JP2522490B2 - Automatic vehicle speed controller - Google Patents

Description

Detailed Description of the Invention

[Object of the invention]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic vehicle speed control device used for automatically controlling a traveling speed of a vehicle to a set speed. (Prior Art) Conventionally, various types of vehicle speed automatic control devices of this type have various configurations. Among them, there are a vehicle speed sensor that outputs operation data proportional to the actual vehicle speed, and a command that outputs a cruise command signal. A switch, a vehicle speed storage means for storing operation data of the vehicle speed sensor in response to an operation of the command switch, an actuator for driving a throttle valve, and a command for the actuator corresponding to a difference between an actual vehicle speed and a stored vehicle speed. There was a vehicle speed automatic control device provided with a control means for sending the. In this vehicle speed automatic control device, the vehicle speed at the time of the OFF operation is stored by turning ON the set switch of the command switches and then turning it OFF, and the control means corresponding to the difference between the stored vehicle speed and the actual vehicle speed. Sends a command to the actuator, drives the slot valve by the operation of the actuator, adjusts the actual vehicle speed to the memory vehicle speed, and runs at a constant speed. In addition, when accelerating temporarily due to overtaking during constant speed driving, the actual vehicle speed is increased by directly driving the slot valve by depressing the accelerator pedal.In this condition, the actual vehicle speed is the stored vehicle speed. When the vehicle speed is equal to or higher than the predetermined vehicle speed iKm / h, the control means returns the actuator to the zero position (cancel position) and increases the actual vehicle speed by giving priority to the accelerator pedal depression regardless of the actuator operation. , The actual vehicle speed is changed to the memory vehicle speed by stopping the accelerator pedal depressing operation
When the vehicle speed is less than jKm / h (where i> j),
The actuator at the zero position is returned to the operating position corresponding to the memory vehicle speed, and the vehicle again moves to constant speed traveling based on the memory vehicle speed. Therefore, it is very convenient for traveling on a highway or the like at a constant vehicle speed, or for temporarily accelerating due to overtaking during traveling at the constant speed. (Problems to be solved by the invention) However, in the above-described conventional vehicle speed automatic control device, the actual vehicle speed is less than the vehicle speed obtained by adding the predetermined vehicle speed jKm / h to the memory vehicle speed after the temporary acceleration due to overtaking or the like is finished. When it becomes, the actuator that has returned to the zero position is returned to the position corresponding to the memory vehicle speed. However, for example, when a negative pressure control type actuator is used, the actuator does not respond to the instruction of the control means. Since there is a time zone, there is a problem in that the amount of actuation of the actuator is insufficient and the actual vehicle speed becomes lower than the memory vehicle speed, so-called an undershoot state occurs. In addition, in order to solve the above problems, the control formula (K
α + ∈) · The K constant in G is set to a value that is larger than that suited for constant speed running, and the undershoot is rapidly converged by performing quick control according to the difference between the actual vehicle speed and the memory vehicle speed. However, since the K constant is set to a large value, the actuator will be sensitively operated even if the actual vehicle speed changes slightly due to changes in road conditions during constant speed running. Therefore, there is a problem that the riding comfort is impaired when the vehicle runs at a constant speed. (Object of the Invention) Therefore, the present invention has been made by paying attention to the above-mentioned conventional problems, in which temporary acceleration is performed during constant speed running, and then the constant speed running is resumed after the acceleration is completed. It is an object of the present invention to provide an automatic vehicle speed control device capable of preventing an undershoot condition at the time of driving and preventing deterioration of riding comfort during constant speed running.

Structure of the Invention (Means for Solving Problems) The structure of an automatic vehicle speed control system according to the present invention for achieving the above object will be described with reference to a functional block diagram shown in FIG. A vehicle speed sensor 1 that outputs operation data proportional to, a command switch 2 that outputs a cruise command signal, and a vehicle speed storage unit 3 that stores the operation data of the vehicle speed sensor 1 in response to an operation of the command switch 2. An actuator 5 that drives the slot valve 4 sends a command to the actuator 5 in response to the difference between the actual vehicle speed and the stored vehicle speed, and the actual vehicle speed becomes the stored vehicle speed at a predetermined vehicle speed.
