JP2634642B2 - Automatic vehicle speed control - 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 a vehicle speed automatic control device used for automatically controlling a traveling speed of a vehicle to a set speed. (Prior Art) Conventionally, as an automatic vehicle speed control device as described above, for example, there is one having a configuration described in JP-A-63-57341. The automatic vehicle speed control device includes a vehicle speed sensor that outputs vehicle speed data proportional to the actual vehicle speed, a set switch that outputs a cruise command signal, a resume switch that outputs a resume command signal, and a response to an operation of the set switch. A vehicle speed storage means for storing operation data of the vehicle speed sensor at the time of operation, an actuator for driving a throttle valve, and a constant speed control corresponding to a difference between an actual vehicle speed and a stored vehicle speed in response to the operation of the set switch. Control means for driving the actuator to match the actual vehicle speed with the stored vehicle speed, and in response to the operation of the resume switch, driving the actuator under constant acceleration control to return the actual vehicle speed to the stored vehicle speed before the automatic vehicle speed control is released During the constant acceleration control, an acceleration constant K 'is set, and the transition from the constant acceleration control to the constant speed control is performed as described above. Acceleration constant K during degrees control a configuration in which a determination means for determining on whether a ', the acceleration alpha, from the vehicle speed difference ε (K' · α + ε ) ≧ 0. In this vehicle speed automatic control device, by turning on the set switch and then turning it off, the vehicle speed at the time of the OFF operation is stored in the vehicle speed storage means, and the control means responds to the difference between the stored vehicle speed and the actual vehicle speed. Sends a command to the actuator,
By operating the actuator, the throttle valve is driven, and the actual vehicle speed is adjusted to the stored vehicle speed to perform the constant speed traveling. When the automatic vehicle speed control is released, the control means drives the actuator by operating the resume switch to return the actual vehicle speed to the stored vehicle speed before the automatic vehicle speed control was released.
At this time, the constant acceleration control is performed using the constant K ′ for constant acceleration control, and the transition from the constant acceleration control to the constant speed control is performed by the determination means based on the acceleration constant K ′, the acceleration α, and the vehicle speed difference ε. '· Α + ε) ≧ ₀ . (Problems to be Solved by the Invention) However, in the above-described conventional automatic vehicle speed control device, the determination means determines whether the transition from the constant acceleration control to the constant speed control is (K ′).
· Α + ε) it has been determined by determination of whether ≧ _0, because it is set to a specific fixed value in the acceleration constant K 'of the constant acceleration control, to the constant speed control from the constant acceleration control The transition point does not change due to the difference in the magnitude of the acceleration α at the time of the constant acceleration control, and there is a problem that the time required for the actual vehicle speed to converge to the stored vehicle speed after the transition to the constant speed control varies. (Object of the Invention) Therefore, the present invention absorbs the influence of the difference in the magnitude of the acceleration α at the time of the constant acceleration control by the resume operation, and reduces the actual vehicle speed after shifting from the constant acceleration control to the constant speed control. It is an object of the present invention to provide a vehicle speed automatic control device capable of keeping the convergence to match the stored vehicle speed constant.

Configuration of the Invention

(Means for Solving the Problems) The basic configuration of an automatic vehicle speed control device according to the present invention is described as a first embodiment.
Referring to the functional block diagram shown in FIG. 1, a vehicle speed sensor 1 that outputs vehicle speed data proportional to the actual vehicle speed, a set switch 2 that outputs a cruise command signal, a resume switch 3 that outputs a resume command signal, A vehicle speed storage means 4 for storing the vehicle speed data of the vehicle speed sensor 1 at the time of operation in response to the operation of the set switch 2, an actuator 6 for driving the throttle valve 5, and an actual vehicle speed in response to the operation of the set switch 2. In response to the difference between the vehicle speed and the stored vehicle speed, the actuator 6 is driven by the constant speed control to match the actual vehicle speed with the stored vehicle speed, and the actuator 6 is driven by the constant acceleration control in response to the operation of the resume switch 3. Control means 7 for returning the actual vehicle speed to the stored vehicle speed before the automatic release of the vehicle speed control, and acceleration during constant acceleration control by said control means 7. The acceleration constant K 'is calculated by a function K' = f (K, α) of the acceleration constant K and the acceleration α at the time of constant speed control, and the transition from the constant acceleration control to the constant speed control is performed by the acceleration at the time of the constant acceleration control. acceleration constant K has a feature that it has a structure in which a determination means 8 for determining on whether a _{'(· α + ε ≧ 0} , the acceleration alpha, K) from the vehicle speed difference epsilon', conventionally such an arrangement This is a means for solving the above problem. (Operation) The vehicle speed automatic control device according to the present invention has the above-described configuration. When the resume switch 3 is operated to return the actual vehicle speed to the stored vehicle speed before the automatic vehicle speed control is released, the determination means 8 performs the operation. Determination of transition from constant acceleration control to constant speed control (K ′ · α + ε) ≧ 0 acceleration acceleration constant K ′
Is a function K ′ = constant of acceleration constant K and acceleration α for constant speed control.
