JP3084968B2 - Travel control device for vehicles - Google Patents
Travel control device for vehiclesInfo
- Publication number
- JP3084968B2 JP3084968B2 JP04277012A JP27701292A JP3084968B2 JP 3084968 B2 JP3084968 B2 JP 3084968B2 JP 04277012 A JP04277012 A JP 04277012A JP 27701292 A JP27701292 A JP 27701292A JP 3084968 B2 JP3084968 B2 JP 3084968B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- speed
- traveling
- vehicle speed
- downhill
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
Landscapes
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は車両用走行制御装置、特
に追従走行モードと定速走行モードを備える走行制御装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a vehicle, and more particularly to a traveling control device having a following traveling mode and a constant speed traveling mode.
【０００２】[0002]
【従来の技術】従来より、運転者の運転操作低減を図る
べく、種々の走行制御装置が開発、搭載されている。例
えば、特開昭６０−２１５４３２号公報では、安全車間
距離信号に基づき車間距離を安全車間距離とするように
自車速を制御する車速制御手段を設け、設定車速及び安
全車間距離の調整を適切かつ容易に行う車両走行制御装
置が開示されている。2. Description of the Related Art Conventionally, various traveling control devices have been developed and mounted in order to reduce a driver's driving operation. For example, in Japanese Patent Application Laid-Open No. 60-215432, a vehicle speed control means for controlling the own vehicle speed so that the inter-vehicle distance becomes the safe inter-vehicle distance based on the safe inter-vehicle distance signal is provided, and the setting vehicle speed and the safe inter-vehicle distance are appropriately adjusted. A vehicle travel control device that is easily performed is disclosed.
【０００３】すなわち、この従来装置においては、先行
車が存在しない場合には運転者により設定された設定車
速で定速走行を行い、先行車が存在する場合には、自車
速に基づき算出された安全車間距離となるように車速を
増減して車間距離を調整するものである。[0003] That is, in this conventional apparatus, when there is no preceding vehicle, the vehicle travels at a constant speed set by the driver, and when there is a preceding vehicle, it is calculated based on the own vehicle speed. The vehicle speed is increased or decreased so as to be a safe inter-vehicle distance, and the inter-vehicle distance is adjusted.
【０００４】[0004]
【発明が解決しようとする課題】ここで、先行車が存在
する状況から、先行車が車線変更等して先行車が存在し
しない状況に移行した場合、この従来装置では制御モー
ドが追従走行モードから定速走行モードに移行し、追従
走行時の車速が設定車速以下であるときには、設定車速
まで加速されることになる。In the case where the preceding vehicle changes from a situation in which the preceding vehicle is present to a situation in which the preceding vehicle does not exist due to a change in the lane or the like, the control mode of the conventional device is changed to the following traveling mode. Then, the vehicle shifts to the constant speed traveling mode, and when the vehicle speed during the following traveling is equal to or lower than the set vehicle speed, the vehicle is accelerated to the set vehicle speed.
【０００５】しかしながら、このような設定車速への加
速による移行が下り坂で行われる場合、運転者は予期し
ない加速が行われるため通常の運転フィーリングに合致
しない問題があった。[0005] However, when such a shift by acceleration to the set vehicle speed is performed on a downhill, there is a problem that the driver does not accord with a normal driving feeling because unexpected acceleration is performed.