When the vehicle speed exceeds iKm / h, the actuator 5 is canceled, and when the actual vehicle speed falls below the vehicle speed obtained by adding the predetermined vehicle speed jKm / h to the stored vehicle speed (where i> j), And a control means 6 for performing a small-time initialization control for the actuator 5 at the same time when the actuator 5 is activated. (Operation) In the vehicle speed automatic control system according to the present invention, as shown in FIG. 1, while the vehicle is traveling at a constant speed based on the vehicle speed stored in the vehicle speed storage means 3, the vehicle speed is temporarily accelerated for overtaking, for example. In this case, when the actual vehicle speed becomes equal to or higher than the vehicle speed obtained by adding the predetermined vehicle speed iKm / h to the stored vehicle speed, the control means 6 sets the actuator 5 in the cancel state and returns it to the zero position, regardless of the operation of the actuator 5. The pedal drives the throttle valve 4 to increase the actual vehicle speed, and from this state the acceleration is terminated and the vehicle decelerates, and the actual vehicle speed is equal to or less than the memory vehicle speed plus the predetermined vehicle speed jKm / h (where i> j) Then, the control means 6 causes the actuator 5 to operate again.
Is returned to the constant speed running, and at the same time, the actuator 5
On the other hand, the control means 6 performs initialization control for a minute time. Therefore, the actuator 5 in the canceled state is
When returning from the zero position to the operating position corresponding to the memory vehicle speed,
Actuator 5 which does not react according to the instruction of the control means 6
Insufficient operation amount due to non-operation time of is compensated by initialization control of minute time. (Example) Hereinafter, the present invention will be described with reference to the drawings. 2 to 5 are views showing an embodiment of the present invention. FIG. 2 is an explanatory diagram showing a circuit configuration of the vehicle speed automatic control device. In FIG. 2, 11 is a vehicle speed sensor that outputs operation data proportional to the actual vehicle speed (corresponding to the vehicle speed sensor 1 shown in FIG. ) And 12 are command switches (corresponding to the command switch 2 shown in FIG. 1) for outputting a cruise command signal. The command switch 12 includes a set switch 12a, a resume switch 12b and an accelerator switch 12c. Outputs from the vehicle speed sensor 11 and the command switch 12 are input to a microcomputer 16 which is also a control unit in the controller 13 via an interface 14 and an interface 15 in the controller 13, respectively. The microcomputer 16 includes a set switch 12a of the command switches 12
Vehicle speed storage means (vehicle speed storage means shown in FIG. 1) that stores the vehicle speed (actual vehicle speed) at the time of the OFF operation in response to the OFF operation after the ON operation of the vehicle as operation data (pulse signal number). 3)) and the number of pulse signals proportional to the actual vehicle speed output from the vehicle speed sensor 11 and the number of pulse signals proportional to the stored vehicle speed stored in the vehicle speed storage means, and will be described later in correspondence with the difference. When the actual vehicle speed becomes equal to or higher than the vehicle speed obtained by adding a predetermined vehicle speed iKm / h to the memory vehicle speed due to temporary acceleration such as overtaking during constant speed traveling based on the memory vehicle speed. In addition, the relay 35, which will be described later, is turned off to set the actuator 20 to the cancel state, and the actual vehicle speed is reduced to the stored vehicle speed by the predetermined vehicle speed jKm / h due to the deceleration after the completion of the acceleration.
When the vehicle speed is equal to or lower than the vehicle speed (where i> j), the relay 35 is turned on to activate the actuator 20, and at the same time, a control means for performing minute initialization control on the actuator 20 ( Corresponding to the control means 6 shown in FIG. 1). 20 is an actuator (actuator 5 shown in FIG. 1)
This actuator 20 includes a vent valve 21 and a safety valve 22 as shown in FIG.
And a vacuum valve 23, one end of each of the vent valve 21 and the safety valve 22 is open to the atmosphere, and one end of the vacuum valve 23 is connected to an intake manifold hold (negative pressure source). In addition, each valve 21,2
The other ends of 2, 23 are in communication with a negative pressure chamber 27 formed by the casing 25 and one side of the diaphragm 26 (right side of FIG. 3), and the other side of the diaphragm 26 (left side of FIG. 3). ) Is connected to one end of the control wire 28,
The other end of the control wire 28 is connected to a throttle valve shaft 29 that drives a throttle valve (not shown) (corresponding to the throttle valve 4 shown in FIG. 1). Further, 31 is in the controller 13 and turns on / off the vent valve 21 according to the output from the microcomputer 16.