f (K, α), the acceleration acceleration constant K ′ during the constant acceleration control changes depending on the difference of the acceleration α at that time, and the transition point from the constant acceleration control to the constant speed control in the control means 7 is set to the optimum position. Set to. Hereinafter, the present invention will be described with reference to the drawings. <Embodiment 1> Figs. 2 to 5 are diagrams showing an embodiment of an automatic vehicle speed control device according to the present invention, and Fig. 2 is a diagram showing a circuit configuration of the automatic vehicle speed control device. In FIG. 2, reference numeral 11 denotes an automatic vehicle speed control device. The automatic vehicle speed control device 11 includes a vehicle speed sensor 12 (corresponding to the vehicle speed sensor 1 shown in FIG. 1) for outputting vehicle speed data proportional to the actual vehicle speed as a pulse signal, and a command switch for outputting a cruise command signal. 13 and the throttle valve shaft 14 of the vehicle shown in FIG. 3 (the throttle valve 5 shown in FIG. 1).
), And a brake switch 16 interlocked with a depression operation of a brake pedal (not shown).
A microcomputer 24 to which respective operation signals of the vehicle speed sensor 12, the command switch 13 and the brake switch 16 are inputted via respective interface circuits 21, 22, and 23, and a vent valve 15a (described later) of the actuator 15 by the microcomputer 24 Valve switching unit 2 for opening and closing the vacuum valve 15b
5a and a vacuum valve switching section 25b, an actuator relay 26 for supplying power to each valve 15a, 15b, 15c of the actuator 15 described later, and an actuator switching section for operating the actuator relay 26 by a microcomputer 24. 27, and a circuit configuration including a reset circuit 28 and a constant voltage circuit 29. The automatic vehicle speed control device 11 includes a main switch 30, a vehicle-mounted battery 31, a brake lamp 32.
A cruise lamp 33 is provided outside the controller 20. The command switch 13 includes a set switch 13a for outputting a cruise command signal (corresponding to the set switch 2 shown in FIG. 1), a resume switch 13b for outputting a resume command signal (corresponding to the resume switch 3 shown in FIG. 1), and Accelerator switch 13 that outputs acceleration command signal
c etc. are included. As shown in FIG. 3, the actuator 15 has
A vent valve 15a, a vacuum valve 15b, and a safety valve 15c are provided. One end of each of the vent valve 15a and the safety valve 15c is open to the atmosphere, and one end of the vacuum valve 15b is connected to an intake manifold (negative pressure source). Connected. In addition, each valve 15a, 15b, 15
The other end of c communicates with a negative pressure chamber 15f formed by the casing 15d and one side of the diaphragm 15e (the right side in FIG. 5), and the other side of the diaphragm 15e (the left side in FIG. 5).
Is connected to one end of a control wire 15g, and the other end of the control wire 15g is connected to the slot valve shaft 14. The microcomputer 24 has a vehicle speed storage means (corresponding to the vehicle speed storage means 4 shown in FIG. 1) for storing the vehicle speed at the time of the OFF operation when the set switch 13a of the command switch 13 is turned ON after the set switch 13a is turned ON. However, the vehicle speed at the time of the ON operation may be stored), and the stored vehicle speed of the vehicle speed storage means is compared with the actual vehicle speed from the vehicle speed sensor 12 in response to the operation of the set switch 13a. The speed control controls the vent valve switching unit 25a or the vacuum valve switching unit 25b to operate to control the actual vehicle speed to match the stored vehicle speed, and the vent valve switching is performed when the resume switch 13b is turned on after being turned on after being turned on. Control means for operating the unit 25a to return the actual vehicle speed to the stored vehicle speed before the automatic vehicle speed control is released by the constant acceleration control (shown in FIG. 1) And a constant K ′ at the time of constant acceleration control by the control means is calculated by a function K ′ = f (K, α) of the acceleration constant K at constant speed control and the acceleration α. Determining means for determining whether or not the transition from the constant acceleration control to the constant speed control is based on the acceleration / acceleration constant K ', the acceleration α, and the vehicle speed difference ε at the time of the constant acceleration control, where (K ′ · α + ε) ≧ _0. (Corresponding to the determination means 8 shown in FIG. 1). The actuator relay 26 is a relay coil that is excited by the operation of the actuator switching unit 27.
