JP2009269517A - Vehicle travel controller and vehicle travel control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle travel controller and a vehicle travel control method, allowing improvement of controllability of a driver related to a constant speed cruise travel. <P>SOLUTION: Maintenance of cruise speed Vc [km/h] (S11, S12: No) or a change thereof (S14), and continuation of constant speed cruise control (S9: No) or an end thereof (S9: Yes) are determined based on pedal operation speed Sap [θ/s]. Thereby, the plurality of pieces of the determination related to the constant speed cruise travel can be performed by use of one parameter that is the pedal operation speed Sap. That is, the driver can perform the plurality of pieces of the determination related the constant speed cruise control by only changing the pedal operation speed Sap. Accordingly, the controllability of the driver related to the constant speed cruise travel can be improved. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle travel control device and a vehicle travel control method for performing constant speed cruise control for matching a vehicle cruise speed with a vehicle speed.

  A constant speed cruise control is known in which the throttle opening is automatically controlled separately from the operation of the accelerator pedal by the driver, and the vehicle speed matches the target speed (Patent Document 1). When performing constant speed cruise control in Patent Document 1, the set speed for constant speed cruise travel (hereinafter also referred to as “cruise speed”) is adjusted by operating the accelerator pedal while using reaction force applied to the accelerator pedal. can do. That is, when driving at a constant speed, the reaction force against the accelerator pedal is suddenly increased to detect the area where the driver can naturally place his right foot on the accelerator pedal ("footrest area") and the driver's intention to accelerate Area ("Acceleration detection area") and an area for detecting the driver's intention to decelerate ("Deceleration detection area"), the accelerator pedal is stepped over the footrest area to the acceleration detection area. The vehicle speed is increased, and when the accelerator pedal is stepped over the footrest area to the deceleration detection area, the vehicle speed is decreased. When the accelerator pedal exits the acceleration detection area or the deceleration detection area, the vehicle speed at that time is set as a new cruise speed. After the new cruise speed is set, the accelerator pedal is returned to the footrest area (see paragraphs [0026] to [0037] of FIG. 2 and FIG. 3).

  The constant speed cruise traveling in Patent Document 1 is performed while the driver keeps his right foot on the accelerator pedal, but there is also a technology that can perform constant speed cruise traveling without placing his foot on the accelerator pedal. (Patent Document 2). In Patent Document 2, constant speed cruise traveling is realized by controlling the depression position of the accelerator pedal by pedal reaction force applying means (see paragraph [0037] of Patent Document 2).

JP 2006-143120 A JP 2003-291682 A

  In Patent Document 1, what can be determined by operating the accelerator pedal is an increase or decrease in cruise speed, and means and a method for determining the start, continuation, or end of constant speed cruise control are not studied. Further, since the footrest region is sandwiched between the acceleration detection region and the deceleration detection region (see FIG. 2 of Patent Document 1, etc.), the accelerator pedal operation amount that can be selected by the driver during constant speed cruise traveling Will be limited.

  Further, in Patent Document 2, constant speed cruise control is started by using a cruise control switch, and the accelerator pedal is depressed more than the position corresponding to the throttle opening during constant speed traveling by depressing the brake pedal. Thus, the constant speed cruise control is terminated (paragraphs [0037], [0038], and [0058] of Patent Document 2). For this reason, when the driver wants to start constant speed cruise traveling, the cruise control switch needs to be operated in addition to the steering and accelerator pedal operations. Further, when the driver wants to finish the constant speed cruise, it is necessary to step on the brake pedal when decelerating and step on the accelerator pedal when accelerating, and the two pedals must be used properly. Furthermore, at the time of acceleration, it is possible to select only continuation or stop of constant speed cruise traveling by operating the accelerator pedal, and it is not possible to perform other control (for example, change of cruise speed).

  The present invention has been made in view of such problems, and an object of the present invention is to provide a vehicle travel control device and a vehicle travel control method capable of improving the controllability of the driver regarding constant speed cruise travel. .

