JP2003154872A - Travel control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain and prevent uncomfortableness of an occupant when approaching a gate of automatic toll collection system. SOLUTION: A travel controller 16 for controlling braking and driving force is provided so that an own vehicle speed V is a predetermined set vehicle speed. The set vehicle speed is set so that an own vehicle stops at a tollgate when it is detected that the own vehicle approaches the tollgate by a signal of a navigation system 14 and an on-vehicle device 15 of the automatic toll collection system does not operate normally.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling braking / driving force so that the vehicle speed of an own vehicle becomes a predetermined set vehicle speed.
ctionSystem), which is suitable for use when a vehicle passes through a gate.

[0002]

2. Description of the Related Art Conventionally, as a vehicle traveling control device of this type, one disclosed in Japanese Patent Laid-Open No. 2000-285396 is known. In this conventional example, when it is detected that the host vehicle approaches the gate of the automatic toll collection system based on information from the navigation device,
A technique is described in which the own vehicle speed is reduced to a predetermined designated vehicle speed and the designated vehicle speed is maintained to pass through the gate without stopping.

[0003]

However, in the above-described conventional vehicle travel control device, since the own vehicle speed is maintained at a predetermined designated vehicle speed, for example, in an on-vehicle device of an automatic toll collection system. Even when there is a problem and the vehicle-mounted device is not operating normally and the occupant has to pay the toll directly, the driver tries to pass the vehicle through the gate at the specified vehicle speed. I was afraid to give it.

Therefore, the present invention has been made by paying attention to the unsolved problems of the above-mentioned conventional techniques, and it is an object of the present invention to provide a vehicle running control device capable of preventing an occupant from feeling uncomfortable. To do.

[0005]

In order to solve the above-mentioned problems, a traveling control device for a vehicle according to a first aspect of the invention is
Vehicle speed detecting means for detecting the vehicle speed of the own vehicle, braking / driving force control means for controlling the braking / driving force so that the vehicle speed of the own vehicle detected by the vehicle speed detecting means becomes a predetermined set vehicle speed, and the own vehicle is charged. The tollgate approach detection means for detecting that the vehicle is approaching, the onboard device operation detection means for detecting that the onboard device of the automatic toll collection system is operating normally, and the own vehicle is detected by the tollgate approach detection means. When the approach to the tollgate is detected and the vehicle-mounted device operation detection means detects that the vehicle-mounted device of the automatic toll collection system is operating normally, the vehicle speed of the host vehicle is equal to or lower than a predetermined specified vehicle speed. The vehicle speed of the automatic toll collection system is normally set by the vehicle-mounted device operation detection means when the set vehicle speed is set to Working on It never, characterized in that the vehicle is equipped with a setting vehicle speed setting means for setting the set vehicle speed to stop at a tollgate, an when it is detected.

According to a second aspect of the present invention, in the vehicle running control device according to the first aspect, vehicle speed detecting means for detecting the vehicle speed of the own vehicle, and vehicle speed of the own vehicle detected by the vehicle speed detecting means. The braking / driving force control means for controlling the braking / driving force so that the vehicle speed becomes a predetermined vehicle speed, the tollgate approach detection means for detecting that the host vehicle is approaching the tollgate, and the on-board device of the automatic toll collection system are normal. The vehicle-mounted device operation detecting means for detecting that the vehicle is operating in the above state, and the vehicle speed of the own vehicle becomes equal to or less than a predetermined specified vehicle speed when the own vehicle approaches the toll gate by the toll gate approach detecting means. The set vehicle speed is set so that the vehicle is approaching the tollgate by the tollgate approach detection means, and the onboard device of the automatic toll collection system is normally detected by the onboard device operation detection means. Not working And a set vehicle speed setting means for stopping control of the braking / driving force by the braking / driving force control means when the vehicle speed detection means detects that the vehicle speed of the host vehicle is equal to or lower than a predetermined vehicle speed. It is characterized by that.

Further, the invention according to claim 3 is the same as claim 1
Alternatively, the vehicle travel control device according to claim 2, further comprising a gate passage detection unit that detects passage through a gate of the automatic toll collection system, wherein the set vehicle speed setting unit includes:
When the vehicle approaching the toll gate at the exit of the toll road is detected by the toll gate approach detection means, and when the passage through the gate at the toll road entrance is not detected by the gate passage detection means The on-vehicle device operation detecting means performs the same operation as when the on-vehicle device of the automatic fee collection system detects that the on-vehicle device is not operating normally.

According to a fourth aspect of the present invention, in the vehicle travel control device according to any one of the first to third aspects, a tollgate shape detecting means for detecting the shape of the tollgate is provided, and the setting is performed. The vehicle speed setting means sets the set vehicle speed based on the shape of the tollgate detected by the tollgate shape detecting means. Further, the invention according to claim 5 is, in the vehicle travel control device according to any one of claims 1 to 4, a yaw angle for detecting a yaw angle formed by the traveling direction of the host vehicle and the direction of the tollgate. It is characterized by including a detection means, and the set vehicle speed setting means sets the set vehicle speed based on the yaw angle detected by the yaw angle detection means.

According to a sixth aspect of the present invention, in the vehicle travel control device according to any one of the first to fifth aspects, the vehicle position detecting means for detecting the position of the vehicle, and the vehicle A traveling direction detecting means for detecting a traveling direction,
When the approaching tollgate is detected by the tollgate approach detecting means, the position of the own vehicle detected by the own vehicle position detecting means and the own vehicle detected by the traveling direction detecting means are detected. Based on the traveling direction, the gate distance detecting means for detecting the distance to the gate of the automatic toll collection system in the traveling direction of the host vehicle, and the set vehicle speed setting means are set to the distance detected by the gate distance detecting means. The set vehicle speed is set based on the above.

