CN101118441A - Vehicle travel controller - Google Patents
Vehicle travel controller Download PDFInfo
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- CN101118441A CN101118441A CN 200710129660 CN200710129660A CN101118441A CN 101118441 A CN101118441 A CN 101118441A CN 200710129660 CN200710129660 CN 200710129660 CN 200710129660 A CN200710129660 A CN 200710129660A CN 101118441 A CN101118441 A CN 101118441A
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Abstract
A vehicle travel controller for a vehicle comprises a road branching detector configured to detect a branching of a road ahead of the vehicle and a setting device configured to set a target vehicle speed with respect to the road ahead of the vehicle. When road branching is detected ahead of the vehicle, after a primary speed reduction control for a first deceleration a secondary speed reduction control is performed for a second deceleration higher than the first deceleration with respect to the road with a lowest target vehicle speed among various roads at the branching.
Description
Technical field
The present invention relates to a kind of vehicle travel controller.
Background technology
In the vehicle travel controller of general type, whether vehicle correctly travelled on the regulation road, judge.When judging that vehicle ' is on another road rather than regulation road, close and be regulation road default warning and automatic deceleration control, to prevent when vehicle still travels on the road different with the regulation road, because of warning and automatic deceleration control are felt under the weather the driver.Japanese Laid-Open Patent Application No.2000-025538 shows the example of this vehicle travel controller.
Summary of the invention
At this various embodiment of the present invention is described.An embodiment comprises a kind of for motor vehicle vehicle travel controller.According to an example, described controller comprises: road fork detector, and it is configured to the road fork in detection vehicle the place ahead; Setting device, it is configured to set the target vehicle speed about the vehicle front road; And speed control unit, it is configured to: when described road fork detector detects the road fork of vehicle front, the road that has minimum target vehicle speed in many roads at the turnoff, carry out elementary deceleration control with first retarded velocity, and after described elementary deceleration control, carry out secondary deceleration control with second retarded velocity, described second retarded velocity is higher than described first retarded velocity.
Another example at the vehicle travel controller of this instruction comprises: the device that is used for the road fork in detection vehicle the place ahead; Be used to set device about the target vehicle speed of vehicle front road; And be used for when the device of described detection road fork detects the road fork of vehicle front, the road that has minimum target vehicle speed in many roads at the turnoff, carry out elementary deceleration control with first retarded velocity, and after described elementary deceleration control, carry out the device of secondary deceleration control with second retarded velocity, described second retarded velocity is higher than described first retarded velocity.
Also instructed a kind of method of for motor vehicle vehicle ' control at this.An embodiment of this method comprises: there is or does not exist fork in detection on the road of vehicle front; When detecting fork, the road that has minimum target vehicle speed in many roads at the turnoff is carried out elementary deceleration control with first retarded velocity, and after described elementary deceleration control, carry out secondary deceleration control with second retarded velocity, described second retarded velocity is higher than described first retarded velocity.
Description of drawings
Be described below with reference to accompanying drawing, in the accompanying drawings, identical Reference numeral is represented identical parts, wherein:
Fig. 1 is the sketch that illustrates according to the formation of the vehicle travel controller of the embodiment of the invention;
Fig. 2 is the process flow diagram that illustrates according to the operation of the vehicle travel controller of the embodiment of the invention;
Fig. 3 is the chart that the example of the mark in the route guidance process is shown;
Fig. 4 is the sketch that the example of the method for setting the prediction route is shown;
Fig. 5 is the sketch that the example of the method for setting the prediction route is shown;
Fig. 6 illustrates the sketch that the target vehicle speed command value changes the another kind of determination methods of permission;
Fig. 7 illustrates the sketch that the target vehicle speed command value changes the another kind of determination methods of permission;
Fig. 8 A and Fig. 8 B illustrate the sketch that the target vehicle speed command value changes the another kind of determination methods of permission;
Fig. 9 illustrates the sketch that the target vehicle speed command value changes the another kind of determination methods of permission;
Figure 10 illustrates the sketch that the target vehicle speed command value changes the another kind of determination methods of permission;
Figure 11 illustrates the sketch that judges whether to start warning;
Figure 12 is the sketch that the control operation that judges whether to reduce speed now is shown;
Figure 13 is the sketch that the example of the method that changes the target vehicle speed command value is shown;
Figure 14 is the sketch that the example of the method that changes the target vehicle speed command value is shown;
Figure 15 is the sketch that the example of the method that changes the target vehicle speed command value is shown;
Figure 16 is the sketch that the example of the method that changes the target vehicle speed command value is shown;
Figure 17 is the sketch that the example of the method that changes the target vehicle speed command value is shown;
Figure 18 is the sketch that the example of the method that changes the target vehicle speed command value is shown;
Figure 19 is the sketch that the example of the method that changes the target vehicle speed command value is shown; And
Figure 20 is the sketch that the example of the method that changes alarm operation is shown.