The vent valve switching part for controlling F, 32 is also in the controller 13, and the vacuum valve switching part for controlling ON / OFF of the vacuum valve 23 according to the output from the microcomputer 16, 33 is also in the controller 13. Power supply to the actuator 20 according to the output from the microcomputer 16
This is a switching unit for an actuator to be controlled, and ON / OFF of power supply at this time is performed via a relay 35 including a relay coil 35a and a relay switch 35b. Reference numeral 37 denotes a brake switch, 38 denotes a brake lamp, and a signal for canceling the system when a brake is operated is transmitted through an interface 39 in the controller 13.
Is input to the microcomputer 16 via. Further, 41 is a constant voltage circuit, 42 is a reset circuit, 43 is a power supply, 44 is a main switch for a control device, and 45 is a cruise lamp. Next, the function realizing means built in the microcomputer 16 will be described in detail with reference to the flowchart shown in FIG. This program starts operation by turning on the main switch 44, and in this state, the vehicle speed sensor
11 outputs a pulse signal which is operation data proportional to the actual vehicle speed, and the microcomputer 16 constantly recognizes this pulse signal. First, in step 101, the RELAY OFF flag for recognizing the OFF control of the relay 35 that controls ON / OFF of the power supply to the actuator 20 is reset, and the next step 1
In 02, let the start of the initialization control be recognized when the relay 35 during cruise turns from the OFF state to the ON state.
Reset the RELAY INI flag.
Then, in the next step 103, it is determined whether or not the cruise is in progress, and if it is determined that the cruise is not in progress (N
In O), the process returns to step 101 and waits in a loop state between steps 101 and 103 until the cruise state is reached. If it is determined in step 103 that the cruise is in progress (YES), in step 104, whether the actual vehicle speed during the cruise is equal to or higher than the vehicle speed obtained by adding a predetermined vehicle speed iKm / h to the stored vehicle speed, That is, it is determined whether or not the predetermined vehicle speed iKm / h ≤ actual vehicle speed-memorized vehicle speed, and if it is determined that the actual vehicle speed is equal to or higher than the vehicle speed obtained by adding the predetermined vehicle speed iKm / h to the stored vehicle speed (YES), the step In step 105, the RELAY OFF flag is set to "1", in step 106, the RELAY INI flag is set to "1", and in step 107, the power supply to the actuator switching unit 33 is cut off and the relay 35 is turned off.
Then, the process returns to step 103. When it is determined in step 104 that the actual vehicle speed is less than the vehicle speed obtained by adding the predetermined vehicle speed iKm / h to the stored vehicle speed (NO), in step 120, the actual vehicle speed is added to the stored vehicle speed by the predetermined vehicle speed jKm / h. It is determined whether or not the vehicle speed is equal to or less than the vehicle speed (i> j), that is, jKm / h ≧ actual vehicle speed−memorized vehicle speed. When it is determined in step 120 that the actual vehicle speed exceeds the vehicle speed obtained by adding the predetermined vehicle speed jKm / h to the stored vehicle speed (NO), in step 121, is the RELAY OFF flag set to "1"? Determine whether or not. If it is determined in step 120 that the actual vehicle speed is less than or equal to the vehicle speed obtained by adding the predetermined vehicle speed jKm / h to the stored vehicle speed (YES), in step 130, whether the RELAY OFF flag is "1" or not To judge. If it is determined in step 120 that the RELAY OFF flag is "1" (YES), step 107
Move to In step 121, the RELAY O
When it is determined that the FF flag is not “1” (NO), in step 122, the actuator switching unit 33
The relay 35 is energized to turn on the relay 35, and in the next step 123, the vent valve switching unit 31 and the vacuum valve switching unit 32 are turned on / off to operate the valves 21, 22, 23 of the actuator 20. , Vehicle speed control is performed based on the stored vehicle speed, and the process returns to step 103. Further, if it is determined in step 130 that the RELAY OFF flag is not "1" (NO), step 122
Move to When it is determined that the RELAY OFF flag is "1" in step 130 (YES), it is determined in step 131 whether the RELAY INI flag is "1". If it is determined in step 131 that the RELAY INI flag is not "1" (NO), step 122
Move to When it is determined in step 131 that the RELAY INI flag is "1" (YES), both the RELAY OFF flag and the RELAY INI flag are reset in step 132, and in the next step 133, for the actuator. RELAY for a short time to compensate for the insufficient operation of the actuator 20 when the switching unit 33 is energized to turn on the relay 35 and at the same time the actuator 20 is reactivated.