26a, and a relay switch 26b which is attracted by the relay coil 26a to turn on the valves 15a, 15b, 15c of the actuator 15. Next, the operation of the vehicle speed automatic control device 11 having the above configuration will be described with reference to FIG. First, to operate the automatic vehicle speed control device 11, the main switch 30 is turned on. At this time, the vehicle speed sensor 12 outputs a pulse signal which is vehicle speed data proportional to the actual vehicle speed, inputs this pulse signal to the microcomputer 24 in the controller 20, samples the pulse signal within a certain time, and outputs a pulse number proportional to the vehicle speed. The microcomputer 24 is recognized. In this state, the program shown in FIG. 4 is also operating, and the constant speed control state by the set operation of the set switch 13a will be described. In step 101, the cruise flag is reset ("0"), and then in step 102, it is determined whether or not the set switch 13a has been turned ON. Then, in the step 102, the set switch 1
If it is determined that 3a has been turned ON (YES), step 1
In 03, it is determined whether or not the cruise flag is “1” (automatic vehicle speed control state). If it is determined that the cruise flag is not “1” (NO), step 104
In, it is determined whether or not the set switch 13a is turned off. In step 104, the set switch 13a is turned off.
If it is determined that no operation has been performed (NO), a loop state is established between step 103 and the above until the set switch 13a is turned off. If it is determined in step 104 that the set switch 13a has been turned OFF (YES).
In the next step 105, the set switch 13a is
While the actual vehicle speed at the time of the OFF operation is stored in the vehicle speed storage means in the microcomputer 24 from the vehicle speed sensor 12,
The control means in the microcomputer 24 activates the actuator switching unit 27 to excite the relay coil 26a of the actuator relay 26, attract the relay switch 26b, and make the actuator 15 conductive. Further, in the next step 106, the cruise flag is set to “1”.
(Automatic vehicle speed control state) and returns to step 102. Then, in step 102, since the set switch 13a was turned off in step 104, the set switch 13a was turned off.
It is determined that a has not been turned ON (NO), and the next step 110
In, it is determined whether or not the resume switch 13b has been turned ON. In step 110, the resume switch 13b is
If it is determined that no ON operation has been performed (NO), the step
In step 111, it is determined whether or not the cancel operation has been performed. If it is determined that the cancel operation has not been performed (NO), in step 112, it is determined whether or not the cruise flag is "1", and If the flag is “1” (YES), at step 113, T = (K ·
The control amount T at the time of constant speed control is calculated from the control formula of α + ε) · G, and the vehicle speed control is started. Here, K is an acceleration constant at the time of constant speed control, α is acceleration, ε is a vehicle speed difference, and G is a gain constant. That is, while the cruise lamp 23 is turned on, the microcomputer 24 closes by turning on the vent valve 15a and the safety valve 15c, shuts off the negative pressure chamber 15f from the atmosphere, and turns on the vacuum valve 15b. This opens to introduce a negative pressure into the negative pressure chamber 15f, and the throttle valve shaft 14 is held at a predetermined position via the control wire 15g. Thereafter, even when the accelerator pedal is released, the throttle valve shaft 14 is maintained at the predetermined position, so that the vehicle travels at a constant speed. Thereafter, a command is sent to the actuator 15 so that the pulse number proportional to the detected actual vehicle speed becomes equal to the stored pulse number (that is, the stored vehicle speed), and the vent valve switching unit 25a By controlling the vent valve 15a and the vacuum valve 15b to ON / OFF via the vacuum valve switching unit 25b and controlling the negative pressure state in the negative pressure chamber 15f of the actuator 15,
For example, when the actual vehicle speed is lower than the stored vehicle speed by a predetermined value, the vacuum valve switching unit 25b controlled by the microcomputer 24 activates the vacuum valve 15b to open and open the negative pressure chamber 1
Negative pressure is introduced within 5f, which causes the throttle valve shaft 14
Is slightly rotated in the valve opening direction to increase the vehicle speed. On the other hand, when the actual vehicle speed becomes greater than the stored vehicle speed by a predetermined value, the vent valve 15a is turned on by the operation of the vent valve switching unit 25a controlled by the microcomputer 24 to open the negative pressure chamber 15f. The atmosphere is introduced, whereby the throttle valve shaft 14 is slightly rotated in the valve closing direction to lower the vehicle speed. The vehicle speed is controlled to be constant by repeating such an operation. When the set switch 13a is turned on in the above-described constant speed traveling state, in step 103a,
While closing the vacuum valve 15b of the actuator 15, and opening the vent valve 15a, the set switch 13a
The deceleration control of introducing the atmosphere into the negative pressure chamber 15f and returning the throttle valve shaft 14 to the valve closing direction to reduce the actual vehicle speed and the stored vehicle speed is performed for the operation time of. Next, the resume operation will be described with reference to FIG. In the above-described constant-speed running state, the brake is depressed or the clutch pedal is depressed (manual transmission vehicle), or the control lever is operated to the “P” (parking) position or the “N” (neutral) position (automatic transmission). When the cancel operation of the automatic vehicle speed control is performed by performing
It is determined that the cancel operation has been performed in (YES)
Then, in step 111a, the cruise flag is reset, and in the next step 111b, cancellation control is performed in which the energization to the actuator switching unit 27 is cut off and the energization to the valves 15a, 15b, 15c of the actuator 15 is cut off. . At this time, the actual vehicle speed gradually decreases as shown in FIG. 5, and when the resume switch 13b is turned on, step 1
At 10, it is determined that the ON operation of the resume switch 13b has been performed (YES), and at step 120, the acceleration acceleration constant K 'at the time of constant acceleration control is calculated by comparing the acceleration constant K at the time of constant speed control with the acceleration α at that time. It is calculated from the equation K ′ = f (K, α), and in the next step 121, it is determined whether or not the resume switch 13b has been turned off until the resume switch 13b is turned off. If it is determined in step 121 that the resume switch 13b has been turned off (YES)
In step 122, the control amount Tres at the time of constant acceleration control is calculated from the control formula of Tres = (K ′ · α + ε) · G using the acceleration acceleration constant K ′ at the time of constant acceleration calculated at step 120. A constant acceleration control is performed to calculate and return the actual vehicle speed to the stored vehicle speed. Further, in step 123, the transition from the constant acceleration control to the constant speed control is determined by using the acceleration constant K ′ for the constant acceleration control calculated in step 120, K ′ · α +
It is determined based on whether or not ε ≧ 0. As shown in FIG. 5, constant acceleration control is performed when the actual vehicle speed is K ′ · α + ε <0, and when the actual vehicle speed is K ′ · α + ε ≧ 0, as shown in FIG. It will shift to constant speed control. Therefore, since the transition from the constant speed control to the constant acceleration control at the time of resuming is determined based on whether or not K ′ · α + ε ≧ 0, the acceleration acceleration constant K ′ can be changed according to the change in the acceleration α. That is, when the control is shifted to the constant speed control, the convergence of the actual vehicle speed to the stored vehicle speed is improved as compared with the related art. <Embodiment 2> Fig. 6 is a diagram showing another embodiment of the automatic vehicle speed control device according to the present invention. In the second embodiment, as shown in the program of FIG. 6, when it is determined in step 123 that K'.alpha. +. Epsilon..gtoreq.0 (YES), the control is shifted from the constant addition control to the constant speed control. In the constant speed control performed in step 131,
Using the acceleration acceleration constant K 'at the time of the constant acceleration control calculated at step 120, the timer t reset ("0") at step 130 is added at step 132, and the timer t is set at step 133 to t ≧ Continue until i. Thereafter, at step 134, the cruise flag is set to "1", and the constant speed control is performed using the acceleration constant K at the time of the constant speed control. Therefore, in the second embodiment, the constant control using the acceleration acceleration constant K 'at the time of the constant acceleration control is performed until the predetermined time elapses after the transition from the constant acceleration control to the constant speed control. As compared with the case of 1, the convergence of the actual vehicle speed to the stored vehicle speed can be improved. <Embodiment 3> Fig. 7 is a view showing still another embodiment of the automatic vehicle speed control device according to the present invention. In the third embodiment, as shown in the program of FIG. 7, when it is determined in step 123 that K'.alpha. +. Epsilon..gtoreq.0 (YES), when shifting from the constant acceleration control to the constant speed control, In the constant speed control performed in step 141, the acceleration acceleration constant K ′ at the time of the constant acceleration control calculated in step 120 is used, and in the next step 142, the acceleration acceleration constant K ′ is added. At step 142, the changed acceleration acceleration constant K 'is used until it is determined (YES) that the acceleration acceleration constant K' added in step 142 becomes the acceleration constant K at the time of constant speed control. Therefore, in the third embodiment, after shifting from the constant acceleration control to the constant speed control, the acceleration constant K ′ for the constant acceleration control is changed so that the acceleration constant K ′ becomes equal to the acceleration constant K for the constant speed control. Until they become the same, the changed acceleration / acceleration constant K ′ is used, so that the convergence of the actual vehicle speed to the stored vehicle speed can be further improved as compared with the above-described first and second embodiments. In each of the first, second, and third embodiments, the negative pressure control type actuator 15 has been described as an example. However, the motor drive type actuator, the positive pressure control type actuator, and the negative pressure control type It goes without saying that even if the present invention is applied to such an actuator or the like, it is included in the technical range of the automatic vehicle speed control device according to the present invention.

