JP3306783B2 - Automatic constant speed traveling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for automatically driving a vehicle at a set speed without operating an accelerator pedal by automatically holding a running speed of the vehicle at an arbitrarily set value. The present invention relates to an automatic constant-speed traveling device.

[0002]

2. Description of the Related Art An automatic constant-speed traveling device for automatically traveling a vehicle at an arbitrarily set value is provided with a set coast switch when a vehicle reaches a desired speed while the vehicle is traveling. Is turned on, the controller stores the current vehicle speed signal generated by the vehicle speed sensor at that time, and the controller thereafter calculates the deviation between the current vehicle speed signal generated by the vehicle speed sensor and the stored vehicle speed signal already stored. Is calculated from time to time to supply current to the actuator so that the current vehicle speed matches the stored vehicle speed, thereby changing the opening of the throttle valve. Also, if a cancel command signal is generated by operating the brake pedal or the like while the vehicle is traveling at a constant speed, the control of the constant speed traveling is stopped while the stored vehicle speed is already stored, and then the resume acceleration is performed. When the resume command signal is generated by turning on and off the switch, the current vehicle speed is made to converge to the stored vehicle speed before the control was stopped, and the control of the constant speed traveling is restarted. When the resume acceleration switch or the set coast switch is turned on and off within a predetermined time by the occupant during the constant speed traveling, and the tap-up command signal or the tap-down command signal is generated, the controller issues the tap-up command signal or the tap-up command signal. When a tap-down command signal is generated, a predetermined vehicle speed is added to or subtracted from the current speed or the stored vehicle speed, and the stored vehicle speed is updated with the resulting value, and the constant speed traveling control is performed so that the current vehicle speed matches the stored vehicle speed. Is known.

[0003]

In the above-described conventional automatic constant-speed traveling apparatus, when the vehicle is traveling at a constant speed, the ON operation and the OFF operation of the resume acceleration switch or the set coast switch within a predetermined time are performed. When repeatedly performed, the controller adds or subtracts a predetermined vehicle speed to or from the current vehicle speed or the stored vehicle speed in response to the generation of the tap-up command signal or the tap-down command signal, and updates the stored vehicle speed with the resulting value. The operation is repeated to increase the deviation between the stored vehicle speed and the current vehicle speed, and current is supplied to the actuator so that the current vehicle speed converges to the stored vehicle speed. However, the current does not converge immediately because the deviation between the current vehicle speed and the stored vehicle speed is large. At this time, when the cancel command signal is generated, the current vehicle speed does not converge to the stored vehicle speed, and it becomes unclear which value the stored vehicle speed has been updated. However, there is a possibility that a difference may occur between the value recognized by turning on and off the resume acceleration switch or set coast switch within a predetermined time while looking at the speedometer and the stored vehicle speed stored in the controller. And
When the resume is resumed in a state where the value recognized by the occupant is different from the value stored in the controller, the occupant does not return to the vehicle speed recognized by the occupant and does not recognize at all. There is a concern that the vehicle may return to the vehicle speed, and in that case, there is a problem that the occupant may feel uncomfortable.

[0004]

SUMMARY OF THE INVENTION An automatic constant speed traveling apparatus according to the present invention
It is an object of the present invention to provide an automatic constant-speed traveling device that does not give a feeling of discomfort to an occupant.

[0005]

Configuration of the Invention

[0006]