Calculate OFF INI (initialize) and proceed to the next step 134.
In step, the RELAY OFF INI calculated in step 133 is added to the actuator 20, and the process returns to step 103. Next, various operations of the vehicle speed automatic control system configured as described above will be described with reference to FIG. First, the case of constant speed traveling will be described. First, in order to operate the vehicle speed automatic control device, the main switch 44 is turned on. At this time, the vehicle speed sensor 11 outputs a pulse signal that is operation data proportional to the actual vehicle speed, and this pulse signal is input to the microcomputer 16 in the controller 13 and sampled at a fixed time, and is proportional to the actual vehicle speed. The microcomputer 16 constantly recognizes the number of pulse signals. In this state,
After turning on the set switch 12a and inputting a set signal to the microcomputer 16, the set switch 12a
When a is turned off and the set signal is released, the cruise lamp 45 is turned on, and at the same time, it is determined that step 103 of the program shown in FIG. 4 is under cruise (YES), and the actual vehicle speed and memory at this time are stored. Since there is no difference between the vehicle speed and
Step 104 determines “NO”, step 120 determines “YES”, and the RRELAY OFF flag and RELAY INI flag are reset in step 101 and step 102, respectively, so step 130 determines “NO”. Judge,
In step 122, the actuator switching unit 33 is energized to excite the relay coil 35a of the relay 35, the relay switch 35b is attracted to activate the actuator 20, and the vehicle speed is controlled in step 123. That is, the vent valve 21 and the safety valve 22
Is turned on to close the negative pressure chamber 27 from the atmosphere, and the vacuum valve 23 is turned on to open to introduce a negative pressure into the negative pressure chamber 27 through the control wire 28. The throttle valve shaft 29 is held in place. After this, even if the accelerator pedal is released, the slot valve shaft 29 is held at a predetermined position, so that constant speed traveling is performed. Then, after this, a command is sent to the actuator 20 so that the number of pulse signals proportional to the detected actual vehicle speed becomes equal to the stored number of pulse signals (that is, the stored vehicle speed), and the vent valve switching is performed. Vent valve 21 and vacuum valve 23 via section 31 and vacuum valve switching 32, respectively
By controlling ON / OFF, the negative pressure state in the negative pressure chamber 27 of the actuator 20 is controlled.For example, when the actual vehicle speed is lower than the stored vehicle speed by a predetermined value, the vacuum valve controlled by the microcomputer 16 The vacuum valve 23 is
A negative pressure is introduced into the negative pressure chamber 27 in the ON state, whereby the throttle valve shaft 29 is slightly rotated in the valve opening direction to increase the vehicle speed. On the other hand, when the actual vehicle speed becomes higher than the stored vehicle speed by a predetermined value, the vent valve switching unit 31 controlled by the microcomputer 16 operates to turn off the bend valve 21 and introduce the atmosphere into the negative pressure chamber 27. As a result, the throttle valve shaft 29 is slightly rotated in the valve closing direction to reduce the vehicle speed. The vehicle speed is controlled to be constant by repeating such an operation. Next, temporary acceleration due to depression of the accelerator pedal when overtaking will be described. When the accelerator pedal is depressed while driving at a constant speed and the actual vehicle speed is equal to or greater than RELAY OFF LINE, that is, the vehicle speed obtained by adding a predetermined vehicle speed iKm / h to the stored vehicle speed, as shown in FIG. Step 104 shown in the figure determines "YES",
The RELAY OFF flag and RELAY INI flag are set to "1" in step 105 and step 106, and step 107 is the relay.
Turn 35 off. In other words, the energization to the actuator switching unit 33 is cut off and the relay 35 is turned off. Therefore, the energization to each valve 21, 22, 23 of the actuator 20 is cut off, and the negative pressure chamber
The atmosphere is introduced into 27 and the actuator 20 returns to the zero position. Therefore, the actuator 20 does not interfere with the operation of the slot valve shaft 21 by the accelerator pedal, and the acceleration corresponding to the depression operation of the accelerator pedal is performed. Then, when temporary acceleration such as overtaking is completed and the actual vehicle speed becomes equal to or less than RELAY ON LINE, that is, the vehicle speed obtained by adding the predetermined vehicle speed jKm / h to the memory vehicle speed, as shown in FIG.