  A vehicle travel control device according to the present invention sets a vehicle speed detection unit that detects a vehicle speed, a pedal operation speed detection unit that detects a pedal operation speed of an accelerator pedal, a cruise speed of the vehicle, and the cruise speed and the vehicle speed A constant-speed cruise control unit that performs constant-speed cruise control to match the two, and the constant-speed cruise control unit maintains or changes the cruise speed based on the pedal operation speed or continues the constant-speed cruise control or It is characterized by determining the end.

  According to the present invention, the maintenance or change of the cruise speed or the continuation or termination of the constant speed cruise control is determined based on the pedal operation speed. This makes it possible to make a plurality of decisions regarding constant speed cruise using one parameter, pedal operation speed. In other words, the driver can make a plurality of decisions regarding the constant speed cruise control only by changing the pedal operation speed. Accordingly, it is possible to improve the driver's controllability regarding the constant speed cruise traveling.

  The constant speed cruise control unit sets a pedal operation speed threshold that is a threshold of the pedal operation speed used for determining whether or not a driver is seeking to end the constant speed cruise control, and the pedal operation speed is When the pedal operation speed threshold is not exceeded, the constant speed cruise control is continued. When the pedal operation speed exceeds the pedal operation speed threshold, the constant speed cruise control is preferably terminated. Accordingly, it is possible to select the continuation or end of the constant speed cruise control only by operating the accelerator pedal, and the driver can easily control the constant speed cruise traveling.

  The vehicle travel control device may include a pedal operation amount detection unit that detects a pedal operation amount of an accelerator pedal. When the pedal operation amount reaches zero without the pedal operation speed exceeding the pedal operation speed threshold, the constant speed cruise control unit performs the constant speed cruise control with the pedal operation amount being zero. It is preferable to continue. As a result, the driver can lift his / her foot from the accelerator pedal, and the usability of the driver is improved.

  Further, the constant speed cruise control unit determines the vehicle speed corresponding to the pedal operation amount at that time when the pedal operation speed is zero for a predetermined time or when the pedal operation amount is constant for the predetermined time. It is preferably used as a speed. Thereby, the cruise speed can be changed only by operating the accelerator pedal, and the controllability of the driver is further improved.

  Furthermore, it is preferable that the constant speed cruise control unit starts the constant speed cruise control when the pedal operation amount and the vehicle speed are constant for a predetermined time. As a result, the start, continuation, and end of the constant speed cruise control can all be determined by operating the accelerator pedal, and the usability of the driver is further improved.

  The vehicle travel control device further includes a determination start command input unit for a driver to input a determination start command for instructing the constant speed cruise control unit to start determining whether to start the constant speed cruise control. Is preferred. Thus, the driver can select whether or not to make a plurality of decisions regarding the constant speed cruise control by operating the accelerator pedal, and the controllability can be further improved.

  The vehicle travel control method according to the present invention performs constant speed cruise control that matches a vehicle cruise speed and a vehicle speed, detects a pedal operation speed of an accelerator pedal, and determines the cruise operation based on the pedal operation speed. It is characterized by determining whether to maintain or change the speed or to continue or end the constant speed cruise control.

  According to the present invention, the maintenance or change of the cruise speed or the continuation or termination of the constant speed cruise control is determined based on the pedal operation speed. As a result, a plurality of determinations can be made using one parameter called pedal operation speed. In other words, the driver can make a plurality of decisions regarding the constant speed cruise control only by changing the pedal operation speed. Accordingly, it is possible to improve the driver's controllability regarding the constant speed cruise traveling.

  According to the present invention, the maintenance or change of the cruise speed or the continuation or termination of the constant speed cruise control is determined based on the pedal operation speed. As a result, a plurality of determinations can be made using one parameter called pedal operation speed. In other words, the driver can make a plurality of decisions regarding the constant speed cruise control only by changing the pedal operation speed. Accordingly, it is possible to improve the driver's controllability regarding the constant speed cruise traveling.

A. Hereinafter, an embodiment of a vehicle travel control device according to the present invention will be described with reference to the drawings.