An automatic constant speed traveling apparatus according to the present invention generates a cruise command signal or a tap command signal by operating a vehicle speed sensor for generating a vehicle speed signal proportional to the current vehicle speed of an automobile. Switch means for
When the switch generates a cruise command signal, the vehicle speed signal generated by the vehicle speed sensor is stored as a stored vehicle speed signal. Vehicle speed storage means for storing, and a calculation means for calculating a deviation between the vehicle speed signal generated by the vehicle speed sensor and the stored vehicle speed signal and generating an actuator drive signal, wherein when the switch means generates a tap command signal, the vehicle speed sensor The generated vehicle speed signal or a signal obtained by calculating a predetermined value for the stored vehicle speed signal is stored in the vehicle speed storage unit as a new storage vehicle speed signal, and when the cancel unit generates a cancel command signal, the generation of an actuator drive signal is performed. Control means for stopping the operation and an actuator drive signal generated by the control means. An automatic constant-speed traveling device having an actuator for opening and closing a throttle valve of the vehicle, wherein the control means includes a cancel command signal which is output by the cancel means before the vehicle speed signal generated by the vehicle speed sensor converges on a new stored vehicle speed signal. Is generated, the vehicle speed signal when the cancel command signal is generated is further stored in the vehicle speed storage unit as a new stored vehicle speed signal. A vehicle speed sensor that generates a vehicle speed signal proportional to the current vehicle speed of the vehicle, generates a cruise command signal when operated, and determines whether the occupant is on or off during traveling. It is performed within a time period to update the stored vehicle speed by subtracting a predetermined vehicle speed from the current vehicle speed or the stored vehicle speed. A set coast switch that generates an up-down command signal, and the stored vehicle speed is updated by adding the specified vehicle speed from the current vehicle speed or the stored vehicle speed by turning on and off the occupant within a predetermined time during constant speed traveling A resume-accelerate switch that generates a tap-up command signal to generate a resume command signal for returning to constant-speed traveling before cancellation by an occupant on operation when canceling constant-speed traveling, and an actuator drive signal. An actuator that drives the throttle valve to open or close, an cancel element that generates a cancel command signal when operated, and a current supplied from a power supply to a vacuum valve, a vent valve, and a safety valve provided in the actuator, or A switch that shuts off the current A vehicle speed storage means for storing a vehicle speed signal generated by a vehicle speed sensor in response to a cruise command signal generated by the set coast switch, and generating a stored vehicle speed signal. When the vehicle speed signal is generated, the vehicle speed signal generated by the vehicle speed sensor is compared with the stored vehicle speed signal generated by the vehicle speed storage means to perform constant speed traveling control, and the current vehicle speed or the stored vehicle speed is determined in correspondence with the generation of the tap-up command signal. , The stored vehicle speed is updated by adding the predetermined vehicle speed, and the stored vehicle speed is updated by subtracting a predetermined vehicle speed from the current vehicle speed or the stored vehicle speed in response to the generation of the tap-down command signal, and the cancel command in which a cancel element occurs. Control means equipped with a microcomputer that cuts off the actuator drive signal by the signal and cancels the constant speed running An automatic constant-speed traveling device, wherein the control means generates a tap-up command signal or a tap-down command signal when the resume acceleration switch or the set coast switch generates a tap-up command signal or a tap-down command signal during constant-speed traveling. When a cancel command signal is generated by the cancel element before the current vehicle speed or the stored vehicle speed converges to the updated stored vehicle speed by increasing or decreasing, the stored vehicle speed already stored by the vehicle speed storage means is canceled. The update is performed at the current vehicle speed at the time of occurrence of.

[0007]

In the automatic cruise control system according to the present invention, the control means determines whether or not the cancel means generates a cancel command signal before the vehicle speed signal generated by the vehicle speed sensor converges on a new stored vehicle speed signal. The vehicle speed signal when the cancel command signal is generated by the stored vehicle speed signal updating means is stored in the vehicle speed storing means as a new stored vehicle speed signal. Therefore, the stored vehicle speed updated when the cancel command signal was generated becomes close to the current vehicle speed after the cancel command signal was generated, and the resume command signal was generated after the cancel command signal was generated. Also performs control based on the close deviation.

[0008]

1 to 4 show an embodiment of an automatic constant speed traveling apparatus according to the present invention. FIG. 1 is a circuit diagram, and FIGS. 2, 3 and 4 show control operations. It is a flowchart each demonstrated.

An automatic constant-speed traveling device 1 according to the present invention comprises:
Mainly, a vehicle speed sensor 2, a set coast switch (switch means) 3, a resume acceleration switch (switch means) 4, a cancel switch 5a forming a part of the cancel means 5, an actuator 7 whose output side is connected to a throttle valve 6, a vehicle speed The control means 8 includes a sensor 2, a set coast switch 3, a resume acceleration switch 4, and a control means 8 which processes respective signals generated by the cancel means 5 and controls the operation of the actuator 7. 9 is built-in.

The vehicle speed sensor 2 is built in a speedometer, and constantly generates a vehicle speed data proportional to the current vehicle speed by a pulse signal when the vehicle is running. This vehicle speed sensor 2
Is converted via an interface S provided in the control means 8 and transferred to the microcomputer 9 of the control means 8.

The set coast switch 3, the resume acceleration switch 4, and the cancel switch 5 are all automatic return switches mounted on the steering wheel, and are turned on by the operation of the occupant.

When the vehicle is running, the main switch 15 is turned on, and the set coast switch 3 generates a cruise command signal by turning on and off the occupant from a state where the constant speed running is canceled. The signal is transmitted to the interface C provided in the control means 8.
And transferred to the microcomputer 9 of the control means 8. A coast command signal for updating the stored vehicle speed by lowering the current vehicle speed in accordance with the on-operation time by turning off the set coast switch 3 after being turned on by the occupant for a predetermined time or more during the control of the constant speed traveling. And a tap for updating the stored vehicle speed by subtracting the predetermined vehicle speed from the current vehicle speed or the stored vehicle speed by performing the on operation and the off operation of the occupant within the predetermined time during the control of the constant speed traveling. A down command signal is generated, and the generated coast command signal and tap-up command signal are converted via the interface C of the control means 8 and transferred to the microcomputer 9.