Further, the invention according to claim 7 is the invention according to claim 1.
The vehicle travel control device according to any one of claims 1 to 6, further comprising an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and a preceding vehicle, wherein the vehicle speed control means is the inter-vehicle distance detecting means. When the inter-vehicle distance can be detected and the toll gate approach detecting means detects that the host vehicle is far from the toll gate, the inter-vehicle distance detected by the inter-vehicle distance detecting means is a predetermined target inter-vehicle distance. When the braking / driving force is controlled so that the vehicle-to-vehicle distance can be detected by the vehicle-to-vehicle distance detecting means, and that the own vehicle approaches the toll gate by the toll-gate approach detecting means. To
The braking / driving force is controlled so that the inter-vehicle distance detected by the inter-vehicle distance detecting means becomes equal to or more than a predetermined target inter-vehicle distance and the vehicle speed of the host vehicle becomes equal to or less than the set vehicle speed.

[0011]

Therefore, in the vehicle running control device according to the invention of claim 1, the braking / driving force is controlled so that the vehicle speed of the host vehicle becomes a predetermined set vehicle speed. When it is detected that the host vehicle is approaching the tollgate and the onboard device of the automatic toll collection system is not operating normally, the vehicle speed is set so that the host vehicle stops at the tollgate. As a result, the occupant pays the toll directly when, for example, the vehicle is not equipped with an onboard device for the automatic toll collection system, or the onboard device is not operating normally even if it is installed. When it is necessary, the vehicle is stopped at the tollgate by the control, so that it is possible to prevent the passenger from feeling uncomfortable.

Further, in the vehicle travel control device according to the present invention, the braking / driving force is controlled so that the vehicle speed of the own vehicle becomes a predetermined set vehicle speed. Is detected to be approaching the toll booth, the on-vehicle device of the automatic toll collection system is not operating normally, and it is detected that the vehicle speed of the host vehicle is equal to or lower than the predetermined vehicle speed, Since the control of the braking / driving force is stopped, for example, when the onboard device of the automatic toll collection system is not installed in the own vehicle, or when the onboard device is installed and is not operating normally, the occupant When the driver has to pay the toll directly, the acceleration / deceleration contrary to the driver's intention is not performed, and the occupant's discomfort can be suppressed.

Further, in the vehicle travel control device according to the invention of claim 3, the gate of the toll road entrance is opened when the own vehicle is detected to approach the toll gate of the toll road exit. When the passage is not detected, the same operation as when the vehicle-mounted device of the automatic toll collection system is detected not to operate normally is performed. It is possible to easily detect when the occupant has to directly pay the toll, such as when the vehicle-mounted device is not mounted or when the vehicle-mounted device is not normally operating.

Further, in the vehicle travel control device according to the invention of claim 4, since the set vehicle speed is set based on the shape of the tollgate, for example, between the own vehicle and the tollgate. When the set vehicle speed is set to be smaller as the distance becomes smaller, when the tollgate has a shape including a plurality of gates, the set vehicle speed is reduced by a smaller amount, and the traveling lane having the desired gate It is possible to promptly change the lane to, and it is possible to prevent the occupant from feeling uncomfortable.

Furthermore, in the vehicle travel control device according to the invention of claim 5, the set vehicle speed is set based on the yaw angle formed by the traveling direction of the host vehicle and the direction of the tollgate. When the set vehicle speed is set to be smaller as the distance between the host vehicle and the toll gate becomes smaller, the amount of setting the set vehicle speed to be set smaller when the lane is being changed and the yaw angle is large. Thus, the lane change can be promptly performed, and the occupant's discomfort can be suppressed and prevented.

Further, in the vehicle travel control device of the invention according to claim 6, the position of the own vehicle and the traveling direction of the own vehicle are detected when it is detected that the own vehicle approaches the toll gate. Based on the above, the distance to the gate of the automatic toll collection system in the traveling direction of the host vehicle is detected, and the set vehicle speed is set based on that distance.For example, the distance between the host vehicle and the tollgate. When the set vehicle speed is set smaller as becomes smaller, when the lane change for passing through the gate in the lane away from the traveling lane of the host vehicle increases the distance to the gate. The amount by which the set vehicle speed is reduced can be reduced so that the lane can be changed promptly, and the occupant's discomfort can be suppressed and prevented.

Further, in the vehicle traveling control device according to the invention of claim 7, the inter-vehicle distance between the own vehicle and the preceding vehicle can be detected, and the own vehicle approaches the toll gate. When it is detected that the inter-vehicle distance is equal to or greater than the predetermined target inter-vehicle distance and the vehicle speed of the host vehicle is equal to or less than the set vehicle speed, the vehicle may be too close to the preceding vehicle. If the passenger does not have to pay the toll directly, the vehicle is stopped at the tollgate by the control so that the passenger's discomfort can be suppressed.

[0018]

FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention, in which 1FL, 1FR are front wheels as driven wheels, 1RL, 1RR are rear wheels as drive wheels. The rear wheels 1RL and 1RR are rotationally driven by the driving force of the engine 2 being transmitted via the automatic transmission 3, the propeller shaft 4, the final reduction gear 5, and the axle 6.

Front wheels 1FL, 1FR and rear wheels 1RL, 1R
R is provided with a disc brake 7 as a brake actuator that generates a braking force, and
The braking oil pressure of these disc brakes 7 is controlled by the braking control device 8.
Controlled by. Here, the braking control device 8 generates the braking hydraulic pressure according to the depression amount of the brake pedal detected by the brake pedal stroke sensor 9, and the braking pressure command value Pbr from the traveling control controller 16 described later.
The braking hydraulic pressure is generated in accordance with the above.

Further, the engine 2 is provided with an engine output control device 10 for controlling its output. The engine output control device 10 includes a throttle opening degree provided in the engine 2 in accordance with a depression amount of an accelerator pedal detected by an accelerator pedal stroke sensor 11 and a throttle opening degree command value θtvo from a travel control controller 16 described later. Is configured to control a throttle actuator that adjusts.

