opening the safety valve 4c at the same time, the control for rapidly introducing the atmosphere into the diaphragm chamber and driving the throttle valve in the closing direction is performed.

Next, control of the automatic constant-speed traveling device 1 having such a structure and functions will be described.

When the vehicle starts running and reaches a desired vehicle speed, the main switch 11 is turned on and the set coast switch 3a is operated. By this operation, a signal from the set coast switch 3a, that is, a cruise command signal is transmitted to the interface. The data is input to the microcomputer 6 of the control means 5 via B. In response to the cruise command signal, the control means 5 outputs to the transistor TR1 of the actuator power supply circuit 9a to turn on the transistor TR1. This allows the transistor T
R2 becomes conductive, the power supply 50 is connected to the electromagnetic valves 4a, 4b, 4c of the actuator 4, and the safety valve 4c closes.

The control means 5 writes the vehicle speed signal generated from the vehicle speed sensor 2 when the set coast switch 3a is turned off into the vehicle speed storage means 6a in the microcomputer 6 as the target vehicle speed, and also outputs the vehicle speed during the off operation. An initial control signal (set initialization) corresponding to the read only memory (RO) of the microcomputer 6
M), and the vacuum valve switching circuit 9b is operated by the actuator drive signal in the initial control signal.
By turning on the transistor TR3 and the transistor TR4 of the vent valve switching circuit 9c, opening the vacuum valve 4a and closing the vent valve 4b, the actuator 4 is made to coincide with the opening of the throttle valve, and the vehicle speed sensor 2 is generated. The constant-speed running control is performed so that the current vehicle speed signal is matched with the stored vehicle speed signal stored in the vehicle speed storage means 6a as the target vehicle speed.

When the resume acceleration switch 3b is operated and a tap-up command signal is generated during the constant-speed running control, the tap-up control means 6f in the microcomputer 6 is operated, and the control as shown in FIG. Is started.

That is, in step 101, it is determined whether or not the cruise control is currently being performed. If the cruise control is not being performed (NO), the process proceeds to another control.

If the cruise control is performed (YE
S), the process proceeds from step 101 to step 102. In step 102, it is determined whether or not the resume acceleration switch 3b is turned on to generate a tap-up command signal by detecting a rising edge (positive going edge) of the signal. Is done.

If the switch has not been operated yet and the tap-up command signal has not been generated (NO), the process proceeds to step 103, where it is determined whether the tap-up command signal is currently being generated. In this case, since the switch has not been operated and the tap-up command signal has not been generated (NO), the control returns to the start, and these determinations are repeated until the resume acceleration switch 3b is turned on.

When the resume acceleration switch 3b is turned on, the rising edge of the signal is detected in step 102, and if it is determined that the tap-up command signal has been generated (YES), the process proceeds to step 104.
Tap-up vehicle speed V that is predetermined for current vehicle speed Va
The vehicle speed obtained by adding tap is stored in the vehicle speed storage means 6a as a new target vehicle speed. That is, the tap-up vehicle speed V is added to the vehicle speed signal from the vehicle speed sensor 2 when the tap-up command signal is generated.
After the signal value obtained by adding the signal value corresponding to tap (for example, 1.6 km / h) is written in the vehicle speed storage means 6a, the control returns to the start.

At this time, in step 101, (YE
S) is determined, and in step 102, the rising edge is not detected since the resume acceleration switch 3b is kept ON (NO), and step 103 is executed.
Is determined to be (YES), and in step 105, after the memory T of the timer means 6e is incremented, the control proceeds to step 106.

In step 106, it is determined whether the output of the tap-up control signal (tap-up initialization) has been completed. At this time, since the tap-up control signal has not been output yet (NO), In step 107, the tap-up control signal calculated by the control signal calculation means 6c based on the actual vehicle speed when the resume acceleration switch 3b is turned on is used.
And the actuator is driven in the acceleration direction.