The resume acceleration switch 4 is turned on by the occupant after being turned on for a fixed time or more during control of constant speed running, so that the current vehicle speed is increased in accordance with the on operation time to update the stored vehicle speed. The acceleration command signal is generated, and the ON / OFF operation of the occupant is performed within a predetermined time during the control of the constant speed driving, thereby adding the predetermined vehicle speed to the current vehicle speed or the stored vehicle speed to update the stored vehicle speed. And a resume command signal for returning to the constant speed running before the cancellation by the ON operation of the occupant when the control of the constant speed running is canceled. The generated accelerator command signal, tap-up command signal, and resume command signal are converted via the interface C of the control means 8 and transferred to the microcomputer 9.

A cancel switch 5a, which is a part of the canceling means 5, generates a cancel command signal when the occupant turns on during the control of the constant speed traveling. Here, as the canceling means 5, the brake switch 10 is turned on by operating a brake pedal (not shown) in addition to the turning on of the cancel switch 5a during the control of the constant speed traveling, and the actuator power cutoff switch 17 is turned off. When the automatic transmission (not shown) is switched to the neutral range or the parking range to turn off the actuator power cutoff switch 17, when the current vehicle speed is extremely low, or when the clutch pedal of the manual transmission (not shown) is operated. In these cases, a cancel command signal is also generated. When the brake switch 10 is turned on, the brake lamp 11 is turned on, and the generated cancel command signal is converted via the interface B of the control means 8 and transferred to the microcomputer 9. When the actuator power supply cutoff switch 17 is turned off, the power supply to the actuator is cut off. The generated cancel command signal is converted via the interface V of the control means 8 and transferred to the microcomputer 9.

The actuator 7 whose output side is connected to the throttle valve 6 is provided with a vent valve 7a, a vacuum valve 7b and a safety valve 7c.
These valves 7a, 7b, 7c are operated by forming an energizing path. One side of the vent valve 7a and the safety valve 7c is open to the atmosphere, and the other side of the valve is connected to a negative pressure chamber (not shown) in the actuator 7. The actuator 7 drives the throttle valve 6 to the open side against the elastic force of a return spring (not shown) when the negative pressure level in the negative pressure chamber increases, and opens the throttle valve 6 when the negative pressure level in the negative pressure chamber decreases. Do not drive to When the negative pressure level in the negative pressure chamber decreases, the throttle valve 6 is forcibly returned to the closed side by the elastic restoring force of the return spring.

One end of a vacuum valve 7b provided in the actuator 7 is an engine (a negative pressure generating source).
The valve is connected to the intake manifold and the other side of the valve is connected to the negative pressure chamber. Has the function of taking the air from the intake manifold into the negative pressure chamber. Further, when the vacuum valve 7b is replaced by a negative pressure generating motor, the negative pressure generating motor is connected to the negative pressure chamber so that the negative pressure generated when the negative pressure generating motor is operating is reduced. It has the function of taking in the pressure chamber. The actuator 7 raises the negative pressure level in the negative pressure chamber by turning on the vent valve 7a and the safety valve 7c and turning on the vacuum valve 7b, and turns off the vent valve 7a and the safety valve 7c and turns off the vacuum valve 7b. This lowers the vacuum level in the vacuum chamber.

The control means 8 includes the microcomputer 9, the interfaces S, C, B, V, the reset circuit 12, the constant voltage circuit 13, the relay RL 1, and the vent valve switching unit 1 which constitutes the switching means 14.
4a, a switching section 14b for a vacuum valve, a switching section 14c for an actuator power supply, and a switching section 14d for a safety valve. The reset circuit 12 and the constant voltage circuit 13 have one end connected to the power supply 50 via the main switch 15 and the other end connected to the microcomputer 9.
When the main switch 15 is turned on by the occupant,
The potential set by the constant voltage circuit 13 is applied to the microcomputer 9.

The relay RL1 is connected to a relay coil RL1-1.
Is connected to one end of the main switch 15 via one normally open fixed contact RL1-2, and the other end of the relay coil RL1-1 is provided in the actuator power switching unit 14c.
3 is connected to the collector. The other normally open fixed contact RL1-3 of the relay RL1 is connected to the vent valve 7a, the vacuum valve 7b, and the safety valve 7 of the actuator 7.
c is connected to one end. When there is an actuator drive signal from the microcomputer 9 to the transistor TR3 of the actuator power supply switching unit 14c from the microcomputer 9, an energizing path is formed in the relay coil RL1-1 and the relay RL1 is energized, so that the movable contact RL1-4 is fixed to both normally open positions. The contacts RL1-2 and RL1-3 are connected, and the potential of the power supply 50 is applied to the upstream side of the safety valve 7c, the vent valve 7a, and the vacuum valve 7b, respectively.