Further, in the vehicle, for example, a vehicle speed sensor 12 which is attached to the propeller shaft 4 and detects the own vehicle speed V based on the rotational speed of the propeller shaft 4, and a steering shaft which is attached to the steering shaft and operated by a driver Steering angle sensor 17 for detecting the angle
And an operation switch 13 for allowing the occupant to set the target vehicle speed V *
And are provided.

Further, in this vehicle, the current position of the own vehicle is detected by GPS, and the navigation system 14 for searching the surrounding information of the own vehicle based on the map information stored in advance, and the own vehicle is a toll road. On-board device 1 of the automatic toll collection system that allows you to communicate with the computer on the side of the road administrator when you enter, and pay the toll without stopping the vehicle
And 5 are provided.

The own vehicle speed V output from the vehicle speed sensor 12, the surrounding information of the own vehicle output from the navigation system 14, and the vehicle-mounted device 1 of the automatic fee collection system.
5 through the gate pass signal and the operation switch 13
Is input to the traveling control controller 16. The traveling control controller 16 is composed of a discrete digital system such as a microcomputer (not shown), executes a traveling control process described later, and controls the braking pressure command value Pbr for controlling the own vehicle speed V to the target vehicle speed V *. The throttle opening command value θtvo is output to the braking control device 8 and the engine output control device 10.

The traveling control process in the present embodiment is a process executed as an interrupt process at every predetermined control cycle ΔT (for example, 10 msec), and specifically, a flowchart showing an outline of the procedure of the process. As shown in FIG. 2, first, in step S100, based on the output signal from the navigation system 14, a tollgate approach detection process, which will be described later, for detecting that the own vehicle approaches the tollgate, is executed. Control goes to step S200.

In step S200, an on-vehicle device operation confirmation process, which will be described later, for confirming whether the on-vehicle device 15 is operating normally is executed based on the output signal from the on-vehicle device 15 of the automatic fee collection system. Move to. In step S300, a deceleration control process, which will be described later, is executed to determine whether deceleration of the host vehicle is necessary, based on the distance between the host vehicle and the tollgate, and the process proceeds to step S400.

In step S400, a vehicle speed control process, which will be described later, for controlling the braking / driving force of the host vehicle is executed based on the processing results of steps S100 to S300, and the calculation process is terminated. Next, the tollgate approach detection process executed in step S100 of the traveling control process will be described in detail with reference to the flowchart of FIG. First, when this process is executed, the process proceeds to step S101, and in step S101, it is determined whether or not the own vehicle approaches the tollgate based on the signal output from the navigation system 14. However, when approaching (Yes), the process proceeds to step S102, and when not (No), the process proceeds to step S103. Specifically, based on the signal output from the navigation system 14, it is determined that the toll booth has approached the toll booth when the toll booth is within a predetermined range from the vehicle.

In step S102, the toll booth approach flag flg_toll, which indicates that the host vehicle has approached the toll booth, is set to "1", and then this calculation process is terminated. On the other hand, in step S103, the tollgate approach flag flg_toll is reset to "0", and then this arithmetic processing is ended. Next, the vehicle-mounted device operation confirmation processing executed in step S200 of the traveling control processing will be described in detail based on the flowchart of FIG. First, when this process is executed, the process proceeds to step S201. In step S201, based on the signal output from the vehicle-mounted device 15 of the automatic fee collection system, the vehicle-mounted device 15 is normally operated. It is determined whether or not it is operating, and if it is operating normally (Yes), the process proceeds to step S202, and if not (No) step S203.
Move to. Specifically, not only when the vehicle-mounted device 15 has a malfunction and does not operate normally,
Is not mounted in the vehicle, or when an IC card storing personal information or the like is not mounted in the vehicle-mounted device 15, it is determined that the vehicle-mounted device 15 is not operating normally.

In step S202, the vehicle-mounted device normal operation flag flg_radio_ok, which indicates that the vehicle-mounted device 15 of the automatic fee collection system is operating normally, is set to "1", and then this arithmetic processing is terminated. On the other hand, in step S203, the vehicle-mounted device normal operation flag flg_radio_
After ok is reset to "0", this arithmetic process is terminated.

Next, step S30 of the traveling control process.
The deceleration control process executed at 0 will be described in detail based on the flowchart of FIG. First, when this process is executed, the process proceeds to step S301. In step S301, whether or not the toll booth approach flag flg_toll is set to "1" in the toll booth approach detection process is determined. If it is judged and it is set (Yes)
The process proceeds to step S302, and if not (N
o) Go to step S309.

In step S302, as shown in FIG. 6, the distance L from the vehicle to the tollgate is detected based on the signal output from the navigation system 14, and the process proceeds to step S303. In step S303, the in-vehicle device normal operation flag fl is determined in the in-vehicle device operation confirmation process.
It is determined whether or not g_radio_ok is set to "1", and when it is set (Yes), step S
If not (No), the process proceeds to step S305.

In step S304, the toll booth target vehicle speed Vo when the host vehicle passes through the toll booth is set to the designated vehicle speed Vα (the vehicle speed determined when the automatic toll collection system is used. For example, 30 km / h). Then step S3
Move to 06. The designated vehicle speed Vα is set to be transmitted to the device installed on the roadside.
May be received by the vehicle-mounted device 15 of the automatic fee collection system, and the designated vehicle speed Vα corresponding to each automatic fee collection system may be used.

On the other hand, in step S305, the toll booth target vehicle speed Vo is set to "0" km / h, and then the process proceeds to step S306. In step S306, the distance L from the vehicle to the tollgate detected in step S302 and the step S304 or S305.
The current target vehicle speed Vl * is calculated according to the following equation (1) based on the toll booth target vehicle speed Vo set in step S307, and the process proceeds to step S307.

Vl * = (Vo ² −2α · L) ^1/2 (1) where α is a preset deceleration (for example, −
1 [m / s ² ]) In step S307, it is determined whether or not the vehicle speed V detected by the vehicle speed sensor 12 is higher than the target vehicle speed Vl * calculated in step S306.
s) The process proceeds to step S308, and if not (No), the process proceeds to step S309.

In step S308, the deceleration control flag flg_Vdown, which indicates that the vehicle speed V is decelerated, is set to "1", and then this calculation process is terminated. On the other hand, in step S309, the deceleration control flag flg_Vd
After the own is reset to "0", this arithmetic processing is terminated. Next, step S40 of the traveling control process.
The vehicle speed control process executed at 0 will be described in detail with reference to the flowchart of FIG. First, when this process is executed, the process proceeds to step S401. In step S401, whether or not the vehicle-mounted device normal operation flag flg_radio_ok is set to "1" in the vehicle-mounted device operation confirmation process is determined. If it is determined to be in the set state (Yes), the process proceeds to step S402, and if not (No), the process proceeds to step S406.

In step S402, it is determined whether the tollgate approach flag flg_toll has been set to "1" in the tollgate approach detection process. When the tollgate approach flag flg_toll has been set (Yes), the process proceeds to step S403. If not (No), the process proceeds to step S406. In step S403, it is determined whether or not the deceleration control flag flg_Vdown is set to "1" in the deceleration control process, and when it is set (Yes), step S403
If not (No), the process proceeds to step S405.

In step S404, the set deceleration α used when the target vehicle speed Vl * was calculated in step S306 of the deceleration control process is set as the target deceleration α *, and then the process proceeds to step S407. On the other hand, in step S405, the target deceleration rate α * is set to “0”, and then the process proceeds to step S407.

On the other hand, in step S406, the target deceleration rate α * is set so that the vehicle runs at the target vehicle speed V * set by the operation switch 13, and then the process proceeds to step S407. In step S407, the target deceleration α set in steps S404 to S406 is set.
In *, a braking / driving torque command value for matching the acceleration of the host vehicle is calculated, and a throttle opening command value θtvo and a braking pressure command value Pbr for generating the braking / driving torque command value are calculated. The arithmetic processing ends.

Next, the operation of this embodiment will be described in detail based on a specific situation. First, while driving on the highway,
It is assumed that the driver performs a predetermined operation in order to drive the host vehicle at a constant speed. Then, the travel control controller 16 executes the travel control process, and as shown in FIG. 2, the tollgate approach detection process is executed in step S100.

When the toll gate approach detection processing is executed,
Assuming that the host vehicle is traveling away from the tollgate, the determination in step S101 is “No”, as shown in FIG. 3, and in step S103 a charge indicating that the host vehicle is approaching the tollgate. The approach flag flg_toll is set to the reset state of "0", and this arithmetic processing is ended.

When the tollgate approach detection process is completed, the process returns to the travel control process, and the vehicle-mounted device operation confirmation process is executed in step S200, and the vehicle-mounted device 15 of the automatic toll collection system is operating normally. Then, as shown in FIG. 4, the determination in step S201 is “Yes”,
In step S202, the vehicle-mounted device 1 of the automatic fee collection system
The on-vehicle device normal operation flag flg_radio_ok indicating that 5 is operating normally is set to "1", and this arithmetic processing is ended.

When the vehicle-mounted device operation confirmation process is completed, the process returns to the traveling control process, the deceleration control process is executed in step S300, and step S301 is executed as shown in FIG.
Is “No”, the deceleration control flag flg_Vdown is set to the reset state of “0” in step S309, and then this arithmetic processing is ended. When the deceleration control process is completed, the process returns to the travel control process and the step S40 is executed.
At 0, the vehicle speed control process is executed, and as shown in FIG. 7, the determination in step S401 is “No”, and step S401 is performed.
At 406, the target deceleration α * is set so that the vehicle travels at a constant speed at the target vehicle speed V * set by the operation switch 13,
In step S407, a braking / driving torque command value for matching the acceleration of the host vehicle with the target deceleration α * set in step S406 is calculated, and the throttle opening for generating the braking / driving torque command value is calculated. The command value θtvo and the braking pressure command value Pbr are calculated, and this calculation process is terminated.

Then, the braking pressure command value Pbr and the throttle opening command value θ calculated by the traveling control controller 16
In accordance with tvo, the engine output control device 10 controls the throttle actuator, and the braking control device 8 generates braking hydraulic pressure to control the vehicle speed V to the vehicle speed command value V * set by the occupant. It is assumed that the navigation system 14 detects that there is a tollgate within a predetermined range in front of the vehicle while the vehicle is traveling at the vehicle speed command value V * at a constant speed by repeatedly executing the above flow. Then, in the tollgate approach detection process, as shown in FIG. 3, the determination in step S101 becomes "Yes", and the tollgate approach flag flg_toll is set to "1" in step S102. Is ended.

When the tollgate approach detection process is completed, the process returns to the travel control process, and after the step S200, the deceleration control process is executed in the step S300, and as shown in FIG. The judgment is "Yes"
Then, in step S302, the distance L from the vehicle to the tollgate is detected based on the signal output from the navigation system 14, and the determination in step S303 is “Y”.
es ”, and in step S304, the toll booth target vehicle speed Vo when the vehicle passes through the toll booth is the designated vehicle speed Vα.
Is set in step S306, and in step S306
The distance L from the vehicle to the tollgate detected in 2 and the tollgate target vehicle speed Vo set in step S304.
If the current target vehicle speed Vl * is calculated based on the calculated target vehicle speed Vl * and the calculated target vehicle speed Vl * is smaller than the own vehicle speed V, the determination in step S307 is “Yes”, and step S307
At 308, the deceleration control flag flg_Vdown, which indicates that deceleration control for decelerating the host vehicle speed V is performed, is set to "1", and then this calculation process is ended.