When the tap-up control signal is calculated, vehicle speed data is read from the vehicle speed signal generated from the vehicle speed sensor 2 when the resume acceleration switch 3b is turned on, and the upper and lower vehicle speeds closest to the read current vehicle speed are read. The tap-up control signal value corresponding to the vehicle speed at the time of generating the tap-up command signal is obtained by reading the tap-up control signal value corresponding to the value from the data map of the microcomputer 6 and performing linear interpolation.

The control is performed in steps 101 and 10
The process proceeds to step 103 via step 2, and the presence / absence of the tap-up command signal is determined again. If the operation of turning on the resume acceleration switch 3b is continued, the memory T of the timer means 6e is incremented in step 105. Thereafter, it is determined in step 106 whether or not the output of the tap-up control signal has been completed. At this time, the output of the tap-up control signal has already been completed (YES). The memory T determines whether or not the predetermined value J has been reached, that is, whether or not a predetermined time has elapsed since the generation of the tap-up command signal.

At this time, since the predetermined time has not yet elapsed, a constant speed control output for matching the actual vehicle speed with the new target vehicle speed updated in step 104 is calculated and output in step 109. (Feedback control). Then, these steps 101 and 10
2, 103, 105, 106, 108 and 109 are:
The resume acceleration switch 3b is turned off, or the memory T of the timer means 6e stores the predetermined value J
Is repeated until.

When the resume acceleration switch 3b is turned off and the tap-up command signal disappears,
In step 103, the determination is (NO), and in step 110, the memory T of the timer means 6e is reset, and then the process returns to the start.

If the tap-up command signal continues without the resume acceleration switch 3b being turned off, the constant speed control output of step 109 is repeated,
Until the memory T of the timer means 6e reaches the predetermined value J,
Feedback control for the target vehicle speed is continued. When the duration of the tap-up command signal reaches a predetermined time and the memory T of the timer means 6e reaches a predetermined value J in step 108 (YES), the tap-up control ends, and in step 111 constant acceleration control output is performed. To accelerate control.

When the set coast switch 3a is operated and a tap-down command signal is generated during the constant-speed running control, the tap-down control means 6g in the microcomputer 6 operates to start the control as shown in FIG. Is done.

In other words, when the constant speed control is not started, or when the constant speed control is not performed, such as after the start or during the cancellation, the set coast switch is set even when the constant speed control is performed. If 3a has not been operated and the tap-down command signal has not yet been generated, it is determined (NO) in step 201, step 202, and step 203, and the process proceeds to another control.

Then, the constant speed control is started, and these determinations are repeated until a tap-down command signal is generated by turning on the set coast switch 3a.

When the set coast switch 3a is turned on after the start of the constant speed control, the process shifts from step 202 to step 204, and a predetermined tap-down vehicle speed Vtap (for example, 1.6 km) is determined from the current vehicle speed Va.
/ H) is stored in the vehicle speed storage means 6a as a new target vehicle speed. That is, after the signal value obtained by adding the signal value corresponding to the tap-up vehicle speed Vtap to the vehicle speed signal from the vehicle speed sensor 2 when the tap-down command signal is generated is written in the vehicle speed storage means 6a, the control is started. Return.

At this time, it is determined in step 201 that constant-speed running control is being performed (YES), no rising edge is detected in step 202 (NO), and in step 103 a tap-down command signal is being generated (YES). After the memory T of the timer means 6e is incremented in step 205, it is determined in step 206 whether or not the output of the tap-down control signal (tap-down initialization) has been completed.

At this time, since the tap-down control signal has not yet been output (NO), the tap-down control signal calculated by the tap-down control signal calculating means 6d based on the actual vehicle speed when the set coast switch 3a is turned on is calculated. Output at step 207, the actuator is driven in the deceleration direction.

The tap-down control signal is
By linearly interpolating the tap-down control signal data read from the data map of the microcomputer 6 based on the vehicle speed signal generated from the vehicle speed sensor 2,
A value corresponding to the vehicle speed at the time of generation of the tap-down command signal is obtained.