Switching section 14 for actuator power supply
When the microcomputer 9 receives an actuator drive signal for the transistor TR2 provided in the vacuum valve switching unit 14b while the transistor TR3 of c is on, the vacuum valve 7b
Is turned on, and when there is an actuator drive signal for the transistor TR1 provided in the vent valve switching unit 14a from the microcomputer 9, the vent valve 7a is turned on, and the microcomputer 9 is provided in the safety valve switching unit 14d. When there is an actuator drive signal for the transistor TR4, the safety valve 7c is turned on.

The microcomputer 9 is provided with a vehicle speed storing means 9a, a calculating means 9b, a speed increasing means 9c, a decelerating means 9d and an updating means 9e. The main switch 15 is turned on and the vehicle speed storing means 9a is turned on and off. When the set coast switch 3 is turned on after being turned off when the high speed traveling is canceled, a cruise command signal is generated. When the set coast switch 3 is turned off, the vehicle speed signal generated by the vehicle speed sensor 2 is used to set the speed. When the vehicle speed is within the range, the vehicle speed signal is stored and a stored vehicle speed signal is generated. When the coast command signal is generated by turning on the set coast switch 3 for a certain period of time or more during the constant speed running control, the stored vehicle speed signal is generated by the vehicle speed sensor 2 when the set coast switch 3 is turned off. When the tap-down command signal is generated when the set coast switch 3 is turned on and off within a predetermined time by the occupant during the constant speed driving control, the set coast switch 3 is turned on. Is updated by a current vehicle speed signal or a stored vehicle speed signal obtained by subtracting a predetermined value from the current vehicle speed signal.

When an acceleration command signal is generated by turning on the resume acceleration switch 4 for a predetermined time or more during the control of the constant speed traveling, the stored vehicle speed signal stored in the vehicle speed storage means 9a is changed to the resume acceleration switch. 4 when the vehicle speed sensor 2 is turned off
When the tap-up command signal is generated when the resume acceleration switch 4 is turned on and off within a predetermined time by the occupant during the control of constant speed traveling, the vehicle speed storage means is updated. 9a
Is updated by a current vehicle speed signal or a stored vehicle speed signal obtained by adding a predetermined value by turning on the resume acceleration switch 4.

Then, the resume acceleration switch 4 generates a tap-up command signal during the control of the constant speed traveling, and each time the tap-up command signal is generated, the stored vehicle speed obtained by adding a constant value to the current vehicle speed signal or the stored vehicle speed signal. When a cancel command signal is generated by the cancel means 5 before the current vehicle speed converges on the signal, the stored vehicle speed signal stored in the vehicle speed storage means 9a is discarded from the stored vehicle speed signal updated by the generation of the tap-up command signal. The current vehicle speed signal at the time when the cancel command signal is generated is updated by the updating means 9e as a new stored vehicle speed signal.

Further, the set coast switch 4 generates a tap-down command signal during the control of the constant speed traveling, and every time the tap-down command signal is generated, a predetermined vehicle speed is subtracted from the current vehicle speed signal or the stored vehicle speed signal and updated. Before the current vehicle speed converges on the stored vehicle speed signal, when the cancel command signal is generated by the cancel means 5, the stored vehicle speed signal stored in the vehicle speed storage means 9a is the stored vehicle speed signal updated by the generation of the tap-down command signal. The update means 9e updates the current vehicle speed signal at the time when the discard and cancel command signal is generated as a new stored vehicle speed signal.

When the vehicle is running, the control means 8
When the main switch 15 is turned on and the set coast switch 3 is turned on by the occupant from the constant speed traveling cancel state, the actuator power supply switching unit 1 is turned on.
When the transistor TR3 of 4c is turned on and the set coast switch 3 is turned off and a cruise command signal is generated, the speed increasing means 9c is operated by the amount of the initialization set, and is generated by operating the speed increasing means 9c by the amount of the initialization set. Since the transistor TR1 of the vent valve switching unit 14a, the transistor TR2 of the vacuum valve switching unit 14b, and the transistor TR4 of the safety valve switching unit 14d are turned on by the increased speed actuator drive signal, the vent valve 7a and the safety valve are turned on. 7
c, since all the valves are closed and only the vacuum valve 7b is opened, the actuator 7 operates the throttle valve 6 to the initializing set opening side after the negative pressure level of the negative pressure chamber is increased, and then the switching section 14b for the vacuum valve. After the transistor TR2 is turned off and the initialization set is performed, control is performed to match the vehicle speed signal generated by the vehicle speed sensor 2 with the stored vehicle speed signal of the storage vehicle speed means 9a.