When the deceleration control process is completed, the process returns to the traveling control process, the vehicle speed control process is executed in step S400, and steps S401 to S4 are executed as shown in FIG.
The determination result of 03 is “Yes”, and in step S404,
The target deceleration α is set to the set deceleration α used when the target vehicle speed Vl * is calculated in step S306 of the deceleration control process.
After * is set, in step S407, the throttle opening command value θtvo and the braking pressure command value Pbr are calculated in accordance with the target deceleration rate α * set in step S404, and the calculation process ends.

Then, the host vehicle speed V is reduced to a predetermined designated vehicle speed Vα, and the designated vehicle speed is maintained and the vehicle passes through the gate without stopping. On the other hand, when the vehicle-mounted device operation confirmation process is executed in step S200 of the travel control process, it is assumed that the vehicle-mounted device 15 of the automatic fee collection system has a problem and the vehicle-mounted device 15 is not operating normally. As shown in FIG. 4, the determination in step S201 is “No”, the vehicle-mounted device normal operation flag flg_radio_ok is reset to “0” in step S203, and this arithmetic processing is ended.

When the vehicle-mounted device operation confirmation process is completed, the process returns to the traveling control process, the deceleration control process is executed in step S300, and the step S301 is executed as shown in FIG.
And S302, the determination in step S303 is “N
and the target vehicle speed V at the toll gate is passed in step S305.
The o is set to "0", and the arithmetic processing is completed through steps S306 to S308.

Therefore, in the present embodiment, when it is detected that the own vehicle is approaching the toll gate and that the vehicle-mounted device 15 of the automatic toll collection system is not operating normally, Since the target vehicle speed Vo is set so that the vehicle will stop at the tollgate,
For example, when the vehicle-mounted device 15 of the automatic fare collection system is not installed in the own vehicle, or when the vehicle-mounted device 15 is installed and is not operating normally, the occupant must directly pay the toll. Occasionally, the vehicle is stopped at the toll gate by control, so that the occupant's discomfort can be prevented.

Next, the second embodiment of the vehicle travel control device of the present invention.
An embodiment will be described. In this embodiment, the traveling control process performed by the traveling control controller 16 of the first embodiment is changed from that of FIG. 2 of the first embodiment to that of FIG. The arithmetic processing of FIG. 8 includes many steps equivalent to those of the arithmetic processing of FIG. 2 of the first embodiment, and the same steps are denoted by the same reference numerals and detailed description thereof will be omitted. In the calculation process of FIG. 8, before the step S100 of the calculation process of FIG. 2, it is determined whether or not the own vehicle speed V is higher than a predetermined vehicle speed Vc (for example, 25 km / h). Step S50 is provided for migrating to S100, and if not (No), terminates this arithmetic processing.

As described above, in the present embodiment, it is detected that the own vehicle is approaching the toll gate and that the vehicle-mounted device 15 of the automatic toll collection system is not operating normally, the vehicle is decelerated and the own vehicle is decelerated. When it is detected that the vehicle speed V is equal to or lower than the predetermined vehicle speed Vc, the control of the braking / driving force is stopped. Therefore, for example, when the vehicle-mounted device 15 of the automatic toll collection system is not installed in the vehicle, The vehicle-mounted device 1
Even if 5 is installed, but it is not operating normally,
When the occupant has to pay the toll directly, there is no acceleration or deceleration against the driver's will,
It is possible to prevent the occupant from feeling uncomfortable.

Next, the third embodiment of the vehicle travel control device of the present invention will be described.
An embodiment will be described. In this embodiment, the tollgate approach detection processing performed by the traveling control controller 16 of the first embodiment is changed from that of FIG. 3 of the first embodiment to that of FIG. 9. The arithmetic processing of FIG. 9 includes many steps equivalent to those of the arithmetic processing of FIG. 3 of the first embodiment, and the same steps are denoted by the same reference numerals and detailed description thereof will be omitted. In the arithmetic processing of FIG. 9, steps S201 and S2 of the arithmetic processing of FIG.
02, steps S204 and S205 are provided.

Of these, in step S204, based on the signal output from the navigation system 14,
It is determined whether or not the host vehicle has approached the toll gate at the exit of the toll road, and when approaching (Yes), the process proceeds to step S205, and when not (No) the step S20.
Move to 2. Specifically, the navigation system 1
Based on the signal output from the vehicle 4, it is determined that the toll gate at the exit of the toll road is close to the toll gate when the toll gate is within a predetermined range from the vehicle.

In step S205, based on the signal output from the vehicle-mounted device 15 of the automatic fee collection system,
It is determined whether or not the host vehicle has passed through the gate of the automatic toll collection system at the entrance of the expressway. If the host vehicle has passed (Yes), the process proceeds to step S202. If not (No), the process proceeds to step S203. Transition.

As described above, in this embodiment, when it is detected that the host vehicle approaches the toll gate at the exit of the toll road, it is not detected that the vehicle has passed through the gate at the entrance of the toll road, Since it is made to perform the same operation by shifting to the same step as when it is detected that the vehicle-mounted device 15 of the automatic fee collection system is not operating normally, for example, the own vehicle's vehicle-mounted device 15 of the automatic fee collection system is carried out. Can be easily detected when the occupant must directly pay the toll, such as when the vehicle-mounted device 15 is not mounted, or when the vehicle-mounted device 15 is mounted but is not operating normally.