1. Configuration of Vehicle Travel Control Device 10 FIG. 1 is a block diagram of a vehicle travel control device 10 according to this embodiment. The vehicle travel control device 10 can be mounted on a vehicle such as a four-wheeled vehicle, and basically includes an accelerator pedal 12, an operation amount sensor 14 (pedal operation amount detection unit), a throttle valve 15, and a vehicle speed sensor 16. (Vehicle speed detection unit), cruise switch 18 (determination start command input unit), ECU (electric control unit) 22 (pedal operation speed detection unit, constant speed cruise control unit), and reaction force applying mechanism 24.

  The operation amount sensor 14 detects an operation amount (pedal operation amount θ) [degree] from the original position of the accelerator pedal 12 and outputs it to the ECU 22. When the vehicle is traveling normally, the throttle valve 15 has its opening TH [degree] controlled by the ECU 22 in accordance with the pedal operation amount θ. That is, in the present embodiment, a so-called throttle-by-wire system is adopted, and the throttle valve 15 has its opening TH controlled by a control signal St from the ECU 22. A method in which the accelerator pedal 12 and the throttle valve 15 are mechanically connected can also be adopted.

  The vehicle speed sensor 16 measures a vehicle speed V [km / h] of a vehicle (not shown) and outputs it to the ECU 22. The cruise switch 18 is used by the driver to input a determination start command for instructing start of determination as to whether or not to start constant speed cruise control. That is, when the driver turns on the cruise switch 18, a cruise signal Sc that transmits the determination start command is transmitted from the cruise switch 18 to the ECU 22.

  The ECU 22 controls the operation of the throttle valve 15 and the reaction force applying mechanism 24 based on the pedal operation amount θ, the vehicle speed V, and the cruise signal Sc. Details of the control method will be described later. The ECU 22 includes a memory 32.

  The reaction force applying mechanism 24 includes a motor (not shown) connected to the accelerator pedal 12 and applies a reaction force Fr corresponding to the control signal Sr from the ECU 22 to the accelerator pedal 12. As a result, a reaction force Fr from the reaction force applying mechanism 24 is added to the accelerator pedal 12 in addition to the original position return force (force to return to the original position) of the accelerator pedal 12 itself by a spring or the like.

2. Vehicle Travel Control Method FIG. 2 shows a flowchart of the vehicle travel control method in the present embodiment.

  In step S1, the ECU 22 determines whether or not the cruise signal Sc output by the driver pressing the cruise switch 18 has been received. When the cruise signal Sc is received (S1: Yes), the process proceeds to step S2. When the cruise signal Sc is not received (S1: No), step S1 is repeated.

  In step S2, the ECU 22 shifts from the normal mode to the constant speed cruise travel permission mode. The constant speed cruise travel permission mode is a travel mode in which the start, continuation, and end of the constant speed cruise travel can be selected according to the operation of the accelerator pedal 12 by the driver. Even if the mode is shifted to the constant speed cruise permission mode, the constant speed cruise is not started immediately, but the constant speed cruise is started only when a predetermined operation is performed on the accelerator pedal 12.

  In subsequent step S3, the ECU 22 determines whether or not the footrest process is being executed. The footrest process is a process that causes the reaction force Fr against the accelerator pedal 12 to increase rapidly and generates a region (footrest region) where the driver can naturally place the right foot on the accelerator pedal 12 (see, for example, Patent Document 1). ). A method for generating the reaction force Fr will be described later. In the present embodiment, constant speed cruise traveling is performed while the footrest processing is being performed. Whether the footrest processing is being performed can be determined based on whether the determination flag FLG is “1”. That is, the determination flag FLG is set to “0” when the footrest processing is not performed, and is set to “1” when the footrest processing is performed. When the vehicle travel control device 10 is activated, the determination flag FLG is set to “0”.

  In step S3, when the footrest processing is not performed (S3: No), in step S4, the ECU 22 determines whether the pedal operation amount θ and the vehicle speed V are constant for a predetermined time T1 (for example, 5 seconds). To do. Here, “constant” not only indicates that the pedal operation amount θ and the vehicle speed V are always the same value, but the pedal operation amount θ is within a predetermined range (for example, ± 3 °). The state and the state where the vehicle speed V is within a predetermined range (for example, ± 2 km / h) are included.

  In step S4, when the pedal operation amount θ and the vehicle speed V are not constant for the predetermined time T1 (S4: No), the current process is finished and the process returns to step S1. On the other hand, as shown in FIG. 3, when the pedal operation amount θ and the vehicle speed V are constant for a predetermined time (S4: Yes), in step S5, the ECU 22 starts a footrest process. That is, the pedal operation amount θ at the time when the footrest process is started (time t1 in FIG. 3) is set as the reference pedal operation amount θr (θr ← θ), and the reaction is determined based on the reference pedal operation amount θr. The reaction force Fr is applied to the accelerator pedal 12 using the force applying characteristic C (relation between the pedal operation amount θ and the reaction force Fr).

  FIG. 4A shows a reaction force application characteristic C1, which is an example of the reaction force application characteristic C used in the present embodiment. In the reaction force application characteristic C1, the reaction force Fr is zero when the pedal operation amount θ is less than the reaction force increase start pedal operation amount θ1 (hereinafter also referred to as “pedal operation amount θ1”). The pedal operation amount θ1 is set to a value smaller than the reference pedal operation amount θr by a predetermined amount. Further, the reaction force Fr increases as the pedal operation amount θ increases between the pedal operation amount θ1 and the maximum reaction force attainment pedal operation amount θ2 (hereinafter also referred to as “pedal operation amount θ2”). The pedal operation amount θ2 is set to a value larger by a predetermined amount than the reference pedal operation amount θr. Note that the area between the pedal operation amount θ1 and the pedal operation amount θ2 is the footrest region Rfr. Further, the reaction force Fr is made constant at the maximum value Fr_max when the pedal operation amount θ2 or more. As described above, the original position returning force is applied to the accelerator pedal 12 itself. For this reason, even if the reaction force Fr from the reaction force application mechanism 24 becomes zero, the accelerator pedal 12 is applied with a force to return to the original position.

  When the cruise speed Vc increases in step S14, which will be described later, as shown in FIG. 4B, the reaction force imparting characteristic C changes to the reaction force imparting characteristic C2, and the footrest region Rfr is on the right side in the figure as compared to FIG. 4A. Shift to. Further, when the cruise speed Vc decreases, as shown in FIG. 4C, the reaction force application characteristic C changes to the reaction force application characteristic C3, and the footrest region Rfr shifts to the left side in the figure as compared to FIG. 4C. .

  In subsequent step S6, the ECU 22 starts constant speed cruise control for performing constant speed cruise traveling. At this time, the vehicle speed V at the time when the constant speed cruise control is started (time t1 in FIG. 3) is set as the cruise speed Vc (Vc ← V). In the constant speed cruise control, the ECU 22 separates the pedal operation amount θ of the accelerator pedal 12 from the control of the opening degree TH of the throttle valve 15. That is, once the constant speed cruise control is started, independently of the movement of the accelerator pedal 12, the ECU 22 controls the opening TH of the throttle valve 15 so that the vehicle speed V matches the cruise speed Vc. Note that, as in Patent Document 2, it is also possible to control the opening TH of the throttle valve 15 by automatically adjusting the pedal operation amount θ of the accelerator pedal 12 so that the vehicle speed V matches the cruise speed Vc. It is.

  In subsequent step S7, the ECU 22 sets the determination flag FLG to “1”, ends the current process, and returns to step S1.

  Returning to step S3, when the footrest process is being executed (S3: Yes), in step S8, the ECU 22 determines the pedal operation speed Sap [θ / s]. The pedal operation speed Sap is a change amount per second of the pedal operation amount θ.

  In subsequent step S9, the ECU 22 determines whether or not the absolute value | Sap | of the pedal operation speed Sap is larger than a predetermined positive threshold value (pedal operation speed threshold value THsap). The pedal operation speed threshold THsap is a threshold for determining that the driver has suddenly accelerated or decelerated by operating the accelerator pedal 12, and can be set by conducting experiments, simulations, or the like in advance. Therefore, when the absolute value | Sap | is larger than the pedal operation speed threshold THsap, it can be determined that the driver is seeking a rapid acceleration or deceleration.

  When the absolute value | Sap | is equal to or less than the pedal operation speed threshold THsap (S9: No), in step S10, the ECU 22 determines whether or not the pedal operation amount θ is zero. If the pedal operation amount θ is zero, it can be determined that the right foot of the driver is away from the accelerator pedal 12. In that case, it can be estimated that the driver is seeking cruise travel using the current cruise speed Vc. On the other hand, when the pedal operation amount θ is not zero, the driver can continue to operate the accelerator pedal 12 and can estimate that there is a possibility of changing the cruise speed Vc.

  Therefore, when the pedal operation amount θ is zero (S10: Yes), the ECU 22 continues the constant speed cruise control using the current cruise speed Vc in step S11. When the pedal operation amount θ is not zero (S10: No), the process proceeds to step S12.

  In step S12, the ECU 22 determines whether or not the pedal operation speed Sap is zero. In the present embodiment, the absolute value | Sap | of the pedal operation speed Sap is equal to or less than the pedal operation speed threshold THsap (S9: No), the pedal operation amount θ is not zero (S10: No), and the pedal operation speed Sap is zero. (S12: Yes), it is determined that the driver is seeking cruise traveling at the cruise speed Vc corresponding to the current pedal operation amount θ. In the present embodiment, the absolute value | Sap | is equal to or less than the pedal operation speed threshold THsap (S9: No), and both the pedal operation amount θ and the pedal operation speed Sap are not zero (S10: No, S12: No), the driver is trying to release the right foot from the accelerator pedal 12 while maintaining the current cruise speed Vc, or is changing the pedal operation amount θ to change the current cruise speed Vc (accelerator) The pedal 12 is moved).

  Therefore, when the pedal operation speed Sap is zero (S12: Yes), in step S13, the ECU 22 sets the current pedal operation amount θ as a new reference pedal operation amount θr. Thereby, the footrest region Rfr is formed with the current pedal operation amount θ as a reference.

  In subsequent step S14, the ECU 22 updates the cruise speed Vc based on the new reference pedal operation amount θr. That is, the target value (target vehicle speed Vtar) of the vehicle speed V corresponding to the new reference pedal operation amount θr is calculated. This target vehicle speed Vtar is uniquely determined by the reference pedal operation amount θ and is stored in the memory 32. Then, the target vehicle speed Vtar is set as a new cruise speed Vc (Vc ← Vtar). After step S14 and when the pedal operation speed Sap is not zero in step S12 (S12: No), the current process is terminated and the process returns to step S1.

  Returning to step S9, if the absolute value | Sap | is greater than the pedal operation speed threshold THsap (S9: Yes), in step S15, the ECU 22 cancels both the footrest processing and the constant speed cruise control. By releasing the footrest process, the reaction force applying mechanism 24 does not apply the reaction force Fr to the accelerator pedal 12 (the reaction force Fr is set to zero). Further, when the constant speed cruise control is canceled, the ECU 22 controls the throttle valve 15 so that the opening degree TH of the throttle valve 15 is interlocked with the pedal operation amount θ of the accelerator pedal 12.

  In subsequent step S16, the ECU 22 sets the determination flag FLG to “0” (indicating that the footrest process is not being executed), and ends the current process.

  FIG. 5 shows an example (cases 1 to 6) of the pedal operation amount θ when starting, maintaining and canceling the constant speed cruise control and maintaining and changing the cruise speed Vc using the flowchart of FIG. Yes. FIG. 6 shows an example (cases 1 to 6) of the vehicle speed V and the cruise speed Vc corresponding to each pedal operation amount θ of FIG. In FIG. 5, pedal operation amounts θ corresponding to the cases 1 to 6 are indicated by “θ1 to θ6”. In FIG. 6, cruise speeds Vc corresponding to cases 1 to 4 are indicated by “Vc1 to Vc4”. As will be described later, since the constant speed cruise control is not performed in the cases 5 and 6, the cruise speed Vc corresponding to the cases 5 and 6 is not shown. Furthermore, the vehicle speed V corresponding to each of the cases 1 to 6 is indicated by “V1 to V6”.

  In all cases 1 to 6 shown in FIG. 5, the constant speed cruise is started at time t11. That is, at the time point t11, the pedal operation amount θ and the vehicle speed V are constant for a predetermined time. Therefore, the pedal operation amount θ at time t11 (referred to as “pedal operation amount θA” for convenience) is set as the reference pedal operation amount θr (see FIG. 4A). Further, the vehicle speed V (referred to as “vehicle speed VA” for convenience) at the time point t11 is set to the cruise speed Vc (referred to as “cruise speed VcA” for convenience).

  Case 1 is a case where the pedal operation amount θ1 is maintained as the pedal operation amount θA, and as a result, the cruise speed Vc is also maintained at the cruise speed VcA. That is, in the flowchart of FIG. 2, S1: Yes → S2 → S3: Yes → S8 → S9: No → S10: No → S12: No is repeated.

  In case 2, the pedal operation amount θ2 is increased with a slope that does not exceed the pedal operation speed threshold THsap from time t12 to t15 (S9: No in FIG. 2), and after time t15, the pedal operation amount θ2 is constant (pedal operation amount). This is a case where θB) is maintained. In this case, when it is determined that the pedal operation amount θ2 is constant (the pedal operation speed Sap is zero) at time t16 (S12: Yes in FIG. 2), the cruise speed Vc2 is equal to the cruise speed VcA up to that point. To the cruise speed VcB corresponding to the pedal operation amount θB (S14). Accordingly, the ECU 22 controls the opening TH of the throttle valve 15 so that the vehicle speed V2 matches the cruise speed VcB. As a result, the vehicle speed V2 converges to the cruise speed Vc2.

  In the case 3, the pedal operation amount θ3 is decreased from the time t12 to t17 with a slope not exceeding the negative pedal operation speed threshold −THsap (S9: No), and after the time t17, the pedal operation amount θ3 is constant (the pedal operation amount). This is the case where θC) is maintained. In this case, when it is determined that the pedal operation amount θ3 is constant (the pedal operation speed Sap is zero) at time t18 (S12: Yes), the cruise speed Vc3 is calculated from the cruise speed VcA so far. The cruise speed VcC corresponding to the operation amount θC is changed (S14). Along with this, the ECU 22 controls the opening TH of the throttle valve 15 so that the vehicle speed V3 coincides with the cruise speed VcC. As a result, the vehicle speed V3 converges to the cruise speed Vc3.

  In Case 4, the pedal operation amount θ4 is decreased with a slope not exceeding the negative pedal operation speed threshold −THsap from time t12 to time t19 (S9: No), and the pedal operation amount θ4 becomes zero at time t19 (S10). : Yes). In Case 4, the pedal operation amount θ4 reaches zero without the pedal operation speed Sap of the pedal operation amount θ4 becoming zero. For this reason, the cruise speed Vc4 and the vehicle speed V4 are not updated and remain equal to the cruise speed Vc1 and the vehicle speed V1.

  Case 5 is a case where the pedal operation amount θ5 is suddenly increased with a slope exceeding the pedal operation speed threshold THsap from time t12 to time t14. In Case 5, when it is determined that the pedal operation speed Sap is higher than the pedal operation speed threshold THsap at time t13 (S9: Yes), the constant speed cruise control is canceled and the normal travel control (the pedal operation amount θ5 and Control for interlocking the opening TH of the throttle valve 15) is performed.

  Case 6 is a case where the pedal operation amount θ6 is suddenly decreased from the time point t12 to t14 with a slope exceeding the negative pedal operation speed threshold −THsap. In case 6, when it is determined that the pedal operation speed Sap exceeds the negative pedal operation speed threshold THsap at time t13 (S9: Yes), the constant speed cruise control is canceled and the normal travel control (the pedal operation amount) Control for interlocking θ6 with the opening degree TH of the throttle valve 15 is performed.

3. As described above, in this embodiment, the cruise speed Vc is maintained (S11, S12: No in FIG. 2) or changed (S14) based on the pedal operation speed Sap and the constant speed cruise control is continued ( S9: No) or end (S9: Yes) is determined. As a result, it is possible to make a plurality of determinations regarding constant speed cruise using one parameter, the pedal operation speed Sap. In other words, the driver can make a plurality of decisions regarding the constant speed cruise control only by changing the pedal operation speed Sap. Accordingly, it is possible to improve the driver's controllability regarding the constant speed cruise traveling.

  When the absolute value | Sap | of the pedal operation speed Sap does not exceed the pedal operation speed threshold THsap (S9: No), the ECU 22 continues constant speed cruise control, and the absolute value | Sap | is the pedal operation speed threshold. If THsap is exceeded (S9: Yes), the constant speed cruise control is terminated (S15). Thereby, it becomes possible to select the continuation (S11, S14, S12: No) or the end (S15) of the constant speed cruise control only by operating the accelerator pedal 12, and the driver controls the constant speed cruise traveling. It becomes easy to do.

  When the pedal operation amount θ reaches zero without the pedal operation speed Sap exceeding the pedal operation speed threshold THsap (S9: No → S10: Yes), the ECU 22 performs constant speed cruise with the pedal operation amount θ being zero. Control is continued (S11). As a result, the driver can remove his / her foot from the accelerator pedal 12, and the usability of the driver is improved.

  When the pedal operation speed Sap is zero for a predetermined time (S12: Yes), the ECU 22 uses the target speed Vtar corresponding to the pedal operation amount θ at that time as the cruise speed Vc. Thus, the cruise speed Vc can be changed only by operating the accelerator pedal 12, and the driver's controllability is further improved.

  When the pedal operation amount θ and the vehicle speed V are constant for a predetermined time (S4: Yes), the ECU 22 starts constant speed cruise control (S6). As a result, the start, continuation, and end of the constant speed cruise control can all be determined by operating the accelerator pedal 12, and the convenience of the driver is further improved.

  The vehicle travel control device 10 includes a cruise switch 18 through which a driver inputs a determination start command for instructing the ECU 22 to start determining whether or not to start constant speed cruise control. Thus, the driver can select whether or not to make a plurality of decisions regarding the constant speed cruise control by operating the accelerator pedal 12, and the controllability can be further improved.

B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the contents described in this specification. For example, the following configuration can be adopted.

  In the above-described embodiment, both the start, continuation or end of the constant speed cruise control and the determination of the maintenance or change of the cruise speed Vc are performed based on the pedal operation speed Sap, but only one of them may be performed. Is possible. The start of constant speed cruise control can also be commanded using a switch as in Patent Document 2.

  In the above embodiment, the “throttle-by-wire” system in which the ECU 22 directly and automatically adjusts the opening degree TH of the throttle valve 15 is used. However, as in Patent Document 2, the ECU 22 operates the pedal operation amount of the accelerator pedal 12. By automatically adjusting θ, the present invention can be applied to a mechanically connected system that indirectly controls the opening degree TH of the throttle valve 15.

  In the above embodiment, the ECU 22 performs the constant speed cruise control only when the ECU 22 receives the cruise signal Sc from the cruise switch 18 (S1: Yes in FIG. 2), but the vehicle travel control device 10 is activated. A configuration in which it is always determined whether or not constant speed cruise control is to be performed is possible.

  In the above embodiment, each step in FIG. 2 is performed by one ECU 22, but each step can be shared by a plurality of arithmetic devices.

1 is a block diagram of a vehicle travel control device according to an embodiment of the present invention. It is a flowchart of the vehicle travel control method in the vehicle travel control apparatus of FIG. It is the time chart which showed an example of the relationship between the vehicle speed and pedal operation amount in the said embodiment. FIG. 4A is a diagram illustrating an example of a reaction force imparting characteristic used at the start of constant speed cruise traveling, and FIG. 4B is a diagram illustrating an example of a reaction force imparting characteristic when the reference pedal operation amount is increased. FIG. 4C is a diagram illustrating an example of a reaction force imparting characteristic when the reference pedal operation amount is decreased. It is a figure which shows the example of the pedal operation amount in the case of performing start, maintenance and cancellation | release of constant speed cruise control, and maintenance and change of cruise speed using the flowchart of FIG. It is a figure which shows the example of the vehicle speed and cruise speed corresponding to each pedal operation amount of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle travel control apparatus 12 ... Accelerator pedal 14 ... Operation amount sensor (pedal operation amount detection part)
15 ... Throttle valve 16 ... Vehicle speed sensor (vehicle speed detector)
18 ... Cruise switch (determination start command input part)
22 ... ECU (pedal operation speed detection unit, constant speed cruise control unit)
24 ... Reaction force application mechanism 32 ... Memory C, C1 to C3 ... Reaction force application characteristics Fr ... Reaction force Rfr ... Footrest area Sap ... Pedal operation speed Sc ... Cruise signal Sr, St ... Control signal THsap ... Pedal operation speed threshold V V1 to V6, vehicle speed Vc, Vc1 to Vc4, cruise speed θ, θ1 to θ6, pedal operation amount θr, reference pedal operation amount

Claims (7)

A vehicle speed detector for detecting the vehicle speed;
A pedal operation speed detector for detecting the pedal operation speed of the accelerator pedal;
A constant speed cruise control unit for setting a cruise speed of the vehicle and performing a constant speed cruise control to match the cruise speed and the vehicle speed;
With
The constant speed cruise control unit determines whether to maintain or change the cruise speed or to continue or end the constant speed cruise control based on the pedal operation speed. The vehicle travel control device according to claim 1,
The constant speed cruise control unit
Setting a pedal operation speed threshold that is a threshold of the pedal operation speed used to determine whether or not the driver is seeking to end the constant speed cruise control;
The constant speed cruise control is continued when the pedal operation speed does not exceed the pedal operation speed threshold, and the constant speed cruise control is terminated when the pedal operation speed exceeds the pedal operation speed threshold. A vehicle travel control device. In the vehicle travel control device according to claim 2,
Furthermore, a pedal operation amount detection unit for detecting the pedal operation amount of the accelerator pedal is provided,
The constant speed cruise control unit continues the constant speed cruise control with the pedal operation amount being zero when the pedal operation amount reaches zero without the pedal operation speed exceeding the pedal operation speed threshold. A vehicle travel control device characterized by: In the vehicle travel control device according to claim 1 or 2,
Furthermore, a pedal operation amount detection unit for detecting the pedal operation amount of the accelerator pedal is provided,
When the pedal operation speed is zero for a predetermined time or when the pedal operation amount is constant for the predetermined time, the constant speed cruise control unit sets the vehicle speed corresponding to the pedal operation amount at that time as the cruise speed. A vehicle travel control device characterized by being used. Furthermore, a pedal operation amount detection unit for detecting the pedal operation amount of the accelerator pedal is provided,
In the vehicle travel control device according to any one of claims 1 to 4,
The constant speed cruise control unit starts the constant speed cruise control when the pedal operation amount and the vehicle speed are constant for a predetermined time. The vehicle travel control device according to claim 5, wherein
The vehicle travel control further includes a determination start command input unit for a driver to input a determination start command for instructing the constant speed cruise control unit to start a determination as to whether or not to start the constant speed cruise control. apparatus. A vehicle travel control method for performing constant speed cruise control that matches a vehicle cruise speed and a vehicle speed,
Detect the pedal operation speed of the accelerator pedal,
Maintaining or changing the cruise speed or continuation or termination of the constant speed cruise control is determined based on the pedal operation speed.

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