【０００６】本発明は上記従来技術の有する課題に鑑み
なされたものであり、その目的は種々の走行状況、特に
下り坂においても運転者の運転フィーリングに合致した
信頼性の高い車両用走行制御装置を提供することにあ
る。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and has as its object to provide a highly reliable vehicle driving control that matches the driver's driving feeling even in various driving situations, especially downhill. It is to provide a device.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するため
に、本発明の車両用走行制御装置は先行車が存在する場
合に先行車との車間距離を所定の距離に維持して追従す
る追従走行モード及び先行車が存在しない場合に設定車
速で定速走行する定速走行モードを備える車両用走行制
御装置において、自車が下り坂を走行していることを検
出する下り坂検出手段と、追従走行モード時の車速と前
記設定車速を比較する比較手段と、前記下り坂検出手段
及び比較手段からの信号に基づき車速を制御する制御手
段とを有し、追従走行モード時の車速が前記設定車速よ
り小さく、かつ自車が下り坂を走行している場合であっ
て、先行車が存在しなくなった場合に前記制御手段は加
速を禁止することを特徴とする。SUMMARY OF THE INVENTION In order to achieve the above object, a cruise control system for a vehicle according to the present invention is adapted to follow a preceding vehicle while maintaining a predetermined inter-vehicle distance with the preceding vehicle when the preceding vehicle exists. In a vehicle traveling control device having a traveling mode and a constant speed traveling mode in which the vehicle travels at a constant speed at a set vehicle speed when there is no preceding vehicle, downhill detection means for detecting that the own vehicle is traveling downhill, Comparing means for comparing the vehicle speed in the following travel mode with the set vehicle speed; and control means for controlling the vehicle speed based on signals from the downhill detecting means and the comparing means. When the vehicle speed is lower than the vehicle speed and the own vehicle is traveling on a downhill, and the preceding vehicle is no longer present, the control means inhibits acceleration.
【０００８】[0008]
【作用】このように、本発明の車両用走行制御装置は先
行車が存在して追従走行を行っている状況から、先行車
が存在しなくなり定速走行に移行する場合、自車が下り
坂を走行しているときには、たとえ追従走行時の車速が
設定車速以下であっても制御手段は現車速を維持する
か、あるいは減速制御を行う。これにより、下り坂にも
かかわらず自車が加速されることを防止し、運転者に違
和感を感じさせることもない。As described above, the traveling control device for a vehicle according to the present invention, when there is no preceding vehicle and the vehicle shifts to the constant speed traveling from the situation where the preceding vehicle is present and the following traveling is performed, the own vehicle goes downhill. When the vehicle is traveling, the control means maintains the current vehicle speed or performs deceleration control even if the vehicle speed during the following traveling is lower than or equal to the set vehicle speed. This prevents the vehicle from being accelerated in spite of the downhill, and does not make the driver feel uncomfortable.
【０００９】[0009]
【実施例】以下、図面を用いながら本発明にかかる車両
用走行制御装置の好適な実施例を説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a vehicle travel control device according to the present invention will be described below with reference to the drawings.
【００１０】図１には本実施例の車両用走行制御装置の
全体構成が示されている。レーザ光やミリ波などを用い
たレーダ１０が車両前部に設けられており、先行車の有
無、先行車との車間距離、先行車との相対速度等を検出
する。そして、検出信号は走行制御するコンピュータで
ある電子制御装置ＥＣＵ１４に供給される。なお、レー
ダ１０の代わりにＣＣＤカメラ等の撮像装置を用いて先
行車を検出してもよい。FIG. 1 shows the overall configuration of a vehicle travel control device according to this embodiment. A radar 10 using laser light, millimeter waves, or the like is provided at the front of the vehicle, and detects the presence or absence of a preceding vehicle, the distance between the preceding vehicle, the relative speed to the preceding vehicle, and the like. Then, the detection signal is supplied to an electronic control unit ECU14 which is a computer for controlling the traveling. The preceding vehicle may be detected by using an imaging device such as a CCD camera instead of the radar 10.
【００１１】また、車速センサ１２が搭載されており、
自車の車速を検出してＥＣＵ１４に供給する。ＥＣＵ１
４は自車速に基づき安全車間距離を算出し、先行車が存
在する場合には検出された車間距離がこの安全車間距離
となるように適宜スロットルアクチュエータ１６、ブレ
ーキアクチュエータ１８を作動して車速を増減し、先行
車に追従する。Further, a vehicle speed sensor 12 is mounted,
The vehicle speed of the own vehicle is detected and supplied to the ECU 14. ECU1
4 calculates the safe inter-vehicle distance based on the own vehicle speed, and when the preceding vehicle is present, operates the throttle actuator 16 and the brake actuator 18 appropriately to increase or decrease the vehicle speed so that the detected inter-vehicle distance becomes the safe inter-vehicle distance. Then, follow the preceding vehicle.
【００１２】一方、運転席近傍には定速走行時の車速を
設定する設定スイッチ２０が設けられており、レーダ１
０で先行車が検出されない場合には、この設定スイッチ
２０で設定された車速で定速走行が行われる。On the other hand, near the driver's seat, a setting switch 20 for setting the vehicle speed during constant speed running is provided.
If the preceding vehicle is not detected at 0, the vehicle travels at a constant speed at the vehicle speed set by the setting switch 20.
【００１３】ここで、本実施例において特徴的なこと
は、現在車両が下り坂であるか否かを検出する下り坂検
出装置２２が設けられ、車両が下り坂である場合には、
ＥＣＵ１４は先行車がいなくなって定速走行モードに移
行しても加速は行わず、現車速維持、ないし減速となる
ようにスロットルアクチュエータ１６及びブレーキアク
チュエータ１８を制御することにある。A feature of this embodiment is that a downhill detecting device 22 for detecting whether or not the vehicle is currently on a downhill is provided, and when the vehicle is on a downhill,
The ECU 14 controls the throttle actuator 16 and the brake actuator 18 so as to maintain the current vehicle speed or to decelerate without performing acceleration even if the vehicle shifts to the constant speed running mode when the preceding vehicle disappears.
【００１４】以下、図２乃至図３のフローチャートを用
いてＥＣＵ１４の動作を詳細に説明する。Hereinafter, the operation of the ECU 14 will be described in detail with reference to the flowcharts of FIGS.
【００１５】まず、図２に示すように初期設定を行い、
設定スイッチ２０から設定車速の入力を受け付ける（Ｓ
１００）。次に、車速センサ１２で検出された車速や図
示しない操舵角センサからの操舵角等の車両走行状態量
が入力される（Ｓ１０１）。車両走行状態量が入力され
た後、レーダ１０からの検出信号により先行車との車間
距離を検出する（Ｓ１０２）とともに、先行車の有無を
判定する（Ｓ１０３）。先行車がレーダ１０の測距範囲
内に存在し、有限の車間距離が検出された場合には、車
間距離、自車速、及び先行車との相対速度に基づき目標
車間距離（安全車間距離）が算出され、さらにこの目標
車間距離となるように現車間距離と目標車間距離との差
に基づき制御量が算出される（Ｓ１０４）。そして、算
出された制御量でスロットルアクチュエータ１６及びブ
レーキアクチュエータ１８を制御して追従走行を行う
（Ｓ１０５）。First, initial settings are made as shown in FIG.
The input of the set vehicle speed is received from the setting switch 20 (S
100). Next, vehicle running state quantities such as a vehicle speed detected by the vehicle speed sensor 12 and a steering angle from a steering angle sensor (not shown) are input (S101). After the vehicle running state quantity is input, the inter-vehicle distance to the preceding vehicle is detected based on the detection signal from the radar 10 (S102), and the presence or absence of the preceding vehicle is determined (S103). When the preceding vehicle is within the range of the radar 10 and a finite inter-vehicle distance is detected, the target inter-vehicle distance (safety inter-vehicle distance) is determined based on the inter-vehicle distance, the own vehicle speed, and the relative speed to the preceding vehicle. The control amount is calculated based on the difference between the current inter-vehicle distance and the target inter-vehicle distance so as to be the target inter-vehicle distance (S104). Then, the throttle actuator 16 and the brake actuator 18 are controlled by the calculated control amount to perform the following travel (S105).
【００１６】一方、レーダ１０にて有限の車間距離が検
出されなかった場合、すなわち先行車が自車線上を走行
していないか、あるいはレーダ１０の測距範囲外を走行
している場合には先行車は存在していないと判定され
（Ｓ１０３）、次に設定スイッチ２０で設定された定速
走行用のセット車速と現車速との大小比較が行われる
（Ｓ１０６）。現車速がセット車速以上である場合に
は、従来と同様に定速走行に移行すべくブレーキアクチ
ュエータ１８を作動させてセット車速まで減速し（Ｓ１
１１）、定速走行を行う。また、セット車速の方が大き
い場合には、従来においてはこのセット車速まで一律に
加速していたが、前述したように下り坂での加速は運転
者の通常の運転感覚に合致しない。そこで、本実施例で
は、トルクの変動から現在自車が下り坂を走行している
か否かを判定し、加速を禁止する処理を付加している。On the other hand, if the finite inter-vehicle distance is not detected by the radar 10, that is, if the preceding vehicle is not traveling on its own lane or is traveling outside the range of the radar 10, It is determined that the preceding vehicle does not exist (S103), and then a comparison is made between the set vehicle speed for constant speed traveling set by the setting switch 20 and the current vehicle speed (S106). If the current vehicle speed is equal to or higher than the set vehicle speed, the brake actuator 18 is operated to reduce the speed to the set vehicle speed in order to shift to the constant speed traveling as in the prior art (S1)
11), perform constant speed traveling. Further, when the set vehicle speed is higher, acceleration has been uniformly performed up to the set vehicle speed in the related art. However, as described above, acceleration on a downhill does not match the driver's normal driving feeling. Therefore, in the present embodiment, a process of determining whether or not the vehicle is currently traveling on a downhill from the fluctuation of the torque and adding a process of prohibiting acceleration is added.
【００１７】トルク変動演算を行う処理がＳ１０７であ
り、その詳細が図３のフローチャートに示されている。
なお、トルク変動の検知方法は特開昭６２−２６５０３
８号等に記載されているが、本実施例ではより簡便な方
法でトルク変動を検出し、下り坂検出を行っている。す
なわち、まずエンジン回転数Ｎe 及び車速Ｖを取り込む
（Ｓ２００）。そして、エンジン回転数の時間的変化の
割合である微分値ｄＮe ／ｄｔを算出する（Ｓ２０
１）。次に、予め用意されたエンジントルク曲線のデー
タテーブルからスロットル開度θ及びＮe に応じたエン
ジントルクＴe を読み込み（Ｓ２０２）、さらにトルク
コンバータの速度比ｅを算出する（Ｓ２０３）。トルク
コンバータの速度比ｅは出力軸回転数Ｎo ／入力軸回転
数ＮI で定義され、入力軸回転数ＮI ＝エンジン回転数
Ｎe であり、また出力軸回転数Ｎo は Ｎo ＝Ｇm ・Ｇf ・１０００・Ｖ・（２πｒ・６０） で算出される。但し、Ｇm はミッションギア比、Ｇf は
ファイナルギア比、ｒはタイヤ半径である。The processing for performing the torque fluctuation calculation is S107, and details thereof are shown in the flowchart of FIG.
The method of detecting torque fluctuation is described in Japanese Patent Application Laid-Open No. 62-26503.
As described in No. 8, etc., in this embodiment, torque fluctuation is detected by a simpler method to detect a downhill. That is, first, the engine speed Ne and the vehicle speed V are fetched (S200). Then, a differential value dNe / dt which is a rate of a temporal change of the engine speed is calculated (S20).
1). Next, an engine torque Te corresponding to the throttle opening θ and Ne is read from a data table of an engine torque curve prepared in advance (S202), and a speed ratio e of the torque converter is calculated (S203). The speed ratio e of the torque converter is defined by the output shaft speed No / the input shaft speed NI, where the input shaft speed NI = engine speed Ne, and the output shaft speed No is No = GmGf1000. It is calculated by V · (2πr · 60). Here, Gm is the transmission gear ratio, Gf is the final gear ratio, and r is the tire radius.
【００１８】そして、前述のエンジントルク曲線のデー
タテーブルから前記速度比ｅに応じたトルク比Ｔを読み
込み（Ｓ２０４）、これらＴe 、Ｔ、ｄＮe ／ｄｔを用
いてトルクコンバータの出力トルクＴt を算出する（Ｓ
２０５）。すなわち、 Ｔt ＝Ｔ（Ｔe −２πＪe ／６０・ｄＮe ／ｄｔ） である。但し、Ｊe はエンジン慣性である。さらに、こ
のトルクコンバータの出力トルクＴt を用いて駆動力Ｆ
w を算出する（Ｓ２０６）。駆動力Ｆw は、 Ｆw ＝１／ｒ・（Ｇm ・Ｇf ・Ｋm ・Ｋf ・Ｔt −Ｇm
2 ・Ｇf 2 ・Ｋm ・Ｋf ・Ｊt ＋Ｇf 2 ・Ｋf ・Ｊp ＋
Ｊw ） である。但し、Ｋm 、Ｋf はそれぞれミッションギア、
ファイナルギアの効率、Ｊt はタービン慣性、Ｊp はペ
ラ慣性、Ｊw はホイール慣性である。Then, the torque ratio T corresponding to the speed ratio e is read from the data table of the engine torque curve (S204), and the output torque Tt of the torque converter is calculated by using these Te, T and dNe / dt. (S
205). That is, Tt = T (Te-2πJe / 60 · dNe / dt). Here, Je is the engine inertia. Further, the driving force F is calculated using the output torque Tt of the torque converter.
w is calculated (S206). The driving force Fw is given by: Fw = 1 / rｒ (GmfGf ・ Km ・ Kf ・ Tt-Gm
2 · Gf 2 · Km · Kf · Jt + Gf 2 · Kf · Jp +
Jw). Where Km and Kf are the mission gear,
The efficiency of the final gear, Jt is the turbine inertia, Jp is the propeller inertia, and Jw is the wheel inertia.
【００１９】そして、予め用意されたエンジン性能曲線
から勾配０％における走行抵抗ＦSを読み込み（Ｓ２０
７）、この走行抵抗Ｆs と前述のＳ２０６で算出された
駆動力Ｆw との比較を行う（Ｓ２０８）。比較の結果、
Ｆs ＞Ｆw 、すなわち平地における走行抵抗の方が駆動
力より大きければ自車は下り坂を走行していると判定で
き、そうでなければ平地ないし登り坂を走行していると
判定できる。Then, the running resistance FS at a gradient of 0% is read from the engine performance curve prepared in advance (S20).
7) The running resistance Fs is compared with the driving force Fw calculated in S206 (S208). As a result of the comparison,
If Fs> Fw, that is, if the running resistance on a level ground is larger than the driving force, it can be determined that the vehicle is traveling on a downhill, and if not, it can be determined that the vehicle is running on a level ground or an uphill.
【００２０】走行抵抗ＦS と駆動力Ｆw との大小関係に
より下り坂であると判定された場合には、図１に示され
るようにセット車速の方が現車速より大きくとも加速は
行わず、現車速を維持すべくアクチュエータ制御される
（Ｓ１０９）。一方、下り坂でないと判定された場合に
は、通常の定速走行に移行すべく、セット車速に復帰す
るように加速される（Ｓ１１０）。If it is determined that the vehicle is going downhill on the basis of the magnitude relationship between the running resistance FS and the driving force Fw, as shown in FIG. 1, even if the set vehicle speed is higher than the current vehicle speed, no acceleration is performed. Actuator control is performed to maintain the vehicle speed (S109). On the other hand, if it is determined that the vehicle is not going downhill, the vehicle is accelerated to return to the set vehicle speed in order to shift to normal constant speed traveling (S110).