【The invention's effect】

As described above, according to the vehicle speed automatic control apparatus of the present invention, a vehicle speed sensor that outputs vehicle speed data proportional to the actual vehicle speed, a set switch that outputs a cruise command signal, and a resume that outputs a resume command signal A switch, vehicle speed storage means for storing vehicle speed data of the vehicle speed sensor at the time of operation in response to operation of the set switch, an actuator for driving a throttle valve, and storing actual vehicle speed in response to operation of the set switch. Before the automatic vehicle speed control is released by driving the actuator by the constant speed control in accordance with the difference from the vehicle speed to match the actual vehicle speed with the stored vehicle speed and driving the actuator by the constant acceleration control in response to the operation of the resume switch Control means for returning the actual vehicle speed to the stored vehicle speed, and the acceleration acceleration constant during the constant acceleration control by the control means. K ′ is calculated by a function K ′ = f (K, α) between the acceleration constant K and the acceleration α during the constant speed control, and the transition from the constant acceleration control to the constant speed control is performed by the acceleration acceleration constant during the constant acceleration control. From K ′, acceleration α, and vehicle speed difference ε, (K ′
The configuration including the determination means based on whether α + ε) ≧ 0 determines whether the transition point from the constant acceleration control to the constant speed control during the resumption is (K′α + ε) ≧ 0 or not. Since the acceleration acceleration constant K 'is calculated from the function of the acceleration constant K at constant speed control and the acceleration α, the transition point from constant acceleration control to constant speed control can be set to the optimum position. Therefore, an excellent effect of preventing the convergence of the actual vehicle speed to the stored vehicle speed from being varied can be prevented.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a basic configuration of an automatic vehicle speed control device according to the present invention. FIG. 2 is an explanatory diagram showing a circuit configuration according to an embodiment of the automatic vehicle speed control device according to the present invention.
FIG. 4 is a sectional view showing the structure of the actuator shown in FIG.
FIG. 5 is a flowchart showing a program incorporated in the microcomputer of FIG. 2, FIG. 5 is an explanatory diagram showing a resume state, and FIG. 6 is a flowchart showing a program according to another embodiment of the automatic vehicle speed controller according to the present invention. ,
FIG. 7 is a flowchart showing a program according to still another embodiment of the vehicle speed automatic control device according to the present invention. 1,12… Vehicle speed sensor, 2,13a …… Set switch, 3,13b …… Resume switch, 4,24 …… Vehicle speed storage means, 5,14 …… Throttle valve, 6,15 …… Actuator, 7, 24 ... Control means, 8,24 ... Discriminating means.

Claims (1)

(57) [Claims] 1. A vehicle speed sensor for outputting vehicle speed data in proportion to an actual vehicle speed, a set switch for outputting a cruise command signal, a resume switch for outputting a resume command signal, and an operation in response to operation of the set switch. A vehicle speed storage means for storing vehicle speed data of the vehicle speed sensor, an actuator for driving a throttle valve, and the actuator by constant speed control in response to a difference between an actual vehicle speed and a stored vehicle speed in response to operation of the set switch. Control means for driving the actuator to match the actual vehicle speed with the stored vehicle speed and driving the actuator with constant acceleration control in response to the operation of the resume switch to return the actual vehicle speed to the stored vehicle speed before the automatic vehicle speed control release, An acceleration constant K 'at the time of constant acceleration control by the control means is a function K' of an acceleration constant K and an acceleration α at the time of constant speed control. f (k, alpha) the transition to constant speed control from the calculated the constant acceleration control in acceleration constant K of the constant acceleration control ', the acceleration alpha, from the vehicle speed difference ε (K' · α + ε ) ≧ 0
A vehicle speed automatic control device comprising: a determination unit configured to determine whether the vehicle speed is the vehicle speed.