Since step 104 shown in FIG. 4 determines "NO" and step 120 determines "YES", both the RELAY OFF flag and the RELAY INI flag at this time are "1".
Both step 130 and step 131 determine “YES”,
The RELAY OFF flag and the RELAY INI flag are reset in step 132, the relay 35 is turned on in step 133, the RELAY OFF INI is calculated, and the RELAY OFF INI is calculated in step 134.
OFF INI is output. That is, when the actual vehicle speed becomes equal to or lower than RELAY ON LINE, the actuator switching unit 33 is energized to turn on the relay 35, and at the same time, the vacuum valve switching unit 32 is set to a minute time, that is, the stored vehicle speed at that time. In the time corresponding to the above, for example, in the case of the large negative pressure control type actuator 20, it is turned on in about 100 mmsec. Therefore, even when the K constant in the control equation (K · α + ε) · G is set to a value suitable for constant speed running, as in the case where the same K constant is set in the prior art shown by the broken line in FIG. It is possible to prevent the actual vehicle speed from temporarily falling below the stored vehicle speed in an undershoot state, and to smoothly transition the actual vehicle speed to the stored vehicle speed. In the above-described embodiments, the negative pressure control type actuator 20 is described as an example, but a positive pressure control type actuator, a negative pressure control type actuator driven by a pump, and the like are also technically applicable to the present invention. It goes without saying that it is included in the range.

【The invention's effect】

As described above, according to the vehicle speed automatic control device of the present invention, the vehicle speed sensor that outputs the operation data proportional to the actual vehicle speed, the command switch that outputs the cruise command signal, and the response to the operation of the command switch. Then, a vehicle speed storage means for storing operation data of the vehicle speed sensor, an actuator for driving a throttle valve, a command is sent to the actuator corresponding to the difference between the actual vehicle speed and the stored vehicle speed, and the actual vehicle speed is stored in the stored vehicle speed iKm. If the vehicle speed is equal to or higher than the vehicle speed including / h, the actuator is canceled, and if the actual vehicle speed is the vehicle speed obtained by adding the predetermined vehicle speed jKm / h to the memorized vehicle speed (however, i> j), operate the actuator. By providing a control means for performing an initialization control for a minute time to the actuator at the same time when it is in the operating state, When temporary acceleration such as overtaking while driving at constant speed, when the actual vehicle speed becomes equal to or less than the vehicle speed that is the memory vehicle speed plus the predetermined vehicle speed jKm / h after the acceleration ends, the actuator is initialized for a minute time. Therefore, even when the K constant in the control equation (K · α + ε) · G is set to a value suitable for constant speed running, it is possible to prevent an undershoot state when the actual vehicle speed is returned to the memory vehicle speed. Moreover, since the actuator does not show a hypersensitive reaction during constant speed traveling, an excellent effect that the riding quality during constant speed traveling is not impaired is obtained.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing a configuration according to an embodiment of a vehicle speed automatic control device according to the present invention, FIG. 2 is an explanatory diagram showing a circuit configuration of the vehicle speed automatic control device according to the present invention, and FIG. FIG. 4 is a sectional view showing the structure of the actuator shown in FIG. 4, FIG. 4 is a flow chart showing a control program incorporated in the microcomputer shown in FIG. 2, and FIG. 5 is a vehicle speed and a relay when temporarily accelerating during constant speed running, and It is a time progress figure showing the relation with a vacuum valve. 1 ... Vehicle speed sensor, 2 ... Command switch, 3 ... Vehicle speed storage means, 4 ... Throttle valve, 5 ... Actuator, 6 ... Control means.

Claims (1)

(57) [Claims] 1. A vehicle speed sensor that outputs operation data proportional to an actual vehicle speed, a command switch that outputs a cruise command signal, and a vehicle speed storage means that stores operation data of the vehicle speed sensor in response to an operation of the command switch. When,
An actuator for driving the throttle valve and an actuator when a command is sent to the actuator corresponding to the difference between the actual vehicle speed and the stored vehicle speed and the actual vehicle speed becomes equal to or higher than the vehicle speed obtained by adding a predetermined vehicle speed iKm / h to the stored vehicle speed. When the actual vehicle speed becomes equal to or less than the vehicle speed (i> j) where the predetermined vehicle speed jKm / h is added to the stored vehicle speed, the actuator is activated and at the same time the initialization control for the actuator is performed for a minute time. A vehicle speed automatic control device, comprising: