JP2020179698A - Vehicular traveling control system - Google Patents

Abstract

To improve the operability or comfort of cruise control for a vehicular traveling control system.SOLUTION: A vehicular traveling control system makes a vehicle to automatically travel at a target vehicle speed. The system includes a vehicle speed sensor 12 for detecting the actual speed of a vehicle, and a grip input device 2 that has a cylinder member 18 rotatably with respect to a steering wheel 1 of the vehicle. The system also includes a rotation angle sensor 5 for detecting a rotation angle of the cylinder member 18, and a setting device 7 setting the target vehicle speed according to the rotation angle of the cylinder member 18 detected by the rotation angle sensor 5. A lock device 4 is provided, which restrains rotations of the cylinder member 18 with respect to the steering wheel 1 and invalidates operation by the grip input device 2, if the actual speed is detected by the vehicle speed sensor 12 is less than a predetermined speed.SELECTED DRAWING: Figure 1

Description

The present invention relates to a travel control system that automatically travels a vehicle at a predetermined set vehicle speed.

Conventionally, a technique for improving the operability of a vehicle has been proposed by attaching a grip-type input device that realizes the same operation as the handle grip of a motorcycle to the steering of the vehicle. For example, there is known a steering handle in which a grip is attached to a steering wheel body via a gear so that the direction of the grip is constant regardless of the steering angle of the steering wheel body. Further, a technique is also known in which a part of the steering wheel body formed in an annular shape can be rotated in a twisting direction (Meridian direction), and the yaw moment when the vehicle turns can be adjusted according to the rotation angle. .. By adding the operating means in this way, the operability of the vehicle can be improved (see Patent Documents 1 to 3).

JP-A-2019-006329 Japanese Unexamined Patent Publication No. 2008-168839 Japanese Unexamined Patent Publication No. 2008-114831

When a grip-type input device is used for vehicle cruise control (also called cruise control or auto cruise), it can be considered to be used when setting a target vehicle speed. For example, if the target vehicle speed can be set by twisting the grip instead of pressing the button, the driver can change the traveling speed in a natural posture with the steering wheel, which is convenient. improves.

On the other hand, depending on the magnitude of the reaction force of the grip, the steering angle may fluctuate due to the twisting operation of the grip, and the behavior of the vehicle may become unstable. For example, the vehicle may move left and right against the driver's intention and deviate from the center of the traveling lane. In addition, the cruise control itself may be interrupted due to a sudden change in the steering angle. Therefore, there is room for improvement in improving the operability and comfort of cruise control.

One of the purposes of this case is to provide a vehicle travel control system that improves the operability and comfort of cruise control, which was created in view of the above problems. Not limited to this purpose, it is also possible to exert an action / effect derived from each configuration shown in the “mode for carrying out the invention” described later, which cannot be obtained by the conventional technique. It can be positioned as a purpose.

The vehicle travel control system disclosed here automatically travels the vehicle at a predetermined set vehicle speed, and is rotatable with respect to the vehicle speed sensor that detects the actual vehicle speed of the vehicle and the steering wheel of the vehicle. It is provided with a grip input device which has a tubular member and outputs a signal according to the rotation angle of the tubular member. It also includes a rotation angle sensor that detects the rotation angle of the tubular member, and a setting device that sets the target vehicle speed according to the rotation angle of the tubular member detected by the rotation angle sensor. Further, when the actual vehicle speed detected by the vehicle speed sensor is less than a predetermined speed, a lock device that restrains the rotation of the tubular member with respect to the steering wheel and invalidates the operation by the grip input device is provided.

When the vehicle speed is less than a predetermined speed, the operation by the grip input device can be invalidated by restraining the rotation of the tubular member, and erroneous operation can be prevented. On the other hand, when the vehicle speed is equal to or higher than a predetermined speed, the restraint can be released and the operation by the input device can be enabled. Therefore, the operability and comfort of cruise control can be improved.

It is a schematic diagram for demonstrating the structure of the travel control system of a vehicle. It is a schematic diagram of a steering wheel. It is sectional drawing of the grip input device. It is a flowchart of the control concerning the determination whether or not the grip input is possible.

[1. Constitution]
The vehicle travel control system disclosed here implements cruise control that automatically travels the vehicle at a target vehicle speed without depending on the driver's operation. In cruise control, the driving force, braking force, and steering angle are automatically controlled so that the actual vehicle speed of the vehicle almost matches the target vehicle speed. To this cruise control, control for adjusting the driving force and braking force may be added so that the distance between the front and rear vehicles is secured. Further, a control for controlling the steering angle may be added so that the vehicle does not deviate from the traveling lane (or the distance between the vehicles on the left and right sides is secured).

As shown in FIG. 1, this travel control system includes a setting device 7, a positioning device 8, a display device 9, and a cruise control device 10. All of these are electronic control devices (computers) related to cruise control, and can communicate with each other via an in-vehicle network. Each electronic control device has a built-in microprocessor (central processing unit), memory (main memory), storage device (storage), interface device, etc., and can operate independently and cooperate with each other. It is also possible to work. The functions of the plurality of electronic control devices may be integrated into a smaller number (for example, one) of electronic control devices.

The cruise control device 10 manages the main control of the cruise control. A cruise control switch 11, a vehicle speed sensor 12, a steering angle sensor 13, an engine 14, a traveling motor 15, a steering actuator 16, and the like are connected to the cruise control device 10. The cruise control switch 11 is a two-position switch used for switching between enabling and disabling cruise control. When the cruise control switch 11 is operated during the cruise control, the cruise control device 10 functions to stop the cruise control during the cruise control. Further, when the cruise control switch 11 is operated while the cruise control is stopped, it functions to start the cruise control.

The vehicle speed sensor 12 is a sensor that detects the actual vehicle speed of the vehicle, and the steering angle sensor 13 is a sensor that detects the steering angle of the steering wheel 1. The engine 14 and the traveling motor 15 are examples of vehicle drive sources, and at least one of them is a control target of the cruise control device 10. The steering actuator 16 is an example of an actuator for rotationally driving the steering wheel 1 without depending on the steering operation of the driver. When the steering angle is not controlled, the steering actuator 16 is excluded from the control target of the cruise control device 10.

The cruise control device 10 has a function of matching (or approaching) the actual vehicle speed to the target vehicle speed by adjusting the driving force of the drive source according to the difference between the actual vehicle speed and the target vehicle speed of the vehicle. As a result, the vehicle automatically travels at the target vehicle speed. The brake device may be included in the control target of the cruise control device 10. Further, the cruise control device 10 may also have a function of adjusting the driving force and steering angle of the driving source according to the inter-vehicle distance from other vehicles existing around the vehicle, the position of the white line, and the like. The inter-vehicle distance and white line position are detected and measured by radar devices (millimeter wave radar, microwave radar, laser radar, etc.) mounted on the vehicle and cameras.

The positioning device 8 measures the current position of the vehicle based on detection information such as GNSS (Global Navigation Satellite System), vehicle speed sensor 12, and steering angle sensor 13. The storage device built into the positioning device 8 stores map information obtained by reducing the shape and arrangement of roads through which vehicles can pass. By referring to the map information, the position and travel route of the vehicle can be accurately specified. The display device 9 is a display for transmitting visual information such as characters and images to the driver. The display device 9 displays the position of the vehicle, map information of the surrounding area, and the like. In addition, the target vehicle speed of cruise control is displayed during cruise control.

The setting device 7 sets the target vehicle speed when cruise control is being implemented. The rotation angle sensor 5, grip sensor 3, lock device 4, and grip input switch 6 of the grip input device 2 are connected to the setting device 7. In a typical vehicle equipped with cruise control, a dedicated switch for setting the target vehicle speed is provided between the instrument panel and the bridging portion of the steering wheel 1 (between the annular wheel portion 17 shown in FIG. 2 and the airbag storage portion). Is placed in the part that connects the wheels in the left-right direction. On the other hand, in this system, the target vehicle speed can be set by using the grip input device 2 provided on the steering wheel 1. Therefore, in the present embodiment, the description of the dedicated switch provided in the instrument panel and the bridging portion of the steering wheel 1 will be omitted, and the configuration of the grip input device 2 will be described in detail.

As shown in FIG. 2, the steering wheel 1 of the vehicle is provided with a grip input device 2 and a grip sensor 3. The grip input device 2 has a hollow tubular grip 18 (cylindrical member) attached to the wheel portion 17 of the steering wheel 1. The grip 18 is rotatably attached to the wheel portion 17. The rotation center of the grip 18 is arranged in a plane perpendicular to the rotation axis of the steering wheel 1. The rotation center of the grip 18 of the present embodiment is provided substantially parallel to the extending direction of the portion of the wheel portion 17 to which the grip 18 is attached. The position of the grip 18 is set to a position where the driver can easily grasp it with his / her right hand.

The grip 18 is provided so as to be rotatable in two directions, a forward direction and a reverse direction, from the neutral position (neutral position). As shown in FIG. 3, a lock device 4, a rotation angle sensor 5, and a spring 20 are provided inside the grip 18. The lock device 4 is a device for restraining (locking) the rotation of the grip 18 with respect to the wheel portion 17. The lock device 4 includes a claw member rotatably supported by the wheel portion 17 and an actuator that drives the claw member in the rotational direction. Further, a recess 19 that engages with the claw member is formed inside the grip 18. The rotation of the grip 18 is restricted by engaging the tip of the claw member with the recess 19 with an actuator.

The rotation angle sensor 5 is a sensor that detects the rotation angle of the grip 18 with respect to the wheel portion 17, and is, for example, a rotary encoder or a potentiometer. Further, the spring 20 is an urging member that urges the grip 18 so that the position in the rotation direction is in the neutral position. When the grip 18 is rotated in the forward direction, the spring 20 urges the grip 18 in the opposite direction, and when the grip 18 is rotated in the reverse direction, the spring 20 urges the grip 18 in the forward direction. To do. In either state, the rotation angle of the grip 18 with respect to the wheel portion 17 is detected by the rotation angle sensor 5.

The grip input switch 6 is a two-position switch used for switching between enabling and disabling grip input. Further, the grip sensor 3 is a sensor that detects the grip state of the driver with respect to the steering wheel 1. The position of the grip sensor 3 is set to a position where the driver can easily grasp it with his / her left hand. The detection method of the grip sensor 3 is a pressure-sensitive type, a capacitance type, or the like. The information detected by the grip sensor 3 is used to confirm that the driver is in an appropriate posture suitable for performing grip input (the rotation operation with respect to the grip input device 2 is not an erroneous operation).

The condition for the locking device 4 to unlock the grip 18 is that at least the following conditions 1 and 2 are satisfied. Conditions 3 to 6 can be omitted as appropriate depending on the embodiment. In the present embodiment, the setting device 7 determines the success or failure of the conditions 1 to 6, and outputs a control signal to the lock device 4 when all the conditions 1 to 6 are satisfied. As a result, the lock of the grip 18 is released, and the operation by the grip input device 2 is enabled. On the contrary, when at least any of the conditions 1 to 6 is not satisfied, the grip 18 is locked (or the locked state is held), and the operation by the grip input device 2 is invalidated.

Condition 1. Conditions for implementing cruise control are satisfied Condition 2. Condition that the actual vehicle speed is equal to or higher than the specified vehicle speed (for example, 80km / h). Grip input switch 6 is on Condition 4. Steering angle must be within the specified range (near neutral) Condition 5. The curvature of the road ahead is less than the specified value (straight course) Condition 6. The grip sensor 3 detects the driver's grip.

The above condition 1 is a condition for confirming that cruise control is being implemented. Condition 1 includes, for example, that the vehicle is not stopped (for example, 40 km / h or more), that the cruise control switch 11 is on, that the vehicle is traveling on a highway (or a motorway), and the like. Is included. Condition 2 is a condition for confirming that the driver intends to input the grip. Conditions 3 to 5 are conditions for confirming that the running state of the vehicle is stable. When the actual speed condition is included in the cruise control implementation condition, the predetermined speed of the condition 3 is set to a speed higher than the speed related to the actual speed condition.

Condition 4 is a condition for confirming that the steering angle is located near the neutral position, and is determined based on the steering angle detected by the steering angle sensor 13. The predetermined range of the condition 4 includes a neutral angle. Condition 5 can be determined by collating the current position of the vehicle measured by the positioning device 8 with the map information and acquiring the curvature of the road ahead of the current position (the reciprocal of the radius of curvature). Condition 6 is a condition for preventing erroneous detection, and is determined based on the detection result of the grip sensor 3.

[2. flowchart]
FIG. 4 is an example of a flow chart of control relating to determination of whether or not grip input is possible. This control is repeatedly performed at a predetermined cycle when the main power supply (main switch, ignition key switch) of the vehicle is turned on. Steps A1 to A6 are steps for determining the above conditions 1 to 6. First, in step A1, it is determined whether or not the cruise control implementation conditions are satisfied. For example, when the cruise control switch 11 is off or the actual vehicle speed is less than 40 km / h, the condition of step A1 is not satisfied and the grip 18 is locked (step A11). Further, the display device 9 displays that the grip input is invalid (step A12).

When the condition of step A1 is satisfied, the process proceeds to step A2, and it is determined whether or not the actual vehicle speed is equal to or higher than the predetermined vehicle speed. For example, when the actual vehicle speed is less than 80 km / h, the condition of step A2 is not satisfied, the grip 18 is locked, and the grip input is invalidated. On the other hand, when the actual vehicle speed is 80 km / h or more, the process proceeds to step A3, and it is determined whether or not the grip input switch 6 is on. After that, in step A4, it is determined whether or not the steering angle is within the predetermined range, in step A5, it is determined whether or not the curvature of the road ahead is less than the predetermined value, and in step A6, the grip sensor 3 is used by the driver. Whether or not gripping is detected is determined. When all the conditions of steps A1 to A6 are satisfied, the process proceeds to step A7, and the grip 18 is unlocked (step A7). Further, the display device 9 indicates that the grip input is enabled (step A8).

In step A9, the target vehicle speed for cruise control is set according to the rotation angle detected by the rotation angle sensor 5. For example, while the grip 18 is being operated in the forward direction, an increment process for gradually increasing the target vehicle speed is performed. On the contrary, while the grip 18 is operated in the opposite direction, a decrement process is performed to gradually reduce the target vehicle speed. The correspondence between the rotation direction of the grip 18 and the increase / decrease in the target vehicle speed may be reversed. Further, the time pitch and the amount of increase / decrease when the target vehicle speed is changed stepwise may be set according to the absolute value of the amount of rotation from the neutral position. For example, the larger the absolute value of the rotation amount, the shorter the time pitch may be, or the larger the increase / decrease amount may be. After that, the driving force of the vehicle is adjusted based on the target vehicle speed set in step A9. As a result, cruise control is performed so that the actual vehicle speed approaches the target vehicle speed changed by the grip input.

[3. effect]
(1) In the above-mentioned travel control system, the lock release condition of the grip 18 is that the actual vehicle speed is equal to or higher than the predetermined speed when determining whether or not the grip input is possible when the cruise control is performed. That is, when the actual vehicle speed is less than the predetermined speed, the lock of the grip 18 by the lock device 4 is not released. In this way, by restraining the rotation of the grip 18 when the actual vehicle speed is less than the predetermined speed, the operation by the grip input device 2 can be invalidated, and erroneous operation can be prevented. Therefore, the operability and comfort of cruise control can be improved.

Further, when the actual vehicle speed is equal to or higher than the predetermined speed, the operation by the grip input device 2 can be enabled. That is, the driver can change the target speed in a natural posture with his / her hand on the steering wheel 1. Therefore, the operability and comfort of cruise control can be improved. The operation feeling of the grip input device 2 is similar to the accelerator operation (operation of the handle grip) of a motorcycle, and it is possible to improve the sense of presence, the enjoyment of operation, and the enjoyment of driving.

(2) In the above-mentioned travel control system, the condition for releasing the lock of the grip 18 is that the steering angle is within a predetermined range near the neutral position. That is, when the steering wheel 1 is rotated in either the left or right direction, the lock of the grip 18 by the lock device 4 is not released. In this way, by restraining the rotation of the grip 18 when the vehicle turns, it is possible to prevent erroneous operation and grip input in an unreasonable posture. Therefore, the operability and comfort of cruise control can be improved.