Next, the fourth embodiment of the vehicle travel control device of the present invention will be described.
An embodiment will be described. In this embodiment, the deceleration control process performed by the travel control controller 16 of the first embodiment is changed from that of FIG. 5 of the first embodiment to that of FIG. The arithmetic processing of FIG. 10 includes many steps equivalent to those of the arithmetic processing of FIG. 5 of the first embodiment, and the same steps are denoted by the same reference numerals and detailed description thereof will be omitted. In the arithmetic processing of FIG. 10, steps S302 and S of the arithmetic processing of FIG.
Between steps 303 and 303, steps S310 and S311 are provided.

Of these, in step S310, the width L'of the toll gate is detected based on the signal output from the navigation system 14 when the toll gate has a shape including a plurality of gates, and the process proceeds to step S311. . In step S311, as shown in FIG. 11, based on the width L ′ of the tollgate detected in step S310,
The distance L to the tollgate detected in step S302 is multiplied by a correction coefficient S that increases as the width L ′ of the tollgate increases, and the distance L is corrected, and the process proceeds to step S303.

As described above, in this embodiment, the distance L to the toll gate is corrected based on the width L'of the toll gate, and the target vehicle speed Vl * is set based on the corrected distance L. When the toll booth has a shape with multiple gates, the amount by which the target vehicle speed Vl * is reduced can be reduced, and the lane can be swiftly changed to the lane with the desired gate. Suppression can be prevented.

In this embodiment, when the toll booth is composed of a plurality of gates, the distance L to the toll booth is corrected based on the width L'of the toll booth.
For example, as shown in FIG. 13, it is not limited to the case where the toll gate is composed of a plurality of gates. For example, when the toll gate is composed of one gate, the lane in which the gate is located and the traveling lane of the own vehicle The distance to the toll booth may be corrected based on the distance between the two.

Next, the fifth embodiment of the vehicle travel control device of the present invention will be described.
An embodiment will be described. In this embodiment, the travel control processing, the tollgate approach detection processing, and the deceleration control processing performed by the travel control controller 16 of the first embodiment are
2, 3 and 5 of the first embodiment to FIG.
It has been changed to those of 15 and 17. This FIG.
The arithmetic processings 5 and 17 are the same as those in FIGS.
Many steps equivalent to the arithmetic processing of 5 are included, the same steps are denoted by the same reference numerals, and detailed description thereof will be omitted.

Among these, in the traveling control of FIG.
Between step S100 and step S200 of the calculation process of step S150, step S150 of executing a yaw angle calculation process, which will be described later, for calculating the yaw angle of the host vehicle with respect to the tollgate is provided. Further, in the toll gate approach detection processing of FIG.
Steps S104 and S105 are provided between the steps S101 and S102 of the calculation process.

Of these, in step S104, it is determined whether or not the tollgate approach flag flg_toll is in the reset state of "0". If it is in the reset state (Yes), the process proceeds to step S105, and if not (No). Then, the process proceeds to step S102. Step S105
Then, the yaw angle θo formed by the traveling direction of the host vehicle and the direction of the tollgate is calculated based on the signal output from the navigation system 14, and the process proceeds to step S102.

Next, step S15 of the traveling control process.
The yaw angle calculation processing executed at 0 will be described in detail based on the flowchart of FIG. First, when this process is executed, the process proceeds to step S151, and in step S151, the tollgate approach flag flg_
It is determined whether or not toll is in the set state of "1", and if it is in the set state (Yes), the process proceeds to step S152, and if not (No), this arithmetic processing is ended.

In step S152, the vehicle speed sensor 1
Based on the host vehicle speed V detected in 2 and the steering steering angle STR detected by the steering steering angle sensor 17,
The yaw rate γ is calculated according to the following equation (2), and the process proceeds to step S153. γ = 1 / (1 + A · V ² ) × V / l × STR / STR_GR (2) where A is the stability factor, 1 is the wheel base length, and STR_GR is the steering gear ratio. The product of the yaw rate γ calculated in S152 and the control cycle ΔT is
The yaw angle θo detected in the toll gate approach detection process is cumulatively added, and the calculation process is ended.

Further, in the deceleration control process of FIG. 17, step S312 is provided between steps S302 and S303 of the arithmetic process of FIG. This step S31
In 2, the distance Lg to the gate of the automatic toll collection system in the traveling direction of the own vehicle is calculated based on the distance L detected in step S302 according to the following formula (3),
The value of the distance Lg to the gate is set as the distance L to the tollgate, and the process proceeds to step S303.

Lg = L / cos θ (3) As described above, in this embodiment, when it is detected that the host vehicle approaches the tollgate, the traveling direction of the own vehicle and the direction of the tollgate are detected. The distance Lg to the gate of the automatic toll collection system in the traveling direction of the host vehicle is detected based on the yaw angle formed by the vehicle, and the target vehicle speed Vl * is set based on the distance Lg. Due to the lane change for passing through the gate in the lane away from the lane, the target vehicle speed Vl * becomes small when the distance to the gate becomes large, and the lane change can be promptly performed.
It is possible to prevent the occupant from feeling uncomfortable.

Next, the sixth embodiment of the vehicle travel control device of the present invention will be described.
An embodiment will be described. As shown in FIG. 18, the vehicle schematic configuration of this embodiment includes an inter-vehicle distance sensor 18 between the preceding vehicle and the host vehicle in addition to that of the first embodiment shown in FIG. Other configurations are the same as those in FIG. 1 of the first embodiment. The calculation processing performed by the traveling control controller 16 of this embodiment is shown in the flowchart of FIG. In this embodiment, the vehicle speed control process performed by the traveling control controller 16 of the first embodiment is changed from that of FIG. 7 of the first embodiment to that of FIG.

First, in step S401 ', it is determined whether the inter-vehicle distance between the host vehicle and the preceding vehicle can be detected based on the signal output from the inter-vehicle distance sensor 18, and the preceding vehicle is detected. If the inter-vehicle distance can be detected (Yes), the process proceeds to step 402 ', and if not (No), the process proceeds to step S409'. In step S402 ′, an acceleration command value α1 for keeping following a preceding vehicle while maintaining a predetermined inter-vehicle distance is determined based on the inter-vehicle distance detected by the inter-vehicle distance sensor 18 and the vehicle speed V detected by the vehicle speed sensor 12. Calculate, step S403 '
Move to.

In the step S403 ', it is judged whether or not the vehicle-mounted device normal operation flag flg_radio_ok is set to "1" in the vehicle-mounted device operation confirmation processing. When the vehicle is in the set state (Yes), the process goes to step S404'. If not (No), the process proceeds to step S408 '. In the step S404 ′, it is determined whether or not the toll booth approach flag flg_toll is set to “1” in the toll booth approach detection process. When the toll booth approach flag flg_toll is set (Yes), the process proceeds to step S405 ′, otherwise. Sometimes (No), the process proceeds to step S408 '.

In step S405 ', it is determined whether or not the deceleration control flag flg_Vdown is set to "1" in the deceleration control process. If the deceleration control flag is set to "1" (Yes), the process proceeds to step S406'. If not (No), the process proceeds to step S407 '. In step S406 ′, step S4 of the deceleration control process is performed.
After setting the smaller of the set deceleration α used when the target vehicle speed Vl * was calculated in 306 and the acceleration command value α1 calculated in step S402 ′ as the target deceleration α *, The process proceeds to step S410 '.

On the other hand, in step S407 ', the smaller one of the acceleration command values α1 and "0" calculated in step S402' is set as the target deceleration α *, and then the process proceeds to step S410 '. To do. On the other hand, in the step S408 ', the step S40
After setting the acceleration command value α1 calculated in 2 ′ to the target deceleration α *, the process proceeds to step S410 ′.

In step S409 ', the target deceleration rate α * is set so that the vehicle travels at a constant speed at the target vehicle speed V * set by the operation switch 13, and then the step S409' is performed.
Go to 410 '. In step S410 ′, a braking / driving torque command value for matching the acceleration of the host vehicle with the target deceleration α * set in steps S406 ′ to S409 ′ is calculated, and the braking / driving torque command value is calculated. The throttle opening command value θtvo and the braking pressure command value Pbr to be generated are calculated, and this arithmetic processing is ended.

As described above, in the present embodiment, when the preceding vehicle is present, the inter-vehicle distance between the own vehicle and the preceding vehicle can be detected, and it is detected that the own vehicle approaches the tollgate. Since the braking / driving force is controlled so that the inter-vehicle distance is equal to or greater than the predetermined target inter-vehicle distance and the own vehicle speed V is equal to or less than the target vehicle speed Vl *, the occupant does not pass too close to the preceding vehicle and the occupant directly travels. When the fare has to be paid, the vehicle is stopped at the tollgate by the control, so that it is possible to prevent the occupant from feeling uncomfortable.

In the above embodiment, the vehicle speed detection means corresponds to the vehicle speed sensor 12, the braking / driving force control means corresponds to the traveling control controller 16, and the tollgate approach detection means corresponds to the navigation system 14 and step S100. However, the vehicle-mounted device operation detection means corresponds to step S200,
The set vehicle speed setting means corresponds to step S400, the on-vehicle device 15 of the gate passage detecting means automatic toll collection system and step S205, the tollgate shape detecting means corresponds to the navigation system 14 and step S310,
The yaw angle detecting means, the vehicle position detecting means, and the traveling direction detecting means are the navigation system 14 and step S150.
The inter-vehicle distance detecting means corresponds to the inter-vehicle distance sensor 18. Further, the above-described embodiment shows an example of the vehicle travel control device of the present invention, and does not limit the configuration or the like of the device.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a travel control device of the present invention.

FIG. 2 is a flowchart showing a travel control process executed in the travel control controller of FIG.

3 is a flowchart showing a tollgate approach detection process executed in the traveling control controller of FIG. 1. FIG.

FIG. 4 is a flowchart showing an on-vehicle device operation confirmation process executed in the traveling control controller of FIG. 1.

5 is a flowchart showing deceleration control processing executed in the traveling control controller of FIG. 1. FIG.

FIG. 6 is an explanatory diagram for explaining a distance from a vehicle to a tollgate.

7 is a flowchart showing a vehicle speed control process executed in the traveling control controller of FIG.

8 is a flowchart showing a second embodiment of a travel control process executed in the travel control controller of FIG.

9 is a flowchart showing a third embodiment of the tollgate approach detection processing executed in the traveling control controller of FIG. 1. FIG.

10 is a flow chart showing a fourth embodiment of deceleration control processing executed in the traveling control controller of FIG.

FIG. 11 is an explanatory diagram for explaining a range of toll gates.

FIG. 12 is a graph showing a relationship between a toll booth width and a correction coefficient.

FIG. 13 is an explanatory diagram illustrating a modified example of the fourth embodiment.

FIG. 14 is a flowchart showing a fifth embodiment of the traveling control process executed in the traveling control controller of FIG.

15 is a flowchart showing a fifth embodiment of a tollgate approach detection process executed in the traveling control controller of FIG. 1. FIG.

16 is a flowchart showing a yaw angle calculation process executed in the traveling control controller of FIG.

FIG. 17 is a flowchart showing a fifth embodiment of deceleration control processing executed in the traveling control controller of FIG. 1.

FIG. 18 is a schematic configuration diagram of a travel control device according to a sixth embodiment of the present invention.

FIG. 19 is a flowchart showing a sixth embodiment of vehicle speed control processing executed in the traveling control controller of FIG. 1.

[Explanation of symbols]

1FL and 1FR are front wheels 1RL and 1RR are rear wheels 2 is the engine 3 is an automatic transmission 4 is a propeller shaft 5 is the final reduction gear 6 is the axle 7 is a disc brake 8 is a braking control device 10 is an engine output control device 12 is a vehicle speed sensor 14 is a navigation system 15 is an in-vehicle device of an automatic toll collection system 16 is a controller for traveling control 17 is a steering angle sensor

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 627 B60R 21/00 627 B60T 7/12 B60T 7/12 C F02D 29/02 301 F02D 29 / 02 301D G08G 1/09 G08G 1/09 S 1/16 1/16 E (72) Inventor Yoji Seto 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. F-term (reference) 3D041 AA41 AB01 AC01 AC26 AD00 AD04 AD10 AD41 AD46 AD51 AE04 AE41 AF01 3D044 AA25 AB01 AC00 AC03 AC16 AC24 AC26 AC31 AC55 AC56 AC59 AD04 AD21 AE01 AE04 AE14 AE21 3D046 BB18 GG02 HH02 HH05 H0122 FB02 5H180 AA01 BB04 BB12 BB18 CC12 FF05 FF13 FF22 FF27 LL01 LL04 LL09 LL14

Claims (7)

[Claims] 1. Vehicle speed detecting means for detecting the vehicle speed of the own vehicle, and braking / driving force control means for controlling the braking / driving force so that the vehicle speed of the own vehicle detected by the vehicle speed detecting means becomes a predetermined set vehicle speed. , Tollgate approach detection means for detecting that the own vehicle is approaching the tollgate, vehicle-mounted device operation detection means for detecting that the onboard device of the automatic toll collection system is operating normally, and the tollgate approach detection The vehicle speed of the vehicle is detected when the vehicle detects that the vehicle is approaching the tollgate and the vehicle-mounted device operation detection means detects that the vehicle-mounted device of the automatic fee collection system is operating normally. The set vehicle speed is set to be equal to or less than a predetermined specified vehicle speed, and the toll gate approach detection means detects that the own vehicle is approaching the toll gate, and the vehicle-mounted device operation detection means causes the automatic fee collection system. The on-board device is positive A travel control device for a vehicle, comprising: a set vehicle speed setting means for setting the set vehicle speed so that the host vehicle stops at a tollgate when it is detected that the vehicle is not always operating. 2. Vehicle speed detecting means for detecting the vehicle speed of the own vehicle, and braking / driving force control means for controlling the braking / driving force so that the vehicle speed of the own vehicle detected by the vehicle speed detecting means becomes a predetermined set vehicle speed. , Tollgate approach detection means for detecting that the own vehicle is approaching the tollgate, vehicle-mounted device operation detection means for detecting that the onboard device of the automatic toll collection system is operating normally, and the tollgate approach detection The setting vehicle speed is set so that the vehicle speed of the own vehicle becomes equal to or less than a predetermined specified vehicle speed when it is detected that the own vehicle approaches the tollgate by the means, and
The toll booth approach detection means detects that the own vehicle is approaching the toll booth, and the onboard equipment operation detection means detects that the onboard equipment of the automatic toll collection system is not operating normally, thereby detecting the vehicle speed. And a setting vehicle speed setting means for stopping the control of the braking / driving force by the braking / driving force control means when it is detected by the means that the vehicle speed of the host vehicle is equal to or lower than the predetermined vehicle speed. Vehicle drive control device. 3. A gate passage detecting means for detecting passage through a gate of an automatic toll collection system, wherein the set vehicle speed setting means is a means for detecting the approach of a toll gate to which a host vehicle approaches a toll road exit of a toll road. If it is not detected that the gate passage detection means has passed through the gate of the toll road entrance, the onboard equipment of the automatic fee collection system is normally operated by the onboard equipment operation detection means. The vehicle travel control device according to claim 1 or 2, wherein the same operation is performed as when it is detected that the vehicle is not operating. 4. A tollgate shape detecting means for detecting the shape of a tollgate, wherein the set vehicle speed setting means sets the set vehicle speed based on the shape of the tollgate detected by the tollgate shape detecting means. Claim 1 thru | or Claim 3 characterized by the above-mentioned.
The vehicle travel control device according to any one of 1. 5. A yaw angle detection means for detecting a yaw angle formed by the traveling direction of the host vehicle and the direction of the tollgate, wherein the set vehicle speed setting means is based on the yaw angle detected by the yaw angle detection means. The vehicle travel control device according to any one of claims 1 to 4, wherein the set vehicle speed is set by means of the following. 6. A vehicle position detection means for detecting the position of the vehicle and a traveling direction detection means for detecting the traveling direction of the vehicle are provided, and the vehicle approaches the toll station by the toll gate approach detection means. When it is detected that the vehicle is in the traveling direction of the vehicle based on the position of the vehicle detected by the vehicle position detecting means and the traveling direction of the vehicle detected by the traveling direction detecting means. The gate distance detecting means for detecting the distance to the gate of the toll collection system and the set vehicle speed setting means set the set vehicle speed based on the distance detected by the gate distance detecting means. The vehicle travel control device according to any one of claims 1 to 5. 7. An inter-vehicle distance detecting means for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle, wherein the vehicle speed control means is provided.
The inter-vehicle distance detected by the inter-vehicle distance detecting means when the inter-vehicle distance detecting means can detect the inter-vehicle distance and the toll gate approach detecting means detects that the host vehicle is far from the toll gate. The braking / driving force can be controlled so as to be a predetermined target inter-vehicle distance, the inter-vehicle distance can be detected by the inter-vehicle distance detecting means, and the own vehicle has approached the toll gate by the toll gate approach detecting means. When it is detected, the braking / driving force is controlled so that the inter-vehicle distance detected by the inter-vehicle distance detecting means becomes equal to or more than a predetermined target inter-vehicle distance and the vehicle speed of the host vehicle becomes equal to or less than the set vehicle speed. The traveling control device for a vehicle according to any one of claims 1 to 6.