【００２１】このように、本実施例では追従走行モード
から定速走行モードに移行する際、セット車速（設定車
速）の方が現車速以上であっても、下り坂である場合に
はセット車速に復帰すべく加速は行わず、現車速を維持
することにより、運転者に危険を感じさせることなく快
適な走行を保証する。As described above, in the present embodiment, when shifting from the following running mode to the constant speed running mode, even if the set vehicle speed (set vehicle speed) is higher than the current vehicle speed, if the vehicle speed is downhill, the set vehicle speed becomes lower. By maintaining the current vehicle speed without accelerating to return to, the driver is guaranteed comfortable driving without causing danger.
【００２２】なお、本実施例では下り坂か否かを判定
し、下り坂である場合には現車速を維持するような制御
を行ったが、勾配の程度に応じて制御を変更してもよ
い。例えば、図３におけるＳ２０８において、単に走行
抵抗Ｆs と駆動力Ｆw との大小比較を行うのではなく、
その差を所定値と比較することにより勾配の程度を量的
に評価し、勾配がゆるやかな場合には現車速維持する
が、勾配がきつい坂の場合には減速制御を行うようにし
てもよい。In this embodiment, it is determined whether or not the vehicle is on a downhill. If the vehicle is on a downhill, control is performed to maintain the current vehicle speed. Good. For example, in S208 in FIG. 3, instead of simply comparing the magnitude of the running resistance Fs with the magnitude of the driving force Fw,
The difference is compared with a predetermined value to quantitatively evaluate the degree of the gradient. If the gradient is gentle, the current vehicle speed is maintained, but if the gradient is a steep slope, deceleration control may be performed. .
【００２３】また、本実施例ではトルク変動から下り坂
か否かを検出したが、もちろん、傾斜計等の直接的な検
出装置を用いて検出してもよい。Further, in this embodiment, whether or not the vehicle is going downhill is detected from the torque fluctuation, but it is needless to say that it may be detected using a direct detection device such as an inclinometer.
【００２４】[0024]
【発明の効果】以上説明したように、本発明にかかる車
両用走行制御装置によれば、追従走行モードから定速走
行モードに移行する場合でも、下り坂である場合には設
定車速まで加速することがないので、運転者の運転フィ
ーリングに違和感を与えることなく、快適かつ信頼性の
高いシステムを提供することができる。As described above, according to the vehicle traveling control device of the present invention, even when the vehicle shifts from the following traveling mode to the constant speed traveling mode, the vehicle is accelerated to the set vehicle speed in the case of a downhill. Therefore, it is possible to provide a comfortable and highly reliable system without giving a feeling of strangeness to the driving feeling of the driver.
【図１】本発明の一実施例の構成ブロック図である。FIG. 1 is a configuration block diagram of an embodiment of the present invention.
【図２】同実施例のＥＣＵの処理フローチャートであ
る。FIG. 2 is a processing flowchart of an ECU of the embodiment.
【図３】同実施例の下り坂検出フローチャートである。FIG. 3 is a downhill detection flowchart of the embodiment.
１０ レーダ １２ 車速センサ １４ ＥＣＵ １６ スロットルアクチュエータ １８ ブレーキアクチュエータ ２０ 設定スイッチ ２２ 下り坂検出装置 Reference Signs List 10 radar 12 vehicle speed sensor 14 ECU 16 throttle actuator 18 brake actuator 20 setting switch 22 downhill detecting device
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B60K 31/00 F02D 29/02 301 ──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. 7 , DB name) B60K 31/00 F02D 29/02 301
Claims (1)
距離を所定の距離に維持して追従する追従走行モード及
び先行車が存在しない場合に設定車速で定速走行する定
速走行モードを備える車両用走行制御装置において、 自車が下り坂を走行していることを検出する下り坂検出
手段と、 追従走行モード時の車速と前記設定車速を比較する比較
手段と、 前記下り坂検出手段及び比較手段からの信号に基づき車
速を制御する制御手段と、 を有し、追従走行モード時の車速が前記設定車速より小
さく、かつ自車が下り坂を走行している場合であって、
先行車が存在しなくなった場合に前記制御手段は加速を
禁止することを特徴とする車両用走行制御装置。1. A follow-up traveling mode in which a following distance is maintained between a preceding vehicle and a preceding vehicle when a preceding vehicle is present, and a constant-speed traveling mode in which the vehicle travels at a constant speed at a set vehicle speed when there is no preceding vehicle. A vehicle traveling control device comprising: a downhill detecting unit that detects that the vehicle is traveling on a downhill; a comparing unit that compares a vehicle speed in a following traveling mode with the set vehicle speed; Control means for controlling the vehicle speed based on the signal from the means and the comparison means, wherein the vehicle speed in the following travel mode is smaller than the set vehicle speed, and the vehicle is traveling downhill,
A travel control device for a vehicle, wherein the control means prohibits acceleration when the preceding vehicle no longer exists.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04277012A JP3084968B2 (en) | 1992-10-15 | 1992-10-15 | Travel control device for vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04277012A JP3084968B2 (en) | 1992-10-15 | 1992-10-15 | Travel control device for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06127289A JPH06127289A (en) | 1994-05-10 |
| JP3084968B2 true JP3084968B2 (en) | 2000-09-04 |
Family
ID=17577539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04277012A Expired - Lifetime JP3084968B2 (en) | 1992-10-15 | 1992-10-15 | Travel control device for vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3084968B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3557890B2 (en) * | 1998-03-03 | 2004-08-25 | 三菱ふそうトラック・バス株式会社 | Inter-vehicle distance control device |
| JP5157415B2 (en) * | 2007-12-19 | 2013-03-06 | 日産自動車株式会社 | Vehicle travel control device |
| JP5348306B2 (en) * | 2012-10-25 | 2013-11-20 | 日産自動車株式会社 | Vehicle travel control device |
| CN111361558B (en) * | 2018-12-25 | 2022-12-23 | 富泰华工业（深圳）有限公司 | Vehicle and automatic vehicle deceleration method |
-
1992
- 1992-10-15 JP JP04277012A patent/JP3084968B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06127289A (en) | 1994-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3478107B2 (en) | Travel control device for vehicles | |
| JP3646660B2 (en) | Vehicle tracking control device | |
| JP3233739B2 (en) | Car driving control device | |
| WO2018047874A1 (en) | Acceleration/deceleration control system and acceleration/deceleration control method | |
| US20080288152A1 (en) | Inter-vehicle distance control apparatus and method for controlling inter-vehicle distance | |
| JPH03136929A (en) | Running control device for vehicle | |
| JP6776968B2 (en) | Driving control device, vehicle and driving control method | |
| KR20070094034A (en) | Vehicle control apparatus | |
| JP4424387B2 (en) | Travel control device | |
| US6772059B2 (en) | Method for adaptive distance and/or driving speed adjustment in a motor vehicle | |
| JP3446429B2 (en) | Transmission control device for automatic transmission | |
| JP3084968B2 (en) | Travel control device for vehicles | |
| JP3438630B2 (en) | Travel control device for vehicles | |
| JPH0817000A (en) | Controller for distance between vehicles going to the same direction | |
| JP3194305B2 (en) | Travel control device for vehicles | |
| JP2940174B2 (en) | Travel control device for vehicles | |
| JP3637655B2 (en) | Shift control device for automatic transmission | |
| JP3107004B2 (en) | Headway control device and recording medium | |
| CN115009277A (en) | Downhill control method and system for automobile adaptive cruise system | |
| JP3932851B2 (en) | Vehicle control device | |
| JP3896757B2 (en) | Vehicle control method and vehicle control apparatus | |
| JP3120294B2 (en) | Anti-slip device for vehicles | |
| JP2000118369A (en) | Vehicle travel control device | |
| JP3885347B2 (en) | Vehicle travel control device | |
| JP3236131B2 (en) | Car driving control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080707 Year of fee payment: 8 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080707 Year of fee payment: 8 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090707 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090707 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100707 Year of fee payment: 10 |