Then, after the tap-down control signal is output, the control returns to the start, and proceeds to step 203 through steps 201 and 202, where the presence or absence of the tap-up command signal is determined again, and the set coast switch 3a is turned on. If the operation is continued, step 20
In step 5, after the memory T of the timer means 6e is incremented, it is determined in step 206 whether or not the output of the tap-down control signal has been completed, and the output of the tap-down control signal has been completed (YES).
In step 208, it is determined whether or not the memory T of the timer means 6e has reached the predetermined value J, that is, whether or not a predetermined time has elapsed since the generation of the tap-down command signal.

At this time, since the predetermined time has not elapsed, a constant speed control output for making the actual vehicle speed coincide with the new target vehicle speed updated in step 204 is calculated and output in step 209. (Feedback control). Then, the constant speed control output in step 209 is repeated until the set coast switch 3a is turned off or the memory T of the timer means 6e reaches the predetermined value J.

When the set coast switch 3a is turned off and the tap down command signal disappears,
At 03, it is determined that there is no tap-down command signal (NO). At step 210, after the memory T of the timer means 6e is reset, the control returns to the start.

A predetermined time elapses from the generation of the tap-down command signal without turning off the set coast switch 3a.
When the memory T of e reaches the predetermined value J (YES),
In step 211, the deceleration control output, that is, the output to the transistor TR1 of the actuator power supply circuit 9a is stopped, and the vent valve 4b and the safety valve 4
By opening c and closing the vacuum valve 4a,
The control shifts from tap down control to coast down control.

[0065]

As described above, according to the first aspect of the present invention,
When the tap-up command signal is generated by the tap-up operation of the switch means, the tap-up control means immediately updates the target vehicle speed by the vehicle speed obtained by adding the tap-up vehicle speed to the actual vehicle speed at the time of occurrence. At the same time, a tap-up control signal is output to drive the actuator in the acceleration direction. Then, when the tap-up command signal continues, the timer means counts a predetermined time until the tap-up command signal disappears until the tap-up command signal disappears. During this period, an actuator drive signal is output by constant speed control, and feedback control is performed on a new target vehicle speed. That is, since the target vehicle speed is updated when the tap-up command signal is generated, after the tap-up control signal is output, the constant speed is maintained immediately after the tap-up command signal is generated without fixing the actuator output. Control can be shifted to, and even if the tap-up operation of the switch means is performed continuously, the vehicle speed deviation does not increase and the actual vehicle speed can quickly follow the new target vehicle speed. This is an extremely excellent effect.

In the automatic constant-speed traveling device according to the second aspect of the present invention, the tap-down control means updates the target vehicle speed with the tapped-down vehicle speed as soon as the tap-down command signal is generated by the switch-down operation. At the same time, the actuator is driven in the deceleration direction by the tap-down control signal. Then, when the tap-down command signal continues, the timer means counts a predetermined time until the tap-down command signal disappears. Until that time, the actuator drive signal is similarly output by the constant speed control to perform feedback control for the new target vehicle speed. That is, similarly to the automatic constant speed traveling device according to claim 1, since the target vehicle speed has already been updated when the tap-down command signal is generated, the actuator output is not fixed after the tap-down control signal is output. It is possible to immediately shift to the constant speed control while the tap down command signal is being generated, and even if the tap down operation of the switch means is performed continuously, the vehicle speed deviation does not increase, There is an extremely excellent effect that the actual vehicle speed can quickly follow the new target vehicle speed.

[Brief description of the drawings]

FIG. 1 is a circuit configuration diagram of an automatic constant-speed traveling device according to one embodiment of the present invention.

FIG. 2 is a flowchart illustrating tap-up control in the automatic constant speed traveling device shown in FIG.