The vehicle speed signal generated by the vehicle speed sensor 2 and the stored vehicle speed signal generated by storing the cruise command signal when the set coast switch 3 is turned on and off by the occupant. Is calculated by the calculating means 9b of a predetermined calculating process between the deviation calculated by comparing the calculated value and the acceleration obtained by the change rate of the vehicle speed signal within a certain time, and when the calculating result becomes a negative value, Since the speed increasing means 9c is operated at a time corresponding to the calculation result to generate an actuator drive signal for speed increasing, the transistor TR of the vacuum valve switching section 14b is switched from the state of the initialization set.
2 is turned on, the actuator 6 raises the negative pressure level in the negative pressure chamber, drives the throttle valve 6 to the open side, and stores the vehicle speed signal generated by the vehicle speed sensor 2 into the stored vehicle speed signal of the vehicle speed means 9a. Is controlled so as to match.

The difference between the deviation calculated in the comparison operation between the stored vehicle speed signal of the vehicle speed storage means 9a and the vehicle speed signal generated by the vehicle speed sensor 2 and the acceleration obtained by the rate of change of the vehicle speed signal within a certain period of time. When the calculation result becomes a positive value in the predetermined calculation process, the microcomputer 9 sets the deceleration means 9d in a time corresponding to the calculation result.
To generate an actuator drive signal for deceleration, the transistor TR2 of the vacuum valve switching unit 14b is turned off and the transistor TR1 of the vent valve switching unit 14a is turned off. The negative pressure level is reduced and the throttle valve 6 is driven to the closed side so that the vehicle speed sensor 2
Is performed so as to match the vehicle speed signal generated by the vehicle speed signal with the stored vehicle speed signal of the storage vehicle speed means 9a.

The automatic constant speed traveling apparatus 1 having such a structure performs the control operation shown in FIGS. Note that FIG.
In FIG. 4, when the resume acceleration switch 4 is turned on and off within a predetermined time and a tap-up command signal is generated, a cancel command signal is generated, and a predetermined speed is applied to the current vehicle speed signal or the stored vehicle speed signal. The control operation when a cancel command signal is generated before converging to the updated stored vehicle speed by adding the vehicle speed will be mainly described.

In a routine 1 shown in FIG. 2, the convergence of the current vehicle speed to the stored vehicle speed is determined. In step 71 of this routine 1, the vehicle speed obtained by adding a predetermined value (R) to the stored vehicle speed at that time and the vehicle speed obtained by subtracting the predetermined value (R) from the stored vehicle speed at that time It is determined whether or not the current vehicle speed and the stored vehicle speed are in a state of having a deviation by determining whether or not the current vehicle speed is within the range. If the current vehicle speed and the stored vehicle speed have a deviation, it is determined that the current vehicle speed does not converge on the stored vehicle speed when the tap-up control or the tap-down control is performed, and the current vehicle speed and the stored vehicle speed have a deviation. If not, it is determined that the current vehicle speed has converged to the stored vehicle speed when the tap-up control or the tap-down control is performed.
Reset the tap-down flag in step 7
At 3, the tap-up flag is reset. In steps 2 and 5 shown in FIG. 2, the ON operation time of the resume acceleration switch 4 is measured. In step 2, the switch counter is counted up for each routine, and the value of the switch counter counted up in step 2 is compared with a predetermined value (T1) in step 5, so that the ON time of the resume accelerator switch 4 Is a predetermined value (T1)
If it is shorter, tap-up processing is performed in steps 74 and 75 in the next routine 7. If the ON time of the resume acceleration switch 4 is longer than a predetermined value (T1), the tap-up flag is set in step 76. After resetting, in step 77, the acceleration control in response to the generation of the acceleration command signal is performed.

In steps 3 and 6 shown in FIG. 2, the ON operation time of the set coast switch 3 is measured. In step 3, the switch counter is counted up for each routine, and the value of the switch counter counted up in step 3 is compared with a predetermined value (T2) in step 6, so that the ON time of the set coast switch 3 is If it is shorter than the predetermined value (T2), tap-down processing is performed in steps 78 and 79 in the next routine 8, and if the ON time of the set coast switch 3 is longer than the predetermined value, step 80 is reached. The tap-down flag is reset, and in step 81 coast control is performed in response to the generation of the coast command signal.

In step 4 shown in FIG. 2, it is determined whether to stop the operation of the automatic constant-speed traveling device shown in FIG.

When the main switch 15 is turned on while the vehicle is running, the microcomputer 9 of the control means 8 enters an operation standby state. At this time, the vehicle speed sensor 2 sequentially generates a vehicle speed signal because the vehicle is running.

Therefore, when the set coast switch 3 is turned on from the cruise cancel state while the vehicle is running at the vehicle speed desired by the occupant, the actuator power supply switching unit 14c is turned on, and the set coast switch 3 is turned on. When the vehicle is turned off, the vehicle speed storing means 9a stores the vehicle speed signal generated by the vehicle speed sensor 2 at that time, and operates the speed increasing means 9c by an initialization set corresponding to the vehicle speed signal sequentially generated by the vehicle speed sensor 2. The actuator 7 is operated by the switching means 14 to operate the throttle valve 6 to the open side. After operating the throttle valve 6 to the open side for a predetermined time, the deviation between the stored vehicle speed stored in the vehicle speed storage means 9a and the vehicle speed signal sequentially generated by the vehicle speed sensor 2 and the rate of change of the vehicle speed signal within a certain period of time are calculated. A predetermined calculation with respect to the obtained acceleration is performed by the calculating means 9b, and if the calculation result is a negative value, the switching means 1 is driven by the speed increasing actuator drive signal from the speed increasing means 9c.
4, the actuator 7 is operated, and if the calculation result is a positive value, the current vehicle speed follows the stored vehicle speed while the actuator 7 is operated by the switching means 14 with the deceleration actuator drive signal from the speed reduction means 9d. Controls traveling.

At this time, when the set coast switch 3 is on, the process proceeds to step 101 by the determination in step 70, and in step 101, it is determined whether or not the set coast switch 3 is on.
Step 1 since set coast switch 3 was turned on
02, the cruise set is prepared, and the process proceeds to step 4. In step 4, the automatic constant-speed traveling device operation stop determination is made. In step 61, the process proceeds to step 62, and in step 62, the process proceeds to step 62. The process proceeds to step 63, where the operation of the constant-speed traveling device is continued in step 63, and the process returns to step 70. When the set coast switch 3 is turned off from the on state, the process proceeds to step 101 as determined in step 70. In the determination in step 101, the process proceeds to step 103. In the determination in step 103, the process proceeds to step 105. It is determined whether or not the cruise set is being prepared, and the process proceeds to step 106. The vehicle speed is stored by the vehicle speed storage means 9a to set the stored vehicle speed. Cruise startup processing based on the transition to set the stored vehicle speed in step 107 is performed, the routine returns to operation continuation processing cruise device shifts is made to step 4 to step 70 is performed.

During set speed control, if the set coast switch 3 is turned on after the occupant has been turned on for a predetermined time or more and a coast command signal corresponding to the on operation time is generated, the vehicle is decelerated. Since the stored vehicle speed is updated by the vehicle speed storage means 9a at the current vehicle speed,
Based on the updated stored vehicle speed, constant speed running control is performed to make the current vehicle speed follow the stored vehicle speed.

At this time, since the automatic constant-speed traveling device is not stopped in the determination in step 70, the routine shifts to routine 1, the routine shifts from routine 1 to step 82, and step 8
2, the process proceeds to step 3 and the process proceeds from step 3 to step 6. In the determination in step 6, the count of the switch counter is set to a predetermined value (T
2) If it is not less than the above, the process proceeds to step 80, and step 80
Reset tap down flag in step 8
In order to shift to 1, coast control corresponding to the ON time of the set coast switch 3 is performed in step 81.

During the constant speed running control, when the resume accelerator switch 4 is turned on after being turned on by the occupant for a certain period of time or more, and the accelerator command signal corresponding to the on operation time is generated, the speed is increased. Since the stored vehicle speed signal is updated by the vehicle speed storage means 9a at the current vehicle speed, control of constant speed running is performed so that the current vehicle speed follows the stored vehicle speed based on the stored vehicle speed based on the updated stored vehicle speed signal. .

At this time, since the automatic constant-speed traveling device is not stopped in the determination at step 70, the routine shifts to routine 1 and shifts from routine 1 to step 82.
The process proceeds to step 83 in the determination in step 2, and step 8
3, the process proceeds to step 2, and the process proceeds from step 2 to step 5. In the determination in step 5, the count of the switch counter is set to a predetermined value (T
1) If it is equal to or more than the above, the process proceeds to step 76,
Reset tap down flag in step 7
7, the acceleration control corresponding to the ON time of the resume acceleration switch 4 is performed in step 77.

When a tap-up command signal is generated when the ON and OFF operations of the resume acceleration switch 4 are performed within a predetermined time while the constant speed running control is continued, the vehicle speed storage means 9a Updates the stored vehicle speed at the vehicle speed obtained by adding a predetermined vehicle speed to the current vehicle speed and the stored vehicle speed by the generation of the tap-up command signal. Since the vehicle speed stored in the vehicle speed storage unit 9a has been updated, the control unit 8 operates the speed increasing unit 9c to match the current vehicle speed with the stored vehicle speed generated by the vehicle speed storage unit 9a. Since the speed increasing actuator drive signal is supplied, the throttle valve 6 is driven to the open side in response to the tap-up command signal.

At this time, from time A1 shown in FIG.
2. When the resume acceleration switch 4 is turned on and off within a predetermined time from time B1 to time B2 and from time C1 to time C2, at time A1, the process proceeds to the routine 1 by the determination in step 70. However, since the current vehicle speed has not converged to the stored vehicle speed, the process proceeds to step 82, proceeds to step 83 in the determination in step 82, proceeds to step 2 in the determination in step 83, and counts the switch counter in step 2. Then, the process proceeds to step 5. Since the count value of the switch counter is not equal to or greater than the predetermined value (T2) in the determination in step 5, the stored vehicle speed is updated by adding a constant vehicle speed value in step 74 in the routine 7. And the tap-up flag is set, the process returns to step 70, and the time A2 Goes to Routine 1 according to the determination in step 70, and because the current vehicle speed has not converged to the stored vehicle speed, the process proceeds to step 82. The determination in step 82 proceeds to step 83, and the switch counter is reset in step 83. Is performed, and the process proceeds to step 4. If the actuator power cutoff switch 17 is not turned off and neither the brake switch 10 nor the cancel switch 5a is turned on, the process proceeds to step 62 in step 4 according to the determination in step 61. And
In the determination at step 62, the process proceeds to step 63, where the continuation processing of the constant speed traveling is performed, and the process returns to step 70.

The resume accelerator switch 4 is operated from time B1 immediately after time A2 to time B2 and time B2.
Since the ON operation and the OFF operation are performed within a predetermined time from time C1 to time C2 immediately after
, A tap-up process is performed.

In response to the tap-up command signal, the throttle valve 6 is driven to the open side, and before the current vehicle speed converges to the stored vehicle speed, at time D shown in FIG. When the switch 10 is turned on or the actuator power cutoff switch 17 is turned off, a cancel command signal is generated. When the cancel command signal is generated, the process proceeds to step 66 according to the determination in step 61 or step 62 in the routine 4, and in step 66, the existence of the tap-up flag is confirmed. Then, the stored vehicle speed stored by the stored vehicle speed unit 9a is updated by the updating unit 9e with the current vehicle speed at the time D at which the cancel command signal is generated, the tap-up flag is reset in step 68, and the process proceeds to step 65. Then, in step 65, control stop processing of constant speed traveling is performed,
It returns to step 70.

If a cancel signal is generated before the tap-up command signal is generated and the current vehicle speed converges to the updated stored vehicle speed, the stored vehicle speed updated by the tap-up command signal is discarded, and the cancel command signal is generated. The vehicle speed at that time is stored, and a cancel command signal is generated at time D, so that the low-speed traveling control is stopped, so that the vehicle speed decreases.

Then, after time D, when the resume accelerator switch 4 is turned on by the occupant and a resume command signal is generated, the process proceeds to step 101 in the determination in step 70, and proceeds to step 103 in the determination in step 101. Then, the process proceeds to step 104 according to the determination in step 103, so that the resume start process is performed in step 104 and the process proceeds to routine 4, so that the current vehicle speed matches the stored vehicle speed updated by the updating unit 9e at time D. For this purpose, the actuator 7 is actuated by the actuator drive signal in accordance with the stored vehicle speed approaching the current vehicle speed to drive the throttle valve 6, thereby controlling the resume return to match the current vehicle speed with the stored vehicle speed.

[0044]

As described above, the automatic constant-speed traveling device according to the present invention has the above-described configuration. Therefore, when the cancel command signal is generated, the stored vehicle speed updated is equal to the cancel command signal. If the tap command signal is generated after the cancellation command signal is generated, the control will be performed based on the close deviation, so that the passenger will feel uncomfortable. This is an excellent effect that the control without the above can be performed.

[Brief description of the drawings]

FIG. 1 is a circuit configuration diagram of an embodiment of an automatic constant-speed traveling device according to the present invention.

FIG. 2 is a flowchart illustrating a control operation in the automatic constant speed traveling device shown in FIG.

FIG. 3 is a flowchart illustrating a control operation in the automatic constant speed traveling device shown in FIG.