Embodiment
In the vehicle travel controller before these, as long as vehicle just can not carried out the deceleration control of turning about near the place ahead not correctly in the regulation travels down.This is the result who does not expect.In order to prevent this problem, advise: the route of prediction vehicle, and when on the route of prediction, having turning, carry out deceleration control.Yet, because the route of prediction may not be the road that vehicle is chosen, so may carry out the different deceleration control of using with the desired route of driver of deceleration control.This does not expect yet.
On the contrary, Jiao Dao a kind of vehicle travel controller is according to the vehicle front road target setting speed of a motor vehicle here, and actual vehicle speed is controlled to be this target vehicle speed.When detecting the road fork in vehicle location the place ahead, the road that has minimum target vehicle speed in many roads at the turnoff, after carrying out elementary deceleration control with first retarded velocity, carry out secondary deceleration control with second retarded velocity, described second retarded velocity is higher than described first retarded velocity.Therefore, when fork one of road is than the road of the low target speed of a motor vehicle (for example to have, turn), and other fork roads are when not needing the craspedodrome road of deceleration control, even vehicle ' is through travelling on the craspedodrome road the anxious deceleration control that also can avoid writ of execution driver to feel under the weather after the fork.Below with reference to accompanying drawing this embodiment of the present invention and other embodiment are described.
Fig. 1 is the synoptic diagram that a this embodiment is shown.Navigational system 1 has gps receiver, mileage chart database etc.When by satellite navigation and inertial navigation detection vehicle position, the information of the node of the road that this systematic search is travelling about vehicle, and these information are outputed to controller 4 according to known method.Various sensors 2 are used for the state of detection vehicle.These sensors comprise the sensor that for example is used for detecting wheel speed.Various switches 3 are arranged on the operating switch in the vehicle cab, and comprise the operating switch of the embodiment that is used to operate travel controller described herein at least.
When navigational system 1 detects when having the fork road on the road in vehicle ', controller 4 judges whether the target vehicle speed command value changes.According to judged result, controller 4 is calculated as and reaches the required deceleration control amount of target vehicle speed command value, and this controlled quentity controlled variable is outputed to retardation controller 5.In addition, controller 4 by judge obtain from navigational system 1 about the information of vehicle front node whether have fork information, judge whether vehicle front exists the fork road.The information about various nodes that obtains from navigational system 1 comprises fork quantity.If fork quantity is 0, judge that then road is the single road that does not have fork.If fork quantity is 1 or more, judge that then vehicle front exists two or more fork roads.
In another embodiment of the present invention, can use the photo of camera vehicle front, survey the road fork by handling the photo of taking then.As select or as a supplement be, use the target in detection vehicle the place aheads such as radar, survey the road fork according to result of detection then.
In order to carry out described operation, controller 4 has control module or the part 4_1 to 4_14 that forms with the microcomputer software form.Navigation information is handled part 4_1 calculates each node according to the nodal information that obtains from navigational system 1 radius-of-curvature and curvature direction.Target vehicle speed calculating section 4_2 sets the target vehicle speed of each node according to the radius-of-curvature at node place.Desired deceleration calculating section 4_3 calculates the desired deceleration of the target vehicle speed that satisfies each node of vehicle front according to the target vehicle speed and the actual vehicle speed at node place.The node of desired deceleration calculating section 4_3 search for having minimum target vehicle speed among the default target vehicle speed of different kinds of roads exported minimum desired deceleration then.
Target vehicle speed command value calculating section 4_4 calculates by adding that retarded velocity changes the target vehicle speed command value that (amount) limiter obtains according to minimum desired deceleration.Fork road probe portion 4_5 is according to the road fork in the nodal information detection vehicle the place ahead that obtains from navigational system 1.Target vehicle speed command value change grant decision part 4_6 judges whether to change the target vehicle speed command value according to the fork information of vehicle front node.When allowing to change the target vehicle speed command value, the target vehicle speed command value changes part 4_7 and changes the target vehicle speed command value.Target vehicle speed operation part 4_8 output is perhaps exported unaltered speed of a motor vehicle command value according to the speed of a motor vehicle command value that fork information changes.
Speed of a motor vehicle setting section 4_9 sets the speed of a motor vehicle according to the operation and the actual vehicle speed of various switches 3, thereby realizes constant speed drive.For example, if the adaptive cruise in switch 3 control (ACC) main switch operation SET switch during for ON, actual vehicle speed that then will this moment is as setting the speed of a motor vehicle, and vehicle is to set speed of a motor vehicle constant speed drive.
Speed of a motor vehicle command value calculating section 4_10 select target speed of a motor vehicle command value or set junior in the speed of a motor vehicle, and with its output as speed of a motor vehicle command value.The servo calculating section 4_11 of the speed of a motor vehicle calculates the aimed acceleration/retarded velocity that is used to reach speed of a motor vehicle command value, and with its output.
Torque distribution control calculating section 4_12 determines the distribution with corresponding engine torque of aimed acceleration/retarded velocity and braking torque, and this distribution is outputed to engine torque calculating section 4_13 and brake fluid pressure calculating section 4_14.According to the engine torque that is distributed, engine torque calculating section 4_13 calculates gear setting, throttle opening and other engine control command value of automatic transmission, and they are outputed to engine controller 5_1 and gearbox controller 5_3.On the other hand, brake fluid pressure calculating section 4_14 calculates brake fluid pressure according to the braking torque that is distributed, and it is outputed to brake controller 5_2.The throttle opening of engine controller 5_1 control engine 6 and gas handling system etc.The gear setting of gearbox controller 5_3 control automatic transmission 7.The brake fluid pressure of brake controller 5_2 control friction brake 8 etc.
Fig. 2 is the process flow diagram that the operation of controller 4 in the performed embodiment of the invention of each regulation time limit is shown.In step 1, sensor 2 reads various types of data.More particularly, import each wheel velocity Vwi (wherein i=1 to 4), accelerator (accelerator pedal) aperture A, transverse acceleration value Yg
*, the ACC main switch that generally is connected and SET switch with bearing circle operation signal, from navigational system 1 about vehicle location (X, Y) and the information (Xj of each node Nj (j=1 is to Integer n) of vehicle front, Yj, Lj, Branchj), route guidance, national route guide (state route guide) etc.Here, Xj, Yj represent the coordinate of concrete node Nj position, and Lj represents that (X, Y) (Branchj represents the fork quantity of node to vehicle location for Xj, the Yj) distance between with node location.In addition, about the relation between each node Nj (j=1 to n), the j value is big more, and node Nj is far away more apart from vehicle.
In step 2, whether navigational system 1 detects target setting and whether just at guided vehicle.As shown in Figure 3, if just at guided vehicle, setting path guiding mark flg_route_guide (=1) then.In addition, survey the route priority status.For example, when the route of regulation ordinary road is preferential, set ordinary road priority flag flg_general_route (=1).On the other hand, when the route of regulation toll highway is preferential, set toll highway priority flag flg_highway_route (=1).Here, under the situation of ordinary road priority flag flg_general_route=1, toll highway priority flag flg_highway_route is made as 0, and when toll highway priority flag flg_highway_route=1, ordinary road priority flag flg_general_route is made as 0.
With reference now to Fig. 2,, calculates actual vehicle speed V in step 3.More particularly, for example, suppose that vehicle is the rear wheel drive type, the actual vehicle speed V in the time of can utilizing following formula calculating to travel, this actual speed is the wheel velocity Vw1 of front-wheel and the mean value of Vw2.
V＝(Vw1+Vw2)/2(1)
In addition, when the ABS control that utilizes the speed of a motor vehicle or other system are opened, can adopt the actual vehicle speed of using in this system (the estimation speed of a motor vehicle).
In step 4,, the road that vehicle will be chosen in the turnoff is judged according to the nodal information that obtains from navigational system 1.For example, as shown in Figure 4,, choose direction along road as the prediction route according to the various nodal informations that obtain from navigational system 1.When having set the prediction route, set the mark flg_route_set_on (=1) that the expression route is set.On the other hand, as shown in Figure 4, when not establishing the prediction route, turn direction all will be selected at every turn by the place at the fork road.
With reference now to Fig. 2,, in step 5, controller 4 calculates the radius of curvature R j at each node Nj place according to nodal information.The method that multiple Calculation of curvature radius itself is arranged, and can use the known any method Calculation of curvature radius of those of ordinary skills.In one embodiment, use 3 method Calculation of curvature radius that adopt usually.As another example, also can adopt following scheme: in this scheme, equidistant insertion point is being set, is calculating the radius-of-curvature at place, insertion point then through on the road of each node.
In step 6, controller 4 calculates the target vehicle speed at each node place.More particularly, suppose the transverse acceleration Yg at each node place
*Be 0.3G, can be according to transverse acceleration Yg
*Calculate the target vehicle speed Vrj at each node place with radius of curvature R j, computing formula is as follows:
Vrj
2＝Yg
*·|Rj| (2)
According to formula (2), radius of curvature R j is big more, and target vehicle speed Vrj is high more.In addition, can use value that the driver sets transverse acceleration Yg as each node
*In addition, in the present embodiment, as an example, shown about each node target setting speed of a motor vehicle.Also can adopt following scheme: in this scheme, equidistant insertion point is being set, is calculating target vehicle speed then at the place, insertion point through on the road of each node.
In step 7, controller 4 calculates the desired deceleration at each node place.According to the desired deceleration Xgsj that the target vehicle speed Vrj and the distance L j between current location and each node of actual vehicle speed V, each node calculates each node, computing formula is as follows:
Xgsj＝(V
2-Vrj
2)/(2×Lj)＝(V
2-Yg
*·|Rj|)/(2×Lj) (3)
In formula (3), the symbol of desired deceleration Xgsj when slowing down for just.Therefore, calculate desired deceleration Xgsj according to the distance L j between actual vehicle speed V, target vehicle speed Vrj and current vehicle location and each node.Target vehicle speed Vrj is low more, and radius of curvature R j is more little, and perhaps, distance L j is short more, and desired deceleration Xgsj is high more.In addition, in this example, the distance that arrives each node is as the distance L j in the formula (3).Yet, also can adopt following scheme: in this scheme, equidistant insertion point is being set, is using the desired deceleration of the distance calculation of this insertion point then at each place, insertion point through on the road of each node.
In step 8, in order to determine the node as controlled target from the desired deceleration of each node, formula detects minimum desired deceleration below utilizing:
Xgs_min＝min{Xgsj}； (4)
Wherein, Xgs_min is the minimum value of the desired deceleration at each node place.
Then, use desired deceleration minimum value Xgs_min in step 9, in this step, the formula below utilizing calculates and adds that retarded velocity changes the target vehicle speed command value Vrr of limiter:
Vrr＝f{Xgs_min}·t； (5)
Wherein, t express time; And for example, it is 0.01G/sec that retarded velocity changes (amount) limiter.
In step 10, from various nodal informations, read the fork quantity Branchj of each node Nj, then according to route guidance mark flg_route_guide, ordinary road priority flag flg_general_route and toll highway priority flag flg_highway_route, judge whether to allow to change the target vehicle speed command value, and judge whether to set the prediction route.
For example, as shown in Figure 5, as route guidance mark flg_route_guide=0, just route guidance is closed, and the detection to vehicle front fork road showed fork quantity greater than 0 o'clock, and target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1).Equally, as shown in Figure 6, for example, even when route guidance mark flg_route_guide=1, as ordinary road priority flag flg_general_route=1, and during the fork road of detection vehicle the place ahead, also can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1).In another example, when not setting the prediction route about the fork road of vehicle front, just when representing the mark flg_route_set_on=0 that route is set, also can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1).
In described example, whether be in the route guidance state according to vehicle and set whether allow the change of target vehicle speed command value.Yet, also can adopt following scheme: in this scheme, set whether can change the target vehicle speed command value according to the situation of vehicle front fork road.For example, the value regardless of representing the mark flg_route_set_on that route is set all reads the information about the road conditions of turnoff, the road type that for example diverges, connection type, road width, number of lanes etc.Then, as shown in Figure 7, the number of lanes of the road of relatively keeping straight on mutually and the number of lanes of fork road.When the track of craspedodrome road more for a long time, can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1).For road width also is like this.When the craspedodrome road is wideer, can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1).
In addition, when judging that the track that vehicle travelled is when the track of fork is arranged, can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1).For example, when the left-hand lane (or right-hand lane) of vehicle ', whenever having expressway exit or during to the fork road of service area, can target setting speed of a motor vehicle command value changing permission mark flg_control_chg (=1) at highway.In addition, according to the angle (fork angle) that the fork track that road and vehicle travelled forms, also can select the target of road that diverge as deceleration control.For example, the angle of will diverging is defined as the fork road that vehicle may sail into very much less than the road of setting (± 60 °).As a result, the fork angle that can not be chosen at the node place for ± 90 ° road as the fork road.
In above-mentioned example, the target vehicle speed command value changes the setting of permission mark and the value of route predictive marker has nothing to do.Yet, as described in reference to figure 8A and Fig. 8 B, also can adopt following scheme: in this scheme, when representing the mark flg_route_set_on=1 that route is set, just when the route predicted operation, route predicts that a road in the road that will diverge is made as predicted link.When the route predicted operation, according to road type and the connection type before and after the vehicle front road fork node, the operation below carrying out.That is to say that during the rank of the road type before the rank of road type that is made as the prediction route is equal to or higher than fork (with reference to figure 8A), mark flg_control_chg reset (=0) is permitted in the change of target vehicle speed command value.On the other hand, during the rank of the road type before the rank of the road type that is made as the prediction route is lower than fork (with reference to figure 8B), can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1).In addition, replace changing the permission mark according to road type and connection type target setting speed of a motor vehicle command value, also can be according to change the permission mark such as road information target setting speed of a motor vehicle command value such as road width before and after the bifurcation point and number of lanes.In addition, as shown in Figure 9,,, can target setting speed of a motor vehicle command value change permission mark flg_control_chg (=1) then as mentioned above if when selecting the turn direction of every fork road, do not set the prediction route.
With reference to figure 2,, when target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), the target vehicle speed command value is carried out following change again in step 11.
As shown in figure 10, the target vehicle speed command value of Fig. 2 change part 4_7 carries out following operation.When target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and when setting vehicle velocity V set=actual vehicle speed V, set vehicle velocity V set (actual vehicle speed V just) if target vehicle speed command value Vrr is lower than, then set deceleration control operational label flg_control (=1).At first, carry out and slow down, make the driver notice deceleration situation (elementary deceleration control).Then, when surpassing a certain threshold value, produces higher slightly deceleration (secondary deceleration control) reaching the target vehicle speed that the vehicle front that calculated by transverse acceleration setting value and radius-of-curvature is turned, thus change target vehicle speed command value.
Here, for example, the controlled quentity controlled variable export target speed of a motor vehicle command value in the secondary deceleration control makes it can reach the target vehicle speed that is calculated by transverse acceleration setting value and radius-of-curvature on the position identical with normal running.In addition, when carrying out elementary deceleration control, set elementary deceleration control operational label flg_control_fst (=1), when carrying out secondary deceleration control, set secondary deceleration control operational label flg_control_snd (=1).
With reference to figure 2,, judge whether to start alarm operation again in step 12.For example, can and set vehicle velocity V set according to target vehicle speed command value Vrr, actual vehicle speed V and judge whether to start alarm operation.For example, as shown in figure 11, when setting vehicle velocity V set=actual vehicle speed V, if target vehicle speed command value Vrr then starts warning less than setting vehicle velocity V set, and the setting warning starts mark flg_wow (=1).
Then, as shown in Figure 2,, judge whether to start the deceleration control operation according to target vehicle speed command value Vrr, actual vehicle speed V and setting vehicle velocity V set in step 13.For example, as shown in figure 12, when setting vehicle velocity V set=actual vehicle speed V,, and set deceleration control operational label flg_control (=1) if target vehicle speed command value Vrr then switches to ON with deceleration control less than setting vehicle velocity V set.
According to the step 14 among Fig. 2, calculating reaches the required controlled quentity controlled variable of target vehicle speed command value Vrr.Here, when setting deceleration control operational label flg_control (=1), reach the required desired deceleration of (in step 9, calculating) target vehicle speed command value Vrr by the servo calculating section 4_11 calculating of the speed of a motor vehicle, and distribute engine torque and braking torque according to desired deceleration with torque distribution control calculating section 4_12.Then, output is used to realize the throttle opening command value of the engine torque that distributes and the brake fluid pressure command value of the braking torque that is used to realize distribute.For example, as shown in figure 12, when setting deceleration control operational label flg_control (=1), export brake fluid pressure command value Ps, and detent control is switched to ON.
Again with reference to figure 2, in step 15, slowing down and warning control to output to vehicle.For example, can be by sound or head-up display, navascreen display, instrument display, warn from notice of navigational system loudspeaker etc.
Below, explain the threshold value that is used to realize the method for mild deceleration control (elementary deceleration control) and is used to realize bigger slightly deceleration control (secondary deceleration control) according to the embodiment of the invention.In addition, explain the method for intervening the method for change target vehicle speed command value by the driver in accordance with another embodiment of the present invention and changing the warning startup by change target vehicle speed command value.
When target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), after calculating the target vehicle speed command value, reduce the desired deceleration maximal value.For example, as shown in figure 13, suppose that control calculates the target vehicle speed command value according to routine, make and carry out deceleration that calculate the target vehicle speed command value so in the present embodiment, the feasible execution with 0.05G slowed down with 0.1G.In addition, in above-mentioned example, change desired deceleration so that change the target vehicle speed command value.Yet, when calculating the target vehicle speed command value, also can change the slope of variation limitation device.For example, slope can change to 0.01G/sec from 0.05G/sec.Therefore, can little by little carry out the elementary deceleration control that begins immediately.As a result, when unnecessary deceleration control was switched to ON, the driver will notice this point at once, can easily remove deceleration control and other operations then.In addition, because the interference of amount of deceleration is less, so when the driver removes deceleration control, can reduce the magnitude of traffic flow on the road.
When target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), transverse acceleration setting value Yg
*Can be higher.That is to say that when setting flg_control_chg (=1), for example, the transverse acceleration setting value can change to 0.35G from 0.25G.Then, when setting vehicle velocity V set=actual vehicle speed V, for example be lower than when setting vehicle velocity V set, set deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously when target vehicle speed command value Vrr becomes.Then, to be later than conventional control timing regularly elementary deceleration control is switched to ON.Therefore, the startup of elementary deceleration control ON regularly can be with respect to the constant time lag (perhaps having identical timing) of carrying out normal deceleration control.
When target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), can carry out deceleration control by the braking control that utilizes friction brake, perhaps carry out deceleration control by automatic transmission gear down or reduction engine torque (close the throttle etc.).
Below, explain the threshold value of after elementary deceleration control, carrying out secondary deceleration control according to the embodiment of the invention.
As shown in figure 14, when target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and set deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously when carrying out elementary deceleration control, calculate the vehicle ' distance.Then, when judging after elementary deceleration control is switched to ON, vehicle has travelled predetermined distance (for example, 100m) time, set secondary deceleration control operational label flg_control_snd (=1), and change the target vehicle speed command value so that carry out secondary deceleration control.In addition, as indicated above, after being switched to ON, elementary deceleration control travelled after the predetermined distance, secondary deceleration control is switched to ON.
Alternatively, also can adopt following scheme: in this scheme, after elementary deceleration control is switched to ON, travelled after the stipulated time, secondary deceleration control is switched to ON.Therefore, switch to the threshold value of ON as secondary deceleration control, can carry out and slow down and make the driver can not note this deceleration by utilizing from stipulated time that elementary deceleration control switches to the ON process.Then, utilize secondary deceleration control to carry out and slow down, so that reach the target vehicle speed of turning about vehicle front.
Figure 15 is the sketch of another example.When target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and when setting deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously, elementary deceleration control is switched to ON.Then, judge whether vehicle decelerates to the regulation speed of a motor vehicle.That is to say, calculate the poor of the speed of a motor vehicle before the elementary deceleration control and actual vehicle speed, and change the target vehicle speed command value,, then set secondary deceleration control operational label flg_control_snd (=1) if make the difference of the speed of a motor vehicle surpass setting (for example 5km/h).Secondary deceleration control correspondingly switches to ON.Therefore, switch to the threshold value of ON as secondary deceleration control, can carry out and slow down and make the driver notice this deceleration by actual vehicle speed and the difference of carrying out the speed of a motor vehicle before the elementary deceleration control being surpassed setting.In addition, the secondary deceleration control of after this carrying out allows to reach the target vehicle speed of turning about vehicle front.
Figure 16 is the sketch of another example.In this case, target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and set deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously, so that elementary deceleration control is switched to ON.Be judged as the required desired deceleration of target vehicle speed that reaches the vehicle front turning then and whether be higher than setting, wherein, described target vehicle speed is calculated according to transverse acceleration setting value and radius-of-curvature.For example, as the embodiment of an embodiment, when elementary deceleration control is a kind of mild deceleration control, the secondary deceleration control representative deceleration higher than normal deceleration control.Therefore, in elementary deceleration control, rise gradually for reaching at the required desired deceleration of the target vehicle speed at vehicle front turning, wherein, described target vehicle speed is calculated according to transverse acceleration setting value and radius-of-curvature by secondary deceleration control.As a result, when judging that necessary desired deceleration surpasses setting (for example 0.15G), change the target vehicle speed command value, make and set secondary deceleration control operational label flg_control_snd (=1), and secondary deceleration control is switched to ON.Therefore, when desired deceleration required in the secondary deceleration control surpassed setting, the threshold value that secondary deceleration control is switched to ON can make secondary deceleration control be deferred to floor level.In addition, because deceleration control is out of season, noted by the driver easily.In addition, in the secondary deceleration control of after this carrying out, can carry out deceleration to reach the target vehicle speed of turning about vehicle front.
Figure 17 has shown another example.In this example, target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and sets deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously.Elementary deceleration control is switched to ON.Then, when being ON, predict that then vehicle is near turning according to this deceleration control of judgement such as steering angle, yaw rate, steering indicating light operation, cameras.In addition,, not beyond the prediction route, then set secondary deceleration control operational label flg_control_snd (=1), and change the target vehicle speed command value, if judge vehicle so that secondary deceleration control is switched to ON.Here, as example, when definite vehicle is not beyond the prediction route, deceleration control is switched to ON according to an embodiment.In another embodiment, also can adopt following scheme, in this scheme, when definite vehicle is beyond the prediction route, stop elementary deceleration control.
Below, explain the method that changes the target vehicle speed command value by driver's intervention (for example, by the operation of driver) to accelerator pedal.As shown in figure 18, target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and set deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously, so that carry out elementary deceleration control.Then, in this example, when the driver's operation accelerator pedal, set the driver and intervene mark flg_onceacc (=1), and stop deceleration control.Corresponding driver changes into preset vehicle speed to the operation of accelerator pedal gradually with the target vehicle speed command value.In the example in front, turn back to the setting speed of a motor vehicle gradually.Yet, as shown in figure 18, also can adopt following scheme, in this scheme, when bend the throttle, the speed of a motor vehicle is fixed on the target vehicle speed command value, perhaps can choose actual vehicle speed as the target vehicle speed command value.In addition, if when the operation of accelerator pedal surpassing actual vehicle speed to set the speed of a motor vehicle because of the driver release the accelerator pedal, the upper limit of then choosing the target vehicle speed command value is as setting the speed of a motor vehicle.
In the deceleration control process,, and not during the turning by vehicle front,, then make vehicle deceleration arrive the setting speed of a motor vehicle if actual vehicle speed is higher than the setting speed of a motor vehicle when driver's bend the throttle and release the accelerator pedal then.On the contrary, if actual vehicle speed is lower than the setting speed of a motor vehicle, the speed of a motor vehicle when then choosing accelerator pedal release is as the target vehicle speed command value.That is to say that stop deceleration control when the operation accelerator pedal, vehicle travels with the constant speed that equals the target vehicle speed command value then.Also can adopt another kind of scheme, in this scheme, when the driver's operation accelerator pedal, stop deceleration control, but, when release the accelerator pedal, if surpass setting according to the target vehicle speed of transverse acceleration setting value and radius-of-curvature calculating and the difference of target vehicle speed command value, then change the target vehicle speed command value, so that deceleration control is switched to ON.In addition, also can adopt following scheme, in this scheme, if before entering deceleration control, the driver has operated accelerator (accelerator pedal), does not then start elementary deceleration control.
Therefore, by stopping deceleration control when the driver's operation accelerator pedal, can when carrying out out of season deceleration control, alleviate driver's sticky feeling.In addition, the target vehicle speed command value rises to and the corresponding speed of a motor vehicle of setting of driver's accelerator pedal operation, and the target vehicle speed command value during then with release the accelerator pedal is as the speed of a motor vehicle.As a result, vehicle can travel with constant speed, and can prevent the deceleration control operation.
As another example, except the driver's operation accelerator pedal, the driver can operating switch.Below, explain the method that changes the target vehicle speed command value by this driver's switching manipulation.As shown in figure 19, target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), and sets deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously.Then, when the driver presses recovery switch (hereinafter referred to as the RES switch) in the various switches 3, set RES switch ON mark flag_res_on (=1).Stop deceleration control.In addition, when the driver pressed the RES switch, the speed of a motor vehicle of being set by the driver can become 85km/h from for example 80km/h.The target vehicle speed command value gradually becomes 85km/h then.
In the present embodiment, when pressing the RES switch, increase and set the speed of a motor vehicle.Yet in other embodiments, also can adopt following scheme, in this scheme, when for example setting deceleration control ON mark, the target vehicle speed command value becomes the setting speed of a motor vehicle and does not change this setting speed of a motor vehicle.More particularly, when the setting speed of a motor vehicle was 80km/h, deceleration control switched to ON, and, when the driver presses the RES switch, set the speed of a motor vehicle and remain on 80km/h, but the target vehicle speed command value gradually becomes this setting speed of a motor vehicle, i.e. 80km/h.
Therefore, when stopping deceleration control, can when being switched to ON, out of season deceleration control alleviate driver's sticky feeling owing to the driver's operation switch.In addition, when the driver presses switch, do not change the setting speed of a motor vehicle and choose the target vehicle speed command value, perhaps make and set setting value of speed of a motor vehicle increase, so that vehicle is accelerated to the slow down preceding setting speed of a motor vehicle or the new setting speed of a motor vehicle as setting the speed of a motor vehicle.
Below, explain when allowing the target vehicle speed command value to change, to change the method that warning starts.As shown in figure 20, when target setting speed of a motor vehicle command value changes permission mark flg_control_chg (=1), set the warning startup and regularly change mark flg_wow_chg (=1).Then, set deceleration control operational label flg_control (=1) and elementary deceleration control operational label flg_control_fst (=1) simultaneously, and elementary deceleration control is switched to ON.After this, in 1 second before secondary deceleration control switches to ON, send such as " the place ahead turning " or warnings such as " decelerations ".In this example, start warning 1 second before secondary deceleration control switches to ON.Yet, also can adopt following scheme, in this scheme, switch to ON through starting warning after the stipulated time from elementary deceleration control.In addition, can adopt following scheme, in this scheme, switch to ON from elementary deceleration control and travel and start warning after the predetermined distance.In addition, also can adopt following scheme, in this scheme, when setting the difference of the speed of a motor vehicle with actual vehicle speed and surpass setting, perhaps when being used in the secondary deceleration control that the desired deceleration that speed is reduced to target vehicle speed surpassed setting, startup is warned.
In this example, the notice of the loudspeaker by navigational system 1 gives a warning.Yet, also can or can provide any other form of warning message to give a warning by hummer, instrument display, navascreen display, head-up display to the driver.
Also can adopt following scheme, in this scheme, when carrying out elementary deceleration control, send the message of " the place ahead fork ".Therefore, when carrying out elementary deceleration control, send warnings such as " the place ahead forks ", so that the driver can easily control the situation that out of season deceleration control switches to ON.In conventional travel controller, because when elementary deceleration control switches to ON, give a warning, so the driver is difficult to determine which bar turning in the place ahead needs to slow down.In the present embodiment, before secondary deceleration control, send the warning of " the place ahead fork ", make it possible to avoid the driver is puzzled because of warning too early.
As mentioned above, according to some embodiment, detect the fork road of vehicle front when navigational system, and when deceleration control being switched to ON by carrying out the elementary deceleration control of not noted by the driver, even when vehicle sails into when predicting the different route of route, also still can avoid the warning or the out of season deceleration control that cause that the driver notes, and can under the situation of the not obvious reduction speed of a motor vehicle, travel with the magnitude of traffic flow (wagon flow).On the other hand, when vehicle during route running, can be reduced to target vehicle speed by secondary deceleration control with the speed of a motor vehicle along prediction by the fork road time, make and to realize the operation booster action with high reliability.In addition, because stop deceleration control, so can alleviate the sticky feeling that brings to the driver by out of season deceleration control owing to the driver intervenes.
In addition, according to some embodiment, after starting elementary deceleration control, give a warning.As a result, the driver can easily control the situation that out of season deceleration control switches to ON.In addition, because after starting secondary deceleration control, give a warning, so give a warning in position.
In addition, in embodiment as herein described, precondition is: when travelling according to preset vehicle speed, carry out deceleration control when detecting vehicle front road fork.Yet, the invention is not restricted to this.For example, also can adopt following scheme, in this scheme, when the driver's operation accelerator pedal, carry out deceleration control.In this case, operating corresponding required driving torque with driver's accelerator pedal can be reflected in the deceleration control.
In addition, in deceleration control as herein described, about the turning executable operations of vehicle front.Yet, the invention is not restricted to this.For example, also can adopt deceleration control to other the regional corresponding speed limit that should slowly travel with special road type or school zone, slope or vehicle.
In addition, fork is not limited to have the situation of two fork roads.Also can under the situation of three or more fork roads, adopt the present invention.That is to say, can carry out the staged deceleration control of forming by elementary deceleration control and secondary deceleration control the road (that is the road that, has highest goal retarded velocity) that has minimum target vehicle speed in each road that diverges.