(3) In the above-mentioned travel control system, the unlocking condition of the grip 18 is that the curvature of the road ahead is less than a predetermined value. That is, when the road ahead is curved, the lock of the grip 18 is maintained even if the vehicle is traveling straight at that time. In this way, by restraining the rotation of the grip 18 when the vehicle is likely to turn, it is possible to prevent erroneous operation and grip input in an unreasonable posture. Therefore, the operability and comfort of cruise control can be improved.

(4) In the above-mentioned travel control system, the unlocking condition of the grip 18 is that the grip sensor 3 detects the driver's grip. That is, the lock of the grip 18 is maintained unless the driver touches the grip sensor 3 with his left hand. By checking the gripping state of the driver with respect to the steering wheel 1 in this way, it is possible to prevent erroneous operation and grip input in an unreasonable posture. Therefore, the operability and comfort of cruise control can be improved.

[4. Modification example]
The above embodiment is merely an example, and there is no intention of excluding the application of various modifications and techniques not specified in the present embodiment. Each configuration of the present embodiment can be variously modified and implemented without departing from the gist thereof. In addition, it can be selected as needed, or can be combined as appropriate. For example, in the above-described embodiment, the steering wheel 1 provided with the grip input device 2 and the grip sensor 3 is illustrated, but the grip sensor 3 is not an essential element and can be omitted as appropriate. Further, the grip input device 2 can be attached to an arbitrary position on the wheel portion 17. The same applies to the grip sensor 3. At least, a travel control system that restrains the rotation of the grip 18 when the vehicle speed is less than a predetermined vehicle speed and invalidates the operation by the grip input device can achieve the same effect as that of the above-described embodiment.

Further, regarding the unlocking condition of the grip 18, instead of (or in addition to) the determination based on the steering angle and the curvature of the road ahead, the determination based on the yaw rate, roll rate, pitch angle, etc. of the vehicle may be performed. A wide variety of conditions are assumed for confirming that the running condition of the vehicle is stable. At least, the operability and comfort of cruise control can be improved by restraining the rotation of the grip 18 and disabling the operation by the grip input device when the running state of the vehicle is not stable.

1 Steering wheel 2 Grip input device 3 Grip sensor 4 Lock device 5 Rotation angle sensor 6 Grip input switch 7 Setting device 8 Positioning device 9 Display device 10 Crucon device 11 Crucon switch 12 Vehicle speed sensor 13 Steering angle sensor 14 Engine 15 Driving motor 16 Steering actuator 17 Wheel part 18 Grip (cylinder member)
19 recess 20 spring

Claims (4)

In a driving control system that automatically drives the vehicle at the target vehicle speed
A vehicle speed sensor that detects the actual vehicle speed of the vehicle and
A grip input device having a tubular member that is rotatable with respect to the steering wheel of the vehicle,
A rotation angle sensor that detects the rotation angle of the tubular member, and
A setting device that sets the target vehicle speed according to the rotation angle of the tubular member detected by the rotation angle sensor, and
When the actual vehicle speed detected by the vehicle speed sensor is less than a predetermined speed, a lock device that restrains the rotation of the tubular member with respect to the steering wheel and invalidates the operation by the grip input device.
A vehicle travel control system characterized by being equipped with. A steering angle sensor for detecting the steering angle of the steering wheel is provided.
The locking device is characterized in that the rotation of the tubular member with respect to the steering wheel is restrained when the steering angle detected by the steering angle sensor is not within a predetermined range including a neutral angle. Item 1. The vehicle traveling control system according to item 1. It has map information in which information on roads through which the vehicle can pass is recorded, and is provided with a positioning device for measuring the current position of the vehicle.
The locking device is characterized in that, when the curvature on the road ahead of the current position of the vehicle is equal to or greater than a predetermined value, the locking device restrains the rotation of the tubular member with respect to the steering wheel. The vehicle driving control system described in. A grip sensor for detecting the grip state of the driver with respect to the steering wheel is provided.
The locking device is any one of claims 1 to 3, wherein the locking device restrains the rotation of the tubular member with respect to the steering wheel when the gripping sensor does not detect the driver's grip. The vehicle driving control system described in.

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