FIG. 4 is a flowchart illustrating a control operation in the automatic constant speed traveling device shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic constant-speed traveling device 2 Vehicle speed sensor 3, 4 Switch means 5 Canceling means 6 Throttle valve 8 Control means 9 Microcomputer 9a Vehicle speed storage means 9b Calculation means 9e Update means

Continued on the front page (72) Inventor Kazuhiko Ito 2 Nissan Motor Co., Ltd. Nissan Motor Co., Ltd. 2 Takaracho, Kanagawa-ku, Yokohama-shi (72) Inventor Hiroyuki Komori 10-1 Amanuma, Hiratsuka-shi, Kanagawa Nissan Shatai Co., Ltd. (72) Inventor Isamu Kanamaru 10-1 Amanuma, Hiratsuka-shi, Kanagawa Nissan Shatai Co., Ltd. Examiner Ken Kawabata (56) References JP-A-3-157232 (JP, A) JP-A-4-287725 ( JP, A) JP-A-62-61835 (JP, A) JP-A-62-61834 (JP, A) JP-A-60-179341 (JP, A) JP-A-61-92937 (JP, A) Hei 5-63955 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60K 31/00 F02D 29/02 301

Claims (2)

(57) [Claims] 1. A vehicle speed sensor for generating a vehicle speed signal proportional to the current vehicle speed of a vehicle, a switch means for generating a cruise command signal or a tap command signal when operated, and generating a cancel command signal when operated. Vehicle speed storage means connected to the vehicle speed sensor, the switch means, and the cancel means, and storing the vehicle speed signal generated by the vehicle speed sensor as a storage vehicle speed signal when the switch means generates a cruise command signal. And a calculating means for calculating a deviation between a vehicle speed signal generated by the vehicle speed sensor and a stored vehicle speed signal and generating an actuator drive signal. When the switch generates a tap command signal, the vehicle speed sensor generates. A signal obtained by calculating a predetermined value for the vehicle speed signal or the stored vehicle speed signal is newly stored. Control means for storing the stored vehicle speed signal in the vehicle speed storage means, and for stopping the generation of the actuator drive signal when the cancel means generates the cancel command signal; and opening and closing the throttle valve of the vehicle by the actuator drive signal generated by the control means. An actuator that drives the automatic constant-speed traveling device, wherein the control unit is configured to output the cancel command signal before the vehicle speed signal generated by the vehicle speed sensor converges to a new stored vehicle speed signal. An automatic constant-speed traveling device, further comprising a storage vehicle speed signal updating means for storing the vehicle speed signal when the cancel command signal is generated as a new storage vehicle speed signal in the vehicle speed storage means. 2. A vehicle speed sensor for generating a vehicle speed signal proportional to the current vehicle speed of the vehicle, a cruise command signal generated by being operated, and an occupant on-operation and off-operation performed within a predetermined time during traveling. A set coast switch that generates a tap-down command signal to update the stored vehicle speed by subtracting a predetermined vehicle speed from the current vehicle speed or the stored vehicle speed, and that the on and off operations of the occupant during constant speed traveling are specified A tap-up command signal for updating the stored vehicle speed by adding a predetermined vehicle speed from the current vehicle speed or the stored vehicle speed by being performed within the time, and before canceling by occupant ON operation at the time of canceling the constant speed driving A resume acceleration switch that generates a resume command signal for returning to the constant speed traveling, and an actuator drive signal An actuator that drives the throttle valve more toward the open or close side, a cancel element that generates a cancel command signal when operated, and a current supplied from a power supply to a vacuum valve, a vent valve, and a safety valve provided in the actuator. Switching means for interrupting the current, and vehicle speed storage means for storing a vehicle speed signal generated by the vehicle speed sensor in response to a cruise command signal generated by the set coast switch, and generating a stored vehicle speed signal. When the set coast switch generates a cruise command signal, the vehicle speed signal generated by the vehicle speed sensor is compared with the stored vehicle speed signal generated by the vehicle speed storage means to perform constant speed traveling control and generate a tap-up command signal. The current vehicle speed or the stored vehicle speed corresponding to the specified vehicle speed Is added to update the stored vehicle speed, and the stored vehicle speed is updated by subtracting a predetermined vehicle speed from the current vehicle speed or the stored vehicle speed in response to the generation of the tap down command signal, and the actuator is actuated by the cancel command signal in which a cancel element is generated. An automatic cruise control device comprising a control means having a microcomputer for cutting a drive signal to cancel a cruise at a constant speed, wherein the control means comprises a resume acceleration switch or a set coast during a cruise at a constant speed. The switch generates a tap-up command signal or a tap-down command signal, and cancels each time the tap-up command signal or the tap-down command signal is generated before the current vehicle speed or the stored vehicle speed is increased or decreased to converge on the updated stored vehicle speed. When a cancel command signal is generated by the Automatic constant speed running apparatus characterized by cancel command signal storage vehicle there are updating in the current vehicle speed as they occur.