Therefore, describing the foregoing description is for the ease of understanding the present invention rather than restriction the present invention.On the contrary, the present invention is intended to cover various changes and the equivalent that is included in the appended claims scope, and should give the most wide in range explanation of scope of claims, so that contain change and the equivalent structure that all these laws allow.
The application requires the right of priority of the Japanese patent application No.2006-209747 of submission on August 1st, 2006, incorporates its full content in this mode by reference.
Claims (19)
1. for motor vehicle vehicle travel controller comprises:
Road fork detector, it is configured to the road fork in detection vehicle the place ahead;
Setting device, it is configured to set the target vehicle speed about the vehicle front road; And
Speed control unit, it is configured to: when described road fork detector detects the road fork of vehicle front, the road that has minimum target vehicle speed in many roads at the turnoff, carry out elementary deceleration control with first retarded velocity, and, after described elementary deceleration control, carry out secondary deceleration control with second retarded velocity, described second retarded velocity is higher than described first retarded velocity.
2. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to carry out described elementary deceleration control by the signal that lowers category that sends vehicle automatic speed variator.
3. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to carry out described elementary deceleration control by the friction brake signal that sends vehicle.
4. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to carry out described elementary deceleration control by the torque drop low signal that sends vehicle motor.
5. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to: the described elementary deceleration control of self-starting rises, and through after the stipulated time or through after the regulation operating range, starts described secondary deceleration control.
6. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to: when the speed of a motor vehicle before starting described elementary deceleration control surpasses setting with the difference that starts the described elementary deceleration control speed of a motor vehicle afterwards, start described secondary deceleration control.
7. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to: passed through the road fork and when having the travels down of minimum target vehicle speed, started described secondary deceleration control when the input from vehicle navigation apparatus shows vehicle.
8. vehicle travel controller according to claim 1, wherein, described speed control unit also is configured to: when detecting the operation of vehicle accelerator pedal, stop described elementary deceleration control and described secondary deceleration control.
9. vehicle travel controller according to claim 1 also comprises:
Input block, it is configured to receive the signal from recovering switch, and described recovery switch can be operated to start constant speed drive control, and in constant-speed traveling control, vehicle travels with default constant vehicle speed;
And described speed control unit also is configured to: when detecting the operation of described recovery switch, stop described elementary deceleration control and described secondary deceleration control.
10. vehicle travel controller according to claim 1 also comprises:
Alarm features, it is configured to: when starting described secondary deceleration control, send caution signal.
11. vehicle travel controller according to claim 1, wherein, described road fork detector also is configured to: the relation between the type of the road that is travelling according to type and the vehicle of many roads, the road of surveying the place ahead diverges.
12. vehicle travel controller according to claim 1, described road fork detector also is configured to: the angle that first road that is travelling when second road and vehicle forms is during less than predetermined angular, and the road of surveying the place ahead diverges.
13. a for motor vehicle vehicle ' control method, described method comprises:
There is or does not exist fork in detection on the road of vehicle front;
When detecting fork, the road that has minimum target vehicle speed in many roads at the turnoff is carried out elementary deceleration control with first retarded velocity; And
After described elementary deceleration control, carry out secondary deceleration control with second retarded velocity, described second retarded velocity is higher than described first retarded velocity.
14. method according to claim 13, wherein, the step of carrying out described elementary deceleration control one of also comprises in the signal that lowers category, friction brake signal that sends vehicle that sends vehicle automatic speed variator and the torque drop low signal that sends vehicle motor at least.
15. method according to claim 13 also comprises:
The described elementary deceleration control of self-starting rises, and through after the stipulated time or through after the regulation operating range, starts described secondary deceleration control.
16. method according to claim 13 also comprises:
When the speed of a motor vehicle before starting described elementary deceleration control surpasses setting with the difference that starts the described elementary deceleration control speed of a motor vehicle afterwards, start described secondary deceleration control.
17. method according to claim 13 also comprises:
Passed through the road fork and when having the travels down of minimum target vehicle speed, started described secondary deceleration control when the input from vehicle navigation apparatus shows vehicle.
18. method according to claim 13 also comprises:
The operation of detection vehicle accelerator pedal; And
After the operation that detects described accelerator pedal, stop described elementary deceleration control and described secondary deceleration control.
19. method according to claim 13 also comprises:
Reception is from the signal that recovers switch, and described recovery switch can be operated to start constant-speed traveling control, and in constant-speed traveling control, described vehicle travels with default constant vehicle speed; And
After receiving described signal, stop described elementary deceleration control and described secondary deceleration control from the recovery switch.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006209747 | 2006-08-01 | ||
| JP2006209747 | 2006-08-01 | ||
| JP2007168900 | 2007-06-27 |
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| Publication Number | Publication Date |
|---|---|
| CN101118441A true CN101118441A (en) | 2008-02-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710129660 Pending CN101118441A (en) | 2006-08-01 | 2007-08-01 | Vehicle travel controller |
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| CN (1) | CN101118441A (en) |
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