FIG. 3 is a flowchart illustrating tap-down control in the automatic constant speed traveling device shown in FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Automatic constant-speed traveling device 2 Vehicle speed sensor 3 Switching means 4 Actuator 5 Control means 6a Vehicle speed storage means 6b Calculation means 6c Tap-up control signal calculation means (tap-up initialization calculation means) 6d Tap-down control signal calculation means (tap-down initialization calculation) Means) 6e timer means 6f tap-up control means 6g tap-down control means

──────────────────────────────────────────────────続 き Continuing on the front page (72) Akira Ito, 1-4-1 Chuo, Wako-shi, Saitama Pref. Honda Research Institute, Inc. (72) Inventor Naoto Hitoshi 1-4-4 Chuo, Wako-shi, Saitama No. 1 Honda R & D Co., Ltd. (56) References JP-A-7-25263 (JP, A) JP-A-4-287725 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB Name) B60K 31/00 F02D 29/02 301 F02D 41/14 320

Claims (2)

(57) [Claims] 1. A vehicle speed sensor for generating a vehicle speed signal proportional to the current vehicle speed of a vehicle, switch means for selectively generating a cruise command signal and a tap-up command signal in accordance with an operation, and the vehicle speed sensor and the switch means. A vehicle speed storage means connected to and storing a vehicle speed signal generated by the vehicle speed sensor in response to a cruise command signal from the switch means as a target vehicle speed; a vehicle speed signal generated by the vehicle speed sensor and a stored vehicle speed stored in the vehicle speed storage means Control means having operation means for comparing the signals with each other and generating an actuator drive signal according to the difference between them, and an automatic means having an actuator for adjusting the opening of the throttle valve of the vehicle based on the actuator drive signal from the control means. A constant-speed traveling device, wherein the control means responds to a tap-up command signal from the switch means. A tap-up control signal calculating means for calculating a tap-up control signal based on a vehicle speed signal at the time of signal generation; and a signal duration from generation to disappearance of the tap-up command signal according to a tap-up command signal from the switch means. And when a tap-up command signal is generated from the switch means, a signal value obtained by adding a signal value corresponding to a predetermined tap-up vehicle speed to the vehicle speed signal at the time of occurrence is set as a new target value. In addition to storing the vehicle speed in the vehicle speed storage unit, the actuator is driven in the acceleration direction by the tap-up control signal calculated by the tap-up control signal calculation unit, and the tap-up command signal continues even after the output of the tap-up control signal. The tap-up command until the tap-up command signal disappears. A tap-up control means for generating an actuator drive signal by constant speed control until the signal continuation time obtained by the timer means reaches a predetermined time when the signal continues without disappearing. An automatic constant-speed traveling device. 2. A vehicle speed sensor for generating a vehicle speed signal proportional to the current vehicle speed of an automobile; switch means for selectively generating a cruise command signal and a tap-down command signal in accordance with an operation; A vehicle speed storage means connected to and storing a vehicle speed signal generated by the vehicle speed sensor in response to a cruise command signal from the switch means as a target vehicle speed; a vehicle speed signal generated by the vehicle speed sensor and a stored vehicle speed stored in the vehicle speed storage means Control means having operation means for comparing the signals with each other and generating an actuator drive signal according to the difference between them, and an automatic means having an actuator for adjusting the opening of the throttle valve of the vehicle based on the actuator drive signal from the control means. A constant-speed traveling device, wherein the control means responds to a tap-down command signal from the switch means. Tap-down control signal calculating means for calculating a tap-down control signal based on a vehicle speed signal at the time of signal generation; and a signal duration from generation to disappearance of the tap-down command signal according to a tap-down command signal from the switch means. Timer means for counting the time, and when a tapdown command signal is generated from the switch means, a signal value obtained by subtracting a signal value corresponding to a predetermined tapdown vehicle speed from a vehicle speed signal at the time of occurrence is set as a new target value. While the vehicle speed is stored in the vehicle speed storage means, the actuator is driven in the deceleration direction by the tap-down control signal calculated by the tap-down control signal calculation means, and the tap-down command signal continues even after the output of the tap-down control signal. The tap-down finger until the tap-down command signal disappears. Tap down control means for generating an actuator drive signal by constant speed control until the signal continuation time obtained by the timer means reaches a predetermined time when the signal continues further without disappearing. An automatic constant-speed traveling device.